diff --git a/app/src/main/java/com/casic/detector/base/BaseApplication.kt b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
index 30ccb6b..87ef650 100644
--- a/app/src/main/java/com/casic/detector/base/BaseApplication.kt
+++ b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
@@ -15,21 +15,29 @@
 
     private val kTag = "BaseApplication"
     private val suffix = "/dev/ttysWK"
-    private var serialPorts = ArrayList<SerialPort>()
+    private var serialPorts: ArrayList<SerialPort>? = null
 
     @Throws(SecurityException::class, IOException::class, InvalidParameterException::class)
-    fun getSerialPorts(): ArrayList<SerialPort> {
-        if (serialPorts.isEmpty()) {
-            /**
-             * Open the serial port
-             * */
-            serialPorts.add(SerialPort(File("${suffix}1"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}2"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}0"), 9600, 0))
+    fun getSerialPorts(): ArrayList<SerialPort>? {
+        serialPorts = ArrayList()
+        /**
+         * Open the serial port
+         * */
+        serialPorts?.apply {
+            add(SerialPort(File("${suffix}1"), 9600, 0))
+            add(SerialPort(File("${suffix}2"), 9600, 0))
+            add(SerialPort(File("${suffix}0"), 9600, 0))
         }
         return serialPorts
     }
 
+
+    fun closeSerialPort() {
+        serialPorts?.forEach {
+            it.close()
+        }
+    }
+
     companion object {
         private var application: BaseApplication by Delegates.notNull()
 
@@ -50,11 +58,4 @@
     fun getDaoSession(): DaoSession {
         return daoSession
     }
-
-    fun closeSerialPort() {
-        serialPorts.forEach {
-            it.close()
-        }
-        serialPorts.clear()
-    }
 }
\ No newline at end of file

diff --git a/app/src/main/java/com/casic/detector/base/BaseApplication.kt b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
index 30ccb6b..87ef650 100644
--- a/app/src/main/java/com/casic/detector/base/BaseApplication.kt
+++ b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
@@ -15,21 +15,29 @@
 
     private val kTag = "BaseApplication"
     private val suffix = "/dev/ttysWK"
-    private var serialPorts = ArrayList<SerialPort>()
+    private var serialPorts: ArrayList<SerialPort>? = null
 
     @Throws(SecurityException::class, IOException::class, InvalidParameterException::class)
-    fun getSerialPorts(): ArrayList<SerialPort> {
-        if (serialPorts.isEmpty()) {
-            /**
-             * Open the serial port
-             * */
-            serialPorts.add(SerialPort(File("${suffix}1"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}2"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}0"), 9600, 0))
+    fun getSerialPorts(): ArrayList<SerialPort>? {
+        serialPorts = ArrayList()
+        /**
+         * Open the serial port
+         * */
+        serialPorts?.apply {
+            add(SerialPort(File("${suffix}1"), 9600, 0))
+            add(SerialPort(File("${suffix}2"), 9600, 0))
+            add(SerialPort(File("${suffix}0"), 9600, 0))
         }
         return serialPorts
     }
 
+
+    fun closeSerialPort() {
+        serialPorts?.forEach {
+            it.close()
+        }
+    }
+
     companion object {
         private var application: BaseApplication by Delegates.notNull()
 
@@ -50,11 +58,4 @@
     fun getDaoSession(): DaoSession {
         return daoSession
     }
-
-    fun closeSerialPort() {
-        serialPorts.forEach {
-            it.close()
-        }
-        serialPorts.clear()
-    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/bean/TaskBean.java b/app/src/main/java/com/casic/detector/bean/TaskBean.java
index d6e1101..7ada7a5 100644
--- a/app/src/main/java/com/casic/detector/bean/TaskBean.java
+++ b/app/src/main/java/com/casic/detector/bean/TaskBean.java
@@ -1,5 +1,7 @@
 package com.casic.detector.bean;
 
+import com.casic.detector.model.TaskModel;
+
 import org.greenrobot.greendao.annotation.Entity;
 import org.greenrobot.greendao.annotation.Generated;
 import org.greenrobot.greendao.annotation.Id;
@@ -12,6 +14,9 @@
     private String scanner;
     private String desc;
     private String taskId;
+    /**
+     * 用 {@link TaskModel.MessageModel.TaskDetailInfosModel#id} 存
+     * */
     private String taskCode;
     private String markerId;
     private String markerRealId;

diff --git a/app/src/main/java/com/casic/detector/base/BaseApplication.kt b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
index 30ccb6b..87ef650 100644
--- a/app/src/main/java/com/casic/detector/base/BaseApplication.kt
+++ b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
@@ -15,21 +15,29 @@
 
     private val kTag = "BaseApplication"
     private val suffix = "/dev/ttysWK"
-    private var serialPorts = ArrayList<SerialPort>()
+    private var serialPorts: ArrayList<SerialPort>? = null
 
     @Throws(SecurityException::class, IOException::class, InvalidParameterException::class)
-    fun getSerialPorts(): ArrayList<SerialPort> {
-        if (serialPorts.isEmpty()) {
-            /**
-             * Open the serial port
-             * */
-            serialPorts.add(SerialPort(File("${suffix}1"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}2"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}0"), 9600, 0))
+    fun getSerialPorts(): ArrayList<SerialPort>? {
+        serialPorts = ArrayList()
+        /**
+         * Open the serial port
+         * */
+        serialPorts?.apply {
+            add(SerialPort(File("${suffix}1"), 9600, 0))
+            add(SerialPort(File("${suffix}2"), 9600, 0))
+            add(SerialPort(File("${suffix}0"), 9600, 0))
         }
         return serialPorts
     }
 
+
+    fun closeSerialPort() {
+        serialPorts?.forEach {
+            it.close()
+        }
+    }
+
     companion object {
         private var application: BaseApplication by Delegates.notNull()
 
@@ -50,11 +58,4 @@
     fun getDaoSession(): DaoSession {
         return daoSession
     }
-
-    fun closeSerialPort() {
-        serialPorts.forEach {
-            it.close()
-        }
-        serialPorts.clear()
-    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/bean/TaskBean.java b/app/src/main/java/com/casic/detector/bean/TaskBean.java
index d6e1101..7ada7a5 100644
--- a/app/src/main/java/com/casic/detector/bean/TaskBean.java
+++ b/app/src/main/java/com/casic/detector/bean/TaskBean.java
@@ -1,5 +1,7 @@
 package com.casic.detector.bean;
 
+import com.casic.detector.model.TaskModel;
+
 import org.greenrobot.greendao.annotation.Entity;
 import org.greenrobot.greendao.annotation.Generated;
 import org.greenrobot.greendao.annotation.Id;
@@ -12,6 +14,9 @@
     private String scanner;
     private String desc;
     private String taskId;
+    /**
+     * 用 {@link TaskModel.MessageModel.TaskDetailInfosModel#id} 存
+     * */
     private String taskCode;
     private String markerId;
     private String markerRealId;
diff --git a/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
new file mode 100644
index 0000000..09203d9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
@@ -0,0 +1,59 @@
+package com.casic.detector.extensions
+
+import com.amap.api.location.AMapLocation
+import com.amap.api.maps.AMapUtils
+import com.amap.api.maps.model.LatLng
+import com.casic.detector.model.CalculateResult
+import kotlin.math.acos
+
+/**
+ * 计算两个经纬度之间连线的方位角，因为距离很近（一般是3米内），球面近似为平面
+ * C        B
+ * |-------/
+ * |      /
+ * |     /
+ * |    /
+ * |   /
+ * |  /
+ * | /
+ * |/
+ * A
+ * */
+fun AMapLocation.calculateAngle(target: LatLng): CalculateResult {
+    //构造直角辅助点
+    val auxiliaryPoint = LatLng(target.latitude, this.longitude)
+
+    //AB线段长度
+    val distance = AMapUtils.calculateLineDistance(
+        LatLng(this.latitude, this.longitude), target
+    )
+
+    //AC线段长度
+    val auxiliaryDistance = AMapUtils.calculateLineDistance(
+        LatLng(auxiliaryPoint.latitude, auxiliaryPoint.longitude), target
+    )
+
+    //求余弦值
+    val cosine = auxiliaryDistance / distance
+
+    //反余弦得弧度
+    val radian = acos(cosine)
+
+    //弧度转角度，度=弧度×180°/π
+    val angle = (radian * 180) / Math.PI
+
+    //判断方位
+    val direction = if (target.latitude > this.latitude && target.longitude > this.longitude) {
+        //东北方
+        "东偏北"
+    } else if (target.latitude < this.latitude && target.longitude < this.longitude) {
+        //西南方
+        "西偏南"
+    } else if (target.latitude > this.latitude && target.longitude < this.longitude) {
+        //西北方
+        "西偏北"
+    } else {
+        "东偏南"
+    }
+    return CalculateResult(angle.toInt(), direction, distance.toInt())
+}
\ No newline at end of file

diff --git a/app/src/main/java/com/casic/detector/base/BaseApplication.kt b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
index 30ccb6b..87ef650 100644
--- a/app/src/main/java/com/casic/detector/base/BaseApplication.kt
+++ b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
@@ -15,21 +15,29 @@
 
     private val kTag = "BaseApplication"
     private val suffix = "/dev/ttysWK"
-    private var serialPorts = ArrayList<SerialPort>()
+    private var serialPorts: ArrayList<SerialPort>? = null
 
     @Throws(SecurityException::class, IOException::class, InvalidParameterException::class)
-    fun getSerialPorts(): ArrayList<SerialPort> {
-        if (serialPorts.isEmpty()) {
-            /**
-             * Open the serial port
-             * */
-            serialPorts.add(SerialPort(File("${suffix}1"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}2"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}0"), 9600, 0))
+    fun getSerialPorts(): ArrayList<SerialPort>? {
+        serialPorts = ArrayList()
+        /**
+         * Open the serial port
+         * */
+        serialPorts?.apply {
+            add(SerialPort(File("${suffix}1"), 9600, 0))
+            add(SerialPort(File("${suffix}2"), 9600, 0))
+            add(SerialPort(File("${suffix}0"), 9600, 0))
         }
         return serialPorts
     }
 
+
+    fun closeSerialPort() {
+        serialPorts?.forEach {
+            it.close()
+        }
+    }
+
     companion object {
         private var application: BaseApplication by Delegates.notNull()
 
@@ -50,11 +58,4 @@
     fun getDaoSession(): DaoSession {
         return daoSession
     }
-
-    fun closeSerialPort() {
-        serialPorts.forEach {
-            it.close()
-        }
-        serialPorts.clear()
-    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/bean/TaskBean.java b/app/src/main/java/com/casic/detector/bean/TaskBean.java
index d6e1101..7ada7a5 100644
--- a/app/src/main/java/com/casic/detector/bean/TaskBean.java
+++ b/app/src/main/java/com/casic/detector/bean/TaskBean.java
@@ -1,5 +1,7 @@
 package com.casic.detector.bean;
 
+import com.casic.detector.model.TaskModel;
+
 import org.greenrobot.greendao.annotation.Entity;
 import org.greenrobot.greendao.annotation.Generated;
 import org.greenrobot.greendao.annotation.Id;
@@ -12,6 +14,9 @@
     private String scanner;
     private String desc;
     private String taskId;
+    /**
+     * 用 {@link TaskModel.MessageModel.TaskDetailInfosModel#id} 存
+     * */
     private String taskCode;
     private String markerId;
     private String markerRealId;
diff --git a/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
new file mode 100644
index 0000000..09203d9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
@@ -0,0 +1,59 @@
+package com.casic.detector.extensions
+
+import com.amap.api.location.AMapLocation
+import com.amap.api.maps.AMapUtils
+import com.amap.api.maps.model.LatLng
+import com.casic.detector.model.CalculateResult
+import kotlin.math.acos
+
+/**
+ * 计算两个经纬度之间连线的方位角，因为距离很近（一般是3米内），球面近似为平面
+ * C        B
+ * |-------/
+ * |      /
+ * |     /
+ * |    /
+ * |   /
+ * |  /
+ * | /
+ * |/
+ * A
+ * */
+fun AMapLocation.calculateAngle(target: LatLng): CalculateResult {
+    //构造直角辅助点
+    val auxiliaryPoint = LatLng(target.latitude, this.longitude)
+
+    //AB线段长度
+    val distance = AMapUtils.calculateLineDistance(
+        LatLng(this.latitude, this.longitude), target
+    )
+
+    //AC线段长度
+    val auxiliaryDistance = AMapUtils.calculateLineDistance(
+        LatLng(auxiliaryPoint.latitude, auxiliaryPoint.longitude), target
+    )
+
+    //求余弦值
+    val cosine = auxiliaryDistance / distance
+
+    //反余弦得弧度
+    val radian = acos(cosine)
+
+    //弧度转角度，度=弧度×180°/π
+    val angle = (radian * 180) / Math.PI
+
+    //判断方位
+    val direction = if (target.latitude > this.latitude && target.longitude > this.longitude) {
+        //东北方
+        "东偏北"
+    } else if (target.latitude < this.latitude && target.longitude < this.longitude) {
+        //西南方
+        "西偏南"
+    } else if (target.latitude > this.latitude && target.longitude < this.longitude) {
+        //西北方
+        "西偏北"
+    } else {
+        "东偏南"
+    }
+    return CalculateResult(angle.toInt(), direction, distance.toInt())
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/ArrayList.kt b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
new file mode 100644
index 0000000..52f8ac9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
@@ -0,0 +1,20 @@
+package com.casic.detector.extensions
+
+/**
+ * ArrayList扩展方法
+ */
+
+//将集合格式化成满足上传格式的数据
+fun ArrayList<String>.reformat(): String {
+    if (this.isEmpty()) return ""
+    val builder = StringBuilder()
+    //循环遍历元素，同时得到元素index(下标)
+    this.forEachIndexed { index, s ->
+        if (index == this.size - 1) {
+            builder.append(s)
+        } else {
+            builder.append(s).append(",")
+        }
+    }
+    return builder.toString()
+}
\ No newline at end of file

diff --git a/app/src/main/java/com/casic/detector/base/BaseApplication.kt b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
index 30ccb6b..87ef650 100644
--- a/app/src/main/java/com/casic/detector/base/BaseApplication.kt
+++ b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
@@ -15,21 +15,29 @@
 
     private val kTag = "BaseApplication"
     private val suffix = "/dev/ttysWK"
-    private var serialPorts = ArrayList<SerialPort>()
+    private var serialPorts: ArrayList<SerialPort>? = null
 
     @Throws(SecurityException::class, IOException::class, InvalidParameterException::class)
-    fun getSerialPorts(): ArrayList<SerialPort> {
-        if (serialPorts.isEmpty()) {
-            /**
-             * Open the serial port
-             * */
-            serialPorts.add(SerialPort(File("${suffix}1"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}2"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}0"), 9600, 0))
+    fun getSerialPorts(): ArrayList<SerialPort>? {
+        serialPorts = ArrayList()
+        /**
+         * Open the serial port
+         * */
+        serialPorts?.apply {
+            add(SerialPort(File("${suffix}1"), 9600, 0))
+            add(SerialPort(File("${suffix}2"), 9600, 0))
+            add(SerialPort(File("${suffix}0"), 9600, 0))
         }
         return serialPorts
     }
 
+
+    fun closeSerialPort() {
+        serialPorts?.forEach {
+            it.close()
+        }
+    }
+
     companion object {
         private var application: BaseApplication by Delegates.notNull()
 
@@ -50,11 +58,4 @@
     fun getDaoSession(): DaoSession {
         return daoSession
     }
-
-    fun closeSerialPort() {
-        serialPorts.forEach {
-            it.close()
-        }
-        serialPorts.clear()
-    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/bean/TaskBean.java b/app/src/main/java/com/casic/detector/bean/TaskBean.java
index d6e1101..7ada7a5 100644
--- a/app/src/main/java/com/casic/detector/bean/TaskBean.java
+++ b/app/src/main/java/com/casic/detector/bean/TaskBean.java
@@ -1,5 +1,7 @@
 package com.casic.detector.bean;
 
+import com.casic.detector.model.TaskModel;
+
 import org.greenrobot.greendao.annotation.Entity;
 import org.greenrobot.greendao.annotation.Generated;
 import org.greenrobot.greendao.annotation.Id;
@@ -12,6 +14,9 @@
     private String scanner;
     private String desc;
     private String taskId;
+    /**
+     * 用 {@link TaskModel.MessageModel.TaskDetailInfosModel#id} 存
+     * */
     private String taskCode;
     private String markerId;
     private String markerRealId;
diff --git a/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
new file mode 100644
index 0000000..09203d9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
@@ -0,0 +1,59 @@
+package com.casic.detector.extensions
+
+import com.amap.api.location.AMapLocation
+import com.amap.api.maps.AMapUtils
+import com.amap.api.maps.model.LatLng
+import com.casic.detector.model.CalculateResult
+import kotlin.math.acos
+
+/**
+ * 计算两个经纬度之间连线的方位角，因为距离很近（一般是3米内），球面近似为平面
+ * C        B
+ * |-------/
+ * |      /
+ * |     /
+ * |    /
+ * |   /
+ * |  /
+ * | /
+ * |/
+ * A
+ * */
+fun AMapLocation.calculateAngle(target: LatLng): CalculateResult {
+    //构造直角辅助点
+    val auxiliaryPoint = LatLng(target.latitude, this.longitude)
+
+    //AB线段长度
+    val distance = AMapUtils.calculateLineDistance(
+        LatLng(this.latitude, this.longitude), target
+    )
+
+    //AC线段长度
+    val auxiliaryDistance = AMapUtils.calculateLineDistance(
+        LatLng(auxiliaryPoint.latitude, auxiliaryPoint.longitude), target
+    )
+
+    //求余弦值
+    val cosine = auxiliaryDistance / distance
+
+    //反余弦得弧度
+    val radian = acos(cosine)
+
+    //弧度转角度，度=弧度×180°/π
+    val angle = (radian * 180) / Math.PI
+
+    //判断方位
+    val direction = if (target.latitude > this.latitude && target.longitude > this.longitude) {
+        //东北方
+        "东偏北"
+    } else if (target.latitude < this.latitude && target.longitude < this.longitude) {
+        //西南方
+        "西偏南"
+    } else if (target.latitude > this.latitude && target.longitude < this.longitude) {
+        //西北方
+        "西偏北"
+    } else {
+        "东偏南"
+    }
+    return CalculateResult(angle.toInt(), direction, distance.toInt())
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/ArrayList.kt b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
new file mode 100644
index 0000000..52f8ac9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
@@ -0,0 +1,20 @@
+package com.casic.detector.extensions
+
+/**
+ * ArrayList扩展方法
+ */
+
+//将集合格式化成满足上传格式的数据
+fun ArrayList<String>.reformat(): String {
+    if (this.isEmpty()) return ""
+    val builder = StringBuilder()
+    //循环遍历元素，同时得到元素index(下标)
+    this.forEachIndexed { index, s ->
+        if (index == this.size - 1) {
+            builder.append(s)
+        } else {
+            builder.append(s).append(",")
+        }
+    }
+    return builder.toString()
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/String.kt b/app/src/main/java/com/casic/detector/extensions/String.kt
index b76d83d..785b89f 100644
--- a/app/src/main/java/com/casic/detector/extensions/String.kt
+++ b/app/src/main/java/com/casic/detector/extensions/String.kt
@@ -122,4 +122,9 @@
         }
     }
     return sb.toString()
+}
+
+fun String.isNumber(): Boolean {
+    val regex = Regex("[-+]?\\d+(\\.\\d+)?")
+    return this.matches(regex)
 }
\ No newline at end of file

diff --git a/app/src/main/java/com/casic/detector/base/BaseApplication.kt b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
index 30ccb6b..87ef650 100644
--- a/app/src/main/java/com/casic/detector/base/BaseApplication.kt
+++ b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
@@ -15,21 +15,29 @@
 
     private val kTag = "BaseApplication"
     private val suffix = "/dev/ttysWK"
-    private var serialPorts = ArrayList<SerialPort>()
+    private var serialPorts: ArrayList<SerialPort>? = null
 
     @Throws(SecurityException::class, IOException::class, InvalidParameterException::class)
-    fun getSerialPorts(): ArrayList<SerialPort> {
-        if (serialPorts.isEmpty()) {
-            /**
-             * Open the serial port
-             * */
-            serialPorts.add(SerialPort(File("${suffix}1"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}2"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}0"), 9600, 0))
+    fun getSerialPorts(): ArrayList<SerialPort>? {
+        serialPorts = ArrayList()
+        /**
+         * Open the serial port
+         * */
+        serialPorts?.apply {
+            add(SerialPort(File("${suffix}1"), 9600, 0))
+            add(SerialPort(File("${suffix}2"), 9600, 0))
+            add(SerialPort(File("${suffix}0"), 9600, 0))
         }
         return serialPorts
     }
 
+
+    fun closeSerialPort() {
+        serialPorts?.forEach {
+            it.close()
+        }
+    }
+
     companion object {
         private var application: BaseApplication by Delegates.notNull()
 
@@ -50,11 +58,4 @@
     fun getDaoSession(): DaoSession {
         return daoSession
     }
-
-    fun closeSerialPort() {
-        serialPorts.forEach {
-            it.close()
-        }
-        serialPorts.clear()
-    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/bean/TaskBean.java b/app/src/main/java/com/casic/detector/bean/TaskBean.java
index d6e1101..7ada7a5 100644
--- a/app/src/main/java/com/casic/detector/bean/TaskBean.java
+++ b/app/src/main/java/com/casic/detector/bean/TaskBean.java
@@ -1,5 +1,7 @@
 package com.casic.detector.bean;
 
+import com.casic.detector.model.TaskModel;
+
 import org.greenrobot.greendao.annotation.Entity;
 import org.greenrobot.greendao.annotation.Generated;
 import org.greenrobot.greendao.annotation.Id;
@@ -12,6 +14,9 @@
     private String scanner;
     private String desc;
     private String taskId;
+    /**
+     * 用 {@link TaskModel.MessageModel.TaskDetailInfosModel#id} 存
+     * */
     private String taskCode;
     private String markerId;
     private String markerRealId;
diff --git a/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
new file mode 100644
index 0000000..09203d9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
@@ -0,0 +1,59 @@
+package com.casic.detector.extensions
+
+import com.amap.api.location.AMapLocation
+import com.amap.api.maps.AMapUtils
+import com.amap.api.maps.model.LatLng
+import com.casic.detector.model.CalculateResult
+import kotlin.math.acos
+
+/**
+ * 计算两个经纬度之间连线的方位角，因为距离很近（一般是3米内），球面近似为平面
+ * C        B
+ * |-------/
+ * |      /
+ * |     /
+ * |    /
+ * |   /
+ * |  /
+ * | /
+ * |/
+ * A
+ * */
+fun AMapLocation.calculateAngle(target: LatLng): CalculateResult {
+    //构造直角辅助点
+    val auxiliaryPoint = LatLng(target.latitude, this.longitude)
+
+    //AB线段长度
+    val distance = AMapUtils.calculateLineDistance(
+        LatLng(this.latitude, this.longitude), target
+    )
+
+    //AC线段长度
+    val auxiliaryDistance = AMapUtils.calculateLineDistance(
+        LatLng(auxiliaryPoint.latitude, auxiliaryPoint.longitude), target
+    )
+
+    //求余弦值
+    val cosine = auxiliaryDistance / distance
+
+    //反余弦得弧度
+    val radian = acos(cosine)
+
+    //弧度转角度，度=弧度×180°/π
+    val angle = (radian * 180) / Math.PI
+
+    //判断方位
+    val direction = if (target.latitude > this.latitude && target.longitude > this.longitude) {
+        //东北方
+        "东偏北"
+    } else if (target.latitude < this.latitude && target.longitude < this.longitude) {
+        //西南方
+        "西偏南"
+    } else if (target.latitude > this.latitude && target.longitude < this.longitude) {
+        //西北方
+        "西偏北"
+    } else {
+        "东偏南"
+    }
+    return CalculateResult(angle.toInt(), direction, distance.toInt())
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/ArrayList.kt b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
new file mode 100644
index 0000000..52f8ac9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
@@ -0,0 +1,20 @@
+package com.casic.detector.extensions
+
+/**
+ * ArrayList扩展方法
+ */
+
+//将集合格式化成满足上传格式的数据
+fun ArrayList<String>.reformat(): String {
+    if (this.isEmpty()) return ""
+    val builder = StringBuilder()
+    //循环遍历元素，同时得到元素index(下标)
+    this.forEachIndexed { index, s ->
+        if (index == this.size - 1) {
+            builder.append(s)
+        } else {
+            builder.append(s).append(",")
+        }
+    }
+    return builder.toString()
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/String.kt b/app/src/main/java/com/casic/detector/extensions/String.kt
index b76d83d..785b89f 100644
--- a/app/src/main/java/com/casic/detector/extensions/String.kt
+++ b/app/src/main/java/com/casic/detector/extensions/String.kt
@@ -122,4 +122,9 @@
         }
     }
     return sb.toString()
+}
+
+fun String.isNumber(): Boolean {
+    val regex = Regex("[-+]?\\d+(\\.\\d+)?")
+    return this.matches(regex)
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
index cab23bb..682c3f8 100644
--- a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
+++ b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
@@ -13,20 +13,25 @@
 
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
+
 /**
  * Master of DAO (schema version 1): knows all DAOs.
  */
 public class DaoMaster extends AbstractDaoMaster {
     public static final int SCHEMA_VERSION = 1;
 
-    /** Creates underlying database table using DAOs. */
+    /**
+     * Creates underlying database table using DAOs.
+     */
     public static void createAllTables(Database db, boolean ifNotExists) {
         LabelBeanDao.createTable(db, ifNotExists);
         SmallLabelBeanDao.createTable(db, ifNotExists);
         TaskBeanDao.createTable(db, ifNotExists);
     }
 
-    /** Drops underlying database table using DAOs. */
+    /**
+     * Drops underlying database table using DAOs.
+     */
     public static void dropAllTables(Database db, boolean ifExists) {
         LabelBeanDao.dropTable(db, ifExists);
         SmallLabelBeanDao.dropTable(db, ifExists);
@@ -81,7 +86,9 @@
         }
     }
 
-    /** WARNING: Drops all table on Upgrade! Use only during development. */
+    /**
+     * WARNING: Drops all table on Upgrade! Use only during development.
+     */
     public static class DevOpenHelper extends OpenHelper {
         public DevOpenHelper(Context context, String name) {
             super(context, name);

diff --git a/app/src/main/java/com/casic/detector/base/BaseApplication.kt b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
index 30ccb6b..87ef650 100644
--- a/app/src/main/java/com/casic/detector/base/BaseApplication.kt
+++ b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
@@ -15,21 +15,29 @@
 
     private val kTag = "BaseApplication"
     private val suffix = "/dev/ttysWK"
-    private var serialPorts = ArrayList<SerialPort>()
+    private var serialPorts: ArrayList<SerialPort>? = null
 
     @Throws(SecurityException::class, IOException::class, InvalidParameterException::class)
-    fun getSerialPorts(): ArrayList<SerialPort> {
-        if (serialPorts.isEmpty()) {
-            /**
-             * Open the serial port
-             * */
-            serialPorts.add(SerialPort(File("${suffix}1"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}2"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}0"), 9600, 0))
+    fun getSerialPorts(): ArrayList<SerialPort>? {
+        serialPorts = ArrayList()
+        /**
+         * Open the serial port
+         * */
+        serialPorts?.apply {
+            add(SerialPort(File("${suffix}1"), 9600, 0))
+            add(SerialPort(File("${suffix}2"), 9600, 0))
+            add(SerialPort(File("${suffix}0"), 9600, 0))
         }
         return serialPorts
     }
 
+
+    fun closeSerialPort() {
+        serialPorts?.forEach {
+            it.close()
+        }
+    }
+
     companion object {
         private var application: BaseApplication by Delegates.notNull()
 
@@ -50,11 +58,4 @@
     fun getDaoSession(): DaoSession {
         return daoSession
     }
-
-    fun closeSerialPort() {
-        serialPorts.forEach {
-            it.close()
-        }
-        serialPorts.clear()
-    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/bean/TaskBean.java b/app/src/main/java/com/casic/detector/bean/TaskBean.java
index d6e1101..7ada7a5 100644
--- a/app/src/main/java/com/casic/detector/bean/TaskBean.java
+++ b/app/src/main/java/com/casic/detector/bean/TaskBean.java
@@ -1,5 +1,7 @@
 package com.casic.detector.bean;
 
+import com.casic.detector.model.TaskModel;
+
 import org.greenrobot.greendao.annotation.Entity;
 import org.greenrobot.greendao.annotation.Generated;
 import org.greenrobot.greendao.annotation.Id;
@@ -12,6 +14,9 @@
     private String scanner;
     private String desc;
     private String taskId;
+    /**
+     * 用 {@link TaskModel.MessageModel.TaskDetailInfosModel#id} 存
+     * */
     private String taskCode;
     private String markerId;
     private String markerRealId;
diff --git a/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
new file mode 100644
index 0000000..09203d9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
@@ -0,0 +1,59 @@
+package com.casic.detector.extensions
+
+import com.amap.api.location.AMapLocation
+import com.amap.api.maps.AMapUtils
+import com.amap.api.maps.model.LatLng
+import com.casic.detector.model.CalculateResult
+import kotlin.math.acos
+
+/**
+ * 计算两个经纬度之间连线的方位角，因为距离很近（一般是3米内），球面近似为平面
+ * C        B
+ * |-------/
+ * |      /
+ * |     /
+ * |    /
+ * |   /
+ * |  /
+ * | /
+ * |/
+ * A
+ * */
+fun AMapLocation.calculateAngle(target: LatLng): CalculateResult {
+    //构造直角辅助点
+    val auxiliaryPoint = LatLng(target.latitude, this.longitude)
+
+    //AB线段长度
+    val distance = AMapUtils.calculateLineDistance(
+        LatLng(this.latitude, this.longitude), target
+    )
+
+    //AC线段长度
+    val auxiliaryDistance = AMapUtils.calculateLineDistance(
+        LatLng(auxiliaryPoint.latitude, auxiliaryPoint.longitude), target
+    )
+
+    //求余弦值
+    val cosine = auxiliaryDistance / distance
+
+    //反余弦得弧度
+    val radian = acos(cosine)
+
+    //弧度转角度，度=弧度×180°/π
+    val angle = (radian * 180) / Math.PI
+
+    //判断方位
+    val direction = if (target.latitude > this.latitude && target.longitude > this.longitude) {
+        //东北方
+        "东偏北"
+    } else if (target.latitude < this.latitude && target.longitude < this.longitude) {
+        //西南方
+        "西偏南"
+    } else if (target.latitude > this.latitude && target.longitude < this.longitude) {
+        //西北方
+        "西偏北"
+    } else {
+        "东偏南"
+    }
+    return CalculateResult(angle.toInt(), direction, distance.toInt())
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/ArrayList.kt b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
new file mode 100644
index 0000000..52f8ac9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
@@ -0,0 +1,20 @@
+package com.casic.detector.extensions
+
+/**
+ * ArrayList扩展方法
+ */
+
+//将集合格式化成满足上传格式的数据
+fun ArrayList<String>.reformat(): String {
+    if (this.isEmpty()) return ""
+    val builder = StringBuilder()
+    //循环遍历元素，同时得到元素index(下标)
+    this.forEachIndexed { index, s ->
+        if (index == this.size - 1) {
+            builder.append(s)
+        } else {
+            builder.append(s).append(",")
+        }
+    }
+    return builder.toString()
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/String.kt b/app/src/main/java/com/casic/detector/extensions/String.kt
index b76d83d..785b89f 100644
--- a/app/src/main/java/com/casic/detector/extensions/String.kt
+++ b/app/src/main/java/com/casic/detector/extensions/String.kt
@@ -122,4 +122,9 @@
         }
     }
     return sb.toString()
+}
+
+fun String.isNumber(): Boolean {
+    val regex = Regex("[-+]?\\d+(\\.\\d+)?")
+    return this.matches(regex)
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
index cab23bb..682c3f8 100644
--- a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
+++ b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
@@ -13,20 +13,25 @@
 
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
+
 /**
  * Master of DAO (schema version 1): knows all DAOs.
  */
 public class DaoMaster extends AbstractDaoMaster {
     public static final int SCHEMA_VERSION = 1;
 
-    /** Creates underlying database table using DAOs. */
+    /**
+     * Creates underlying database table using DAOs.
+     */
     public static void createAllTables(Database db, boolean ifNotExists) {
         LabelBeanDao.createTable(db, ifNotExists);
         SmallLabelBeanDao.createTable(db, ifNotExists);
         TaskBeanDao.createTable(db, ifNotExists);
     }
 
-    /** Drops underlying database table using DAOs. */
+    /**
+     * Drops underlying database table using DAOs.
+     */
     public static void dropAllTables(Database db, boolean ifExists) {
         LabelBeanDao.dropTable(db, ifExists);
         SmallLabelBeanDao.dropTable(db, ifExists);
@@ -81,7 +86,9 @@
         }
     }
 
-    /** WARNING: Drops all table on Upgrade! Use only during development. */
+    /**
+     * WARNING: Drops all table on Upgrade! Use only during development.
+     */
     public static class DevOpenHelper extends OpenHelper {
         public DevOpenHelper(Context context, String name) {
             super(context, name);
diff --git a/app/src/main/java/com/casic/detector/model/CalculateResult.kt b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
new file mode 100644
index 0000000..02cb0a0
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
@@ -0,0 +1,3 @@
+package com.casic.detector.model
+
+data class CalculateResult(val angle: Int, val direction: String, val distance: Int)

diff --git a/app/src/main/java/com/casic/detector/base/BaseApplication.kt b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
index 30ccb6b..87ef650 100644
--- a/app/src/main/java/com/casic/detector/base/BaseApplication.kt
+++ b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
@@ -15,21 +15,29 @@
 
     private val kTag = "BaseApplication"
     private val suffix = "/dev/ttysWK"
-    private var serialPorts = ArrayList<SerialPort>()
+    private var serialPorts: ArrayList<SerialPort>? = null
 
     @Throws(SecurityException::class, IOException::class, InvalidParameterException::class)
-    fun getSerialPorts(): ArrayList<SerialPort> {
-        if (serialPorts.isEmpty()) {
-            /**
-             * Open the serial port
-             * */
-            serialPorts.add(SerialPort(File("${suffix}1"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}2"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}0"), 9600, 0))
+    fun getSerialPorts(): ArrayList<SerialPort>? {
+        serialPorts = ArrayList()
+        /**
+         * Open the serial port
+         * */
+        serialPorts?.apply {
+            add(SerialPort(File("${suffix}1"), 9600, 0))
+            add(SerialPort(File("${suffix}2"), 9600, 0))
+            add(SerialPort(File("${suffix}0"), 9600, 0))
         }
         return serialPorts
     }
 
+
+    fun closeSerialPort() {
+        serialPorts?.forEach {
+            it.close()
+        }
+    }
+
     companion object {
         private var application: BaseApplication by Delegates.notNull()
 
@@ -50,11 +58,4 @@
     fun getDaoSession(): DaoSession {
         return daoSession
     }
-
-    fun closeSerialPort() {
-        serialPorts.forEach {
-            it.close()
-        }
-        serialPorts.clear()
-    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/bean/TaskBean.java b/app/src/main/java/com/casic/detector/bean/TaskBean.java
index d6e1101..7ada7a5 100644
--- a/app/src/main/java/com/casic/detector/bean/TaskBean.java
+++ b/app/src/main/java/com/casic/detector/bean/TaskBean.java
@@ -1,5 +1,7 @@
 package com.casic.detector.bean;
 
+import com.casic.detector.model.TaskModel;
+
 import org.greenrobot.greendao.annotation.Entity;
 import org.greenrobot.greendao.annotation.Generated;
 import org.greenrobot.greendao.annotation.Id;
@@ -12,6 +14,9 @@
     private String scanner;
     private String desc;
     private String taskId;
+    /**
+     * 用 {@link TaskModel.MessageModel.TaskDetailInfosModel#id} 存
+     * */
     private String taskCode;
     private String markerId;
     private String markerRealId;
diff --git a/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
new file mode 100644
index 0000000..09203d9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
@@ -0,0 +1,59 @@
+package com.casic.detector.extensions
+
+import com.amap.api.location.AMapLocation
+import com.amap.api.maps.AMapUtils
+import com.amap.api.maps.model.LatLng
+import com.casic.detector.model.CalculateResult
+import kotlin.math.acos
+
+/**
+ * 计算两个经纬度之间连线的方位角，因为距离很近（一般是3米内），球面近似为平面
+ * C        B
+ * |-------/
+ * |      /
+ * |     /
+ * |    /
+ * |   /
+ * |  /
+ * | /
+ * |/
+ * A
+ * */
+fun AMapLocation.calculateAngle(target: LatLng): CalculateResult {
+    //构造直角辅助点
+    val auxiliaryPoint = LatLng(target.latitude, this.longitude)
+
+    //AB线段长度
+    val distance = AMapUtils.calculateLineDistance(
+        LatLng(this.latitude, this.longitude), target
+    )
+
+    //AC线段长度
+    val auxiliaryDistance = AMapUtils.calculateLineDistance(
+        LatLng(auxiliaryPoint.latitude, auxiliaryPoint.longitude), target
+    )
+
+    //求余弦值
+    val cosine = auxiliaryDistance / distance
+
+    //反余弦得弧度
+    val radian = acos(cosine)
+
+    //弧度转角度，度=弧度×180°/π
+    val angle = (radian * 180) / Math.PI
+
+    //判断方位
+    val direction = if (target.latitude > this.latitude && target.longitude > this.longitude) {
+        //东北方
+        "东偏北"
+    } else if (target.latitude < this.latitude && target.longitude < this.longitude) {
+        //西南方
+        "西偏南"
+    } else if (target.latitude > this.latitude && target.longitude < this.longitude) {
+        //西北方
+        "西偏北"
+    } else {
+        "东偏南"
+    }
+    return CalculateResult(angle.toInt(), direction, distance.toInt())
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/ArrayList.kt b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
new file mode 100644
index 0000000..52f8ac9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
@@ -0,0 +1,20 @@
+package com.casic.detector.extensions
+
+/**
+ * ArrayList扩展方法
+ */
+
+//将集合格式化成满足上传格式的数据
+fun ArrayList<String>.reformat(): String {
+    if (this.isEmpty()) return ""
+    val builder = StringBuilder()
+    //循环遍历元素，同时得到元素index(下标)
+    this.forEachIndexed { index, s ->
+        if (index == this.size - 1) {
+            builder.append(s)
+        } else {
+            builder.append(s).append(",")
+        }
+    }
+    return builder.toString()
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/String.kt b/app/src/main/java/com/casic/detector/extensions/String.kt
index b76d83d..785b89f 100644
--- a/app/src/main/java/com/casic/detector/extensions/String.kt
+++ b/app/src/main/java/com/casic/detector/extensions/String.kt
@@ -122,4 +122,9 @@
         }
     }
     return sb.toString()
+}
+
+fun String.isNumber(): Boolean {
+    val regex = Regex("[-+]?\\d+(\\.\\d+)?")
+    return this.matches(regex)
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
index cab23bb..682c3f8 100644
--- a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
+++ b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
@@ -13,20 +13,25 @@
 
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
+
 /**
  * Master of DAO (schema version 1): knows all DAOs.
  */
 public class DaoMaster extends AbstractDaoMaster {
     public static final int SCHEMA_VERSION = 1;
 
-    /** Creates underlying database table using DAOs. */
+    /**
+     * Creates underlying database table using DAOs.
+     */
     public static void createAllTables(Database db, boolean ifNotExists) {
         LabelBeanDao.createTable(db, ifNotExists);
         SmallLabelBeanDao.createTable(db, ifNotExists);
         TaskBeanDao.createTable(db, ifNotExists);
     }
 
-    /** Drops underlying database table using DAOs. */
+    /**
+     * Drops underlying database table using DAOs.
+     */
     public static void dropAllTables(Database db, boolean ifExists) {
         LabelBeanDao.dropTable(db, ifExists);
         SmallLabelBeanDao.dropTable(db, ifExists);
@@ -81,7 +86,9 @@
         }
     }
 
-    /** WARNING: Drops all table on Upgrade! Use only during development. */
+    /**
+     * WARNING: Drops all table on Upgrade! Use only during development.
+     */
     public static class DevOpenHelper extends OpenHelper {
         public DevOpenHelper(Context context, String name) {
             super(context, name);
diff --git a/app/src/main/java/com/casic/detector/model/CalculateResult.kt b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
new file mode 100644
index 0000000..02cb0a0
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
@@ -0,0 +1,3 @@
+package com.casic.detector.model
+
+data class CalculateResult(val angle: Int, val direction: String, val distance: Int)
diff --git a/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt b/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
index 43a8484..cae51d5 100644
--- a/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
+++ b/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
@@ -82,25 +82,21 @@
      */
     @GET("/ems/rs/task/update-task-mark")
     suspend fun uploadMarker(
-        @Query("taskDetailId") taskId: String,
+        @Query("taskDetailId") taskId: String
     ): String
 
     /**
      * 新建自由巡检任务
      * */
-    @GET("")
+    @GET("ems/rs/task/addAppTask")
     suspend fun createFreeTask(
         @Query("patrollerId") patrollerId: String,
-        @Query("description") description: String,
+        @Query("description") description: String
     ): String
 
     /**
      * 上传自由巡检过程中发现的标识器
      * */
-    @Multipart
-    @POST("")
-    suspend fun uploadTaskMarker(
-        @Field("taskId") taskId: String,
-        @Body requestBody: RequestBody,
-    ): String
+    @POST("ems/event/uploadAppMarker.do")
+    suspend fun uploadTaskMarker(@Body requestBody: RequestBody): String
 }
\ No newline at end of file

diff --git a/app/src/main/java/com/casic/detector/base/BaseApplication.kt b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
index 30ccb6b..87ef650 100644
--- a/app/src/main/java/com/casic/detector/base/BaseApplication.kt
+++ b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
@@ -15,21 +15,29 @@
 
     private val kTag = "BaseApplication"
     private val suffix = "/dev/ttysWK"
-    private var serialPorts = ArrayList<SerialPort>()
+    private var serialPorts: ArrayList<SerialPort>? = null
 
     @Throws(SecurityException::class, IOException::class, InvalidParameterException::class)
-    fun getSerialPorts(): ArrayList<SerialPort> {
-        if (serialPorts.isEmpty()) {
-            /**
-             * Open the serial port
-             * */
-            serialPorts.add(SerialPort(File("${suffix}1"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}2"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}0"), 9600, 0))
+    fun getSerialPorts(): ArrayList<SerialPort>? {
+        serialPorts = ArrayList()
+        /**
+         * Open the serial port
+         * */
+        serialPorts?.apply {
+            add(SerialPort(File("${suffix}1"), 9600, 0))
+            add(SerialPort(File("${suffix}2"), 9600, 0))
+            add(SerialPort(File("${suffix}0"), 9600, 0))
         }
         return serialPorts
     }
 
+
+    fun closeSerialPort() {
+        serialPorts?.forEach {
+            it.close()
+        }
+    }
+
     companion object {
         private var application: BaseApplication by Delegates.notNull()
 
@@ -50,11 +58,4 @@
     fun getDaoSession(): DaoSession {
         return daoSession
     }
-
-    fun closeSerialPort() {
-        serialPorts.forEach {
-            it.close()
-        }
-        serialPorts.clear()
-    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/bean/TaskBean.java b/app/src/main/java/com/casic/detector/bean/TaskBean.java
index d6e1101..7ada7a5 100644
--- a/app/src/main/java/com/casic/detector/bean/TaskBean.java
+++ b/app/src/main/java/com/casic/detector/bean/TaskBean.java
@@ -1,5 +1,7 @@
 package com.casic.detector.bean;
 
+import com.casic.detector.model.TaskModel;
+
 import org.greenrobot.greendao.annotation.Entity;
 import org.greenrobot.greendao.annotation.Generated;
 import org.greenrobot.greendao.annotation.Id;
@@ -12,6 +14,9 @@
     private String scanner;
     private String desc;
     private String taskId;
+    /**
+     * 用 {@link TaskModel.MessageModel.TaskDetailInfosModel#id} 存
+     * */
     private String taskCode;
     private String markerId;
     private String markerRealId;
diff --git a/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
new file mode 100644
index 0000000..09203d9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
@@ -0,0 +1,59 @@
+package com.casic.detector.extensions
+
+import com.amap.api.location.AMapLocation
+import com.amap.api.maps.AMapUtils
+import com.amap.api.maps.model.LatLng
+import com.casic.detector.model.CalculateResult
+import kotlin.math.acos
+
+/**
+ * 计算两个经纬度之间连线的方位角，因为距离很近（一般是3米内），球面近似为平面
+ * C        B
+ * |-------/
+ * |      /
+ * |     /
+ * |    /
+ * |   /
+ * |  /
+ * | /
+ * |/
+ * A
+ * */
+fun AMapLocation.calculateAngle(target: LatLng): CalculateResult {
+    //构造直角辅助点
+    val auxiliaryPoint = LatLng(target.latitude, this.longitude)
+
+    //AB线段长度
+    val distance = AMapUtils.calculateLineDistance(
+        LatLng(this.latitude, this.longitude), target
+    )
+
+    //AC线段长度
+    val auxiliaryDistance = AMapUtils.calculateLineDistance(
+        LatLng(auxiliaryPoint.latitude, auxiliaryPoint.longitude), target
+    )
+
+    //求余弦值
+    val cosine = auxiliaryDistance / distance
+
+    //反余弦得弧度
+    val radian = acos(cosine)
+
+    //弧度转角度，度=弧度×180°/π
+    val angle = (radian * 180) / Math.PI
+
+    //判断方位
+    val direction = if (target.latitude > this.latitude && target.longitude > this.longitude) {
+        //东北方
+        "东偏北"
+    } else if (target.latitude < this.latitude && target.longitude < this.longitude) {
+        //西南方
+        "西偏南"
+    } else if (target.latitude > this.latitude && target.longitude < this.longitude) {
+        //西北方
+        "西偏北"
+    } else {
+        "东偏南"
+    }
+    return CalculateResult(angle.toInt(), direction, distance.toInt())
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/ArrayList.kt b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
new file mode 100644
index 0000000..52f8ac9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
@@ -0,0 +1,20 @@
+package com.casic.detector.extensions
+
+/**
+ * ArrayList扩展方法
+ */
+
+//将集合格式化成满足上传格式的数据
+fun ArrayList<String>.reformat(): String {
+    if (this.isEmpty()) return ""
+    val builder = StringBuilder()
+    //循环遍历元素，同时得到元素index(下标)
+    this.forEachIndexed { index, s ->
+        if (index == this.size - 1) {
+            builder.append(s)
+        } else {
+            builder.append(s).append(",")
+        }
+    }
+    return builder.toString()
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/String.kt b/app/src/main/java/com/casic/detector/extensions/String.kt
index b76d83d..785b89f 100644
--- a/app/src/main/java/com/casic/detector/extensions/String.kt
+++ b/app/src/main/java/com/casic/detector/extensions/String.kt
@@ -122,4 +122,9 @@
         }
     }
     return sb.toString()
+}
+
+fun String.isNumber(): Boolean {
+    val regex = Regex("[-+]?\\d+(\\.\\d+)?")
+    return this.matches(regex)
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
index cab23bb..682c3f8 100644
--- a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
+++ b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
@@ -13,20 +13,25 @@
 
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
+
 /**
  * Master of DAO (schema version 1): knows all DAOs.
  */
 public class DaoMaster extends AbstractDaoMaster {
     public static final int SCHEMA_VERSION = 1;
 
-    /** Creates underlying database table using DAOs. */
+    /**
+     * Creates underlying database table using DAOs.
+     */
     public static void createAllTables(Database db, boolean ifNotExists) {
         LabelBeanDao.createTable(db, ifNotExists);
         SmallLabelBeanDao.createTable(db, ifNotExists);
         TaskBeanDao.createTable(db, ifNotExists);
     }
 
-    /** Drops underlying database table using DAOs. */
+    /**
+     * Drops underlying database table using DAOs.
+     */
     public static void dropAllTables(Database db, boolean ifExists) {
         LabelBeanDao.dropTable(db, ifExists);
         SmallLabelBeanDao.dropTable(db, ifExists);
@@ -81,7 +86,9 @@
         }
     }
 
-    /** WARNING: Drops all table on Upgrade! Use only during development. */
+    /**
+     * WARNING: Drops all table on Upgrade! Use only during development.
+     */
     public static class DevOpenHelper extends OpenHelper {
         public DevOpenHelper(Context context, String name) {
             super(context, name);
diff --git a/app/src/main/java/com/casic/detector/model/CalculateResult.kt b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
new file mode 100644
index 0000000..02cb0a0
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
@@ -0,0 +1,3 @@
+package com.casic.detector.model
+
+data class CalculateResult(val angle: Int, val direction: String, val distance: Int)
diff --git a/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt b/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
index 43a8484..cae51d5 100644
--- a/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
+++ b/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
@@ -82,25 +82,21 @@
      */
     @GET("/ems/rs/task/update-task-mark")
     suspend fun uploadMarker(
-        @Query("taskDetailId") taskId: String,
+        @Query("taskDetailId") taskId: String
     ): String
 
     /**
      * 新建自由巡检任务
      * */
-    @GET("")
+    @GET("ems/rs/task/addAppTask")
     suspend fun createFreeTask(
         @Query("patrollerId") patrollerId: String,
-        @Query("description") description: String,
+        @Query("description") description: String
     ): String
 
     /**
      * 上传自由巡检过程中发现的标识器
      * */
-    @Multipart
-    @POST("")
-    suspend fun uploadTaskMarker(
-        @Field("taskId") taskId: String,
-        @Body requestBody: RequestBody,
-    ): String
+    @POST("ems/event/uploadAppMarker.do")
+    suspend fun uploadTaskMarker(@Body requestBody: RequestBody): String
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt b/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
index 8ae0794..ac06760 100644
--- a/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
+++ b/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
@@ -1,9 +1,9 @@
 package com.casic.detector.retrofit
 
+import com.casic.detector.extensions.reformat
 import com.casic.detector.utils.LocaleConstant
 import com.google.gson.Gson
 import com.google.gson.JsonObject
-import com.google.gson.reflect.TypeToken
 import com.pengxh.kt.lite.utils.RetrofitFactory
 import com.pengxh.kt.lite.utils.SaveKeyValues
 import okhttp3.MediaType.Companion.toMediaType
@@ -16,7 +16,6 @@
 object RetrofitServiceManager {
 
     private val gson by lazy { Gson() }
-    private val typeToken = object : TypeToken<Array<String>>() {}.type
 
     private fun createApi(): RetrofitService {
         val serverIp = SaveKeyValues.getValue(LocaleConstant.SERVER_IP, "") as String
@@ -233,12 +232,13 @@
     /**
      * 上传自由巡检过程中发现的标识器
      */
-    suspend fun uploadTaskMarker(taskId: String, models: List<String>): String {
+    suspend fun uploadTaskMarker(taskId: String, models: ArrayList<String>): String {
         val param = JsonObject()
-        param.add("markers", gson.toJsonTree(models, typeToken).asJsonArray)
+        param.addProperty("taskId", taskId)
+        param.addProperty("ids", models.reformat())
         val requestBody = param.toString().toRequestBody(
             "application/json;charset=UTF-8".toMediaType()
         )
-        return createApi().uploadTaskMarker(taskId, requestBody)
+        return createApi().uploadTaskMarker(requestBody)
     }
 }
\ No newline at end of file

diff --git a/app/src/main/java/com/casic/detector/base/BaseApplication.kt b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
index 30ccb6b..87ef650 100644
--- a/app/src/main/java/com/casic/detector/base/BaseApplication.kt
+++ b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
@@ -15,21 +15,29 @@
 
     private val kTag = "BaseApplication"
     private val suffix = "/dev/ttysWK"
-    private var serialPorts = ArrayList<SerialPort>()
+    private var serialPorts: ArrayList<SerialPort>? = null
 
     @Throws(SecurityException::class, IOException::class, InvalidParameterException::class)
-    fun getSerialPorts(): ArrayList<SerialPort> {
-        if (serialPorts.isEmpty()) {
-            /**
-             * Open the serial port
-             * */
-            serialPorts.add(SerialPort(File("${suffix}1"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}2"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}0"), 9600, 0))
+    fun getSerialPorts(): ArrayList<SerialPort>? {
+        serialPorts = ArrayList()
+        /**
+         * Open the serial port
+         * */
+        serialPorts?.apply {
+            add(SerialPort(File("${suffix}1"), 9600, 0))
+            add(SerialPort(File("${suffix}2"), 9600, 0))
+            add(SerialPort(File("${suffix}0"), 9600, 0))
         }
         return serialPorts
     }
 
+
+    fun closeSerialPort() {
+        serialPorts?.forEach {
+            it.close()
+        }
+    }
+
     companion object {
         private var application: BaseApplication by Delegates.notNull()
 
@@ -50,11 +58,4 @@
     fun getDaoSession(): DaoSession {
         return daoSession
     }
-
-    fun closeSerialPort() {
-        serialPorts.forEach {
-            it.close()
-        }
-        serialPorts.clear()
-    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/bean/TaskBean.java b/app/src/main/java/com/casic/detector/bean/TaskBean.java
index d6e1101..7ada7a5 100644
--- a/app/src/main/java/com/casic/detector/bean/TaskBean.java
+++ b/app/src/main/java/com/casic/detector/bean/TaskBean.java
@@ -1,5 +1,7 @@
 package com.casic.detector.bean;
 
+import com.casic.detector.model.TaskModel;
+
 import org.greenrobot.greendao.annotation.Entity;
 import org.greenrobot.greendao.annotation.Generated;
 import org.greenrobot.greendao.annotation.Id;
@@ -12,6 +14,9 @@
     private String scanner;
     private String desc;
     private String taskId;
+    /**
+     * 用 {@link TaskModel.MessageModel.TaskDetailInfosModel#id} 存
+     * */
     private String taskCode;
     private String markerId;
     private String markerRealId;
diff --git a/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
new file mode 100644
index 0000000..09203d9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
@@ -0,0 +1,59 @@
+package com.casic.detector.extensions
+
+import com.amap.api.location.AMapLocation
+import com.amap.api.maps.AMapUtils
+import com.amap.api.maps.model.LatLng
+import com.casic.detector.model.CalculateResult
+import kotlin.math.acos
+
+/**
+ * 计算两个经纬度之间连线的方位角，因为距离很近（一般是3米内），球面近似为平面
+ * C        B
+ * |-------/
+ * |      /
+ * |     /
+ * |    /
+ * |   /
+ * |  /
+ * | /
+ * |/
+ * A
+ * */
+fun AMapLocation.calculateAngle(target: LatLng): CalculateResult {
+    //构造直角辅助点
+    val auxiliaryPoint = LatLng(target.latitude, this.longitude)
+
+    //AB线段长度
+    val distance = AMapUtils.calculateLineDistance(
+        LatLng(this.latitude, this.longitude), target
+    )
+
+    //AC线段长度
+    val auxiliaryDistance = AMapUtils.calculateLineDistance(
+        LatLng(auxiliaryPoint.latitude, auxiliaryPoint.longitude), target
+    )
+
+    //求余弦值
+    val cosine = auxiliaryDistance / distance
+
+    //反余弦得弧度
+    val radian = acos(cosine)
+
+    //弧度转角度，度=弧度×180°/π
+    val angle = (radian * 180) / Math.PI
+
+    //判断方位
+    val direction = if (target.latitude > this.latitude && target.longitude > this.longitude) {
+        //东北方
+        "东偏北"
+    } else if (target.latitude < this.latitude && target.longitude < this.longitude) {
+        //西南方
+        "西偏南"
+    } else if (target.latitude > this.latitude && target.longitude < this.longitude) {
+        //西北方
+        "西偏北"
+    } else {
+        "东偏南"
+    }
+    return CalculateResult(angle.toInt(), direction, distance.toInt())
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/ArrayList.kt b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
new file mode 100644
index 0000000..52f8ac9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
@@ -0,0 +1,20 @@
+package com.casic.detector.extensions
+
+/**
+ * ArrayList扩展方法
+ */
+
+//将集合格式化成满足上传格式的数据
+fun ArrayList<String>.reformat(): String {
+    if (this.isEmpty()) return ""
+    val builder = StringBuilder()
+    //循环遍历元素，同时得到元素index(下标)
+    this.forEachIndexed { index, s ->
+        if (index == this.size - 1) {
+            builder.append(s)
+        } else {
+            builder.append(s).append(",")
+        }
+    }
+    return builder.toString()
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/String.kt b/app/src/main/java/com/casic/detector/extensions/String.kt
index b76d83d..785b89f 100644
--- a/app/src/main/java/com/casic/detector/extensions/String.kt
+++ b/app/src/main/java/com/casic/detector/extensions/String.kt
@@ -122,4 +122,9 @@
         }
     }
     return sb.toString()
+}
+
+fun String.isNumber(): Boolean {
+    val regex = Regex("[-+]?\\d+(\\.\\d+)?")
+    return this.matches(regex)
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
index cab23bb..682c3f8 100644
--- a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
+++ b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
@@ -13,20 +13,25 @@
 
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
+
 /**
  * Master of DAO (schema version 1): knows all DAOs.
  */
 public class DaoMaster extends AbstractDaoMaster {
     public static final int SCHEMA_VERSION = 1;
 
-    /** Creates underlying database table using DAOs. */
+    /**
+     * Creates underlying database table using DAOs.
+     */
     public static void createAllTables(Database db, boolean ifNotExists) {
         LabelBeanDao.createTable(db, ifNotExists);
         SmallLabelBeanDao.createTable(db, ifNotExists);
         TaskBeanDao.createTable(db, ifNotExists);
     }
 
-    /** Drops underlying database table using DAOs. */
+    /**
+     * Drops underlying database table using DAOs.
+     */
     public static void dropAllTables(Database db, boolean ifExists) {
         LabelBeanDao.dropTable(db, ifExists);
         SmallLabelBeanDao.dropTable(db, ifExists);
@@ -81,7 +86,9 @@
         }
     }
 
-    /** WARNING: Drops all table on Upgrade! Use only during development. */
+    /**
+     * WARNING: Drops all table on Upgrade! Use only during development.
+     */
     public static class DevOpenHelper extends OpenHelper {
         public DevOpenHelper(Context context, String name) {
             super(context, name);
diff --git a/app/src/main/java/com/casic/detector/model/CalculateResult.kt b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
new file mode 100644
index 0000000..02cb0a0
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
@@ -0,0 +1,3 @@
+package com.casic.detector.model
+
+data class CalculateResult(val angle: Int, val direction: String, val distance: Int)
diff --git a/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt b/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
index 43a8484..cae51d5 100644
--- a/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
+++ b/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
@@ -82,25 +82,21 @@
      */
     @GET("/ems/rs/task/update-task-mark")
     suspend fun uploadMarker(
-        @Query("taskDetailId") taskId: String,
+        @Query("taskDetailId") taskId: String
     ): String
 
     /**
      * 新建自由巡检任务
      * */
-    @GET("")
+    @GET("ems/rs/task/addAppTask")
     suspend fun createFreeTask(
         @Query("patrollerId") patrollerId: String,
-        @Query("description") description: String,
+        @Query("description") description: String
     ): String
 
     /**
      * 上传自由巡检过程中发现的标识器
      * */
-    @Multipart
-    @POST("")
-    suspend fun uploadTaskMarker(
-        @Field("taskId") taskId: String,
-        @Body requestBody: RequestBody,
-    ): String
+    @POST("ems/event/uploadAppMarker.do")
+    suspend fun uploadTaskMarker(@Body requestBody: RequestBody): String
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt b/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
index 8ae0794..ac06760 100644
--- a/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
+++ b/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
@@ -1,9 +1,9 @@
 package com.casic.detector.retrofit
 
+import com.casic.detector.extensions.reformat
 import com.casic.detector.utils.LocaleConstant
 import com.google.gson.Gson
 import com.google.gson.JsonObject
-import com.google.gson.reflect.TypeToken
 import com.pengxh.kt.lite.utils.RetrofitFactory
 import com.pengxh.kt.lite.utils.SaveKeyValues
 import okhttp3.MediaType.Companion.toMediaType
@@ -16,7 +16,6 @@
 object RetrofitServiceManager {
 
     private val gson by lazy { Gson() }
-    private val typeToken = object : TypeToken<Array<String>>() {}.type
 
     private fun createApi(): RetrofitService {
         val serverIp = SaveKeyValues.getValue(LocaleConstant.SERVER_IP, "") as String
@@ -233,12 +232,13 @@
     /**
      * 上传自由巡检过程中发现的标识器
      */
-    suspend fun uploadTaskMarker(taskId: String, models: List<String>): String {
+    suspend fun uploadTaskMarker(taskId: String, models: ArrayList<String>): String {
         val param = JsonObject()
-        param.add("markers", gson.toJsonTree(models, typeToken).asJsonArray)
+        param.addProperty("taskId", taskId)
+        param.addProperty("ids", models.reformat())
         val requestBody = param.toString().toRequestBody(
             "application/json;charset=UTF-8".toMediaType()
         )
-        return createApi().uploadTaskMarker(taskId, requestBody)
+        return createApi().uploadTaskMarker(requestBody)
     }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt b/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
index 1c7d95b..7e627a4 100644
--- a/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
+++ b/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
@@ -105,7 +105,7 @@
     fun queryTaskLabelByIdAndState(identifierId: String, state: String): TaskBean? {
         return taskBeanDao.queryBuilder()
             .where(
-                TaskBeanDao.Properties.MarkerRealId.eq(identifierId),
+                TaskBeanDao.Properties.MarkerId.eq(identifierId),
                 TaskBeanDao.Properties.State.eq(state)
             ).list().firstOrNull()
     }

diff --git a/app/src/main/java/com/casic/detector/base/BaseApplication.kt b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
index 30ccb6b..87ef650 100644
--- a/app/src/main/java/com/casic/detector/base/BaseApplication.kt
+++ b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
@@ -15,21 +15,29 @@
 
     private val kTag = "BaseApplication"
     private val suffix = "/dev/ttysWK"
-    private var serialPorts = ArrayList<SerialPort>()
+    private var serialPorts: ArrayList<SerialPort>? = null
 
     @Throws(SecurityException::class, IOException::class, InvalidParameterException::class)
-    fun getSerialPorts(): ArrayList<SerialPort> {
-        if (serialPorts.isEmpty()) {
-            /**
-             * Open the serial port
-             * */
-            serialPorts.add(SerialPort(File("${suffix}1"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}2"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}0"), 9600, 0))
+    fun getSerialPorts(): ArrayList<SerialPort>? {
+        serialPorts = ArrayList()
+        /**
+         * Open the serial port
+         * */
+        serialPorts?.apply {
+            add(SerialPort(File("${suffix}1"), 9600, 0))
+            add(SerialPort(File("${suffix}2"), 9600, 0))
+            add(SerialPort(File("${suffix}0"), 9600, 0))
         }
         return serialPorts
     }
 
+
+    fun closeSerialPort() {
+        serialPorts?.forEach {
+            it.close()
+        }
+    }
+
     companion object {
         private var application: BaseApplication by Delegates.notNull()
 
@@ -50,11 +58,4 @@
     fun getDaoSession(): DaoSession {
         return daoSession
     }
-
-    fun closeSerialPort() {
-        serialPorts.forEach {
-            it.close()
-        }
-        serialPorts.clear()
-    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/bean/TaskBean.java b/app/src/main/java/com/casic/detector/bean/TaskBean.java
index d6e1101..7ada7a5 100644
--- a/app/src/main/java/com/casic/detector/bean/TaskBean.java
+++ b/app/src/main/java/com/casic/detector/bean/TaskBean.java
@@ -1,5 +1,7 @@
 package com.casic.detector.bean;
 
+import com.casic.detector.model.TaskModel;
+
 import org.greenrobot.greendao.annotation.Entity;
 import org.greenrobot.greendao.annotation.Generated;
 import org.greenrobot.greendao.annotation.Id;
@@ -12,6 +14,9 @@
     private String scanner;
     private String desc;
     private String taskId;
+    /**
+     * 用 {@link TaskModel.MessageModel.TaskDetailInfosModel#id} 存
+     * */
     private String taskCode;
     private String markerId;
     private String markerRealId;
diff --git a/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
new file mode 100644
index 0000000..09203d9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
@@ -0,0 +1,59 @@
+package com.casic.detector.extensions
+
+import com.amap.api.location.AMapLocation
+import com.amap.api.maps.AMapUtils
+import com.amap.api.maps.model.LatLng
+import com.casic.detector.model.CalculateResult
+import kotlin.math.acos
+
+/**
+ * 计算两个经纬度之间连线的方位角，因为距离很近（一般是3米内），球面近似为平面
+ * C        B
+ * |-------/
+ * |      /
+ * |     /
+ * |    /
+ * |   /
+ * |  /
+ * | /
+ * |/
+ * A
+ * */
+fun AMapLocation.calculateAngle(target: LatLng): CalculateResult {
+    //构造直角辅助点
+    val auxiliaryPoint = LatLng(target.latitude, this.longitude)
+
+    //AB线段长度
+    val distance = AMapUtils.calculateLineDistance(
+        LatLng(this.latitude, this.longitude), target
+    )
+
+    //AC线段长度
+    val auxiliaryDistance = AMapUtils.calculateLineDistance(
+        LatLng(auxiliaryPoint.latitude, auxiliaryPoint.longitude), target
+    )
+
+    //求余弦值
+    val cosine = auxiliaryDistance / distance
+
+    //反余弦得弧度
+    val radian = acos(cosine)
+
+    //弧度转角度，度=弧度×180°/π
+    val angle = (radian * 180) / Math.PI
+
+    //判断方位
+    val direction = if (target.latitude > this.latitude && target.longitude > this.longitude) {
+        //东北方
+        "东偏北"
+    } else if (target.latitude < this.latitude && target.longitude < this.longitude) {
+        //西南方
+        "西偏南"
+    } else if (target.latitude > this.latitude && target.longitude < this.longitude) {
+        //西北方
+        "西偏北"
+    } else {
+        "东偏南"
+    }
+    return CalculateResult(angle.toInt(), direction, distance.toInt())
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/ArrayList.kt b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
new file mode 100644
index 0000000..52f8ac9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
@@ -0,0 +1,20 @@
+package com.casic.detector.extensions
+
+/**
+ * ArrayList扩展方法
+ */
+
+//将集合格式化成满足上传格式的数据
+fun ArrayList<String>.reformat(): String {
+    if (this.isEmpty()) return ""
+    val builder = StringBuilder()
+    //循环遍历元素，同时得到元素index(下标)
+    this.forEachIndexed { index, s ->
+        if (index == this.size - 1) {
+            builder.append(s)
+        } else {
+            builder.append(s).append(",")
+        }
+    }
+    return builder.toString()
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/String.kt b/app/src/main/java/com/casic/detector/extensions/String.kt
index b76d83d..785b89f 100644
--- a/app/src/main/java/com/casic/detector/extensions/String.kt
+++ b/app/src/main/java/com/casic/detector/extensions/String.kt
@@ -122,4 +122,9 @@
         }
     }
     return sb.toString()
+}
+
+fun String.isNumber(): Boolean {
+    val regex = Regex("[-+]?\\d+(\\.\\d+)?")
+    return this.matches(regex)
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
index cab23bb..682c3f8 100644
--- a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
+++ b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
@@ -13,20 +13,25 @@
 
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
+
 /**
  * Master of DAO (schema version 1): knows all DAOs.
  */
 public class DaoMaster extends AbstractDaoMaster {
     public static final int SCHEMA_VERSION = 1;
 
-    /** Creates underlying database table using DAOs. */
+    /**
+     * Creates underlying database table using DAOs.
+     */
     public static void createAllTables(Database db, boolean ifNotExists) {
         LabelBeanDao.createTable(db, ifNotExists);
         SmallLabelBeanDao.createTable(db, ifNotExists);
         TaskBeanDao.createTable(db, ifNotExists);
     }
 
-    /** Drops underlying database table using DAOs. */
+    /**
+     * Drops underlying database table using DAOs.
+     */
     public static void dropAllTables(Database db, boolean ifExists) {
         LabelBeanDao.dropTable(db, ifExists);
         SmallLabelBeanDao.dropTable(db, ifExists);
@@ -81,7 +86,9 @@
         }
     }
 
-    /** WARNING: Drops all table on Upgrade! Use only during development. */
+    /**
+     * WARNING: Drops all table on Upgrade! Use only during development.
+     */
     public static class DevOpenHelper extends OpenHelper {
         public DevOpenHelper(Context context, String name) {
             super(context, name);
diff --git a/app/src/main/java/com/casic/detector/model/CalculateResult.kt b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
new file mode 100644
index 0000000..02cb0a0
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
@@ -0,0 +1,3 @@
+package com.casic.detector.model
+
+data class CalculateResult(val angle: Int, val direction: String, val distance: Int)
diff --git a/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt b/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
index 43a8484..cae51d5 100644
--- a/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
+++ b/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
@@ -82,25 +82,21 @@
      */
     @GET("/ems/rs/task/update-task-mark")
     suspend fun uploadMarker(
-        @Query("taskDetailId") taskId: String,
+        @Query("taskDetailId") taskId: String
     ): String
 
     /**
      * 新建自由巡检任务
      * */
-    @GET("")
+    @GET("ems/rs/task/addAppTask")
     suspend fun createFreeTask(
         @Query("patrollerId") patrollerId: String,
-        @Query("description") description: String,
+        @Query("description") description: String
     ): String
 
     /**
      * 上传自由巡检过程中发现的标识器
      * */
-    @Multipart
-    @POST("")
-    suspend fun uploadTaskMarker(
-        @Field("taskId") taskId: String,
-        @Body requestBody: RequestBody,
-    ): String
+    @POST("ems/event/uploadAppMarker.do")
+    suspend fun uploadTaskMarker(@Body requestBody: RequestBody): String
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt b/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
index 8ae0794..ac06760 100644
--- a/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
+++ b/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
@@ -1,9 +1,9 @@
 package com.casic.detector.retrofit
 
+import com.casic.detector.extensions.reformat
 import com.casic.detector.utils.LocaleConstant
 import com.google.gson.Gson
 import com.google.gson.JsonObject
-import com.google.gson.reflect.TypeToken
 import com.pengxh.kt.lite.utils.RetrofitFactory
 import com.pengxh.kt.lite.utils.SaveKeyValues
 import okhttp3.MediaType.Companion.toMediaType
@@ -16,7 +16,6 @@
 object RetrofitServiceManager {
 
     private val gson by lazy { Gson() }
-    private val typeToken = object : TypeToken<Array<String>>() {}.type
 
     private fun createApi(): RetrofitService {
         val serverIp = SaveKeyValues.getValue(LocaleConstant.SERVER_IP, "") as String
@@ -233,12 +232,13 @@
     /**
      * 上传自由巡检过程中发现的标识器
      */
-    suspend fun uploadTaskMarker(taskId: String, models: List<String>): String {
+    suspend fun uploadTaskMarker(taskId: String, models: ArrayList<String>): String {
         val param = JsonObject()
-        param.add("markers", gson.toJsonTree(models, typeToken).asJsonArray)
+        param.addProperty("taskId", taskId)
+        param.addProperty("ids", models.reformat())
         val requestBody = param.toString().toRequestBody(
             "application/json;charset=UTF-8".toMediaType()
         )
-        return createApi().uploadTaskMarker(taskId, requestBody)
+        return createApi().uploadTaskMarker(requestBody)
     }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt b/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
index 1c7d95b..7e627a4 100644
--- a/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
+++ b/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
@@ -105,7 +105,7 @@
     fun queryTaskLabelByIdAndState(identifierId: String, state: String): TaskBean? {
         return taskBeanDao.queryBuilder()
             .where(
-                TaskBeanDao.Properties.MarkerRealId.eq(identifierId),
+                TaskBeanDao.Properties.MarkerId.eq(identifierId),
                 TaskBeanDao.Properties.State.eq(state)
             ).list().firstOrNull()
     }
diff --git a/app/src/main/java/com/casic/detector/utils/SerialPortManager.kt b/app/src/main/java/com/casic/detector/utils/SerialPortManager.kt
new file mode 100644
index 0000000..c235471
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/utils/SerialPortManager.kt
@@ -0,0 +1,119 @@
+package com.casic.detector.utils
+
+import androidx.lifecycle.Lifecycle
+import androidx.lifecycle.LifecycleOwner
+import androidx.lifecycle.LifecycleRegistry
+import androidx.lifecycle.lifecycleScope
+import com.casic.detector.base.BaseApplication
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.launch
+import kotlinx.coroutines.withContext
+import java.io.IOException
+
+class SerialPortManager(private val listener: OnSerialPortListener) : LifecycleOwner {
+
+    private val kTag = "SerialPortManager"
+    private val registry = LifecycleRegistry(this)
+
+    init {
+        //读取串口数据
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            val buffer = ByteArray(72)
+            var size: Int
+            serialPorts?.forEach {
+                val stream = it.inputStream
+                while (true) {
+                    try {
+                        size = stream.read(buffer)
+                        if (size > 0) {
+                            withContext(Dispatchers.Main) {
+                                listener.onDataReceived(buffer)
+                            }
+                        }
+                    } catch (e: IOException) {
+                        e.printStackTrace()
+                        return@launch
+                    }
+                }
+            }
+        }
+    }
+
+    /**
+     * 探测
+     * */
+    fun detectMarker() {
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            serialPorts?.apply {
+                while (size >= 1) {
+                    val outStream = this[0].outputStream
+                    try {
+                        // 发送读标识器ID指令
+                        outStream?.write('2'.code)
+                        outStream?.flush()
+                        delay(100)
+
+                        outStream.write('6'.code)
+                        outStream.flush()
+                        delay(100)
+                    } catch (e: IOException) {
+                        e.printStackTrace()
+                    }
+                }
+            }
+        }
+    }
+
+    /**
+     * 发送探测深度指令
+     * */
+    fun detectDepth(markerTag: Char) {
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            serialPorts?.apply {
+                val outStream = this[0].outputStream
+                try {
+                    // 发送测距指令
+                    outStream?.write(markerTag.code)
+                    outStream?.flush()
+                } catch (e: IOException) {
+                    e.printStackTrace()
+                }
+            }
+        }
+    }
+
+    /**
+     * 发送读标识器ID指令
+     * */
+    fun searchMarkerSignal() {
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            serialPorts?.apply {
+                val outStream = this[0].outputStream
+                try {
+                    // 发送读标识器ID指令
+                    outStream?.write('2'.code)
+                    outStream?.flush()
+                } catch (e: IOException) {
+                    e.printStackTrace()
+                }
+            }
+        }
+    }
+
+    fun closeSerialPort() {
+        BaseApplication.get().closeSerialPort()
+    }
+
+    interface OnSerialPortListener {
+        fun onDataReceived(buffer: ByteArray)
+    }
+
+    override fun getLifecycle(): Lifecycle {
+        return registry
+    }
+}
\ No newline at end of file

diff --git a/app/src/main/java/com/casic/detector/base/BaseApplication.kt b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
index 30ccb6b..87ef650 100644
--- a/app/src/main/java/com/casic/detector/base/BaseApplication.kt
+++ b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
@@ -15,21 +15,29 @@
 
     private val kTag = "BaseApplication"
     private val suffix = "/dev/ttysWK"
-    private var serialPorts = ArrayList<SerialPort>()
+    private var serialPorts: ArrayList<SerialPort>? = null
 
     @Throws(SecurityException::class, IOException::class, InvalidParameterException::class)
-    fun getSerialPorts(): ArrayList<SerialPort> {
-        if (serialPorts.isEmpty()) {
-            /**
-             * Open the serial port
-             * */
-            serialPorts.add(SerialPort(File("${suffix}1"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}2"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}0"), 9600, 0))
+    fun getSerialPorts(): ArrayList<SerialPort>? {
+        serialPorts = ArrayList()
+        /**
+         * Open the serial port
+         * */
+        serialPorts?.apply {
+            add(SerialPort(File("${suffix}1"), 9600, 0))
+            add(SerialPort(File("${suffix}2"), 9600, 0))
+            add(SerialPort(File("${suffix}0"), 9600, 0))
         }
         return serialPorts
     }
 
+
+    fun closeSerialPort() {
+        serialPorts?.forEach {
+            it.close()
+        }
+    }
+
     companion object {
         private var application: BaseApplication by Delegates.notNull()
 
@@ -50,11 +58,4 @@
     fun getDaoSession(): DaoSession {
         return daoSession
     }
-
-    fun closeSerialPort() {
-        serialPorts.forEach {
-            it.close()
-        }
-        serialPorts.clear()
-    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/bean/TaskBean.java b/app/src/main/java/com/casic/detector/bean/TaskBean.java
index d6e1101..7ada7a5 100644
--- a/app/src/main/java/com/casic/detector/bean/TaskBean.java
+++ b/app/src/main/java/com/casic/detector/bean/TaskBean.java
@@ -1,5 +1,7 @@
 package com.casic.detector.bean;
 
+import com.casic.detector.model.TaskModel;
+
 import org.greenrobot.greendao.annotation.Entity;
 import org.greenrobot.greendao.annotation.Generated;
 import org.greenrobot.greendao.annotation.Id;
@@ -12,6 +14,9 @@
     private String scanner;
     private String desc;
     private String taskId;
+    /**
+     * 用 {@link TaskModel.MessageModel.TaskDetailInfosModel#id} 存
+     * */
     private String taskCode;
     private String markerId;
     private String markerRealId;
diff --git a/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
new file mode 100644
index 0000000..09203d9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
@@ -0,0 +1,59 @@
+package com.casic.detector.extensions
+
+import com.amap.api.location.AMapLocation
+import com.amap.api.maps.AMapUtils
+import com.amap.api.maps.model.LatLng
+import com.casic.detector.model.CalculateResult
+import kotlin.math.acos
+
+/**
+ * 计算两个经纬度之间连线的方位角，因为距离很近（一般是3米内），球面近似为平面
+ * C        B
+ * |-------/
+ * |      /
+ * |     /
+ * |    /
+ * |   /
+ * |  /
+ * | /
+ * |/
+ * A
+ * */
+fun AMapLocation.calculateAngle(target: LatLng): CalculateResult {
+    //构造直角辅助点
+    val auxiliaryPoint = LatLng(target.latitude, this.longitude)
+
+    //AB线段长度
+    val distance = AMapUtils.calculateLineDistance(
+        LatLng(this.latitude, this.longitude), target
+    )
+
+    //AC线段长度
+    val auxiliaryDistance = AMapUtils.calculateLineDistance(
+        LatLng(auxiliaryPoint.latitude, auxiliaryPoint.longitude), target
+    )
+
+    //求余弦值
+    val cosine = auxiliaryDistance / distance
+
+    //反余弦得弧度
+    val radian = acos(cosine)
+
+    //弧度转角度，度=弧度×180°/π
+    val angle = (radian * 180) / Math.PI
+
+    //判断方位
+    val direction = if (target.latitude > this.latitude && target.longitude > this.longitude) {
+        //东北方
+        "东偏北"
+    } else if (target.latitude < this.latitude && target.longitude < this.longitude) {
+        //西南方
+        "西偏南"
+    } else if (target.latitude > this.latitude && target.longitude < this.longitude) {
+        //西北方
+        "西偏北"
+    } else {
+        "东偏南"
+    }
+    return CalculateResult(angle.toInt(), direction, distance.toInt())
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/ArrayList.kt b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
new file mode 100644
index 0000000..52f8ac9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
@@ -0,0 +1,20 @@
+package com.casic.detector.extensions
+
+/**
+ * ArrayList扩展方法
+ */
+
+//将集合格式化成满足上传格式的数据
+fun ArrayList<String>.reformat(): String {
+    if (this.isEmpty()) return ""
+    val builder = StringBuilder()
+    //循环遍历元素，同时得到元素index(下标)
+    this.forEachIndexed { index, s ->
+        if (index == this.size - 1) {
+            builder.append(s)
+        } else {
+            builder.append(s).append(",")
+        }
+    }
+    return builder.toString()
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/String.kt b/app/src/main/java/com/casic/detector/extensions/String.kt
index b76d83d..785b89f 100644
--- a/app/src/main/java/com/casic/detector/extensions/String.kt
+++ b/app/src/main/java/com/casic/detector/extensions/String.kt
@@ -122,4 +122,9 @@
         }
     }
     return sb.toString()
+}
+
+fun String.isNumber(): Boolean {
+    val regex = Regex("[-+]?\\d+(\\.\\d+)?")
+    return this.matches(regex)
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
index cab23bb..682c3f8 100644
--- a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
+++ b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
@@ -13,20 +13,25 @@
 
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
+
 /**
  * Master of DAO (schema version 1): knows all DAOs.
  */
 public class DaoMaster extends AbstractDaoMaster {
     public static final int SCHEMA_VERSION = 1;
 
-    /** Creates underlying database table using DAOs. */
+    /**
+     * Creates underlying database table using DAOs.
+     */
     public static void createAllTables(Database db, boolean ifNotExists) {
         LabelBeanDao.createTable(db, ifNotExists);
         SmallLabelBeanDao.createTable(db, ifNotExists);
         TaskBeanDao.createTable(db, ifNotExists);
     }
 
-    /** Drops underlying database table using DAOs. */
+    /**
+     * Drops underlying database table using DAOs.
+     */
     public static void dropAllTables(Database db, boolean ifExists) {
         LabelBeanDao.dropTable(db, ifExists);
         SmallLabelBeanDao.dropTable(db, ifExists);
@@ -81,7 +86,9 @@
         }
     }
 
-    /** WARNING: Drops all table on Upgrade! Use only during development. */
+    /**
+     * WARNING: Drops all table on Upgrade! Use only during development.
+     */
     public static class DevOpenHelper extends OpenHelper {
         public DevOpenHelper(Context context, String name) {
             super(context, name);
diff --git a/app/src/main/java/com/casic/detector/model/CalculateResult.kt b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
new file mode 100644
index 0000000..02cb0a0
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
@@ -0,0 +1,3 @@
+package com.casic.detector.model
+
+data class CalculateResult(val angle: Int, val direction: String, val distance: Int)
diff --git a/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt b/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
index 43a8484..cae51d5 100644
--- a/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
+++ b/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
@@ -82,25 +82,21 @@
      */
     @GET("/ems/rs/task/update-task-mark")
     suspend fun uploadMarker(
-        @Query("taskDetailId") taskId: String,
+        @Query("taskDetailId") taskId: String
     ): String
 
     /**
      * 新建自由巡检任务
      * */
-    @GET("")
+    @GET("ems/rs/task/addAppTask")
     suspend fun createFreeTask(
         @Query("patrollerId") patrollerId: String,
-        @Query("description") description: String,
+        @Query("description") description: String
     ): String
 
     /**
      * 上传自由巡检过程中发现的标识器
      * */
-    @Multipart
-    @POST("")
-    suspend fun uploadTaskMarker(
-        @Field("taskId") taskId: String,
-        @Body requestBody: RequestBody,
-    ): String
+    @POST("ems/event/uploadAppMarker.do")
+    suspend fun uploadTaskMarker(@Body requestBody: RequestBody): String
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt b/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
index 8ae0794..ac06760 100644
--- a/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
+++ b/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
@@ -1,9 +1,9 @@
 package com.casic.detector.retrofit
 
+import com.casic.detector.extensions.reformat
 import com.casic.detector.utils.LocaleConstant
 import com.google.gson.Gson
 import com.google.gson.JsonObject
-import com.google.gson.reflect.TypeToken
 import com.pengxh.kt.lite.utils.RetrofitFactory
 import com.pengxh.kt.lite.utils.SaveKeyValues
 import okhttp3.MediaType.Companion.toMediaType
@@ -16,7 +16,6 @@
 object RetrofitServiceManager {
 
     private val gson by lazy { Gson() }
-    private val typeToken = object : TypeToken<Array<String>>() {}.type
 
     private fun createApi(): RetrofitService {
         val serverIp = SaveKeyValues.getValue(LocaleConstant.SERVER_IP, "") as String
@@ -233,12 +232,13 @@
     /**
      * 上传自由巡检过程中发现的标识器
      */
-    suspend fun uploadTaskMarker(taskId: String, models: List<String>): String {
+    suspend fun uploadTaskMarker(taskId: String, models: ArrayList<String>): String {
         val param = JsonObject()
-        param.add("markers", gson.toJsonTree(models, typeToken).asJsonArray)
+        param.addProperty("taskId", taskId)
+        param.addProperty("ids", models.reformat())
         val requestBody = param.toString().toRequestBody(
             "application/json;charset=UTF-8".toMediaType()
         )
-        return createApi().uploadTaskMarker(taskId, requestBody)
+        return createApi().uploadTaskMarker(requestBody)
     }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt b/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
index 1c7d95b..7e627a4 100644
--- a/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
+++ b/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
@@ -105,7 +105,7 @@
     fun queryTaskLabelByIdAndState(identifierId: String, state: String): TaskBean? {
         return taskBeanDao.queryBuilder()
             .where(
-                TaskBeanDao.Properties.MarkerRealId.eq(identifierId),
+                TaskBeanDao.Properties.MarkerId.eq(identifierId),
                 TaskBeanDao.Properties.State.eq(state)
             ).list().firstOrNull()
     }
diff --git a/app/src/main/java/com/casic/detector/utils/SerialPortManager.kt b/app/src/main/java/com/casic/detector/utils/SerialPortManager.kt
new file mode 100644
index 0000000..c235471
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/utils/SerialPortManager.kt
@@ -0,0 +1,119 @@
+package com.casic.detector.utils
+
+import androidx.lifecycle.Lifecycle
+import androidx.lifecycle.LifecycleOwner
+import androidx.lifecycle.LifecycleRegistry
+import androidx.lifecycle.lifecycleScope
+import com.casic.detector.base.BaseApplication
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.launch
+import kotlinx.coroutines.withContext
+import java.io.IOException
+
+class SerialPortManager(private val listener: OnSerialPortListener) : LifecycleOwner {
+
+    private val kTag = "SerialPortManager"
+    private val registry = LifecycleRegistry(this)
+
+    init {
+        //读取串口数据
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            val buffer = ByteArray(72)
+            var size: Int
+            serialPorts?.forEach {
+                val stream = it.inputStream
+                while (true) {
+                    try {
+                        size = stream.read(buffer)
+                        if (size > 0) {
+                            withContext(Dispatchers.Main) {
+                                listener.onDataReceived(buffer)
+                            }
+                        }
+                    } catch (e: IOException) {
+                        e.printStackTrace()
+                        return@launch
+                    }
+                }
+            }
+        }
+    }
+
+    /**
+     * 探测
+     * */
+    fun detectMarker() {
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            serialPorts?.apply {
+                while (size >= 1) {
+                    val outStream = this[0].outputStream
+                    try {
+                        // 发送读标识器ID指令
+                        outStream?.write('2'.code)
+                        outStream?.flush()
+                        delay(100)
+
+                        outStream.write('6'.code)
+                        outStream.flush()
+                        delay(100)
+                    } catch (e: IOException) {
+                        e.printStackTrace()
+                    }
+                }
+            }
+        }
+    }
+
+    /**
+     * 发送探测深度指令
+     * */
+    fun detectDepth(markerTag: Char) {
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            serialPorts?.apply {
+                val outStream = this[0].outputStream
+                try {
+                    // 发送测距指令
+                    outStream?.write(markerTag.code)
+                    outStream?.flush()
+                } catch (e: IOException) {
+                    e.printStackTrace()
+                }
+            }
+        }
+    }
+
+    /**
+     * 发送读标识器ID指令
+     * */
+    fun searchMarkerSignal() {
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            serialPorts?.apply {
+                val outStream = this[0].outputStream
+                try {
+                    // 发送读标识器ID指令
+                    outStream?.write('2'.code)
+                    outStream?.flush()
+                } catch (e: IOException) {
+                    e.printStackTrace()
+                }
+            }
+        }
+    }
+
+    fun closeSerialPort() {
+        BaseApplication.get().closeSerialPort()
+    }
+
+    interface OnSerialPortListener {
+        fun onDataReceived(buffer: ByteArray)
+    }
+
+    override fun getLifecycle(): Lifecycle {
+        return registry
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt b/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt
index 68d54b2..5bac324 100644
--- a/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt
+++ b/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt
@@ -2,16 +2,12 @@
 
 import android.annotation.SuppressLint
 import android.app.DatePickerDialog
-import android.content.Context
 import android.content.DialogInterface
 import android.content.Intent
 import android.media.AudioAttributes
 import android.media.SoundPool
 import android.os.Bundle
-import android.os.Handler
-import android.os.Message
 import android.provider.Settings
-import android.util.Log
 import android.view.KeyEvent
 import android.view.View
 import android.view.WindowManager
@@ -19,7 +15,6 @@
 import com.amap.api.location.AMapLocation
 import com.casic.detector.R
 import com.casic.detector.adapter.EditableImageAdapter
-import com.casic.detector.base.SerialPortActivity
 import com.casic.detector.bean.LabelBean
 import com.casic.detector.callback.ILocationListener
 import com.casic.detector.callback.OnImageCompressListener
@@ -31,29 +26,39 @@
 import com.luck.picture.lib.config.SelectMimeType
 import com.luck.picture.lib.entity.LocalMedia
 import com.luck.picture.lib.interfaces.OnResultCallbackListener
-import com.pengxh.kt.lite.extensions.*
+import com.pengxh.kt.lite.base.KotlinBaseActivity
+import com.pengxh.kt.lite.extensions.appendZero
+import com.pengxh.kt.lite.extensions.convertColor
+import com.pengxh.kt.lite.extensions.dateToTimestamp
+import com.pengxh.kt.lite.extensions.isNetworkConnected
+import com.pengxh.kt.lite.extensions.navigatePageTo
+import com.pengxh.kt.lite.extensions.show
+import com.pengxh.kt.lite.extensions.timestampToCompleteDate
+import com.pengxh.kt.lite.extensions.timestampToTime
+import com.pengxh.kt.lite.extensions.toJson
 import com.pengxh.kt.lite.utils.LoadState
 import com.pengxh.kt.lite.utils.SaveKeyValues
-import com.pengxh.kt.lite.utils.WeakReferenceHandler
 import com.pengxh.kt.lite.widget.dialog.NoNetworkDialog
 import java.io.File
-import java.io.IOException
 import java.util.*
 
 @SuppressLint("SetTextI18n")
-class InstallLabelActivity : SerialPortActivity<ActivityInstallLabelBinding>(), Handler.Callback {
+class InstallLabelActivity : KotlinBaseActivity<ActivityInstallLabelBinding>(),
+    SerialPortManager.OnSerialPortListener {
 
     private val kTag = "InstallLabelActivity"
-    private val context: Context = this@InstallLabelActivity
+    private val context = this@InstallLabelActivity
+    private val serialPortManager by lazy { SerialPortManager(this) }
     private val calendar by lazy { Calendar.getInstance() }
-    private lateinit var imageAdapter: EditableImageAdapter
-    private val realPaths: ArrayList<String> = ArrayList() //真实图片路径
-    private lateinit var taskViewModel: TaskViewModel
-    private lateinit var soundPool: SoundPool
-    private var soundResId = 0
-    private val gpioManager by lazy { GpioManager() }
+    private val audioAttributes = AudioAttributes.Builder()
+        .setUsage(AudioAttributes.USAGE_ALARM)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC)
+        .build()
+    private val realPaths = ArrayList<String>() //真实图片路径
     private val locationHub by lazy { LocationHub(this) }
-    private lateinit var weakReferenceHandler: WeakReferenceHandler
+    private lateinit var imageAdapter: EditableImageAdapter
+    private lateinit var taskViewModel: TaskViewModel
+    private var soundPool: SoundPool? = null
 
     override fun initViewBinding(): ActivityInstallLabelBinding {
         return ActivityInstallLabelBinding.inflate(layoutInflater)
@@ -79,13 +84,6 @@
         binding.objectInclude.ownerView.setText("ownerView".getDefaultValue())
         binding.identifierInclude.identifierDeepView.setText("identifierDeepView".getDefaultValue())
         binding.identifierInclude.personDeptView.setText("personDeptView".getDefaultValue())
-
-        weakReferenceHandler = WeakReferenceHandler(this)
-
-        val audioAttributes = AudioAttributes.Builder().setUsage(AudioAttributes.USAGE_MEDIA)
-            .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC).build()
-        soundPool =
-            SoundPool.Builder().setMaxStreams(16).setAudioAttributes(audioAttributes).build()
     }
 
     override fun initEvent() {
@@ -247,6 +245,14 @@
                     return@setOnClickListener
                 }
 
+                //查本地库
+                val markerId = binding.identifierInclude.identifierIdView.text.toString()
+                val result = DataBaseManager.get.queryLabelById(markerId)
+                if (result.isEmpty()) {
+                    "".show(this)
+                    return@setOnClickListener
+                }
+
                 //先存本地再上传服务器
                 saveLabelInLocal()
 
@@ -268,7 +274,7 @@
                     binding.objectInclude.constructDateView.text.toString(),
                     binding.objectInclude.ownerView.text.toString(),
                     objectId,
-                    binding.identifierInclude.identifierIdView.text.toString(),
+                    markerId,
                     binding.identifierInclude.identifierTypeSpinner.selectedItem.toString(),
                     "${binding.identifierInclude.identifierDeepView.text}mm",
                     binding.identifierInclude.personDeptView.text.toString(),
@@ -305,25 +311,35 @@
         }
 
         binding.readLabelButton.setOnClickListener {
-            gpioManager.setGpioHigh("18")
-
             LoadingDialogHub.show(this, "标识器读取中，请稍后...")
 
-            soundResId = soundPool.load(this, R.raw.ring3, 1)
-            soundPool.setOnLoadCompleteListener { soundPool, _, _ ->
-                soundPool.play(soundResId, 1f, 1f, 0, -1, 1f)
+            soundPool = SoundPool.Builder()
+                .setMaxStreams(16)
+                .setAudioAttributes(audioAttributes)
+                .build()
+            soundPool?.apply {
+                val soundResId = load(context, R.raw.ring3, 1)
+                setOnLoadCompleteListener { soundPool, _, _ ->
+                    soundPool.play(soundResId, 1f, 1f, 0, -1, 1f)
+                }
             }
 
-            // 1000ms后发送读标识器或搜索信号
-            weakReferenceHandler.postDelayed({
-                try {
-                    // 发送读标识器或搜索信号
-                    outStream?.write("2".toByteArray())
-                    outStream?.flush()
-                } catch (e: IOException) {
-                    e.printStackTrace()
-                }
-            }, 1000)
+            serialPortManager.searchMarkerSignal()
+        }
+    }
+
+    override fun onDataReceived(buffer: ByteArray) {
+        LoadingDialogHub.dismiss()
+        soundPool?.release()
+
+        val hex = buffer.toHex()
+//        Log.d(kTag, "$kTag => $hex")
+        if (hex.length >= 20) {
+            val markerId = hex.take(20).hexToString()
+            if (markerId.isNumber()) {
+                binding.identifierInclude.identifierIdView.text = markerId
+                serialPortManager.closeSerialPort()
+            }
         }
     }
 
@@ -363,41 +379,6 @@
         DataBaseManager.get.insertTaskLabel(labelBean)
     }
 
-    override fun onDataReceived(buffer: ByteArray?, size: Int) {
-        Log.d(kTag, "onDataReceived => " + buffer.contentToString())
-        if (buffer != null) {
-            val message = weakReferenceHandler.obtainMessage()
-            message.what = 2023061601
-            message.obj = buffer
-            weakReferenceHandler.sendMessage(message)
-        }
-    }
-
-    override fun handleMessage(msg: Message): Boolean {
-        if (msg.what == 2023061601) {
-            soundPool.release()
-
-            val buffer = msg.obj as ByteArray
-            val hex = buffer.toHex()
-            //3030303839383735313400000000000000000000000000000000000000000000
-            if (hex.length >= 20) {
-                val identifierId = hex.substring(0, 20).hexToString()
-
-                gpioManager.setGpioLow("18")
-
-                //查本地库
-                val result = DataBaseManager.get.queryLabelById(identifierId)
-                if (result.isEmpty()) {
-                    binding.identifierInclude.identifierIdView.text = identifierId
-                } else {
-                    "此标识器已安装，请更换标识器！".show(this)
-                }
-                LoadingDialogHub.dismiss()
-            }
-        }
-        return true
-    }
-
     private fun takePicture() {
         PictureSelector.create(this).openCamera(SelectMimeType.ofImage())
             .forResult(object : OnResultCallbackListener<LocalMedia> {
@@ -451,14 +432,14 @@
     }
 
     override fun onDestroy() {
-        soundPool.release()
-        gpioManager.setGpioLow("18")
         super.onDestroy()
+        soundPool?.release()
+        locationHub.stopLocation()
     }
 
     override fun onKeyDown(keyCode: Int, event: KeyEvent?): Boolean {
         if (keyCode == KeyEvent.KEYCODE_BACK) {
-            soundPool.release()
+            soundPool?.release()
         }
         return super.onKeyDown(keyCode, event)
     }

diff --git a/app/src/main/java/com/casic/detector/base/BaseApplication.kt b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
index 30ccb6b..87ef650 100644
--- a/app/src/main/java/com/casic/detector/base/BaseApplication.kt
+++ b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
@@ -15,21 +15,29 @@
 
     private val kTag = "BaseApplication"
     private val suffix = "/dev/ttysWK"
-    private var serialPorts = ArrayList<SerialPort>()
+    private var serialPorts: ArrayList<SerialPort>? = null
 
     @Throws(SecurityException::class, IOException::class, InvalidParameterException::class)
-    fun getSerialPorts(): ArrayList<SerialPort> {
-        if (serialPorts.isEmpty()) {
-            /**
-             * Open the serial port
-             * */
-            serialPorts.add(SerialPort(File("${suffix}1"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}2"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}0"), 9600, 0))
+    fun getSerialPorts(): ArrayList<SerialPort>? {
+        serialPorts = ArrayList()
+        /**
+         * Open the serial port
+         * */
+        serialPorts?.apply {
+            add(SerialPort(File("${suffix}1"), 9600, 0))
+            add(SerialPort(File("${suffix}2"), 9600, 0))
+            add(SerialPort(File("${suffix}0"), 9600, 0))
         }
         return serialPorts
     }
 
+
+    fun closeSerialPort() {
+        serialPorts?.forEach {
+            it.close()
+        }
+    }
+
     companion object {
         private var application: BaseApplication by Delegates.notNull()
 
@@ -50,11 +58,4 @@
     fun getDaoSession(): DaoSession {
         return daoSession
     }
-
-    fun closeSerialPort() {
-        serialPorts.forEach {
-            it.close()
-        }
-        serialPorts.clear()
-    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/bean/TaskBean.java b/app/src/main/java/com/casic/detector/bean/TaskBean.java
index d6e1101..7ada7a5 100644
--- a/app/src/main/java/com/casic/detector/bean/TaskBean.java
+++ b/app/src/main/java/com/casic/detector/bean/TaskBean.java
@@ -1,5 +1,7 @@
 package com.casic.detector.bean;
 
+import com.casic.detector.model.TaskModel;
+
 import org.greenrobot.greendao.annotation.Entity;
 import org.greenrobot.greendao.annotation.Generated;
 import org.greenrobot.greendao.annotation.Id;
@@ -12,6 +14,9 @@
     private String scanner;
     private String desc;
     private String taskId;
+    /**
+     * 用 {@link TaskModel.MessageModel.TaskDetailInfosModel#id} 存
+     * */
     private String taskCode;
     private String markerId;
     private String markerRealId;
diff --git a/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
new file mode 100644
index 0000000..09203d9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
@@ -0,0 +1,59 @@
+package com.casic.detector.extensions
+
+import com.amap.api.location.AMapLocation
+import com.amap.api.maps.AMapUtils
+import com.amap.api.maps.model.LatLng
+import com.casic.detector.model.CalculateResult
+import kotlin.math.acos
+
+/**
+ * 计算两个经纬度之间连线的方位角，因为距离很近（一般是3米内），球面近似为平面
+ * C        B
+ * |-------/
+ * |      /
+ * |     /
+ * |    /
+ * |   /
+ * |  /
+ * | /
+ * |/
+ * A
+ * */
+fun AMapLocation.calculateAngle(target: LatLng): CalculateResult {
+    //构造直角辅助点
+    val auxiliaryPoint = LatLng(target.latitude, this.longitude)
+
+    //AB线段长度
+    val distance = AMapUtils.calculateLineDistance(
+        LatLng(this.latitude, this.longitude), target
+    )
+
+    //AC线段长度
+    val auxiliaryDistance = AMapUtils.calculateLineDistance(
+        LatLng(auxiliaryPoint.latitude, auxiliaryPoint.longitude), target
+    )
+
+    //求余弦值
+    val cosine = auxiliaryDistance / distance
+
+    //反余弦得弧度
+    val radian = acos(cosine)
+
+    //弧度转角度，度=弧度×180°/π
+    val angle = (radian * 180) / Math.PI
+
+    //判断方位
+    val direction = if (target.latitude > this.latitude && target.longitude > this.longitude) {
+        //东北方
+        "东偏北"
+    } else if (target.latitude < this.latitude && target.longitude < this.longitude) {
+        //西南方
+        "西偏南"
+    } else if (target.latitude > this.latitude && target.longitude < this.longitude) {
+        //西北方
+        "西偏北"
+    } else {
+        "东偏南"
+    }
+    return CalculateResult(angle.toInt(), direction, distance.toInt())
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/ArrayList.kt b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
new file mode 100644
index 0000000..52f8ac9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
@@ -0,0 +1,20 @@
+package com.casic.detector.extensions
+
+/**
+ * ArrayList扩展方法
+ */
+
+//将集合格式化成满足上传格式的数据
+fun ArrayList<String>.reformat(): String {
+    if (this.isEmpty()) return ""
+    val builder = StringBuilder()
+    //循环遍历元素，同时得到元素index(下标)
+    this.forEachIndexed { index, s ->
+        if (index == this.size - 1) {
+            builder.append(s)
+        } else {
+            builder.append(s).append(",")
+        }
+    }
+    return builder.toString()
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/String.kt b/app/src/main/java/com/casic/detector/extensions/String.kt
index b76d83d..785b89f 100644
--- a/app/src/main/java/com/casic/detector/extensions/String.kt
+++ b/app/src/main/java/com/casic/detector/extensions/String.kt
@@ -122,4 +122,9 @@
         }
     }
     return sb.toString()
+}
+
+fun String.isNumber(): Boolean {
+    val regex = Regex("[-+]?\\d+(\\.\\d+)?")
+    return this.matches(regex)
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
index cab23bb..682c3f8 100644
--- a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
+++ b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
@@ -13,20 +13,25 @@
 
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
+
 /**
  * Master of DAO (schema version 1): knows all DAOs.
  */
 public class DaoMaster extends AbstractDaoMaster {
     public static final int SCHEMA_VERSION = 1;
 
-    /** Creates underlying database table using DAOs. */
+    /**
+     * Creates underlying database table using DAOs.
+     */
     public static void createAllTables(Database db, boolean ifNotExists) {
         LabelBeanDao.createTable(db, ifNotExists);
         SmallLabelBeanDao.createTable(db, ifNotExists);
         TaskBeanDao.createTable(db, ifNotExists);
     }
 
-    /** Drops underlying database table using DAOs. */
+    /**
+     * Drops underlying database table using DAOs.
+     */
     public static void dropAllTables(Database db, boolean ifExists) {
         LabelBeanDao.dropTable(db, ifExists);
         SmallLabelBeanDao.dropTable(db, ifExists);
@@ -81,7 +86,9 @@
         }
     }
 
-    /** WARNING: Drops all table on Upgrade! Use only during development. */
+    /**
+     * WARNING: Drops all table on Upgrade! Use only during development.
+     */
     public static class DevOpenHelper extends OpenHelper {
         public DevOpenHelper(Context context, String name) {
             super(context, name);
diff --git a/app/src/main/java/com/casic/detector/model/CalculateResult.kt b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
new file mode 100644
index 0000000..02cb0a0
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
@@ -0,0 +1,3 @@
+package com.casic.detector.model
+
+data class CalculateResult(val angle: Int, val direction: String, val distance: Int)
diff --git a/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt b/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
index 43a8484..cae51d5 100644
--- a/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
+++ b/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
@@ -82,25 +82,21 @@
      */
     @GET("/ems/rs/task/update-task-mark")
     suspend fun uploadMarker(
-        @Query("taskDetailId") taskId: String,
+        @Query("taskDetailId") taskId: String
     ): String
 
     /**
      * 新建自由巡检任务
      * */
-    @GET("")
+    @GET("ems/rs/task/addAppTask")
     suspend fun createFreeTask(
         @Query("patrollerId") patrollerId: String,
-        @Query("description") description: String,
+        @Query("description") description: String
     ): String
 
     /**
      * 上传自由巡检过程中发现的标识器
      * */
-    @Multipart
-    @POST("")
-    suspend fun uploadTaskMarker(
-        @Field("taskId") taskId: String,
-        @Body requestBody: RequestBody,
-    ): String
+    @POST("ems/event/uploadAppMarker.do")
+    suspend fun uploadTaskMarker(@Body requestBody: RequestBody): String
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt b/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
index 8ae0794..ac06760 100644
--- a/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
+++ b/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
@@ -1,9 +1,9 @@
 package com.casic.detector.retrofit
 
+import com.casic.detector.extensions.reformat
 import com.casic.detector.utils.LocaleConstant
 import com.google.gson.Gson
 import com.google.gson.JsonObject
-import com.google.gson.reflect.TypeToken
 import com.pengxh.kt.lite.utils.RetrofitFactory
 import com.pengxh.kt.lite.utils.SaveKeyValues
 import okhttp3.MediaType.Companion.toMediaType
@@ -16,7 +16,6 @@
 object RetrofitServiceManager {
 
     private val gson by lazy { Gson() }
-    private val typeToken = object : TypeToken<Array<String>>() {}.type
 
     private fun createApi(): RetrofitService {
         val serverIp = SaveKeyValues.getValue(LocaleConstant.SERVER_IP, "") as String
@@ -233,12 +232,13 @@
     /**
      * 上传自由巡检过程中发现的标识器
      */
-    suspend fun uploadTaskMarker(taskId: String, models: List<String>): String {
+    suspend fun uploadTaskMarker(taskId: String, models: ArrayList<String>): String {
         val param = JsonObject()
-        param.add("markers", gson.toJsonTree(models, typeToken).asJsonArray)
+        param.addProperty("taskId", taskId)
+        param.addProperty("ids", models.reformat())
         val requestBody = param.toString().toRequestBody(
             "application/json;charset=UTF-8".toMediaType()
         )
-        return createApi().uploadTaskMarker(taskId, requestBody)
+        return createApi().uploadTaskMarker(requestBody)
     }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt b/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
index 1c7d95b..7e627a4 100644
--- a/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
+++ b/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
@@ -105,7 +105,7 @@
     fun queryTaskLabelByIdAndState(identifierId: String, state: String): TaskBean? {
         return taskBeanDao.queryBuilder()
             .where(
-                TaskBeanDao.Properties.MarkerRealId.eq(identifierId),
+                TaskBeanDao.Properties.MarkerId.eq(identifierId),
                 TaskBeanDao.Properties.State.eq(state)
             ).list().firstOrNull()
     }
diff --git a/app/src/main/java/com/casic/detector/utils/SerialPortManager.kt b/app/src/main/java/com/casic/detector/utils/SerialPortManager.kt
new file mode 100644
index 0000000..c235471
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/utils/SerialPortManager.kt
@@ -0,0 +1,119 @@
+package com.casic.detector.utils
+
+import androidx.lifecycle.Lifecycle
+import androidx.lifecycle.LifecycleOwner
+import androidx.lifecycle.LifecycleRegistry
+import androidx.lifecycle.lifecycleScope
+import com.casic.detector.base.BaseApplication
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.launch
+import kotlinx.coroutines.withContext
+import java.io.IOException
+
+class SerialPortManager(private val listener: OnSerialPortListener) : LifecycleOwner {
+
+    private val kTag = "SerialPortManager"
+    private val registry = LifecycleRegistry(this)
+
+    init {
+        //读取串口数据
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            val buffer = ByteArray(72)
+            var size: Int
+            serialPorts?.forEach {
+                val stream = it.inputStream
+                while (true) {
+                    try {
+                        size = stream.read(buffer)
+                        if (size > 0) {
+                            withContext(Dispatchers.Main) {
+                                listener.onDataReceived(buffer)
+                            }
+                        }
+                    } catch (e: IOException) {
+                        e.printStackTrace()
+                        return@launch
+                    }
+                }
+            }
+        }
+    }
+
+    /**
+     * 探测
+     * */
+    fun detectMarker() {
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            serialPorts?.apply {
+                while (size >= 1) {
+                    val outStream = this[0].outputStream
+                    try {
+                        // 发送读标识器ID指令
+                        outStream?.write('2'.code)
+                        outStream?.flush()
+                        delay(100)
+
+                        outStream.write('6'.code)
+                        outStream.flush()
+                        delay(100)
+                    } catch (e: IOException) {
+                        e.printStackTrace()
+                    }
+                }
+            }
+        }
+    }
+
+    /**
+     * 发送探测深度指令
+     * */
+    fun detectDepth(markerTag: Char) {
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            serialPorts?.apply {
+                val outStream = this[0].outputStream
+                try {
+                    // 发送测距指令
+                    outStream?.write(markerTag.code)
+                    outStream?.flush()
+                } catch (e: IOException) {
+                    e.printStackTrace()
+                }
+            }
+        }
+    }
+
+    /**
+     * 发送读标识器ID指令
+     * */
+    fun searchMarkerSignal() {
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            serialPorts?.apply {
+                val outStream = this[0].outputStream
+                try {
+                    // 发送读标识器ID指令
+                    outStream?.write('2'.code)
+                    outStream?.flush()
+                } catch (e: IOException) {
+                    e.printStackTrace()
+                }
+            }
+        }
+    }
+
+    fun closeSerialPort() {
+        BaseApplication.get().closeSerialPort()
+    }
+
+    interface OnSerialPortListener {
+        fun onDataReceived(buffer: ByteArray)
+    }
+
+    override fun getLifecycle(): Lifecycle {
+        return registry
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt b/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt
index 68d54b2..5bac324 100644
--- a/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt
+++ b/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt
@@ -2,16 +2,12 @@
 
 import android.annotation.SuppressLint
 import android.app.DatePickerDialog
-import android.content.Context
 import android.content.DialogInterface
 import android.content.Intent
 import android.media.AudioAttributes
 import android.media.SoundPool
 import android.os.Bundle
-import android.os.Handler
-import android.os.Message
 import android.provider.Settings
-import android.util.Log
 import android.view.KeyEvent
 import android.view.View
 import android.view.WindowManager
@@ -19,7 +15,6 @@
 import com.amap.api.location.AMapLocation
 import com.casic.detector.R
 import com.casic.detector.adapter.EditableImageAdapter
-import com.casic.detector.base.SerialPortActivity
 import com.casic.detector.bean.LabelBean
 import com.casic.detector.callback.ILocationListener
 import com.casic.detector.callback.OnImageCompressListener
@@ -31,29 +26,39 @@
 import com.luck.picture.lib.config.SelectMimeType
 import com.luck.picture.lib.entity.LocalMedia
 import com.luck.picture.lib.interfaces.OnResultCallbackListener
-import com.pengxh.kt.lite.extensions.*
+import com.pengxh.kt.lite.base.KotlinBaseActivity
+import com.pengxh.kt.lite.extensions.appendZero
+import com.pengxh.kt.lite.extensions.convertColor
+import com.pengxh.kt.lite.extensions.dateToTimestamp
+import com.pengxh.kt.lite.extensions.isNetworkConnected
+import com.pengxh.kt.lite.extensions.navigatePageTo
+import com.pengxh.kt.lite.extensions.show
+import com.pengxh.kt.lite.extensions.timestampToCompleteDate
+import com.pengxh.kt.lite.extensions.timestampToTime
+import com.pengxh.kt.lite.extensions.toJson
 import com.pengxh.kt.lite.utils.LoadState
 import com.pengxh.kt.lite.utils.SaveKeyValues
-import com.pengxh.kt.lite.utils.WeakReferenceHandler
 import com.pengxh.kt.lite.widget.dialog.NoNetworkDialog
 import java.io.File
-import java.io.IOException
 import java.util.*
 
 @SuppressLint("SetTextI18n")
-class InstallLabelActivity : SerialPortActivity<ActivityInstallLabelBinding>(), Handler.Callback {
+class InstallLabelActivity : KotlinBaseActivity<ActivityInstallLabelBinding>(),
+    SerialPortManager.OnSerialPortListener {
 
     private val kTag = "InstallLabelActivity"
-    private val context: Context = this@InstallLabelActivity
+    private val context = this@InstallLabelActivity
+    private val serialPortManager by lazy { SerialPortManager(this) }
     private val calendar by lazy { Calendar.getInstance() }
-    private lateinit var imageAdapter: EditableImageAdapter
-    private val realPaths: ArrayList<String> = ArrayList() //真实图片路径
-    private lateinit var taskViewModel: TaskViewModel
-    private lateinit var soundPool: SoundPool
-    private var soundResId = 0
-    private val gpioManager by lazy { GpioManager() }
+    private val audioAttributes = AudioAttributes.Builder()
+        .setUsage(AudioAttributes.USAGE_ALARM)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC)
+        .build()
+    private val realPaths = ArrayList<String>() //真实图片路径
     private val locationHub by lazy { LocationHub(this) }
-    private lateinit var weakReferenceHandler: WeakReferenceHandler
+    private lateinit var imageAdapter: EditableImageAdapter
+    private lateinit var taskViewModel: TaskViewModel
+    private var soundPool: SoundPool? = null
 
     override fun initViewBinding(): ActivityInstallLabelBinding {
         return ActivityInstallLabelBinding.inflate(layoutInflater)
@@ -79,13 +84,6 @@
         binding.objectInclude.ownerView.setText("ownerView".getDefaultValue())
         binding.identifierInclude.identifierDeepView.setText("identifierDeepView".getDefaultValue())
         binding.identifierInclude.personDeptView.setText("personDeptView".getDefaultValue())
-
-        weakReferenceHandler = WeakReferenceHandler(this)
-
-        val audioAttributes = AudioAttributes.Builder().setUsage(AudioAttributes.USAGE_MEDIA)
-            .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC).build()
-        soundPool =
-            SoundPool.Builder().setMaxStreams(16).setAudioAttributes(audioAttributes).build()
     }
 
     override fun initEvent() {
@@ -247,6 +245,14 @@
                     return@setOnClickListener
                 }
 
+                //查本地库
+                val markerId = binding.identifierInclude.identifierIdView.text.toString()
+                val result = DataBaseManager.get.queryLabelById(markerId)
+                if (result.isEmpty()) {
+                    "".show(this)
+                    return@setOnClickListener
+                }
+
                 //先存本地再上传服务器
                 saveLabelInLocal()
 
@@ -268,7 +274,7 @@
                     binding.objectInclude.constructDateView.text.toString(),
                     binding.objectInclude.ownerView.text.toString(),
                     objectId,
-                    binding.identifierInclude.identifierIdView.text.toString(),
+                    markerId,
                     binding.identifierInclude.identifierTypeSpinner.selectedItem.toString(),
                     "${binding.identifierInclude.identifierDeepView.text}mm",
                     binding.identifierInclude.personDeptView.text.toString(),
@@ -305,25 +311,35 @@
         }
 
         binding.readLabelButton.setOnClickListener {
-            gpioManager.setGpioHigh("18")
-
             LoadingDialogHub.show(this, "标识器读取中，请稍后...")
 
-            soundResId = soundPool.load(this, R.raw.ring3, 1)
-            soundPool.setOnLoadCompleteListener { soundPool, _, _ ->
-                soundPool.play(soundResId, 1f, 1f, 0, -1, 1f)
+            soundPool = SoundPool.Builder()
+                .setMaxStreams(16)
+                .setAudioAttributes(audioAttributes)
+                .build()
+            soundPool?.apply {
+                val soundResId = load(context, R.raw.ring3, 1)
+                setOnLoadCompleteListener { soundPool, _, _ ->
+                    soundPool.play(soundResId, 1f, 1f, 0, -1, 1f)
+                }
             }
 
-            // 1000ms后发送读标识器或搜索信号
-            weakReferenceHandler.postDelayed({
-                try {
-                    // 发送读标识器或搜索信号
-                    outStream?.write("2".toByteArray())
-                    outStream?.flush()
-                } catch (e: IOException) {
-                    e.printStackTrace()
-                }
-            }, 1000)
+            serialPortManager.searchMarkerSignal()
+        }
+    }
+
+    override fun onDataReceived(buffer: ByteArray) {
+        LoadingDialogHub.dismiss()
+        soundPool?.release()
+
+        val hex = buffer.toHex()
+//        Log.d(kTag, "$kTag => $hex")
+        if (hex.length >= 20) {
+            val markerId = hex.take(20).hexToString()
+            if (markerId.isNumber()) {
+                binding.identifierInclude.identifierIdView.text = markerId
+                serialPortManager.closeSerialPort()
+            }
         }
     }
 
@@ -363,41 +379,6 @@
         DataBaseManager.get.insertTaskLabel(labelBean)
     }
 
-    override fun onDataReceived(buffer: ByteArray?, size: Int) {
-        Log.d(kTag, "onDataReceived => " + buffer.contentToString())
-        if (buffer != null) {
-            val message = weakReferenceHandler.obtainMessage()
-            message.what = 2023061601
-            message.obj = buffer
-            weakReferenceHandler.sendMessage(message)
-        }
-    }
-
-    override fun handleMessage(msg: Message): Boolean {
-        if (msg.what == 2023061601) {
-            soundPool.release()
-
-            val buffer = msg.obj as ByteArray
-            val hex = buffer.toHex()
-            //3030303839383735313400000000000000000000000000000000000000000000
-            if (hex.length >= 20) {
-                val identifierId = hex.substring(0, 20).hexToString()
-
-                gpioManager.setGpioLow("18")
-
-                //查本地库
-                val result = DataBaseManager.get.queryLabelById(identifierId)
-                if (result.isEmpty()) {
-                    binding.identifierInclude.identifierIdView.text = identifierId
-                } else {
-                    "此标识器已安装，请更换标识器！".show(this)
-                }
-                LoadingDialogHub.dismiss()
-            }
-        }
-        return true
-    }
-
     private fun takePicture() {
         PictureSelector.create(this).openCamera(SelectMimeType.ofImage())
             .forResult(object : OnResultCallbackListener<LocalMedia> {
@@ -451,14 +432,14 @@
     }
 
     override fun onDestroy() {
-        soundPool.release()
-        gpioManager.setGpioLow("18")
         super.onDestroy()
+        soundPool?.release()
+        locationHub.stopLocation()
     }
 
     override fun onKeyDown(keyCode: Int, event: KeyEvent?): Boolean {
         if (keyCode == KeyEvent.KEYCODE_BACK) {
-            soundPool.release()
+            soundPool?.release()
         }
         return super.onKeyDown(keyCode, event)
     }
diff --git a/app/src/main/java/com/casic/detector/view/MainActivity.kt b/app/src/main/java/com/casic/detector/view/MainActivity.kt
index d590626..7c6446a 100644
--- a/app/src/main/java/com/casic/detector/view/MainActivity.kt
+++ b/app/src/main/java/com/casic/detector/view/MainActivity.kt
@@ -1,17 +1,19 @@
 package com.casic.detector.view
 
-import android.content.Context
 import android.content.Intent
 import android.graphics.BitmapFactory
 import android.graphics.Color
 import android.graphics.drawable.BitmapDrawable
 import android.graphics.drawable.Drawable
+import android.media.AudioAttributes
+import android.media.SoundPool
 import android.os.Bundle
-import android.os.PowerManager
 import android.provider.Settings
 import android.util.Log
 import android.view.KeyEvent
+import android.view.View
 import androidx.lifecycle.ViewModelProvider
+import androidx.lifecycle.lifecycleScope
 import com.amap.api.location.AMapLocation
 import com.amap.api.maps.AMap
 import com.amap.api.maps.AMapOptions
@@ -32,81 +34,89 @@
 import com.casic.detector.databinding.ActivityMainBinding
 import com.casic.detector.extensions.appendDownloadUrl
 import com.casic.detector.extensions.drawCircle
-import com.casic.detector.extensions.initLayoutImmersionBar
+import com.casic.detector.extensions.hexToString
+import com.casic.detector.extensions.initImmersionBar
+import com.casic.detector.extensions.isNumber
+import com.casic.detector.extensions.toHex
 import com.casic.detector.model.TaskModel
 import com.casic.detector.utils.DataBaseManager
 import com.casic.detector.utils.ExcelHub
 import com.casic.detector.utils.FileType
+import com.casic.detector.utils.GpioManager
 import com.casic.detector.utils.LoadingDialogHub
 import com.casic.detector.utils.LocaleConstant
 import com.casic.detector.utils.LocationHub
 import com.casic.detector.utils.RouteOnMap
+import com.casic.detector.utils.SerialPortManager
 import com.casic.detector.vm.TaskViewModel
 import com.casic.detector.widgets.QueryMarkerDialog
 import com.casic.detector.widgets.SamplePopupWindow
 import com.google.gson.Gson
 import com.google.gson.reflect.TypeToken
-import com.gyf.immersionbar.ImmersionBar
 import com.pengxh.kt.lite.base.KotlinBaseActivity
-import com.pengxh.kt.lite.callback.OnDownloadListener
+import com.pengxh.kt.lite.extensions.convertDrawable
 import com.pengxh.kt.lite.extensions.createDownloadFileDir
-import com.pengxh.kt.lite.extensions.downloadFile
 import com.pengxh.kt.lite.extensions.dp2px
 import com.pengxh.kt.lite.extensions.isNetworkConnected
 import com.pengxh.kt.lite.extensions.navigatePageTo
 import com.pengxh.kt.lite.extensions.show
 import com.pengxh.kt.lite.extensions.toJson
+import com.pengxh.kt.lite.utils.FileDownloadManager
+import com.pengxh.kt.lite.utils.LoadState
 import com.pengxh.kt.lite.utils.SaveKeyValues
-import com.pengxh.kt.lite.vm.LoadState
 import com.pengxh.kt.lite.widget.dialog.AlertControlDialog
+import com.pengxh.kt.lite.widget.dialog.AlertInputDialog
 import com.pengxh.kt.lite.widget.dialog.AlertMessageDialog
 import com.pengxh.kt.lite.widget.dialog.BottomActionSheet
 import com.pengxh.kt.lite.widget.dialog.NoNetworkDialog
-import kotlinx.coroutines.CoroutineScope
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.launch
 import kotlinx.coroutines.withContext
 import java.io.File
 
 
-class MainActivity : KotlinBaseActivity<ActivityMainBinding>() {
+class MainActivity : KotlinBaseActivity<ActivityMainBinding>(),
+    SerialPortManager.OnSerialPortListener {
 
     private val kTag = "MainActivity"
-    private val context: Context = this@MainActivity
-    private var clickTime: Long = 0
-    private lateinit var aMap: AMap
-    private lateinit var taskViewModel: TaskViewModel
+    private val context = this@MainActivity
+    private val serialPortManager by lazy { SerialPortManager(this) }
+    private val gpioManager by lazy { GpioManager() }
     private val samplePopupWindow by lazy { SamplePopupWindow(this) }
+    private val gson by lazy { Gson() }
+    private val locationHub by lazy { LocationHub(this) }
+    private val regionRadius by lazy { LocaleConstant.RADIUS_SIZE.dp2px(this) }
+    private val backDrawables by lazy { HashMap<Int, Drawable>() }
+    private val audioAttributes = AudioAttributes.Builder()
+        .setUsage(AudioAttributes.USAGE_ALARM)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC)
+        .build()
+    private var clickTime: Long = 0
     private var labelBeans = ArrayList<LabelBean>()
     private var clusterOverlay: ClusterOverlay? = null
-    private val backDrawables = HashMap<Int, Drawable>()
-    private val regionRadius by lazy { LocaleConstant.RADIUS_SIZE.dp2px(this) }
     private var latitude: Double = 0.0
     private var longitude: Double = 0.0
-    private val gson by lazy { Gson() }
-    private val locationHub by lazy { LocationHub.obtainInstance(this) }
-    private lateinit var wakeLock: PowerManager.WakeLock
+    private var ids = ArrayList<String>()
+    private lateinit var aMap: AMap
+    private lateinit var soundPool: SoundPool
+    private lateinit var taskViewModel: TaskViewModel
     private lateinit var taskBean: TaskBean
+    private lateinit var taskId: String
 
     override fun initViewBinding(): ActivityMainBinding {
         return ActivityMainBinding.inflate(layoutInflater)
     }
 
     override fun setupTopBarLayout() {
-        ImmersionBar.with(this).statusBarDarkFont(false).statusBarColor(R.color.themeColor).init()
-        initLayoutImmersionBar(binding.rootView)
+        binding.rootView.initImmersionBar(this, false, R.color.themeColor)
     }
 
     override fun initOnCreate(savedInstanceState: Bundle?) {
-        val powerManager = getSystemService(Context.POWER_SERVICE) as PowerManager
-        wakeLock = powerManager.run {
-            newWakeLock(PowerManager.PARTIAL_WAKE_LOCK, this@MainActivity.localClassName).apply {
-                acquire(60 * 60 * 1000L)
-            }
-        }
-
         initMapConfig(savedInstanceState)
 
+        //调高串口电位
+        gpioManager.setGpioHigh("18")
+
         samplePopupWindow.setPopupMenuItem(LocaleConstant.POPUP_TITLES)
         samplePopupWindow.setBackgroundDrawable(null)
 
@@ -119,12 +129,14 @@
                 val companyId = SaveKeyValues.getValue(LocaleConstant.USER_COMPANY_ID, "")
                 val downloadUrl = companyId.toString().appendDownloadUrl(FileType.EXCEL)
                 Log.d(kTag, "downloadUrl => $downloadUrl")
-                downloadUrl.downloadFile(
-                    createDownloadFileDir().toString(),
-                    object : OnDownloadListener {
-                        override fun onDownloadEnd(file: File?) {
-                            CoroutineScope(Dispatchers.Main).launch {
-                                labelBeans = ExcelHub.read(file?.absolutePath)
+                FileDownloadManager.Builder()
+                    .setDownloadFileSource(downloadUrl)
+                    .setFileSuffix("xls")
+                    .setFileSaveDirectory(createDownloadFileDir())
+                    .setOnFileDownloadListener(object : FileDownloadManager.OnFileDownloadListener {
+                        override fun onDownloadEnd(file: File) {
+                            lifecycleScope.launch(Dispatchers.Main) {
+                                labelBeans = ExcelHub.read(file.absolutePath)
                                 withContext(Dispatchers.IO) {
                                     labelBeans.forEach { label ->
                                         DataBaseManager.get.insertTaskLabel(label)
@@ -135,14 +147,16 @@
                             }
                         }
 
-                        override fun onDownloadStart(totalBytes: Long) {
+                        override fun onFailure(throwable: Throwable) {
 
                         }
 
-                        override fun onProgressChanged(currentBytes: Long) {
+                        override fun onProgressChanged(progress: Int) {
 
                         }
                     })
+                    .build()
+                    .start()
             }
         }
         taskViewModel.taskResult.observe(this) {
@@ -159,19 +173,26 @@
                     }).build().show()
             }
         }
+
+        taskViewModel.freeTaskResult.observe(this) { taskId = it }
+
+        taskViewModel.uploadTaskMarkerResult.observe(this) {
+            "自由巡检任务已完成".show(this)
+            ids.clear()
+        }
     }
 
     override fun initEvent() {
         binding.rightImageView.setOnClickListener {
-            CoroutineScope(Dispatchers.Main).launch {
+            lifecycleScope.launch(Dispatchers.Main) {
                 val labels = withContext(Dispatchers.IO) {
                     DataBaseManager.get.queryLabelById("0")
                 }
                 if (labels.isNotEmpty()) {
                     samplePopupWindow.setShowPosition(4)
                 }
-                val x = binding.rightImageView.width - samplePopupWindow.width - 1f.dp2px(context)
-                samplePopupWindow.showAsDropDown(binding.rightImageView, x, 1f.dp2px(context))
+                val x = binding.rightImageView.width - samplePopupWindow.width - 1.dp2px(context)
+                samplePopupWindow.showAsDropDown(binding.rightImageView, x, 1.dp2px(context))
             }
         }
 
@@ -201,7 +222,7 @@
                     QueryMarkerDialog.OnDialogButtonClickListener {
                     override fun onConfirmClick(selectedItem: String, value: String) {
                         //查询数据库
-                        CoroutineScope(Dispatchers.Main).launch {
+                        lifecycleScope.launch(Dispatchers.Main) {
                             labelBeans = withContext(Dispatchers.IO) {
                                 DataBaseManager.get.loadLabelByCondition(
                                     selectedItem, value
@@ -282,12 +303,14 @@
                         }
                     }).build().show()
             } else {
-                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
-                    .setMessage("现有任务已完成，请点击右上角菜单按钮下载新工单！")
-                    .setPositiveButton("知道了").setOnDialogButtonClickListener(object :
+                AlertMessageDialog.Builder()
+                    .setContext(this)
+                    .setTitle("温馨提示")
+                    .setMessage("现有任务已完成，请点击右上角菜单下载新工单或者开始自由巡检")
+                    .setPositiveButton("开始自由巡检").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
-
+                            startFreeTask()
                         }
                     }).build().show()
             }
@@ -297,6 +320,69 @@
         binding.detectionButton.setOnClickListener {
             navigatePageTo<SearchLabelActivity>()
         }
+
+        //自由巡检
+        binding.stopFreeTaskButton.setOnLongClickListener {
+            AlertMessageDialog.Builder()
+                .setContext(this)
+                .setTitle("温馨提示")
+                .setMessage("是否确定结束此次自由巡检任务？")
+                .setPositiveButton("是")
+                .setOnDialogButtonClickListener(object :
+                    AlertMessageDialog.OnDialogButtonClickListener {
+                    override fun onConfirmClick() {
+                        soundPool.release()
+                        serialPortManager.closeSerialPort()
+
+                        taskViewModel.uploadTaskMarker(taskId, ids)
+                        binding.stopFreeTaskButton.visibility = View.GONE
+                    }
+                }).build().show()
+            true
+        }
+    }
+
+    private fun startFreeTask() {
+        AlertInputDialog.Builder()
+            .setContext(this)
+            .setTitle("新建自由巡检任务")
+            .setHintMessage("请输入自由巡检任务简要描述")
+            .setNegativeButton("取消")
+            .setPositiveButton("确定")
+            .setOnDialogButtonClickListener(object : AlertInputDialog.OnDialogButtonClickListener {
+                override fun onConfirmClick(value: String) {
+                    val userId = SaveKeyValues.getValue(LocaleConstant.USER_ID, "") as String
+                    taskViewModel.createFreeTask(userId, value)
+
+                    soundPool = SoundPool.Builder()
+                        .setMaxStreams(16)
+                        .setAudioAttributes(audioAttributes)
+                        .build()
+                    soundPool.load(context, R.raw.ring3, 1)
+                    soundPool.setOnLoadCompleteListener { soundPool, sampleId, _ ->
+                        soundPool.play(sampleId, 1f, 1f, 0, -1, 1f)
+                    }
+
+                    //自由巡检
+                    serialPortManager.searchMarkerSignal()
+
+                    binding.stopFreeTaskButton.visibility = View.VISIBLE
+                }
+
+                override fun onCancelClick() {}
+            }).build().show()
+    }
+
+    override fun onDataReceived(buffer: ByteArray) {
+        val hex = buffer.toHex()
+//        Log.d(kTag, "$kTag => $hex")
+        if (hex.length >= 20) {
+            val markerId = hex.take(20).hexToString()
+            if (markerId.isNumber()) {
+                "标识器${markerId}已探测".show(this)
+                ids.add(markerId)
+            }
+        }
     }
 
     override fun observeRequestState() {
@@ -342,7 +428,7 @@
 
         aMap.setOnMapLongClickListener {
             //协程异步显示默认数据
-            CoroutineScope(Dispatchers.Main).launch {
+            lifecycleScope.launch(Dispatchers.Main) {
                 labelBeans = withContext(Dispatchers.IO) {
                     DataBaseManager.get.loadTaskLabels() as ArrayList<LabelBean>
                 }
@@ -381,7 +467,7 @@
                             userName,
                             messageModel.description,
                             info.taskId.toString(),
-                            info.taskCode.toString(),
+                            info.id.toString(),
                             info.markerId.toString(),
                             info.markerIdReal.toString(),
                             info.longitude.toString(),
@@ -412,7 +498,7 @@
 
         clusterOverlay = ClusterOverlay(context, aMap, clusterItems, regionRadius)
         clusterOverlay?.setClusterRender { clusterNum ->
-            val radius = 80f.dp2px(context)
+            val radius = 80.dp2px(context)
             if (clusterNum == 0) {
                 var bitmapDrawable = backDrawables[0]
                 if (bitmapDrawable == null) {
@@ -426,7 +512,7 @@
             if (clusterNum == 1) {
                 var bitmapDrawable = backDrawables[1]
                 if (bitmapDrawable == null) {
-                    bitmapDrawable = resources.getDrawable(R.mipmap.label)
+                    bitmapDrawable = R.mipmap.label.convertDrawable(this)!!
                     backDrawables[1] = bitmapDrawable
                 }
                 bitmapDrawable
@@ -478,9 +564,13 @@
             val latLngBounds = builder.build()
             aMap.animateCamera(CameraUpdateFactory.newLatLngBounds(latLngBounds, 0))
 
-            AlertControlDialog.Builder().setContext(this).setTitle("提示")
-                .setMessage("请选择操作方式").setNegativeButton("标识器信息")
-                .setPositiveButton("到这里去").setOnDialogButtonClickListener(object :
+            AlertControlDialog.Builder()
+                .setContext(this)
+                .setTitle("提示")
+                .setMessage("请选择操作方式")
+                .setNegativeButton("标识器信息")
+                .setPositiveButton("到这里去")
+                .setOnDialogButtonClickListener(object :
                     AlertControlDialog.OnDialogButtonClickListener {
                     override fun onConfirmClick() {
                         RouteOnMap.startNavigation(context, item.title, latLng)
@@ -510,13 +600,13 @@
                         BitmapDescriptorFactory.fromBitmap(
                             BitmapFactory.decodeResource(resources, R.mipmap.label_red1)
                         )
-                    ).period(99).title("工单标识器").snippet(it.markerRealId)
+                    ).period(99).title("工单标识器").snippet(it.markerId)
                 } else {
                     otMarkerOptions.icon(
                         BitmapDescriptorFactory.fromBitmap(
                             BitmapFactory.decodeResource(resources, R.mipmap.label_blue1)
                         )
-                    ).period(99).title("工单标识器").snippet(it.markerRealId)
+                    ).period(99).title("工单标识器").snippet(it.markerId)
                 }
                 aMap.addMarker(otMarkerOptions)
             }
@@ -665,7 +755,7 @@
         super.onResume()
         binding.mapView.onResume()
         //协程异步显示默认数据
-        CoroutineScope(Dispatchers.Main).launch {
+        lifecycleScope.launch(Dispatchers.Main) {
             labelBeans = withContext(Dispatchers.IO) {
                 DataBaseManager.get.loadTaskLabels() as ArrayList<LabelBean>
             }
@@ -684,8 +774,10 @@
     }
 
     override fun onDestroy() {
-        wakeLock.release()
         super.onDestroy()
         binding.mapView.onDestroy()
+        locationHub.stopLocation()
+        //降低串口电位
+        gpioManager.setGpioLow("18")
     }
 }
\ No newline at end of file

diff --git a/app/src/main/java/com/casic/detector/base/BaseApplication.kt b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
index 30ccb6b..87ef650 100644
--- a/app/src/main/java/com/casic/detector/base/BaseApplication.kt
+++ b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
@@ -15,21 +15,29 @@
 
     private val kTag = "BaseApplication"
     private val suffix = "/dev/ttysWK"
-    private var serialPorts = ArrayList<SerialPort>()
+    private var serialPorts: ArrayList<SerialPort>? = null
 
     @Throws(SecurityException::class, IOException::class, InvalidParameterException::class)
-    fun getSerialPorts(): ArrayList<SerialPort> {
-        if (serialPorts.isEmpty()) {
-            /**
-             * Open the serial port
-             * */
-            serialPorts.add(SerialPort(File("${suffix}1"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}2"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}0"), 9600, 0))
+    fun getSerialPorts(): ArrayList<SerialPort>? {
+        serialPorts = ArrayList()
+        /**
+         * Open the serial port
+         * */
+        serialPorts?.apply {
+            add(SerialPort(File("${suffix}1"), 9600, 0))
+            add(SerialPort(File("${suffix}2"), 9600, 0))
+            add(SerialPort(File("${suffix}0"), 9600, 0))
         }
         return serialPorts
     }
 
+
+    fun closeSerialPort() {
+        serialPorts?.forEach {
+            it.close()
+        }
+    }
+
     companion object {
         private var application: BaseApplication by Delegates.notNull()
 
@@ -50,11 +58,4 @@
     fun getDaoSession(): DaoSession {
         return daoSession
     }
-
-    fun closeSerialPort() {
-        serialPorts.forEach {
-            it.close()
-        }
-        serialPorts.clear()
-    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/bean/TaskBean.java b/app/src/main/java/com/casic/detector/bean/TaskBean.java
index d6e1101..7ada7a5 100644
--- a/app/src/main/java/com/casic/detector/bean/TaskBean.java
+++ b/app/src/main/java/com/casic/detector/bean/TaskBean.java
@@ -1,5 +1,7 @@
 package com.casic.detector.bean;
 
+import com.casic.detector.model.TaskModel;
+
 import org.greenrobot.greendao.annotation.Entity;
 import org.greenrobot.greendao.annotation.Generated;
 import org.greenrobot.greendao.annotation.Id;
@@ -12,6 +14,9 @@
     private String scanner;
     private String desc;
     private String taskId;
+    /**
+     * 用 {@link TaskModel.MessageModel.TaskDetailInfosModel#id} 存
+     * */
     private String taskCode;
     private String markerId;
     private String markerRealId;
diff --git a/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
new file mode 100644
index 0000000..09203d9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
@@ -0,0 +1,59 @@
+package com.casic.detector.extensions
+
+import com.amap.api.location.AMapLocation
+import com.amap.api.maps.AMapUtils
+import com.amap.api.maps.model.LatLng
+import com.casic.detector.model.CalculateResult
+import kotlin.math.acos
+
+/**
+ * 计算两个经纬度之间连线的方位角，因为距离很近（一般是3米内），球面近似为平面
+ * C        B
+ * |-------/
+ * |      /
+ * |     /
+ * |    /
+ * |   /
+ * |  /
+ * | /
+ * |/
+ * A
+ * */
+fun AMapLocation.calculateAngle(target: LatLng): CalculateResult {
+    //构造直角辅助点
+    val auxiliaryPoint = LatLng(target.latitude, this.longitude)
+
+    //AB线段长度
+    val distance = AMapUtils.calculateLineDistance(
+        LatLng(this.latitude, this.longitude), target
+    )
+
+    //AC线段长度
+    val auxiliaryDistance = AMapUtils.calculateLineDistance(
+        LatLng(auxiliaryPoint.latitude, auxiliaryPoint.longitude), target
+    )
+
+    //求余弦值
+    val cosine = auxiliaryDistance / distance
+
+    //反余弦得弧度
+    val radian = acos(cosine)
+
+    //弧度转角度，度=弧度×180°/π
+    val angle = (radian * 180) / Math.PI
+
+    //判断方位
+    val direction = if (target.latitude > this.latitude && target.longitude > this.longitude) {
+        //东北方
+        "东偏北"
+    } else if (target.latitude < this.latitude && target.longitude < this.longitude) {
+        //西南方
+        "西偏南"
+    } else if (target.latitude > this.latitude && target.longitude < this.longitude) {
+        //西北方
+        "西偏北"
+    } else {
+        "东偏南"
+    }
+    return CalculateResult(angle.toInt(), direction, distance.toInt())
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/ArrayList.kt b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
new file mode 100644
index 0000000..52f8ac9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
@@ -0,0 +1,20 @@
+package com.casic.detector.extensions
+
+/**
+ * ArrayList扩展方法
+ */
+
+//将集合格式化成满足上传格式的数据
+fun ArrayList<String>.reformat(): String {
+    if (this.isEmpty()) return ""
+    val builder = StringBuilder()
+    //循环遍历元素，同时得到元素index(下标)
+    this.forEachIndexed { index, s ->
+        if (index == this.size - 1) {
+            builder.append(s)
+        } else {
+            builder.append(s).append(",")
+        }
+    }
+    return builder.toString()
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/String.kt b/app/src/main/java/com/casic/detector/extensions/String.kt
index b76d83d..785b89f 100644
--- a/app/src/main/java/com/casic/detector/extensions/String.kt
+++ b/app/src/main/java/com/casic/detector/extensions/String.kt
@@ -122,4 +122,9 @@
         }
     }
     return sb.toString()
+}
+
+fun String.isNumber(): Boolean {
+    val regex = Regex("[-+]?\\d+(\\.\\d+)?")
+    return this.matches(regex)
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
index cab23bb..682c3f8 100644
--- a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
+++ b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
@@ -13,20 +13,25 @@
 
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
+
 /**
  * Master of DAO (schema version 1): knows all DAOs.
  */
 public class DaoMaster extends AbstractDaoMaster {
     public static final int SCHEMA_VERSION = 1;
 
-    /** Creates underlying database table using DAOs. */
+    /**
+     * Creates underlying database table using DAOs.
+     */
     public static void createAllTables(Database db, boolean ifNotExists) {
         LabelBeanDao.createTable(db, ifNotExists);
         SmallLabelBeanDao.createTable(db, ifNotExists);
         TaskBeanDao.createTable(db, ifNotExists);
     }
 
-    /** Drops underlying database table using DAOs. */
+    /**
+     * Drops underlying database table using DAOs.
+     */
     public static void dropAllTables(Database db, boolean ifExists) {
         LabelBeanDao.dropTable(db, ifExists);
         SmallLabelBeanDao.dropTable(db, ifExists);
@@ -81,7 +86,9 @@
         }
     }
 
-    /** WARNING: Drops all table on Upgrade! Use only during development. */
+    /**
+     * WARNING: Drops all table on Upgrade! Use only during development.
+     */
     public static class DevOpenHelper extends OpenHelper {
         public DevOpenHelper(Context context, String name) {
             super(context, name);
diff --git a/app/src/main/java/com/casic/detector/model/CalculateResult.kt b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
new file mode 100644
index 0000000..02cb0a0
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
@@ -0,0 +1,3 @@
+package com.casic.detector.model
+
+data class CalculateResult(val angle: Int, val direction: String, val distance: Int)
diff --git a/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt b/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
index 43a8484..cae51d5 100644
--- a/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
+++ b/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
@@ -82,25 +82,21 @@
      */
     @GET("/ems/rs/task/update-task-mark")
     suspend fun uploadMarker(
-        @Query("taskDetailId") taskId: String,
+        @Query("taskDetailId") taskId: String
     ): String
 
     /**
      * 新建自由巡检任务
      * */
-    @GET("")
+    @GET("ems/rs/task/addAppTask")
     suspend fun createFreeTask(
         @Query("patrollerId") patrollerId: String,
-        @Query("description") description: String,
+        @Query("description") description: String
     ): String
 
     /**
      * 上传自由巡检过程中发现的标识器
      * */
-    @Multipart
-    @POST("")
-    suspend fun uploadTaskMarker(
-        @Field("taskId") taskId: String,
-        @Body requestBody: RequestBody,
-    ): String
+    @POST("ems/event/uploadAppMarker.do")
+    suspend fun uploadTaskMarker(@Body requestBody: RequestBody): String
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt b/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
index 8ae0794..ac06760 100644
--- a/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
+++ b/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
@@ -1,9 +1,9 @@
 package com.casic.detector.retrofit
 
+import com.casic.detector.extensions.reformat
 import com.casic.detector.utils.LocaleConstant
 import com.google.gson.Gson
 import com.google.gson.JsonObject
-import com.google.gson.reflect.TypeToken
 import com.pengxh.kt.lite.utils.RetrofitFactory
 import com.pengxh.kt.lite.utils.SaveKeyValues
 import okhttp3.MediaType.Companion.toMediaType
@@ -16,7 +16,6 @@
 object RetrofitServiceManager {
 
     private val gson by lazy { Gson() }
-    private val typeToken = object : TypeToken<Array<String>>() {}.type
 
     private fun createApi(): RetrofitService {
         val serverIp = SaveKeyValues.getValue(LocaleConstant.SERVER_IP, "") as String
@@ -233,12 +232,13 @@
     /**
      * 上传自由巡检过程中发现的标识器
      */
-    suspend fun uploadTaskMarker(taskId: String, models: List<String>): String {
+    suspend fun uploadTaskMarker(taskId: String, models: ArrayList<String>): String {
         val param = JsonObject()
-        param.add("markers", gson.toJsonTree(models, typeToken).asJsonArray)
+        param.addProperty("taskId", taskId)
+        param.addProperty("ids", models.reformat())
         val requestBody = param.toString().toRequestBody(
             "application/json;charset=UTF-8".toMediaType()
         )
-        return createApi().uploadTaskMarker(taskId, requestBody)
+        return createApi().uploadTaskMarker(requestBody)
     }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt b/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
index 1c7d95b..7e627a4 100644
--- a/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
+++ b/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
@@ -105,7 +105,7 @@
     fun queryTaskLabelByIdAndState(identifierId: String, state: String): TaskBean? {
         return taskBeanDao.queryBuilder()
             .where(
-                TaskBeanDao.Properties.MarkerRealId.eq(identifierId),
+                TaskBeanDao.Properties.MarkerId.eq(identifierId),
                 TaskBeanDao.Properties.State.eq(state)
             ).list().firstOrNull()
     }
diff --git a/app/src/main/java/com/casic/detector/utils/SerialPortManager.kt b/app/src/main/java/com/casic/detector/utils/SerialPortManager.kt
new file mode 100644
index 0000000..c235471
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/utils/SerialPortManager.kt
@@ -0,0 +1,119 @@
+package com.casic.detector.utils
+
+import androidx.lifecycle.Lifecycle
+import androidx.lifecycle.LifecycleOwner
+import androidx.lifecycle.LifecycleRegistry
+import androidx.lifecycle.lifecycleScope
+import com.casic.detector.base.BaseApplication
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.launch
+import kotlinx.coroutines.withContext
+import java.io.IOException
+
+class SerialPortManager(private val listener: OnSerialPortListener) : LifecycleOwner {
+
+    private val kTag = "SerialPortManager"
+    private val registry = LifecycleRegistry(this)
+
+    init {
+        //读取串口数据
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            val buffer = ByteArray(72)
+            var size: Int
+            serialPorts?.forEach {
+                val stream = it.inputStream
+                while (true) {
+                    try {
+                        size = stream.read(buffer)
+                        if (size > 0) {
+                            withContext(Dispatchers.Main) {
+                                listener.onDataReceived(buffer)
+                            }
+                        }
+                    } catch (e: IOException) {
+                        e.printStackTrace()
+                        return@launch
+                    }
+                }
+            }
+        }
+    }
+
+    /**
+     * 探测
+     * */
+    fun detectMarker() {
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            serialPorts?.apply {
+                while (size >= 1) {
+                    val outStream = this[0].outputStream
+                    try {
+                        // 发送读标识器ID指令
+                        outStream?.write('2'.code)
+                        outStream?.flush()
+                        delay(100)
+
+                        outStream.write('6'.code)
+                        outStream.flush()
+                        delay(100)
+                    } catch (e: IOException) {
+                        e.printStackTrace()
+                    }
+                }
+            }
+        }
+    }
+
+    /**
+     * 发送探测深度指令
+     * */
+    fun detectDepth(markerTag: Char) {
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            serialPorts?.apply {
+                val outStream = this[0].outputStream
+                try {
+                    // 发送测距指令
+                    outStream?.write(markerTag.code)
+                    outStream?.flush()
+                } catch (e: IOException) {
+                    e.printStackTrace()
+                }
+            }
+        }
+    }
+
+    /**
+     * 发送读标识器ID指令
+     * */
+    fun searchMarkerSignal() {
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            serialPorts?.apply {
+                val outStream = this[0].outputStream
+                try {
+                    // 发送读标识器ID指令
+                    outStream?.write('2'.code)
+                    outStream?.flush()
+                } catch (e: IOException) {
+                    e.printStackTrace()
+                }
+            }
+        }
+    }
+
+    fun closeSerialPort() {
+        BaseApplication.get().closeSerialPort()
+    }
+
+    interface OnSerialPortListener {
+        fun onDataReceived(buffer: ByteArray)
+    }
+
+    override fun getLifecycle(): Lifecycle {
+        return registry
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt b/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt
index 68d54b2..5bac324 100644
--- a/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt
+++ b/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt
@@ -2,16 +2,12 @@
 
 import android.annotation.SuppressLint
 import android.app.DatePickerDialog
-import android.content.Context
 import android.content.DialogInterface
 import android.content.Intent
 import android.media.AudioAttributes
 import android.media.SoundPool
 import android.os.Bundle
-import android.os.Handler
-import android.os.Message
 import android.provider.Settings
-import android.util.Log
 import android.view.KeyEvent
 import android.view.View
 import android.view.WindowManager
@@ -19,7 +15,6 @@
 import com.amap.api.location.AMapLocation
 import com.casic.detector.R
 import com.casic.detector.adapter.EditableImageAdapter
-import com.casic.detector.base.SerialPortActivity
 import com.casic.detector.bean.LabelBean
 import com.casic.detector.callback.ILocationListener
 import com.casic.detector.callback.OnImageCompressListener
@@ -31,29 +26,39 @@
 import com.luck.picture.lib.config.SelectMimeType
 import com.luck.picture.lib.entity.LocalMedia
 import com.luck.picture.lib.interfaces.OnResultCallbackListener
-import com.pengxh.kt.lite.extensions.*
+import com.pengxh.kt.lite.base.KotlinBaseActivity
+import com.pengxh.kt.lite.extensions.appendZero
+import com.pengxh.kt.lite.extensions.convertColor
+import com.pengxh.kt.lite.extensions.dateToTimestamp
+import com.pengxh.kt.lite.extensions.isNetworkConnected
+import com.pengxh.kt.lite.extensions.navigatePageTo
+import com.pengxh.kt.lite.extensions.show
+import com.pengxh.kt.lite.extensions.timestampToCompleteDate
+import com.pengxh.kt.lite.extensions.timestampToTime
+import com.pengxh.kt.lite.extensions.toJson
 import com.pengxh.kt.lite.utils.LoadState
 import com.pengxh.kt.lite.utils.SaveKeyValues
-import com.pengxh.kt.lite.utils.WeakReferenceHandler
 import com.pengxh.kt.lite.widget.dialog.NoNetworkDialog
 import java.io.File
-import java.io.IOException
 import java.util.*
 
 @SuppressLint("SetTextI18n")
-class InstallLabelActivity : SerialPortActivity<ActivityInstallLabelBinding>(), Handler.Callback {
+class InstallLabelActivity : KotlinBaseActivity<ActivityInstallLabelBinding>(),
+    SerialPortManager.OnSerialPortListener {
 
     private val kTag = "InstallLabelActivity"
-    private val context: Context = this@InstallLabelActivity
+    private val context = this@InstallLabelActivity
+    private val serialPortManager by lazy { SerialPortManager(this) }
     private val calendar by lazy { Calendar.getInstance() }
-    private lateinit var imageAdapter: EditableImageAdapter
-    private val realPaths: ArrayList<String> = ArrayList() //真实图片路径
-    private lateinit var taskViewModel: TaskViewModel
-    private lateinit var soundPool: SoundPool
-    private var soundResId = 0
-    private val gpioManager by lazy { GpioManager() }
+    private val audioAttributes = AudioAttributes.Builder()
+        .setUsage(AudioAttributes.USAGE_ALARM)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC)
+        .build()
+    private val realPaths = ArrayList<String>() //真实图片路径
     private val locationHub by lazy { LocationHub(this) }
-    private lateinit var weakReferenceHandler: WeakReferenceHandler
+    private lateinit var imageAdapter: EditableImageAdapter
+    private lateinit var taskViewModel: TaskViewModel
+    private var soundPool: SoundPool? = null
 
     override fun initViewBinding(): ActivityInstallLabelBinding {
         return ActivityInstallLabelBinding.inflate(layoutInflater)
@@ -79,13 +84,6 @@
         binding.objectInclude.ownerView.setText("ownerView".getDefaultValue())
         binding.identifierInclude.identifierDeepView.setText("identifierDeepView".getDefaultValue())
         binding.identifierInclude.personDeptView.setText("personDeptView".getDefaultValue())
-
-        weakReferenceHandler = WeakReferenceHandler(this)
-
-        val audioAttributes = AudioAttributes.Builder().setUsage(AudioAttributes.USAGE_MEDIA)
-            .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC).build()
-        soundPool =
-            SoundPool.Builder().setMaxStreams(16).setAudioAttributes(audioAttributes).build()
     }
 
     override fun initEvent() {
@@ -247,6 +245,14 @@
                     return@setOnClickListener
                 }
 
+                //查本地库
+                val markerId = binding.identifierInclude.identifierIdView.text.toString()
+                val result = DataBaseManager.get.queryLabelById(markerId)
+                if (result.isEmpty()) {
+                    "".show(this)
+                    return@setOnClickListener
+                }
+
                 //先存本地再上传服务器
                 saveLabelInLocal()
 
@@ -268,7 +274,7 @@
                     binding.objectInclude.constructDateView.text.toString(),
                     binding.objectInclude.ownerView.text.toString(),
                     objectId,
-                    binding.identifierInclude.identifierIdView.text.toString(),
+                    markerId,
                     binding.identifierInclude.identifierTypeSpinner.selectedItem.toString(),
                     "${binding.identifierInclude.identifierDeepView.text}mm",
                     binding.identifierInclude.personDeptView.text.toString(),
@@ -305,25 +311,35 @@
         }
 
         binding.readLabelButton.setOnClickListener {
-            gpioManager.setGpioHigh("18")
-
             LoadingDialogHub.show(this, "标识器读取中，请稍后...")
 
-            soundResId = soundPool.load(this, R.raw.ring3, 1)
-            soundPool.setOnLoadCompleteListener { soundPool, _, _ ->
-                soundPool.play(soundResId, 1f, 1f, 0, -1, 1f)
+            soundPool = SoundPool.Builder()
+                .setMaxStreams(16)
+                .setAudioAttributes(audioAttributes)
+                .build()
+            soundPool?.apply {
+                val soundResId = load(context, R.raw.ring3, 1)
+                setOnLoadCompleteListener { soundPool, _, _ ->
+                    soundPool.play(soundResId, 1f, 1f, 0, -1, 1f)
+                }
             }
 
-            // 1000ms后发送读标识器或搜索信号
-            weakReferenceHandler.postDelayed({
-                try {
-                    // 发送读标识器或搜索信号
-                    outStream?.write("2".toByteArray())
-                    outStream?.flush()
-                } catch (e: IOException) {
-                    e.printStackTrace()
-                }
-            }, 1000)
+            serialPortManager.searchMarkerSignal()
+        }
+    }
+
+    override fun onDataReceived(buffer: ByteArray) {
+        LoadingDialogHub.dismiss()
+        soundPool?.release()
+
+        val hex = buffer.toHex()
+//        Log.d(kTag, "$kTag => $hex")
+        if (hex.length >= 20) {
+            val markerId = hex.take(20).hexToString()
+            if (markerId.isNumber()) {
+                binding.identifierInclude.identifierIdView.text = markerId
+                serialPortManager.closeSerialPort()
+            }
         }
     }
 
@@ -363,41 +379,6 @@
         DataBaseManager.get.insertTaskLabel(labelBean)
     }
 
-    override fun onDataReceived(buffer: ByteArray?, size: Int) {
-        Log.d(kTag, "onDataReceived => " + buffer.contentToString())
-        if (buffer != null) {
-            val message = weakReferenceHandler.obtainMessage()
-            message.what = 2023061601
-            message.obj = buffer
-            weakReferenceHandler.sendMessage(message)
-        }
-    }
-
-    override fun handleMessage(msg: Message): Boolean {
-        if (msg.what == 2023061601) {
-            soundPool.release()
-
-            val buffer = msg.obj as ByteArray
-            val hex = buffer.toHex()
-            //3030303839383735313400000000000000000000000000000000000000000000
-            if (hex.length >= 20) {
-                val identifierId = hex.substring(0, 20).hexToString()
-
-                gpioManager.setGpioLow("18")
-
-                //查本地库
-                val result = DataBaseManager.get.queryLabelById(identifierId)
-                if (result.isEmpty()) {
-                    binding.identifierInclude.identifierIdView.text = identifierId
-                } else {
-                    "此标识器已安装，请更换标识器！".show(this)
-                }
-                LoadingDialogHub.dismiss()
-            }
-        }
-        return true
-    }
-
     private fun takePicture() {
         PictureSelector.create(this).openCamera(SelectMimeType.ofImage())
             .forResult(object : OnResultCallbackListener<LocalMedia> {
@@ -451,14 +432,14 @@
     }
 
     override fun onDestroy() {
-        soundPool.release()
-        gpioManager.setGpioLow("18")
         super.onDestroy()
+        soundPool?.release()
+        locationHub.stopLocation()
     }
 
     override fun onKeyDown(keyCode: Int, event: KeyEvent?): Boolean {
         if (keyCode == KeyEvent.KEYCODE_BACK) {
-            soundPool.release()
+            soundPool?.release()
         }
         return super.onKeyDown(keyCode, event)
     }
diff --git a/app/src/main/java/com/casic/detector/view/MainActivity.kt b/app/src/main/java/com/casic/detector/view/MainActivity.kt
index d590626..7c6446a 100644
--- a/app/src/main/java/com/casic/detector/view/MainActivity.kt
+++ b/app/src/main/java/com/casic/detector/view/MainActivity.kt
@@ -1,17 +1,19 @@
 package com.casic.detector.view
 
-import android.content.Context
 import android.content.Intent
 import android.graphics.BitmapFactory
 import android.graphics.Color
 import android.graphics.drawable.BitmapDrawable
 import android.graphics.drawable.Drawable
+import android.media.AudioAttributes
+import android.media.SoundPool
 import android.os.Bundle
-import android.os.PowerManager
 import android.provider.Settings
 import android.util.Log
 import android.view.KeyEvent
+import android.view.View
 import androidx.lifecycle.ViewModelProvider
+import androidx.lifecycle.lifecycleScope
 import com.amap.api.location.AMapLocation
 import com.amap.api.maps.AMap
 import com.amap.api.maps.AMapOptions
@@ -32,81 +34,89 @@
 import com.casic.detector.databinding.ActivityMainBinding
 import com.casic.detector.extensions.appendDownloadUrl
 import com.casic.detector.extensions.drawCircle
-import com.casic.detector.extensions.initLayoutImmersionBar
+import com.casic.detector.extensions.hexToString
+import com.casic.detector.extensions.initImmersionBar
+import com.casic.detector.extensions.isNumber
+import com.casic.detector.extensions.toHex
 import com.casic.detector.model.TaskModel
 import com.casic.detector.utils.DataBaseManager
 import com.casic.detector.utils.ExcelHub
 import com.casic.detector.utils.FileType
+import com.casic.detector.utils.GpioManager
 import com.casic.detector.utils.LoadingDialogHub
 import com.casic.detector.utils.LocaleConstant
 import com.casic.detector.utils.LocationHub
 import com.casic.detector.utils.RouteOnMap
+import com.casic.detector.utils.SerialPortManager
 import com.casic.detector.vm.TaskViewModel
 import com.casic.detector.widgets.QueryMarkerDialog
 import com.casic.detector.widgets.SamplePopupWindow
 import com.google.gson.Gson
 import com.google.gson.reflect.TypeToken
-import com.gyf.immersionbar.ImmersionBar
 import com.pengxh.kt.lite.base.KotlinBaseActivity
-import com.pengxh.kt.lite.callback.OnDownloadListener
+import com.pengxh.kt.lite.extensions.convertDrawable
 import com.pengxh.kt.lite.extensions.createDownloadFileDir
-import com.pengxh.kt.lite.extensions.downloadFile
 import com.pengxh.kt.lite.extensions.dp2px
 import com.pengxh.kt.lite.extensions.isNetworkConnected
 import com.pengxh.kt.lite.extensions.navigatePageTo
 import com.pengxh.kt.lite.extensions.show
 import com.pengxh.kt.lite.extensions.toJson
+import com.pengxh.kt.lite.utils.FileDownloadManager
+import com.pengxh.kt.lite.utils.LoadState
 import com.pengxh.kt.lite.utils.SaveKeyValues
-import com.pengxh.kt.lite.vm.LoadState
 import com.pengxh.kt.lite.widget.dialog.AlertControlDialog
+import com.pengxh.kt.lite.widget.dialog.AlertInputDialog
 import com.pengxh.kt.lite.widget.dialog.AlertMessageDialog
 import com.pengxh.kt.lite.widget.dialog.BottomActionSheet
 import com.pengxh.kt.lite.widget.dialog.NoNetworkDialog
-import kotlinx.coroutines.CoroutineScope
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.launch
 import kotlinx.coroutines.withContext
 import java.io.File
 
 
-class MainActivity : KotlinBaseActivity<ActivityMainBinding>() {
+class MainActivity : KotlinBaseActivity<ActivityMainBinding>(),
+    SerialPortManager.OnSerialPortListener {
 
     private val kTag = "MainActivity"
-    private val context: Context = this@MainActivity
-    private var clickTime: Long = 0
-    private lateinit var aMap: AMap
-    private lateinit var taskViewModel: TaskViewModel
+    private val context = this@MainActivity
+    private val serialPortManager by lazy { SerialPortManager(this) }
+    private val gpioManager by lazy { GpioManager() }
     private val samplePopupWindow by lazy { SamplePopupWindow(this) }
+    private val gson by lazy { Gson() }
+    private val locationHub by lazy { LocationHub(this) }
+    private val regionRadius by lazy { LocaleConstant.RADIUS_SIZE.dp2px(this) }
+    private val backDrawables by lazy { HashMap<Int, Drawable>() }
+    private val audioAttributes = AudioAttributes.Builder()
+        .setUsage(AudioAttributes.USAGE_ALARM)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC)
+        .build()
+    private var clickTime: Long = 0
     private var labelBeans = ArrayList<LabelBean>()
     private var clusterOverlay: ClusterOverlay? = null
-    private val backDrawables = HashMap<Int, Drawable>()
-    private val regionRadius by lazy { LocaleConstant.RADIUS_SIZE.dp2px(this) }
     private var latitude: Double = 0.0
     private var longitude: Double = 0.0
-    private val gson by lazy { Gson() }
-    private val locationHub by lazy { LocationHub.obtainInstance(this) }
-    private lateinit var wakeLock: PowerManager.WakeLock
+    private var ids = ArrayList<String>()
+    private lateinit var aMap: AMap
+    private lateinit var soundPool: SoundPool
+    private lateinit var taskViewModel: TaskViewModel
     private lateinit var taskBean: TaskBean
+    private lateinit var taskId: String
 
     override fun initViewBinding(): ActivityMainBinding {
         return ActivityMainBinding.inflate(layoutInflater)
     }
 
     override fun setupTopBarLayout() {
-        ImmersionBar.with(this).statusBarDarkFont(false).statusBarColor(R.color.themeColor).init()
-        initLayoutImmersionBar(binding.rootView)
+        binding.rootView.initImmersionBar(this, false, R.color.themeColor)
     }
 
     override fun initOnCreate(savedInstanceState: Bundle?) {
-        val powerManager = getSystemService(Context.POWER_SERVICE) as PowerManager
-        wakeLock = powerManager.run {
-            newWakeLock(PowerManager.PARTIAL_WAKE_LOCK, this@MainActivity.localClassName).apply {
-                acquire(60 * 60 * 1000L)
-            }
-        }
-
         initMapConfig(savedInstanceState)
 
+        //调高串口电位
+        gpioManager.setGpioHigh("18")
+
         samplePopupWindow.setPopupMenuItem(LocaleConstant.POPUP_TITLES)
         samplePopupWindow.setBackgroundDrawable(null)
 
@@ -119,12 +129,14 @@
                 val companyId = SaveKeyValues.getValue(LocaleConstant.USER_COMPANY_ID, "")
                 val downloadUrl = companyId.toString().appendDownloadUrl(FileType.EXCEL)
                 Log.d(kTag, "downloadUrl => $downloadUrl")
-                downloadUrl.downloadFile(
-                    createDownloadFileDir().toString(),
-                    object : OnDownloadListener {
-                        override fun onDownloadEnd(file: File?) {
-                            CoroutineScope(Dispatchers.Main).launch {
-                                labelBeans = ExcelHub.read(file?.absolutePath)
+                FileDownloadManager.Builder()
+                    .setDownloadFileSource(downloadUrl)
+                    .setFileSuffix("xls")
+                    .setFileSaveDirectory(createDownloadFileDir())
+                    .setOnFileDownloadListener(object : FileDownloadManager.OnFileDownloadListener {
+                        override fun onDownloadEnd(file: File) {
+                            lifecycleScope.launch(Dispatchers.Main) {
+                                labelBeans = ExcelHub.read(file.absolutePath)
                                 withContext(Dispatchers.IO) {
                                     labelBeans.forEach { label ->
                                         DataBaseManager.get.insertTaskLabel(label)
@@ -135,14 +147,16 @@
                             }
                         }
 
-                        override fun onDownloadStart(totalBytes: Long) {
+                        override fun onFailure(throwable: Throwable) {
 
                         }
 
-                        override fun onProgressChanged(currentBytes: Long) {
+                        override fun onProgressChanged(progress: Int) {
 
                         }
                     })
+                    .build()
+                    .start()
             }
         }
         taskViewModel.taskResult.observe(this) {
@@ -159,19 +173,26 @@
                     }).build().show()
             }
         }
+
+        taskViewModel.freeTaskResult.observe(this) { taskId = it }
+
+        taskViewModel.uploadTaskMarkerResult.observe(this) {
+            "自由巡检任务已完成".show(this)
+            ids.clear()
+        }
     }
 
     override fun initEvent() {
         binding.rightImageView.setOnClickListener {
-            CoroutineScope(Dispatchers.Main).launch {
+            lifecycleScope.launch(Dispatchers.Main) {
                 val labels = withContext(Dispatchers.IO) {
                     DataBaseManager.get.queryLabelById("0")
                 }
                 if (labels.isNotEmpty()) {
                     samplePopupWindow.setShowPosition(4)
                 }
-                val x = binding.rightImageView.width - samplePopupWindow.width - 1f.dp2px(context)
-                samplePopupWindow.showAsDropDown(binding.rightImageView, x, 1f.dp2px(context))
+                val x = binding.rightImageView.width - samplePopupWindow.width - 1.dp2px(context)
+                samplePopupWindow.showAsDropDown(binding.rightImageView, x, 1.dp2px(context))
             }
         }
 
@@ -201,7 +222,7 @@
                     QueryMarkerDialog.OnDialogButtonClickListener {
                     override fun onConfirmClick(selectedItem: String, value: String) {
                         //查询数据库
-                        CoroutineScope(Dispatchers.Main).launch {
+                        lifecycleScope.launch(Dispatchers.Main) {
                             labelBeans = withContext(Dispatchers.IO) {
                                 DataBaseManager.get.loadLabelByCondition(
                                     selectedItem, value
@@ -282,12 +303,14 @@
                         }
                     }).build().show()
             } else {
-                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
-                    .setMessage("现有任务已完成，请点击右上角菜单按钮下载新工单！")
-                    .setPositiveButton("知道了").setOnDialogButtonClickListener(object :
+                AlertMessageDialog.Builder()
+                    .setContext(this)
+                    .setTitle("温馨提示")
+                    .setMessage("现有任务已完成，请点击右上角菜单下载新工单或者开始自由巡检")
+                    .setPositiveButton("开始自由巡检").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
-
+                            startFreeTask()
                         }
                     }).build().show()
             }
@@ -297,6 +320,69 @@
         binding.detectionButton.setOnClickListener {
             navigatePageTo<SearchLabelActivity>()
         }
+
+        //自由巡检
+        binding.stopFreeTaskButton.setOnLongClickListener {
+            AlertMessageDialog.Builder()
+                .setContext(this)
+                .setTitle("温馨提示")
+                .setMessage("是否确定结束此次自由巡检任务？")
+                .setPositiveButton("是")
+                .setOnDialogButtonClickListener(object :
+                    AlertMessageDialog.OnDialogButtonClickListener {
+                    override fun onConfirmClick() {
+                        soundPool.release()
+                        serialPortManager.closeSerialPort()
+
+                        taskViewModel.uploadTaskMarker(taskId, ids)
+                        binding.stopFreeTaskButton.visibility = View.GONE
+                    }
+                }).build().show()
+            true
+        }
+    }
+
+    private fun startFreeTask() {
+        AlertInputDialog.Builder()
+            .setContext(this)
+            .setTitle("新建自由巡检任务")
+            .setHintMessage("请输入自由巡检任务简要描述")
+            .setNegativeButton("取消")
+            .setPositiveButton("确定")
+            .setOnDialogButtonClickListener(object : AlertInputDialog.OnDialogButtonClickListener {
+                override fun onConfirmClick(value: String) {
+                    val userId = SaveKeyValues.getValue(LocaleConstant.USER_ID, "") as String
+                    taskViewModel.createFreeTask(userId, value)
+
+                    soundPool = SoundPool.Builder()
+                        .setMaxStreams(16)
+                        .setAudioAttributes(audioAttributes)
+                        .build()
+                    soundPool.load(context, R.raw.ring3, 1)
+                    soundPool.setOnLoadCompleteListener { soundPool, sampleId, _ ->
+                        soundPool.play(sampleId, 1f, 1f, 0, -1, 1f)
+                    }
+
+                    //自由巡检
+                    serialPortManager.searchMarkerSignal()
+
+                    binding.stopFreeTaskButton.visibility = View.VISIBLE
+                }
+
+                override fun onCancelClick() {}
+            }).build().show()
+    }
+
+    override fun onDataReceived(buffer: ByteArray) {
+        val hex = buffer.toHex()
+//        Log.d(kTag, "$kTag => $hex")
+        if (hex.length >= 20) {
+            val markerId = hex.take(20).hexToString()
+            if (markerId.isNumber()) {
+                "标识器${markerId}已探测".show(this)
+                ids.add(markerId)
+            }
+        }
     }
 
     override fun observeRequestState() {
@@ -342,7 +428,7 @@
 
         aMap.setOnMapLongClickListener {
             //协程异步显示默认数据
-            CoroutineScope(Dispatchers.Main).launch {
+            lifecycleScope.launch(Dispatchers.Main) {
                 labelBeans = withContext(Dispatchers.IO) {
                     DataBaseManager.get.loadTaskLabels() as ArrayList<LabelBean>
                 }
@@ -381,7 +467,7 @@
                             userName,
                             messageModel.description,
                             info.taskId.toString(),
-                            info.taskCode.toString(),
+                            info.id.toString(),
                             info.markerId.toString(),
                             info.markerIdReal.toString(),
                             info.longitude.toString(),
@@ -412,7 +498,7 @@
 
         clusterOverlay = ClusterOverlay(context, aMap, clusterItems, regionRadius)
         clusterOverlay?.setClusterRender { clusterNum ->
-            val radius = 80f.dp2px(context)
+            val radius = 80.dp2px(context)
             if (clusterNum == 0) {
                 var bitmapDrawable = backDrawables[0]
                 if (bitmapDrawable == null) {
@@ -426,7 +512,7 @@
             if (clusterNum == 1) {
                 var bitmapDrawable = backDrawables[1]
                 if (bitmapDrawable == null) {
-                    bitmapDrawable = resources.getDrawable(R.mipmap.label)
+                    bitmapDrawable = R.mipmap.label.convertDrawable(this)!!
                     backDrawables[1] = bitmapDrawable
                 }
                 bitmapDrawable
@@ -478,9 +564,13 @@
             val latLngBounds = builder.build()
             aMap.animateCamera(CameraUpdateFactory.newLatLngBounds(latLngBounds, 0))
 
-            AlertControlDialog.Builder().setContext(this).setTitle("提示")
-                .setMessage("请选择操作方式").setNegativeButton("标识器信息")
-                .setPositiveButton("到这里去").setOnDialogButtonClickListener(object :
+            AlertControlDialog.Builder()
+                .setContext(this)
+                .setTitle("提示")
+                .setMessage("请选择操作方式")
+                .setNegativeButton("标识器信息")
+                .setPositiveButton("到这里去")
+                .setOnDialogButtonClickListener(object :
                     AlertControlDialog.OnDialogButtonClickListener {
                     override fun onConfirmClick() {
                         RouteOnMap.startNavigation(context, item.title, latLng)
@@ -510,13 +600,13 @@
                         BitmapDescriptorFactory.fromBitmap(
                             BitmapFactory.decodeResource(resources, R.mipmap.label_red1)
                         )
-                    ).period(99).title("工单标识器").snippet(it.markerRealId)
+                    ).period(99).title("工单标识器").snippet(it.markerId)
                 } else {
                     otMarkerOptions.icon(
                         BitmapDescriptorFactory.fromBitmap(
                             BitmapFactory.decodeResource(resources, R.mipmap.label_blue1)
                         )
-                    ).period(99).title("工单标识器").snippet(it.markerRealId)
+                    ).period(99).title("工单标识器").snippet(it.markerId)
                 }
                 aMap.addMarker(otMarkerOptions)
             }
@@ -665,7 +755,7 @@
         super.onResume()
         binding.mapView.onResume()
         //协程异步显示默认数据
-        CoroutineScope(Dispatchers.Main).launch {
+        lifecycleScope.launch(Dispatchers.Main) {
             labelBeans = withContext(Dispatchers.IO) {
                 DataBaseManager.get.loadTaskLabels() as ArrayList<LabelBean>
             }
@@ -684,8 +774,10 @@
     }
 
     override fun onDestroy() {
-        wakeLock.release()
         super.onDestroy()
         binding.mapView.onDestroy()
+        locationHub.stopLocation()
+        //降低串口电位
+        gpioManager.setGpioLow("18")
     }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/view/SearchLabelActivity.kt b/app/src/main/java/com/casic/detector/view/SearchLabelActivity.kt
index dcf39b4..426aed3 100644
--- a/app/src/main/java/com/casic/detector/view/SearchLabelActivity.kt
+++ b/app/src/main/java/com/casic/detector/view/SearchLabelActivity.kt
@@ -4,80 +4,59 @@
 import android.media.AudioAttributes
 import android.media.SoundPool
 import android.os.Bundle
-import android.os.Handler
-import android.os.Message
-import android.util.Log
+import android.os.CountDownTimer
 import android.view.animation.Animation
 import android.view.animation.RotateAnimation
+import androidx.activity.OnBackPressedCallback
 import androidx.lifecycle.ViewModelProvider
-import androidx.lifecycle.lifecycleScope
 import com.casic.detector.R
-import com.casic.detector.base.SerialPortActivity
 import com.casic.detector.bean.TaskBean
 import com.casic.detector.databinding.ActivitySearchLabelBinding
 import com.casic.detector.extensions.hexToString
+import com.casic.detector.extensions.isNumber
 import com.casic.detector.extensions.toHex
 import com.casic.detector.utils.DataBaseManager
-import com.casic.detector.utils.GpioManager
 import com.casic.detector.utils.LoadingDialogHub
-import com.casic.detector.utils.LocaleConstant
 import com.casic.detector.utils.LocationHub
+import com.casic.detector.utils.SerialPortManager
 import com.casic.detector.vm.TaskViewModel
 import com.gyf.immersionbar.ImmersionBar
+import com.pengxh.kt.lite.base.KotlinBaseActivity
 import com.pengxh.kt.lite.extensions.navigatePageTo
 import com.pengxh.kt.lite.extensions.show
 import com.pengxh.kt.lite.extensions.toJson
 import com.pengxh.kt.lite.utils.LoadState
-import com.pengxh.kt.lite.utils.SaveKeyValues
-import com.pengxh.kt.lite.utils.WeakReferenceHandler
 import com.pengxh.kt.lite.widget.dialog.AlertMessageDialog
-import kotlinx.coroutines.Dispatchers
-import kotlinx.coroutines.delay
-import kotlinx.coroutines.launch
-import java.io.IOException
 import java.text.DecimalFormat
-import java.util.Timer
-import java.util.TimerTask
 
-class SearchLabelActivity : SerialPortActivity<ActivitySearchLabelBinding>(), Handler.Callback {
+class SearchLabelActivity : KotlinBaseActivity<ActivitySearchLabelBinding>(),
+    SerialPortManager.OnSerialPortListener {
 
     private val kTag = "SearchLabelActivity"
+    private val serialPortManager by lazy { SerialPortManager(this) }
+    private val decimal by lazy { DecimalFormat("0.0") }
+    private val degreeCache by lazy { HashMap<String, Float>() }
+    private val locationHub by lazy { LocationHub(this) }
+    private val audioAttributes = AudioAttributes.Builder()
+        .setUsage(AudioAttributes.USAGE_MEDIA)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC)
+        .build()
+    private lateinit var taskViewModel: TaskViewModel
     private lateinit var slowSoundPool: SoundPool
     private lateinit var fastSoundPool: SoundPool
     private var slowResId = 0
     private var fastResId = 0
-    private val gpioManager by lazy { GpioManager() }
-    private val weakReferenceHandler by lazy { WeakReferenceHandler(this) }
-    private val detectTimer by lazy { Timer() }
-    private val decimal by lazy { DecimalFormat("0.0") }
-    private var identifierId = ""
-    private val lastDegreeMap by lazy { HashMap<String, Float>() }
-    private val locationHub by lazy { LocationHub(this) }
-    private var isPlaying = false
-    private var isDetectDepth = false
-    private lateinit var taskViewModel: TaskViewModel
+    private var markerId = ""
     private var taskLabel: TaskBean? = null
-    private val dataReceivedCode = 2023110301
+    private var isPlaying = false
 
     override fun initOnCreate(savedInstanceState: Bundle?) {
-        gpioManager.setGpioHigh("18")
-        //角度
-        lastDegreeMap["lastDegree"] = 0f
+        initSoundResource()
+        serialPortManager.detectMarker()
+
         taskViewModel = ViewModelProvider(this)[TaskViewModel::class.java]
-
-        val audioAttributes = AudioAttributes.Builder().setUsage(AudioAttributes.USAGE_MEDIA)
-            .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC).build()
-        /**
-         * 声音效果速度
-         * ling<ring3<ring4<ring2
-         * */
-        slowSoundPool =
-            SoundPool.Builder().setMaxStreams(16).setAudioAttributes(audioAttributes).build()
-        slowResId = slowSoundPool.load(this, R.raw.ring4, 1)
-
-        fastSoundPool =
-            SoundPool.Builder().setMaxStreams(16).setAudioAttributes(audioAttributes).build()
-        fastResId = fastSoundPool.load(this, R.raw.ring2, 1)
+        //角度
+        degreeCache["lastDegree"] = 0f
 
         //实时定位
 //        locationHub.getCurrentLocation(false, object : ILocationListener {
@@ -96,35 +75,12 @@
 //                }
 //            }
 //        })
-
-        //搜索信号，搜索能量指令
-        detectTimer.schedule(object : TimerTask() {
-            override fun run() {
-                try {
-                    if (!isDetectDepth) {
-                        lifecycleScope.launch(Dispatchers.IO) {
-                            if (!isDetectDepth) {
-                                outStream?.write('2'.code)
-                                outStream?.flush()
-
-                                delay(100)
-
-                                outStream?.write('6'.code)
-                                outStream?.flush()
-                            }
-                        }
-                    }
-                } catch (e: IOException) {
-                    e.printStackTrace()
-                }
-            }
-        }, 100, 100)
     }
 
     override fun initEvent() {
         binding.depthButton.setOnClickListener {
-            isDetectDepth = true
-            val result = DataBaseManager.get.queryLabelById(identifierId)
+//            serialPortManager.closeSerialPort()
+            val result = DataBaseManager.get.queryLabelById(markerId)
             if (result.isNotEmpty()) {
                 val tag = when (result.first().identifierType) {
                     "EM30" -> '7'
@@ -137,149 +93,146 @@
                 } else {
                     // 发送读取标识器埋设深度指令
                     LoadingDialogHub.show(this, "正在测距，请稍后...")
-                    try {
-                        outStream?.write(tag.code)
-                        outStream?.flush()
-                    } catch (e: IOException) {
-                        e.printStackTrace()
-                    }
+                    serialPortManager.detectDepth(tag)
+                    object : CountDownTimer(15 * 1000, 1000) {
+                        override fun onTick(millisUntilFinished: Long) {
+
+                        }
+
+                        override fun onFinish() {
+                            LoadingDialogHub.dismiss()
+                            "请重试".show(this@SearchLabelActivity)
+//                            initSoundResource()
+//                            serialPortManager.detectMarker()
+                        }
+                    }.start()
                 }
             } else {
-                "标识器未安装，安装成功后即可读取埋深！".show(this)
+                "标识器未安装，安装成功后才可读取埋深！".show(this)
             }
         }
 
         binding.markerInfoButton.setOnClickListener {
             //查库
-            val result = DataBaseManager.get.queryLabelById(identifierId)
+            val result = DataBaseManager.get.queryLabelById(markerId)
             if (result.isNotEmpty()) {
                 navigatePageTo<ObjectDetailActivity>(result.first().toJson())
             } else {
-                navigatePageTo<NewObjectDetailActivity>(identifierId)
+                navigatePageTo<NewObjectDetailActivity>(markerId)
             }
         }
+
+        //返回键监听，替换onBackPressed
+        onBackPressedDispatcher.addCallback(this, object : OnBackPressedCallback(true) {
+            override fun handleOnBackPressed() {
+                slowSoundPool.release()
+                fastSoundPool.release()
+                serialPortManager.closeSerialPort()
+                finish()
+            }
+        })
     }
 
-    override fun onDataReceived(buffer: ByteArray?, size: Int) {
-        val message = weakReferenceHandler.obtainMessage()
-        message.what = dataReceivedCode
-        message.obj = buffer
-        weakReferenceHandler.sendMessage(message)
-    }
-
-    override fun handleMessage(msg: Message): Boolean {
-        if (msg.what == dataReceivedCode) {
-            val buffer = msg.obj as ByteArray
-            val hex = buffer.toHex()
-
-            //能量强度
-            //4E30363634000000000000000000000000000000000000000000000000000000
-
-            //ID
-            //3030303839383735313400000000000000000000000000000000000000000000
-
-            //埋深
-            //5330303736000000000000000000000000000000000000000000000000000000
-            if (hex.startsWith("4E")) {
-                try {
-                    //4E转为String为N，代表能量值
-                    //用能量值转动表盘
-                    val energyResponse = hex.substring(0, 10).hexToString()
-                    //去掉前缀并缩小100倍
-                    var energy = energyResponse.substring(1).toInt() / 100
-                    if (energy >= 50) {
-                        //测试过程最大值（5189）---> 5200
-                        energy = 50
+    override fun onDataReceived(buffer: ByteArray) {
+        val hex = buffer.toHex()
+//        Log.d(kTag, "$kTag => $hex")
+        if (hex.startsWith("4E")) {
+            try {
+                //4E转为String为N，代表能量值
+                //用能量值转动表盘
+                val energyResponse = hex.take(10).hexToString()
+                val energy = energyResponse.substring(1).toInt()
+                if (energy >= 4000) {
+                    isPlaying = if (!isPlaying) {
+                        fastSoundPool.play(fastResId, 1f, 1f, 0, 0, 1f)
+                        true
+                    } else {
+                        fastSoundPool.stop(fastResId)
+                        false
                     }
+                } else {
+                    isPlaying = if (!isPlaying) {
+                        slowSoundPool.play(slowResId, 1f, 1f, 0, 0, 1f)
+                        true
+                    } else {
+                        slowSoundPool.stop(slowResId)
+                        false
+                    }
+                }
 
-                    binding.resultTextView.text = "信号能量值：${energyResponse}"
+                binding.resultTextView.text = "信号能量值：${energyResponse}"
 
-                    //转换为转动的角度
-                    val degree = (energy.toFloat() / 50) * 180
-                    binding.energyValueView.text = decimal.format(degree)
+                //转换为转动的角度
+                val degree = (energy.toFloat() / (50 * 100)) * 180
+                binding.energyValueView.text = decimal.format(degree)
 
+                degreeCache["lastDegree"]?.apply {
                     val animation = RotateAnimation(
-                        lastDegreeMap["lastDegree"]!!,
-                        degree,
-                        Animation.RELATIVE_TO_SELF,
-                        0.5f,
-                        Animation.RELATIVE_TO_SELF,
-                        0.5f
+                        this, degree,
+                        Animation.RELATIVE_TO_SELF, 0.5f,
+                        Animation.RELATIVE_TO_SELF, 0.5f
                     )
                     animation.duration = 0
                     animation.fillAfter = true
                     binding.needleView.startAnimation(animation)
-
-                    //保存旋转后的角度
-                    lastDegreeMap["lastDegree"] = degree
-
-                    if (energy >= 41) {
-                        isPlaying = if (!isPlaying) {
-                            fastSoundPool.play(fastResId, 1f, 1f, 0, 0, 1f)
-                            true
-                        } else {
-                            fastSoundPool.stop(fastResId)
-                            false
-                        }
-                    } else {
-                        isPlaying = if (!isPlaying) {
-                            slowSoundPool.play(slowResId, 1f, 1f, 0, 0, 1f)
-                            true
-                        } else {
-                            slowSoundPool.stop(slowResId)
-                            false
-                        }
-                    }
-
-                    if (energy <= 7) {//18°
-                        binding.energyTipsView.text = "标识器信号较弱，可能距离较远"
-                        binding.energyTipsView.setTextColor(Color.parseColor("#8D1717"))
-                        binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_red)
-
-
-                        binding.depthButton.isEnabled = false
-                        binding.depthButton.setTextColor(Color.parseColor("#CCCCCC"))
-                        binding.depthButton.setBackgroundResource(R.mipmap.left_button_disable)
-                        binding.markerInfoButton.isEnabled = false
-                        binding.markerInfoButton.setTextColor(Color.parseColor("#CCCCCC"))
-                        binding.markerInfoButton.setBackgroundResource(R.mipmap.right_button_disable)
-
-                        binding.searchResultView.text = "未检测到标识器"
-                        binding.searchResultView.setTextColor(Color.parseColor("#8D1717"))
-                        binding.searchResultView.setBackgroundResource(R.mipmap.bg_small_text_red)
-                    } else if (energy >= 41) {//148°
-                        binding.energyTipsView.text = "标识器信号极强，可能在正下方"
-                        binding.energyTipsView.setTextColor(Color.parseColor("#428d00"))
-                        binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_green)
-                    } else {//[18°,148°]
-                        binding.energyTipsView.text = "已靠近标识器，请继续移动位置"
-                        binding.energyTipsView.setTextColor(Color.parseColor("#8C5700"))
-                        binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_yellow)
-                    }
-                } catch (e: NumberFormatException) {
-                    e.printStackTrace()
                 }
-            } else if (hex.startsWith("53")) {
-                try {
-                    LoadingDialogHub.dismiss()
-                    //53转为String为S，代表深度
-                    val depthResponse = hex.substring(0, 10).hexToString()
-                    val depth = depthResponse.substring(1).toInt()
-                    AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
-                        .setMessage("标识器埋深：${depth}厘米").setPositiveButton("知道了")
-                        .setOnDialogButtonClickListener(object :
-                            AlertMessageDialog.OnDialogButtonClickListener {
-                            override fun onConfirmClick() {
-                                isDetectDepth = false
-                            }
-                        }).build().show()
-                } catch (e: NumberFormatException) {
-                    e.printStackTrace()
+
+                //保存旋转后的角度
+                degreeCache["lastDegree"] = degree
+
+                if (energy <= 700) {//18°
+                    binding.energyTipsView.text = "标识器信号较弱，可能距离较远"
+                    binding.energyTipsView.setTextColor(Color.parseColor("#8D1717"))
+                    binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_red)
+
+                    binding.depthButton.isEnabled = false
+                    binding.depthButton.setTextColor(Color.parseColor("#CCCCCC"))
+                    binding.depthButton.setBackgroundResource(R.mipmap.left_button_disable)
+                    binding.markerInfoButton.isEnabled = false
+                    binding.markerInfoButton.setTextColor(Color.parseColor("#CCCCCC"))
+                    binding.markerInfoButton.setBackgroundResource(R.mipmap.right_button_disable)
+
+                    binding.searchResultView.text = "未检测到标识器"
+                    binding.searchResultView.setTextColor(Color.parseColor("#8D1717"))
+                    binding.searchResultView.setBackgroundResource(R.mipmap.bg_small_text_red)
+                } else if (energy >= 4100) {//148°
+                    binding.energyTipsView.text = "标识器信号极强，可能在正下方"
+                    binding.energyTipsView.setTextColor(Color.parseColor("#428d00"))
+                    binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_green)
+                } else {//[18°,148°]
+                    binding.energyTipsView.text = "已靠近标识器，请继续移动位置"
+                    binding.energyTipsView.setTextColor(Color.parseColor("#8C5700"))
+                    binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_yellow)
                 }
-            } else {
-                val id = hex.substring(0, 20).hexToString()
-                val regex = "^[a-z0-9A-Z]+$"
-                if (id.matches(Regex(regex))) {
+            } catch (e: NumberFormatException) {
+                e.printStackTrace()
+            }
+        } else if (hex.startsWith("53")) {
+            LoadingDialogHub.dismiss()
+            try {
+                val depthResponse = hex.take(10).hexToString()
+                val depth = depthResponse.drop(4)
+                AlertMessageDialog.Builder()
+                    .setContext(this@SearchLabelActivity)
+                    .setTitle("温馨提示")
+                    .setMessage("标识器埋深：${depth}厘米")
+                    .setPositiveButton("知道了")
+                    .setOnDialogButtonClickListener(object :
+                        AlertMessageDialog.OnDialogButtonClickListener {
+                        override fun onConfirmClick() {
+//                            initSoundResource()
+//                            serialPortManager.detectMarker()
+                        }
+                    }).build().show()
+            } catch (e: NumberFormatException) {
+                e.printStackTrace()
+            }
+        } else {
+            if (hex.length >= 20) {
+                val id = hex.take(20).hexToString()
+                if (markerId.isNumber()) {
+                    markerId = id
+
                     binding.depthButton.isEnabled = true
                     binding.depthButton.setTextColor(Color.WHITE)
                     binding.depthButton.setBackgroundResource(R.mipmap.left_button_enable)
@@ -292,21 +245,36 @@
                     binding.searchResultView.setBackgroundResource(R.mipmap.bg_small_text_green)
 
                     //自动上传标识器
-                    taskLabel = DataBaseManager.get.queryTaskLabelByIdAndState(id, "未开始")
-                    if (taskLabel != null) {
-                        val userName = SaveKeyValues.getValue(
-                            LocaleConstant.USER_NAME, ""
-                        ).toString()
-                        taskViewModel.uploadMarker(userName, id)
+                    taskLabel = DataBaseManager.get.queryTaskLabelByIdAndState(
+                        markerId, "未开始"
+                    )
+                    taskLabel?.apply {
+                        /**
+                         * 此taskCode是 [com.casic.detector.model.TaskModel.MessageModel.TaskDetailInfosModel] 里面的主键，也就是这个标签在数据库里面的主键
+                         * */
+                        taskViewModel.uploadMarker(taskCode)
                     }
-
-                    this.identifierId = id
-                } else {
-                    Log.d(kTag, "handleMessage => $id")
                 }
             }
         }
-        return true
+    }
+
+    private fun initSoundResource() {
+        /**
+         * 声音效果速度
+         * ling<ring3<ring4<ring2
+         * */
+        slowSoundPool = SoundPool.Builder()
+            .setMaxStreams(16)
+            .setAudioAttributes(audioAttributes)
+            .build()
+        slowResId = slowSoundPool.load(this, R.raw.ring4, 1)
+
+        fastSoundPool = SoundPool.Builder()
+            .setMaxStreams(16)
+            .setAudioAttributes(audioAttributes)
+            .build()
+        fastResId = fastSoundPool.load(this, R.raw.ring2, 1)
     }
 
     override fun initViewBinding(): ActivitySearchLabelBinding {
@@ -316,7 +284,7 @@
     override fun observeRequestState() {
         taskViewModel.loadState.observe(this) {
             if (it == LoadState.Success) {
-                "标识器${identifierId}已探测！".show(this)
+                "标识器${markerId}已探测！".show(this)
                 DataBaseManager.get.updateTaskLabel(taskLabel)
             }
         }
@@ -328,8 +296,6 @@
 
     override fun onDestroy() {
         super.onDestroy()
-        gpioManager.setGpioLow("18")
-        detectTimer.cancel()
 //        locationHub.stopLocation()
     }
 }
\ No newline at end of file

diff --git a/app/src/main/java/com/casic/detector/base/BaseApplication.kt b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
index 30ccb6b..87ef650 100644
--- a/app/src/main/java/com/casic/detector/base/BaseApplication.kt
+++ b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
@@ -15,21 +15,29 @@
 
     private val kTag = "BaseApplication"
     private val suffix = "/dev/ttysWK"
-    private var serialPorts = ArrayList<SerialPort>()
+    private var serialPorts: ArrayList<SerialPort>? = null
 
     @Throws(SecurityException::class, IOException::class, InvalidParameterException::class)
-    fun getSerialPorts(): ArrayList<SerialPort> {
-        if (serialPorts.isEmpty()) {
-            /**
-             * Open the serial port
-             * */
-            serialPorts.add(SerialPort(File("${suffix}1"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}2"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}0"), 9600, 0))
+    fun getSerialPorts(): ArrayList<SerialPort>? {
+        serialPorts = ArrayList()
+        /**
+         * Open the serial port
+         * */
+        serialPorts?.apply {
+            add(SerialPort(File("${suffix}1"), 9600, 0))
+            add(SerialPort(File("${suffix}2"), 9600, 0))
+            add(SerialPort(File("${suffix}0"), 9600, 0))
         }
         return serialPorts
     }
 
+
+    fun closeSerialPort() {
+        serialPorts?.forEach {
+            it.close()
+        }
+    }
+
     companion object {
         private var application: BaseApplication by Delegates.notNull()
 
@@ -50,11 +58,4 @@
     fun getDaoSession(): DaoSession {
         return daoSession
     }
-
-    fun closeSerialPort() {
-        serialPorts.forEach {
-            it.close()
-        }
-        serialPorts.clear()
-    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/bean/TaskBean.java b/app/src/main/java/com/casic/detector/bean/TaskBean.java
index d6e1101..7ada7a5 100644
--- a/app/src/main/java/com/casic/detector/bean/TaskBean.java
+++ b/app/src/main/java/com/casic/detector/bean/TaskBean.java
@@ -1,5 +1,7 @@
 package com.casic.detector.bean;
 
+import com.casic.detector.model.TaskModel;
+
 import org.greenrobot.greendao.annotation.Entity;
 import org.greenrobot.greendao.annotation.Generated;
 import org.greenrobot.greendao.annotation.Id;
@@ -12,6 +14,9 @@
     private String scanner;
     private String desc;
     private String taskId;
+    /**
+     * 用 {@link TaskModel.MessageModel.TaskDetailInfosModel#id} 存
+     * */
     private String taskCode;
     private String markerId;
     private String markerRealId;
diff --git a/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
new file mode 100644
index 0000000..09203d9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
@@ -0,0 +1,59 @@
+package com.casic.detector.extensions
+
+import com.amap.api.location.AMapLocation
+import com.amap.api.maps.AMapUtils
+import com.amap.api.maps.model.LatLng
+import com.casic.detector.model.CalculateResult
+import kotlin.math.acos
+
+/**
+ * 计算两个经纬度之间连线的方位角，因为距离很近（一般是3米内），球面近似为平面
+ * C        B
+ * |-------/
+ * |      /
+ * |     /
+ * |    /
+ * |   /
+ * |  /
+ * | /
+ * |/
+ * A
+ * */
+fun AMapLocation.calculateAngle(target: LatLng): CalculateResult {
+    //构造直角辅助点
+    val auxiliaryPoint = LatLng(target.latitude, this.longitude)
+
+    //AB线段长度
+    val distance = AMapUtils.calculateLineDistance(
+        LatLng(this.latitude, this.longitude), target
+    )
+
+    //AC线段长度
+    val auxiliaryDistance = AMapUtils.calculateLineDistance(
+        LatLng(auxiliaryPoint.latitude, auxiliaryPoint.longitude), target
+    )
+
+    //求余弦值
+    val cosine = auxiliaryDistance / distance
+
+    //反余弦得弧度
+    val radian = acos(cosine)
+
+    //弧度转角度，度=弧度×180°/π
+    val angle = (radian * 180) / Math.PI
+
+    //判断方位
+    val direction = if (target.latitude > this.latitude && target.longitude > this.longitude) {
+        //东北方
+        "东偏北"
+    } else if (target.latitude < this.latitude && target.longitude < this.longitude) {
+        //西南方
+        "西偏南"
+    } else if (target.latitude > this.latitude && target.longitude < this.longitude) {
+        //西北方
+        "西偏北"
+    } else {
+        "东偏南"
+    }
+    return CalculateResult(angle.toInt(), direction, distance.toInt())
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/ArrayList.kt b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
new file mode 100644
index 0000000..52f8ac9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
@@ -0,0 +1,20 @@
+package com.casic.detector.extensions
+
+/**
+ * ArrayList扩展方法
+ */
+
+//将集合格式化成满足上传格式的数据
+fun ArrayList<String>.reformat(): String {
+    if (this.isEmpty()) return ""
+    val builder = StringBuilder()
+    //循环遍历元素，同时得到元素index(下标)
+    this.forEachIndexed { index, s ->
+        if (index == this.size - 1) {
+            builder.append(s)
+        } else {
+            builder.append(s).append(",")
+        }
+    }
+    return builder.toString()
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/String.kt b/app/src/main/java/com/casic/detector/extensions/String.kt
index b76d83d..785b89f 100644
--- a/app/src/main/java/com/casic/detector/extensions/String.kt
+++ b/app/src/main/java/com/casic/detector/extensions/String.kt
@@ -122,4 +122,9 @@
         }
     }
     return sb.toString()
+}
+
+fun String.isNumber(): Boolean {
+    val regex = Regex("[-+]?\\d+(\\.\\d+)?")
+    return this.matches(regex)
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
index cab23bb..682c3f8 100644
--- a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
+++ b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
@@ -13,20 +13,25 @@
 
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
+
 /**
  * Master of DAO (schema version 1): knows all DAOs.
  */
 public class DaoMaster extends AbstractDaoMaster {
     public static final int SCHEMA_VERSION = 1;
 
-    /** Creates underlying database table using DAOs. */
+    /**
+     * Creates underlying database table using DAOs.
+     */
     public static void createAllTables(Database db, boolean ifNotExists) {
         LabelBeanDao.createTable(db, ifNotExists);
         SmallLabelBeanDao.createTable(db, ifNotExists);
         TaskBeanDao.createTable(db, ifNotExists);
     }
 
-    /** Drops underlying database table using DAOs. */
+    /**
+     * Drops underlying database table using DAOs.
+     */
     public static void dropAllTables(Database db, boolean ifExists) {
         LabelBeanDao.dropTable(db, ifExists);
         SmallLabelBeanDao.dropTable(db, ifExists);
@@ -81,7 +86,9 @@
         }
     }
 
-    /** WARNING: Drops all table on Upgrade! Use only during development. */
+    /**
+     * WARNING: Drops all table on Upgrade! Use only during development.
+     */
     public static class DevOpenHelper extends OpenHelper {
         public DevOpenHelper(Context context, String name) {
             super(context, name);
diff --git a/app/src/main/java/com/casic/detector/model/CalculateResult.kt b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
new file mode 100644
index 0000000..02cb0a0
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
@@ -0,0 +1,3 @@
+package com.casic.detector.model
+
+data class CalculateResult(val angle: Int, val direction: String, val distance: Int)
diff --git a/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt b/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
index 43a8484..cae51d5 100644
--- a/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
+++ b/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
@@ -82,25 +82,21 @@
      */
     @GET("/ems/rs/task/update-task-mark")
     suspend fun uploadMarker(
-        @Query("taskDetailId") taskId: String,
+        @Query("taskDetailId") taskId: String
     ): String
 
     /**
      * 新建自由巡检任务
      * */
-    @GET("")
+    @GET("ems/rs/task/addAppTask")
     suspend fun createFreeTask(
         @Query("patrollerId") patrollerId: String,
-        @Query("description") description: String,
+        @Query("description") description: String
     ): String
 
     /**
      * 上传自由巡检过程中发现的标识器
      * */
-    @Multipart
-    @POST("")
-    suspend fun uploadTaskMarker(
-        @Field("taskId") taskId: String,
-        @Body requestBody: RequestBody,
-    ): String
+    @POST("ems/event/uploadAppMarker.do")
+    suspend fun uploadTaskMarker(@Body requestBody: RequestBody): String
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt b/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
index 8ae0794..ac06760 100644
--- a/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
+++ b/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
@@ -1,9 +1,9 @@
 package com.casic.detector.retrofit
 
+import com.casic.detector.extensions.reformat
 import com.casic.detector.utils.LocaleConstant
 import com.google.gson.Gson
 import com.google.gson.JsonObject
-import com.google.gson.reflect.TypeToken
 import com.pengxh.kt.lite.utils.RetrofitFactory
 import com.pengxh.kt.lite.utils.SaveKeyValues
 import okhttp3.MediaType.Companion.toMediaType
@@ -16,7 +16,6 @@
 object RetrofitServiceManager {
 
     private val gson by lazy { Gson() }
-    private val typeToken = object : TypeToken<Array<String>>() {}.type
 
     private fun createApi(): RetrofitService {
         val serverIp = SaveKeyValues.getValue(LocaleConstant.SERVER_IP, "") as String
@@ -233,12 +232,13 @@
     /**
      * 上传自由巡检过程中发现的标识器
      */
-    suspend fun uploadTaskMarker(taskId: String, models: List<String>): String {
+    suspend fun uploadTaskMarker(taskId: String, models: ArrayList<String>): String {
         val param = JsonObject()
-        param.add("markers", gson.toJsonTree(models, typeToken).asJsonArray)
+        param.addProperty("taskId", taskId)
+        param.addProperty("ids", models.reformat())
         val requestBody = param.toString().toRequestBody(
             "application/json;charset=UTF-8".toMediaType()
         )
-        return createApi().uploadTaskMarker(taskId, requestBody)
+        return createApi().uploadTaskMarker(requestBody)
     }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt b/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
index 1c7d95b..7e627a4 100644
--- a/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
+++ b/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
@@ -105,7 +105,7 @@
     fun queryTaskLabelByIdAndState(identifierId: String, state: String): TaskBean? {
         return taskBeanDao.queryBuilder()
             .where(
-                TaskBeanDao.Properties.MarkerRealId.eq(identifierId),
+                TaskBeanDao.Properties.MarkerId.eq(identifierId),
                 TaskBeanDao.Properties.State.eq(state)
             ).list().firstOrNull()
     }
diff --git a/app/src/main/java/com/casic/detector/utils/SerialPortManager.kt b/app/src/main/java/com/casic/detector/utils/SerialPortManager.kt
new file mode 100644
index 0000000..c235471
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/utils/SerialPortManager.kt
@@ -0,0 +1,119 @@
+package com.casic.detector.utils
+
+import androidx.lifecycle.Lifecycle
+import androidx.lifecycle.LifecycleOwner
+import androidx.lifecycle.LifecycleRegistry
+import androidx.lifecycle.lifecycleScope
+import com.casic.detector.base.BaseApplication
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.launch
+import kotlinx.coroutines.withContext
+import java.io.IOException
+
+class SerialPortManager(private val listener: OnSerialPortListener) : LifecycleOwner {
+
+    private val kTag = "SerialPortManager"
+    private val registry = LifecycleRegistry(this)
+
+    init {
+        //读取串口数据
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            val buffer = ByteArray(72)
+            var size: Int
+            serialPorts?.forEach {
+                val stream = it.inputStream
+                while (true) {
+                    try {
+                        size = stream.read(buffer)
+                        if (size > 0) {
+                            withContext(Dispatchers.Main) {
+                                listener.onDataReceived(buffer)
+                            }
+                        }
+                    } catch (e: IOException) {
+                        e.printStackTrace()
+                        return@launch
+                    }
+                }
+            }
+        }
+    }
+
+    /**
+     * 探测
+     * */
+    fun detectMarker() {
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            serialPorts?.apply {
+                while (size >= 1) {
+                    val outStream = this[0].outputStream
+                    try {
+                        // 发送读标识器ID指令
+                        outStream?.write('2'.code)
+                        outStream?.flush()
+                        delay(100)
+
+                        outStream.write('6'.code)
+                        outStream.flush()
+                        delay(100)
+                    } catch (e: IOException) {
+                        e.printStackTrace()
+                    }
+                }
+            }
+        }
+    }
+
+    /**
+     * 发送探测深度指令
+     * */
+    fun detectDepth(markerTag: Char) {
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            serialPorts?.apply {
+                val outStream = this[0].outputStream
+                try {
+                    // 发送测距指令
+                    outStream?.write(markerTag.code)
+                    outStream?.flush()
+                } catch (e: IOException) {
+                    e.printStackTrace()
+                }
+            }
+        }
+    }
+
+    /**
+     * 发送读标识器ID指令
+     * */
+    fun searchMarkerSignal() {
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            serialPorts?.apply {
+                val outStream = this[0].outputStream
+                try {
+                    // 发送读标识器ID指令
+                    outStream?.write('2'.code)
+                    outStream?.flush()
+                } catch (e: IOException) {
+                    e.printStackTrace()
+                }
+            }
+        }
+    }
+
+    fun closeSerialPort() {
+        BaseApplication.get().closeSerialPort()
+    }
+
+    interface OnSerialPortListener {
+        fun onDataReceived(buffer: ByteArray)
+    }
+
+    override fun getLifecycle(): Lifecycle {
+        return registry
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt b/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt
index 68d54b2..5bac324 100644
--- a/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt
+++ b/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt
@@ -2,16 +2,12 @@
 
 import android.annotation.SuppressLint
 import android.app.DatePickerDialog
-import android.content.Context
 import android.content.DialogInterface
 import android.content.Intent
 import android.media.AudioAttributes
 import android.media.SoundPool
 import android.os.Bundle
-import android.os.Handler
-import android.os.Message
 import android.provider.Settings
-import android.util.Log
 import android.view.KeyEvent
 import android.view.View
 import android.view.WindowManager
@@ -19,7 +15,6 @@
 import com.amap.api.location.AMapLocation
 import com.casic.detector.R
 import com.casic.detector.adapter.EditableImageAdapter
-import com.casic.detector.base.SerialPortActivity
 import com.casic.detector.bean.LabelBean
 import com.casic.detector.callback.ILocationListener
 import com.casic.detector.callback.OnImageCompressListener
@@ -31,29 +26,39 @@
 import com.luck.picture.lib.config.SelectMimeType
 import com.luck.picture.lib.entity.LocalMedia
 import com.luck.picture.lib.interfaces.OnResultCallbackListener
-import com.pengxh.kt.lite.extensions.*
+import com.pengxh.kt.lite.base.KotlinBaseActivity
+import com.pengxh.kt.lite.extensions.appendZero
+import com.pengxh.kt.lite.extensions.convertColor
+import com.pengxh.kt.lite.extensions.dateToTimestamp
+import com.pengxh.kt.lite.extensions.isNetworkConnected
+import com.pengxh.kt.lite.extensions.navigatePageTo
+import com.pengxh.kt.lite.extensions.show
+import com.pengxh.kt.lite.extensions.timestampToCompleteDate
+import com.pengxh.kt.lite.extensions.timestampToTime
+import com.pengxh.kt.lite.extensions.toJson
 import com.pengxh.kt.lite.utils.LoadState
 import com.pengxh.kt.lite.utils.SaveKeyValues
-import com.pengxh.kt.lite.utils.WeakReferenceHandler
 import com.pengxh.kt.lite.widget.dialog.NoNetworkDialog
 import java.io.File
-import java.io.IOException
 import java.util.*
 
 @SuppressLint("SetTextI18n")
-class InstallLabelActivity : SerialPortActivity<ActivityInstallLabelBinding>(), Handler.Callback {
+class InstallLabelActivity : KotlinBaseActivity<ActivityInstallLabelBinding>(),
+    SerialPortManager.OnSerialPortListener {
 
     private val kTag = "InstallLabelActivity"
-    private val context: Context = this@InstallLabelActivity
+    private val context = this@InstallLabelActivity
+    private val serialPortManager by lazy { SerialPortManager(this) }
     private val calendar by lazy { Calendar.getInstance() }
-    private lateinit var imageAdapter: EditableImageAdapter
-    private val realPaths: ArrayList<String> = ArrayList() //真实图片路径
-    private lateinit var taskViewModel: TaskViewModel
-    private lateinit var soundPool: SoundPool
-    private var soundResId = 0
-    private val gpioManager by lazy { GpioManager() }
+    private val audioAttributes = AudioAttributes.Builder()
+        .setUsage(AudioAttributes.USAGE_ALARM)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC)
+        .build()
+    private val realPaths = ArrayList<String>() //真实图片路径
     private val locationHub by lazy { LocationHub(this) }
-    private lateinit var weakReferenceHandler: WeakReferenceHandler
+    private lateinit var imageAdapter: EditableImageAdapter
+    private lateinit var taskViewModel: TaskViewModel
+    private var soundPool: SoundPool? = null
 
     override fun initViewBinding(): ActivityInstallLabelBinding {
         return ActivityInstallLabelBinding.inflate(layoutInflater)
@@ -79,13 +84,6 @@
         binding.objectInclude.ownerView.setText("ownerView".getDefaultValue())
         binding.identifierInclude.identifierDeepView.setText("identifierDeepView".getDefaultValue())
         binding.identifierInclude.personDeptView.setText("personDeptView".getDefaultValue())
-
-        weakReferenceHandler = WeakReferenceHandler(this)
-
-        val audioAttributes = AudioAttributes.Builder().setUsage(AudioAttributes.USAGE_MEDIA)
-            .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC).build()
-        soundPool =
-            SoundPool.Builder().setMaxStreams(16).setAudioAttributes(audioAttributes).build()
     }
 
     override fun initEvent() {
@@ -247,6 +245,14 @@
                     return@setOnClickListener
                 }
 
+                //查本地库
+                val markerId = binding.identifierInclude.identifierIdView.text.toString()
+                val result = DataBaseManager.get.queryLabelById(markerId)
+                if (result.isEmpty()) {
+                    "".show(this)
+                    return@setOnClickListener
+                }
+
                 //先存本地再上传服务器
                 saveLabelInLocal()
 
@@ -268,7 +274,7 @@
                     binding.objectInclude.constructDateView.text.toString(),
                     binding.objectInclude.ownerView.text.toString(),
                     objectId,
-                    binding.identifierInclude.identifierIdView.text.toString(),
+                    markerId,
                     binding.identifierInclude.identifierTypeSpinner.selectedItem.toString(),
                     "${binding.identifierInclude.identifierDeepView.text}mm",
                     binding.identifierInclude.personDeptView.text.toString(),
@@ -305,25 +311,35 @@
         }
 
         binding.readLabelButton.setOnClickListener {
-            gpioManager.setGpioHigh("18")
-
             LoadingDialogHub.show(this, "标识器读取中，请稍后...")
 
-            soundResId = soundPool.load(this, R.raw.ring3, 1)
-            soundPool.setOnLoadCompleteListener { soundPool, _, _ ->
-                soundPool.play(soundResId, 1f, 1f, 0, -1, 1f)
+            soundPool = SoundPool.Builder()
+                .setMaxStreams(16)
+                .setAudioAttributes(audioAttributes)
+                .build()
+            soundPool?.apply {
+                val soundResId = load(context, R.raw.ring3, 1)
+                setOnLoadCompleteListener { soundPool, _, _ ->
+                    soundPool.play(soundResId, 1f, 1f, 0, -1, 1f)
+                }
             }
 
-            // 1000ms后发送读标识器或搜索信号
-            weakReferenceHandler.postDelayed({
-                try {
-                    // 发送读标识器或搜索信号
-                    outStream?.write("2".toByteArray())
-                    outStream?.flush()
-                } catch (e: IOException) {
-                    e.printStackTrace()
-                }
-            }, 1000)
+            serialPortManager.searchMarkerSignal()
+        }
+    }
+
+    override fun onDataReceived(buffer: ByteArray) {
+        LoadingDialogHub.dismiss()
+        soundPool?.release()
+
+        val hex = buffer.toHex()
+//        Log.d(kTag, "$kTag => $hex")
+        if (hex.length >= 20) {
+            val markerId = hex.take(20).hexToString()
+            if (markerId.isNumber()) {
+                binding.identifierInclude.identifierIdView.text = markerId
+                serialPortManager.closeSerialPort()
+            }
         }
     }
 
@@ -363,41 +379,6 @@
         DataBaseManager.get.insertTaskLabel(labelBean)
     }
 
-    override fun onDataReceived(buffer: ByteArray?, size: Int) {
-        Log.d(kTag, "onDataReceived => " + buffer.contentToString())
-        if (buffer != null) {
-            val message = weakReferenceHandler.obtainMessage()
-            message.what = 2023061601
-            message.obj = buffer
-            weakReferenceHandler.sendMessage(message)
-        }
-    }
-
-    override fun handleMessage(msg: Message): Boolean {
-        if (msg.what == 2023061601) {
-            soundPool.release()
-
-            val buffer = msg.obj as ByteArray
-            val hex = buffer.toHex()
-            //3030303839383735313400000000000000000000000000000000000000000000
-            if (hex.length >= 20) {
-                val identifierId = hex.substring(0, 20).hexToString()
-
-                gpioManager.setGpioLow("18")
-
-                //查本地库
-                val result = DataBaseManager.get.queryLabelById(identifierId)
-                if (result.isEmpty()) {
-                    binding.identifierInclude.identifierIdView.text = identifierId
-                } else {
-                    "此标识器已安装，请更换标识器！".show(this)
-                }
-                LoadingDialogHub.dismiss()
-            }
-        }
-        return true
-    }
-
     private fun takePicture() {
         PictureSelector.create(this).openCamera(SelectMimeType.ofImage())
             .forResult(object : OnResultCallbackListener<LocalMedia> {
@@ -451,14 +432,14 @@
     }
 
     override fun onDestroy() {
-        soundPool.release()
-        gpioManager.setGpioLow("18")
         super.onDestroy()
+        soundPool?.release()
+        locationHub.stopLocation()
     }
 
     override fun onKeyDown(keyCode: Int, event: KeyEvent?): Boolean {
         if (keyCode == KeyEvent.KEYCODE_BACK) {
-            soundPool.release()
+            soundPool?.release()
         }
         return super.onKeyDown(keyCode, event)
     }
diff --git a/app/src/main/java/com/casic/detector/view/MainActivity.kt b/app/src/main/java/com/casic/detector/view/MainActivity.kt
index d590626..7c6446a 100644
--- a/app/src/main/java/com/casic/detector/view/MainActivity.kt
+++ b/app/src/main/java/com/casic/detector/view/MainActivity.kt
@@ -1,17 +1,19 @@
 package com.casic.detector.view
 
-import android.content.Context
 import android.content.Intent
 import android.graphics.BitmapFactory
 import android.graphics.Color
 import android.graphics.drawable.BitmapDrawable
 import android.graphics.drawable.Drawable
+import android.media.AudioAttributes
+import android.media.SoundPool
 import android.os.Bundle
-import android.os.PowerManager
 import android.provider.Settings
 import android.util.Log
 import android.view.KeyEvent
+import android.view.View
 import androidx.lifecycle.ViewModelProvider
+import androidx.lifecycle.lifecycleScope
 import com.amap.api.location.AMapLocation
 import com.amap.api.maps.AMap
 import com.amap.api.maps.AMapOptions
@@ -32,81 +34,89 @@
 import com.casic.detector.databinding.ActivityMainBinding
 import com.casic.detector.extensions.appendDownloadUrl
 import com.casic.detector.extensions.drawCircle
-import com.casic.detector.extensions.initLayoutImmersionBar
+import com.casic.detector.extensions.hexToString
+import com.casic.detector.extensions.initImmersionBar
+import com.casic.detector.extensions.isNumber
+import com.casic.detector.extensions.toHex
 import com.casic.detector.model.TaskModel
 import com.casic.detector.utils.DataBaseManager
 import com.casic.detector.utils.ExcelHub
 import com.casic.detector.utils.FileType
+import com.casic.detector.utils.GpioManager
 import com.casic.detector.utils.LoadingDialogHub
 import com.casic.detector.utils.LocaleConstant
 import com.casic.detector.utils.LocationHub
 import com.casic.detector.utils.RouteOnMap
+import com.casic.detector.utils.SerialPortManager
 import com.casic.detector.vm.TaskViewModel
 import com.casic.detector.widgets.QueryMarkerDialog
 import com.casic.detector.widgets.SamplePopupWindow
 import com.google.gson.Gson
 import com.google.gson.reflect.TypeToken
-import com.gyf.immersionbar.ImmersionBar
 import com.pengxh.kt.lite.base.KotlinBaseActivity
-import com.pengxh.kt.lite.callback.OnDownloadListener
+import com.pengxh.kt.lite.extensions.convertDrawable
 import com.pengxh.kt.lite.extensions.createDownloadFileDir
-import com.pengxh.kt.lite.extensions.downloadFile
 import com.pengxh.kt.lite.extensions.dp2px
 import com.pengxh.kt.lite.extensions.isNetworkConnected
 import com.pengxh.kt.lite.extensions.navigatePageTo
 import com.pengxh.kt.lite.extensions.show
 import com.pengxh.kt.lite.extensions.toJson
+import com.pengxh.kt.lite.utils.FileDownloadManager
+import com.pengxh.kt.lite.utils.LoadState
 import com.pengxh.kt.lite.utils.SaveKeyValues
-import com.pengxh.kt.lite.vm.LoadState
 import com.pengxh.kt.lite.widget.dialog.AlertControlDialog
+import com.pengxh.kt.lite.widget.dialog.AlertInputDialog
 import com.pengxh.kt.lite.widget.dialog.AlertMessageDialog
 import com.pengxh.kt.lite.widget.dialog.BottomActionSheet
 import com.pengxh.kt.lite.widget.dialog.NoNetworkDialog
-import kotlinx.coroutines.CoroutineScope
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.launch
 import kotlinx.coroutines.withContext
 import java.io.File
 
 
-class MainActivity : KotlinBaseActivity<ActivityMainBinding>() {
+class MainActivity : KotlinBaseActivity<ActivityMainBinding>(),
+    SerialPortManager.OnSerialPortListener {
 
     private val kTag = "MainActivity"
-    private val context: Context = this@MainActivity
-    private var clickTime: Long = 0
-    private lateinit var aMap: AMap
-    private lateinit var taskViewModel: TaskViewModel
+    private val context = this@MainActivity
+    private val serialPortManager by lazy { SerialPortManager(this) }
+    private val gpioManager by lazy { GpioManager() }
     private val samplePopupWindow by lazy { SamplePopupWindow(this) }
+    private val gson by lazy { Gson() }
+    private val locationHub by lazy { LocationHub(this) }
+    private val regionRadius by lazy { LocaleConstant.RADIUS_SIZE.dp2px(this) }
+    private val backDrawables by lazy { HashMap<Int, Drawable>() }
+    private val audioAttributes = AudioAttributes.Builder()
+        .setUsage(AudioAttributes.USAGE_ALARM)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC)
+        .build()
+    private var clickTime: Long = 0
     private var labelBeans = ArrayList<LabelBean>()
     private var clusterOverlay: ClusterOverlay? = null
-    private val backDrawables = HashMap<Int, Drawable>()
-    private val regionRadius by lazy { LocaleConstant.RADIUS_SIZE.dp2px(this) }
     private var latitude: Double = 0.0
     private var longitude: Double = 0.0
-    private val gson by lazy { Gson() }
-    private val locationHub by lazy { LocationHub.obtainInstance(this) }
-    private lateinit var wakeLock: PowerManager.WakeLock
+    private var ids = ArrayList<String>()
+    private lateinit var aMap: AMap
+    private lateinit var soundPool: SoundPool
+    private lateinit var taskViewModel: TaskViewModel
     private lateinit var taskBean: TaskBean
+    private lateinit var taskId: String
 
     override fun initViewBinding(): ActivityMainBinding {
         return ActivityMainBinding.inflate(layoutInflater)
     }
 
     override fun setupTopBarLayout() {
-        ImmersionBar.with(this).statusBarDarkFont(false).statusBarColor(R.color.themeColor).init()
-        initLayoutImmersionBar(binding.rootView)
+        binding.rootView.initImmersionBar(this, false, R.color.themeColor)
     }
 
     override fun initOnCreate(savedInstanceState: Bundle?) {
-        val powerManager = getSystemService(Context.POWER_SERVICE) as PowerManager
-        wakeLock = powerManager.run {
-            newWakeLock(PowerManager.PARTIAL_WAKE_LOCK, this@MainActivity.localClassName).apply {
-                acquire(60 * 60 * 1000L)
-            }
-        }
-
         initMapConfig(savedInstanceState)
 
+        //调高串口电位
+        gpioManager.setGpioHigh("18")
+
         samplePopupWindow.setPopupMenuItem(LocaleConstant.POPUP_TITLES)
         samplePopupWindow.setBackgroundDrawable(null)
 
@@ -119,12 +129,14 @@
                 val companyId = SaveKeyValues.getValue(LocaleConstant.USER_COMPANY_ID, "")
                 val downloadUrl = companyId.toString().appendDownloadUrl(FileType.EXCEL)
                 Log.d(kTag, "downloadUrl => $downloadUrl")
-                downloadUrl.downloadFile(
-                    createDownloadFileDir().toString(),
-                    object : OnDownloadListener {
-                        override fun onDownloadEnd(file: File?) {
-                            CoroutineScope(Dispatchers.Main).launch {
-                                labelBeans = ExcelHub.read(file?.absolutePath)
+                FileDownloadManager.Builder()
+                    .setDownloadFileSource(downloadUrl)
+                    .setFileSuffix("xls")
+                    .setFileSaveDirectory(createDownloadFileDir())
+                    .setOnFileDownloadListener(object : FileDownloadManager.OnFileDownloadListener {
+                        override fun onDownloadEnd(file: File) {
+                            lifecycleScope.launch(Dispatchers.Main) {
+                                labelBeans = ExcelHub.read(file.absolutePath)
                                 withContext(Dispatchers.IO) {
                                     labelBeans.forEach { label ->
                                         DataBaseManager.get.insertTaskLabel(label)
@@ -135,14 +147,16 @@
                             }
                         }
 
-                        override fun onDownloadStart(totalBytes: Long) {
+                        override fun onFailure(throwable: Throwable) {
 
                         }
 
-                        override fun onProgressChanged(currentBytes: Long) {
+                        override fun onProgressChanged(progress: Int) {
 
                         }
                     })
+                    .build()
+                    .start()
             }
         }
         taskViewModel.taskResult.observe(this) {
@@ -159,19 +173,26 @@
                     }).build().show()
             }
         }
+
+        taskViewModel.freeTaskResult.observe(this) { taskId = it }
+
+        taskViewModel.uploadTaskMarkerResult.observe(this) {
+            "自由巡检任务已完成".show(this)
+            ids.clear()
+        }
     }
 
     override fun initEvent() {
         binding.rightImageView.setOnClickListener {
-            CoroutineScope(Dispatchers.Main).launch {
+            lifecycleScope.launch(Dispatchers.Main) {
                 val labels = withContext(Dispatchers.IO) {
                     DataBaseManager.get.queryLabelById("0")
                 }
                 if (labels.isNotEmpty()) {
                     samplePopupWindow.setShowPosition(4)
                 }
-                val x = binding.rightImageView.width - samplePopupWindow.width - 1f.dp2px(context)
-                samplePopupWindow.showAsDropDown(binding.rightImageView, x, 1f.dp2px(context))
+                val x = binding.rightImageView.width - samplePopupWindow.width - 1.dp2px(context)
+                samplePopupWindow.showAsDropDown(binding.rightImageView, x, 1.dp2px(context))
             }
         }
 
@@ -201,7 +222,7 @@
                     QueryMarkerDialog.OnDialogButtonClickListener {
                     override fun onConfirmClick(selectedItem: String, value: String) {
                         //查询数据库
-                        CoroutineScope(Dispatchers.Main).launch {
+                        lifecycleScope.launch(Dispatchers.Main) {
                             labelBeans = withContext(Dispatchers.IO) {
                                 DataBaseManager.get.loadLabelByCondition(
                                     selectedItem, value
@@ -282,12 +303,14 @@
                         }
                     }).build().show()
             } else {
-                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
-                    .setMessage("现有任务已完成，请点击右上角菜单按钮下载新工单！")
-                    .setPositiveButton("知道了").setOnDialogButtonClickListener(object :
+                AlertMessageDialog.Builder()
+                    .setContext(this)
+                    .setTitle("温馨提示")
+                    .setMessage("现有任务已完成，请点击右上角菜单下载新工单或者开始自由巡检")
+                    .setPositiveButton("开始自由巡检").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
-
+                            startFreeTask()
                         }
                     }).build().show()
             }
@@ -297,6 +320,69 @@
         binding.detectionButton.setOnClickListener {
             navigatePageTo<SearchLabelActivity>()
         }
+
+        //自由巡检
+        binding.stopFreeTaskButton.setOnLongClickListener {
+            AlertMessageDialog.Builder()
+                .setContext(this)
+                .setTitle("温馨提示")
+                .setMessage("是否确定结束此次自由巡检任务？")
+                .setPositiveButton("是")
+                .setOnDialogButtonClickListener(object :
+                    AlertMessageDialog.OnDialogButtonClickListener {
+                    override fun onConfirmClick() {
+                        soundPool.release()
+                        serialPortManager.closeSerialPort()
+
+                        taskViewModel.uploadTaskMarker(taskId, ids)
+                        binding.stopFreeTaskButton.visibility = View.GONE
+                    }
+                }).build().show()
+            true
+        }
+    }
+
+    private fun startFreeTask() {
+        AlertInputDialog.Builder()
+            .setContext(this)
+            .setTitle("新建自由巡检任务")
+            .setHintMessage("请输入自由巡检任务简要描述")
+            .setNegativeButton("取消")
+            .setPositiveButton("确定")
+            .setOnDialogButtonClickListener(object : AlertInputDialog.OnDialogButtonClickListener {
+                override fun onConfirmClick(value: String) {
+                    val userId = SaveKeyValues.getValue(LocaleConstant.USER_ID, "") as String
+                    taskViewModel.createFreeTask(userId, value)
+
+                    soundPool = SoundPool.Builder()
+                        .setMaxStreams(16)
+                        .setAudioAttributes(audioAttributes)
+                        .build()
+                    soundPool.load(context, R.raw.ring3, 1)
+                    soundPool.setOnLoadCompleteListener { soundPool, sampleId, _ ->
+                        soundPool.play(sampleId, 1f, 1f, 0, -1, 1f)
+                    }
+
+                    //自由巡检
+                    serialPortManager.searchMarkerSignal()
+
+                    binding.stopFreeTaskButton.visibility = View.VISIBLE
+                }
+
+                override fun onCancelClick() {}
+            }).build().show()
+    }
+
+    override fun onDataReceived(buffer: ByteArray) {
+        val hex = buffer.toHex()
+//        Log.d(kTag, "$kTag => $hex")
+        if (hex.length >= 20) {
+            val markerId = hex.take(20).hexToString()
+            if (markerId.isNumber()) {
+                "标识器${markerId}已探测".show(this)
+                ids.add(markerId)
+            }
+        }
     }
 
     override fun observeRequestState() {
@@ -342,7 +428,7 @@
 
         aMap.setOnMapLongClickListener {
             //协程异步显示默认数据
-            CoroutineScope(Dispatchers.Main).launch {
+            lifecycleScope.launch(Dispatchers.Main) {
                 labelBeans = withContext(Dispatchers.IO) {
                     DataBaseManager.get.loadTaskLabels() as ArrayList<LabelBean>
                 }
@@ -381,7 +467,7 @@
                             userName,
                             messageModel.description,
                             info.taskId.toString(),
-                            info.taskCode.toString(),
+                            info.id.toString(),
                             info.markerId.toString(),
                             info.markerIdReal.toString(),
                             info.longitude.toString(),
@@ -412,7 +498,7 @@
 
         clusterOverlay = ClusterOverlay(context, aMap, clusterItems, regionRadius)
         clusterOverlay?.setClusterRender { clusterNum ->
-            val radius = 80f.dp2px(context)
+            val radius = 80.dp2px(context)
             if (clusterNum == 0) {
                 var bitmapDrawable = backDrawables[0]
                 if (bitmapDrawable == null) {
@@ -426,7 +512,7 @@
             if (clusterNum == 1) {
                 var bitmapDrawable = backDrawables[1]
                 if (bitmapDrawable == null) {
-                    bitmapDrawable = resources.getDrawable(R.mipmap.label)
+                    bitmapDrawable = R.mipmap.label.convertDrawable(this)!!
                     backDrawables[1] = bitmapDrawable
                 }
                 bitmapDrawable
@@ -478,9 +564,13 @@
             val latLngBounds = builder.build()
             aMap.animateCamera(CameraUpdateFactory.newLatLngBounds(latLngBounds, 0))
 
-            AlertControlDialog.Builder().setContext(this).setTitle("提示")
-                .setMessage("请选择操作方式").setNegativeButton("标识器信息")
-                .setPositiveButton("到这里去").setOnDialogButtonClickListener(object :
+            AlertControlDialog.Builder()
+                .setContext(this)
+                .setTitle("提示")
+                .setMessage("请选择操作方式")
+                .setNegativeButton("标识器信息")
+                .setPositiveButton("到这里去")
+                .setOnDialogButtonClickListener(object :
                     AlertControlDialog.OnDialogButtonClickListener {
                     override fun onConfirmClick() {
                         RouteOnMap.startNavigation(context, item.title, latLng)
@@ -510,13 +600,13 @@
                         BitmapDescriptorFactory.fromBitmap(
                             BitmapFactory.decodeResource(resources, R.mipmap.label_red1)
                         )
-                    ).period(99).title("工单标识器").snippet(it.markerRealId)
+                    ).period(99).title("工单标识器").snippet(it.markerId)
                 } else {
                     otMarkerOptions.icon(
                         BitmapDescriptorFactory.fromBitmap(
                             BitmapFactory.decodeResource(resources, R.mipmap.label_blue1)
                         )
-                    ).period(99).title("工单标识器").snippet(it.markerRealId)
+                    ).period(99).title("工单标识器").snippet(it.markerId)
                 }
                 aMap.addMarker(otMarkerOptions)
             }
@@ -665,7 +755,7 @@
         super.onResume()
         binding.mapView.onResume()
         //协程异步显示默认数据
-        CoroutineScope(Dispatchers.Main).launch {
+        lifecycleScope.launch(Dispatchers.Main) {
             labelBeans = withContext(Dispatchers.IO) {
                 DataBaseManager.get.loadTaskLabels() as ArrayList<LabelBean>
             }
@@ -684,8 +774,10 @@
     }
 
     override fun onDestroy() {
-        wakeLock.release()
         super.onDestroy()
         binding.mapView.onDestroy()
+        locationHub.stopLocation()
+        //降低串口电位
+        gpioManager.setGpioLow("18")
     }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/view/SearchLabelActivity.kt b/app/src/main/java/com/casic/detector/view/SearchLabelActivity.kt
index dcf39b4..426aed3 100644
--- a/app/src/main/java/com/casic/detector/view/SearchLabelActivity.kt
+++ b/app/src/main/java/com/casic/detector/view/SearchLabelActivity.kt
@@ -4,80 +4,59 @@
 import android.media.AudioAttributes
 import android.media.SoundPool
 import android.os.Bundle
-import android.os.Handler
-import android.os.Message
-import android.util.Log
+import android.os.CountDownTimer
 import android.view.animation.Animation
 import android.view.animation.RotateAnimation
+import androidx.activity.OnBackPressedCallback
 import androidx.lifecycle.ViewModelProvider
-import androidx.lifecycle.lifecycleScope
 import com.casic.detector.R
-import com.casic.detector.base.SerialPortActivity
 import com.casic.detector.bean.TaskBean
 import com.casic.detector.databinding.ActivitySearchLabelBinding
 import com.casic.detector.extensions.hexToString
+import com.casic.detector.extensions.isNumber
 import com.casic.detector.extensions.toHex
 import com.casic.detector.utils.DataBaseManager
-import com.casic.detector.utils.GpioManager
 import com.casic.detector.utils.LoadingDialogHub
-import com.casic.detector.utils.LocaleConstant
 import com.casic.detector.utils.LocationHub
+import com.casic.detector.utils.SerialPortManager
 import com.casic.detector.vm.TaskViewModel
 import com.gyf.immersionbar.ImmersionBar
+import com.pengxh.kt.lite.base.KotlinBaseActivity
 import com.pengxh.kt.lite.extensions.navigatePageTo
 import com.pengxh.kt.lite.extensions.show
 import com.pengxh.kt.lite.extensions.toJson
 import com.pengxh.kt.lite.utils.LoadState
-import com.pengxh.kt.lite.utils.SaveKeyValues
-import com.pengxh.kt.lite.utils.WeakReferenceHandler
 import com.pengxh.kt.lite.widget.dialog.AlertMessageDialog
-import kotlinx.coroutines.Dispatchers
-import kotlinx.coroutines.delay
-import kotlinx.coroutines.launch
-import java.io.IOException
 import java.text.DecimalFormat
-import java.util.Timer
-import java.util.TimerTask
 
-class SearchLabelActivity : SerialPortActivity<ActivitySearchLabelBinding>(), Handler.Callback {
+class SearchLabelActivity : KotlinBaseActivity<ActivitySearchLabelBinding>(),
+    SerialPortManager.OnSerialPortListener {
 
     private val kTag = "SearchLabelActivity"
+    private val serialPortManager by lazy { SerialPortManager(this) }
+    private val decimal by lazy { DecimalFormat("0.0") }
+    private val degreeCache by lazy { HashMap<String, Float>() }
+    private val locationHub by lazy { LocationHub(this) }
+    private val audioAttributes = AudioAttributes.Builder()
+        .setUsage(AudioAttributes.USAGE_MEDIA)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC)
+        .build()
+    private lateinit var taskViewModel: TaskViewModel
     private lateinit var slowSoundPool: SoundPool
     private lateinit var fastSoundPool: SoundPool
     private var slowResId = 0
     private var fastResId = 0
-    private val gpioManager by lazy { GpioManager() }
-    private val weakReferenceHandler by lazy { WeakReferenceHandler(this) }
-    private val detectTimer by lazy { Timer() }
-    private val decimal by lazy { DecimalFormat("0.0") }
-    private var identifierId = ""
-    private val lastDegreeMap by lazy { HashMap<String, Float>() }
-    private val locationHub by lazy { LocationHub(this) }
-    private var isPlaying = false
-    private var isDetectDepth = false
-    private lateinit var taskViewModel: TaskViewModel
+    private var markerId = ""
     private var taskLabel: TaskBean? = null
-    private val dataReceivedCode = 2023110301
+    private var isPlaying = false
 
     override fun initOnCreate(savedInstanceState: Bundle?) {
-        gpioManager.setGpioHigh("18")
-        //角度
-        lastDegreeMap["lastDegree"] = 0f
+        initSoundResource()
+        serialPortManager.detectMarker()
+
         taskViewModel = ViewModelProvider(this)[TaskViewModel::class.java]
-
-        val audioAttributes = AudioAttributes.Builder().setUsage(AudioAttributes.USAGE_MEDIA)
-            .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC).build()
-        /**
-         * 声音效果速度
-         * ling<ring3<ring4<ring2
-         * */
-        slowSoundPool =
-            SoundPool.Builder().setMaxStreams(16).setAudioAttributes(audioAttributes).build()
-        slowResId = slowSoundPool.load(this, R.raw.ring4, 1)
-
-        fastSoundPool =
-            SoundPool.Builder().setMaxStreams(16).setAudioAttributes(audioAttributes).build()
-        fastResId = fastSoundPool.load(this, R.raw.ring2, 1)
+        //角度
+        degreeCache["lastDegree"] = 0f
 
         //实时定位
 //        locationHub.getCurrentLocation(false, object : ILocationListener {
@@ -96,35 +75,12 @@
 //                }
 //            }
 //        })
-
-        //搜索信号，搜索能量指令
-        detectTimer.schedule(object : TimerTask() {
-            override fun run() {
-                try {
-                    if (!isDetectDepth) {
-                        lifecycleScope.launch(Dispatchers.IO) {
-                            if (!isDetectDepth) {
-                                outStream?.write('2'.code)
-                                outStream?.flush()
-
-                                delay(100)
-
-                                outStream?.write('6'.code)
-                                outStream?.flush()
-                            }
-                        }
-                    }
-                } catch (e: IOException) {
-                    e.printStackTrace()
-                }
-            }
-        }, 100, 100)
     }
 
     override fun initEvent() {
         binding.depthButton.setOnClickListener {
-            isDetectDepth = true
-            val result = DataBaseManager.get.queryLabelById(identifierId)
+//            serialPortManager.closeSerialPort()
+            val result = DataBaseManager.get.queryLabelById(markerId)
             if (result.isNotEmpty()) {
                 val tag = when (result.first().identifierType) {
                     "EM30" -> '7'
@@ -137,149 +93,146 @@
                 } else {
                     // 发送读取标识器埋设深度指令
                     LoadingDialogHub.show(this, "正在测距，请稍后...")
-                    try {
-                        outStream?.write(tag.code)
-                        outStream?.flush()
-                    } catch (e: IOException) {
-                        e.printStackTrace()
-                    }
+                    serialPortManager.detectDepth(tag)
+                    object : CountDownTimer(15 * 1000, 1000) {
+                        override fun onTick(millisUntilFinished: Long) {
+
+                        }
+
+                        override fun onFinish() {
+                            LoadingDialogHub.dismiss()
+                            "请重试".show(this@SearchLabelActivity)
+//                            initSoundResource()
+//                            serialPortManager.detectMarker()
+                        }
+                    }.start()
                 }
             } else {
-                "标识器未安装，安装成功后即可读取埋深！".show(this)
+                "标识器未安装，安装成功后才可读取埋深！".show(this)
             }
         }
 
         binding.markerInfoButton.setOnClickListener {
             //查库
-            val result = DataBaseManager.get.queryLabelById(identifierId)
+            val result = DataBaseManager.get.queryLabelById(markerId)
             if (result.isNotEmpty()) {
                 navigatePageTo<ObjectDetailActivity>(result.first().toJson())
             } else {
-                navigatePageTo<NewObjectDetailActivity>(identifierId)
+                navigatePageTo<NewObjectDetailActivity>(markerId)
             }
         }
+
+        //返回键监听，替换onBackPressed
+        onBackPressedDispatcher.addCallback(this, object : OnBackPressedCallback(true) {
+            override fun handleOnBackPressed() {
+                slowSoundPool.release()
+                fastSoundPool.release()
+                serialPortManager.closeSerialPort()
+                finish()
+            }
+        })
     }
 
-    override fun onDataReceived(buffer: ByteArray?, size: Int) {
-        val message = weakReferenceHandler.obtainMessage()
-        message.what = dataReceivedCode
-        message.obj = buffer
-        weakReferenceHandler.sendMessage(message)
-    }
-
-    override fun handleMessage(msg: Message): Boolean {
-        if (msg.what == dataReceivedCode) {
-            val buffer = msg.obj as ByteArray
-            val hex = buffer.toHex()
-
-            //能量强度
-            //4E30363634000000000000000000000000000000000000000000000000000000
-
-            //ID
-            //3030303839383735313400000000000000000000000000000000000000000000
-
-            //埋深
-            //5330303736000000000000000000000000000000000000000000000000000000
-            if (hex.startsWith("4E")) {
-                try {
-                    //4E转为String为N，代表能量值
-                    //用能量值转动表盘
-                    val energyResponse = hex.substring(0, 10).hexToString()
-                    //去掉前缀并缩小100倍
-                    var energy = energyResponse.substring(1).toInt() / 100
-                    if (energy >= 50) {
-                        //测试过程最大值（5189）---> 5200
-                        energy = 50
+    override fun onDataReceived(buffer: ByteArray) {
+        val hex = buffer.toHex()
+//        Log.d(kTag, "$kTag => $hex")
+        if (hex.startsWith("4E")) {
+            try {
+                //4E转为String为N，代表能量值
+                //用能量值转动表盘
+                val energyResponse = hex.take(10).hexToString()
+                val energy = energyResponse.substring(1).toInt()
+                if (energy >= 4000) {
+                    isPlaying = if (!isPlaying) {
+                        fastSoundPool.play(fastResId, 1f, 1f, 0, 0, 1f)
+                        true
+                    } else {
+                        fastSoundPool.stop(fastResId)
+                        false
                     }
+                } else {
+                    isPlaying = if (!isPlaying) {
+                        slowSoundPool.play(slowResId, 1f, 1f, 0, 0, 1f)
+                        true
+                    } else {
+                        slowSoundPool.stop(slowResId)
+                        false
+                    }
+                }
 
-                    binding.resultTextView.text = "信号能量值：${energyResponse}"
+                binding.resultTextView.text = "信号能量值：${energyResponse}"
 
-                    //转换为转动的角度
-                    val degree = (energy.toFloat() / 50) * 180
-                    binding.energyValueView.text = decimal.format(degree)
+                //转换为转动的角度
+                val degree = (energy.toFloat() / (50 * 100)) * 180
+                binding.energyValueView.text = decimal.format(degree)
 
+                degreeCache["lastDegree"]?.apply {
                     val animation = RotateAnimation(
-                        lastDegreeMap["lastDegree"]!!,
-                        degree,
-                        Animation.RELATIVE_TO_SELF,
-                        0.5f,
-                        Animation.RELATIVE_TO_SELF,
-                        0.5f
+                        this, degree,
+                        Animation.RELATIVE_TO_SELF, 0.5f,
+                        Animation.RELATIVE_TO_SELF, 0.5f
                     )
                     animation.duration = 0
                     animation.fillAfter = true
                     binding.needleView.startAnimation(animation)
-
-                    //保存旋转后的角度
-                    lastDegreeMap["lastDegree"] = degree
-
-                    if (energy >= 41) {
-                        isPlaying = if (!isPlaying) {
-                            fastSoundPool.play(fastResId, 1f, 1f, 0, 0, 1f)
-                            true
-                        } else {
-                            fastSoundPool.stop(fastResId)
-                            false
-                        }
-                    } else {
-                        isPlaying = if (!isPlaying) {
-                            slowSoundPool.play(slowResId, 1f, 1f, 0, 0, 1f)
-                            true
-                        } else {
-                            slowSoundPool.stop(slowResId)
-                            false
-                        }
-                    }
-
-                    if (energy <= 7) {//18°
-                        binding.energyTipsView.text = "标识器信号较弱，可能距离较远"
-                        binding.energyTipsView.setTextColor(Color.parseColor("#8D1717"))
-                        binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_red)
-
-
-                        binding.depthButton.isEnabled = false
-                        binding.depthButton.setTextColor(Color.parseColor("#CCCCCC"))
-                        binding.depthButton.setBackgroundResource(R.mipmap.left_button_disable)
-                        binding.markerInfoButton.isEnabled = false
-                        binding.markerInfoButton.setTextColor(Color.parseColor("#CCCCCC"))
-                        binding.markerInfoButton.setBackgroundResource(R.mipmap.right_button_disable)
-
-                        binding.searchResultView.text = "未检测到标识器"
-                        binding.searchResultView.setTextColor(Color.parseColor("#8D1717"))
-                        binding.searchResultView.setBackgroundResource(R.mipmap.bg_small_text_red)
-                    } else if (energy >= 41) {//148°
-                        binding.energyTipsView.text = "标识器信号极强，可能在正下方"
-                        binding.energyTipsView.setTextColor(Color.parseColor("#428d00"))
-                        binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_green)
-                    } else {//[18°,148°]
-                        binding.energyTipsView.text = "已靠近标识器，请继续移动位置"
-                        binding.energyTipsView.setTextColor(Color.parseColor("#8C5700"))
-                        binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_yellow)
-                    }
-                } catch (e: NumberFormatException) {
-                    e.printStackTrace()
                 }
-            } else if (hex.startsWith("53")) {
-                try {
-                    LoadingDialogHub.dismiss()
-                    //53转为String为S，代表深度
-                    val depthResponse = hex.substring(0, 10).hexToString()
-                    val depth = depthResponse.substring(1).toInt()
-                    AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
-                        .setMessage("标识器埋深：${depth}厘米").setPositiveButton("知道了")
-                        .setOnDialogButtonClickListener(object :
-                            AlertMessageDialog.OnDialogButtonClickListener {
-                            override fun onConfirmClick() {
-                                isDetectDepth = false
-                            }
-                        }).build().show()
-                } catch (e: NumberFormatException) {
-                    e.printStackTrace()
+
+                //保存旋转后的角度
+                degreeCache["lastDegree"] = degree
+
+                if (energy <= 700) {//18°
+                    binding.energyTipsView.text = "标识器信号较弱，可能距离较远"
+                    binding.energyTipsView.setTextColor(Color.parseColor("#8D1717"))
+                    binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_red)
+
+                    binding.depthButton.isEnabled = false
+                    binding.depthButton.setTextColor(Color.parseColor("#CCCCCC"))
+                    binding.depthButton.setBackgroundResource(R.mipmap.left_button_disable)
+                    binding.markerInfoButton.isEnabled = false
+                    binding.markerInfoButton.setTextColor(Color.parseColor("#CCCCCC"))
+                    binding.markerInfoButton.setBackgroundResource(R.mipmap.right_button_disable)
+
+                    binding.searchResultView.text = "未检测到标识器"
+                    binding.searchResultView.setTextColor(Color.parseColor("#8D1717"))
+                    binding.searchResultView.setBackgroundResource(R.mipmap.bg_small_text_red)
+                } else if (energy >= 4100) {//148°
+                    binding.energyTipsView.text = "标识器信号极强，可能在正下方"
+                    binding.energyTipsView.setTextColor(Color.parseColor("#428d00"))
+                    binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_green)
+                } else {//[18°,148°]
+                    binding.energyTipsView.text = "已靠近标识器，请继续移动位置"
+                    binding.energyTipsView.setTextColor(Color.parseColor("#8C5700"))
+                    binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_yellow)
                 }
-            } else {
-                val id = hex.substring(0, 20).hexToString()
-                val regex = "^[a-z0-9A-Z]+$"
-                if (id.matches(Regex(regex))) {
+            } catch (e: NumberFormatException) {
+                e.printStackTrace()
+            }
+        } else if (hex.startsWith("53")) {
+            LoadingDialogHub.dismiss()
+            try {
+                val depthResponse = hex.take(10).hexToString()
+                val depth = depthResponse.drop(4)
+                AlertMessageDialog.Builder()
+                    .setContext(this@SearchLabelActivity)
+                    .setTitle("温馨提示")
+                    .setMessage("标识器埋深：${depth}厘米")
+                    .setPositiveButton("知道了")
+                    .setOnDialogButtonClickListener(object :
+                        AlertMessageDialog.OnDialogButtonClickListener {
+                        override fun onConfirmClick() {
+//                            initSoundResource()
+//                            serialPortManager.detectMarker()
+                        }
+                    }).build().show()
+            } catch (e: NumberFormatException) {
+                e.printStackTrace()
+            }
+        } else {
+            if (hex.length >= 20) {
+                val id = hex.take(20).hexToString()
+                if (markerId.isNumber()) {
+                    markerId = id
+
                     binding.depthButton.isEnabled = true
                     binding.depthButton.setTextColor(Color.WHITE)
                     binding.depthButton.setBackgroundResource(R.mipmap.left_button_enable)
@@ -292,21 +245,36 @@
                     binding.searchResultView.setBackgroundResource(R.mipmap.bg_small_text_green)
 
                     //自动上传标识器
-                    taskLabel = DataBaseManager.get.queryTaskLabelByIdAndState(id, "未开始")
-                    if (taskLabel != null) {
-                        val userName = SaveKeyValues.getValue(
-                            LocaleConstant.USER_NAME, ""
-                        ).toString()
-                        taskViewModel.uploadMarker(userName, id)
+                    taskLabel = DataBaseManager.get.queryTaskLabelByIdAndState(
+                        markerId, "未开始"
+                    )
+                    taskLabel?.apply {
+                        /**
+                         * 此taskCode是 [com.casic.detector.model.TaskModel.MessageModel.TaskDetailInfosModel] 里面的主键，也就是这个标签在数据库里面的主键
+                         * */
+                        taskViewModel.uploadMarker(taskCode)
                     }
-
-                    this.identifierId = id
-                } else {
-                    Log.d(kTag, "handleMessage => $id")
                 }
             }
         }
-        return true
+    }
+
+    private fun initSoundResource() {
+        /**
+         * 声音效果速度
+         * ling<ring3<ring4<ring2
+         * */
+        slowSoundPool = SoundPool.Builder()
+            .setMaxStreams(16)
+            .setAudioAttributes(audioAttributes)
+            .build()
+        slowResId = slowSoundPool.load(this, R.raw.ring4, 1)
+
+        fastSoundPool = SoundPool.Builder()
+            .setMaxStreams(16)
+            .setAudioAttributes(audioAttributes)
+            .build()
+        fastResId = fastSoundPool.load(this, R.raw.ring2, 1)
     }
 
     override fun initViewBinding(): ActivitySearchLabelBinding {
@@ -316,7 +284,7 @@
     override fun observeRequestState() {
         taskViewModel.loadState.observe(this) {
             if (it == LoadState.Success) {
-                "标识器${identifierId}已探测！".show(this)
+                "标识器${markerId}已探测！".show(this)
                 DataBaseManager.get.updateTaskLabel(taskLabel)
             }
         }
@@ -328,8 +296,6 @@
 
     override fun onDestroy() {
         super.onDestroy()
-        gpioManager.setGpioLow("18")
-        detectTimer.cancel()
 //        locationHub.stopLocation()
     }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/vm/TaskViewModel.kt b/app/src/main/java/com/casic/detector/vm/TaskViewModel.kt
index b87e764..800abe7 100644
--- a/app/src/main/java/com/casic/detector/vm/TaskViewModel.kt
+++ b/app/src/main/java/com/casic/detector/vm/TaskViewModel.kt
@@ -10,6 +10,7 @@
 import com.casic.detector.utils.DataBaseManager
 import com.casic.detector.utils.LocaleConstant
 import com.google.gson.Gson
+import com.google.gson.JsonParser
 import com.google.gson.reflect.TypeToken
 import com.pengxh.kt.lite.base.BaseViewModel
 import com.pengxh.kt.lite.extensions.launch
@@ -23,11 +24,14 @@
     val markerFileResult = MutableLiveData<MarkerFileModel>()
     val taskResult = MutableLiveData<TaskModel>()
     val freeTaskResult = MutableLiveData<String>()
+    val uploadTaskMarkerResult = MutableLiveData<String>()
 
     fun createFreeTask(patrollerId: String, description: String) = launch({
         val response = RetrofitServiceManager.createFreeTask(patrollerId, description)
         if (response.getResponseState()) {
-//            freeTaskResult.value =
+            val element = JsonParser.parseString(response)
+            val jsonObject = element.asJsonObject
+            freeTaskResult.value = jsonObject.get("taskId").asInt.toString()
         } else {
             response.getResponseMessage().show(BaseApplication.get())
         }
@@ -35,18 +39,17 @@
         it.printStackTrace()
     })
 
-    fun uploadTaskMarker(taskId: String, models: List<String>) = launch({
-        loadState.value = LoadState.Loading
+    fun uploadTaskMarker(taskId: String, models: ArrayList<String>) = launch({
         val response = RetrofitServiceManager.uploadTaskMarker(taskId, models)
         if (response.getResponseState()) {
-            loadState.value = LoadState.Success
+            val element = JsonParser.parseString(response)
+            val jsonObject = element.asJsonObject
+            uploadTaskMarkerResult.value = jsonObject.get("success").asString
         } else {
             response.getResponseMessage().show(BaseApplication.get())
-            loadState.value = LoadState.Fail
         }
     }, {
         it.printStackTrace()
-        loadState.value = LoadState.Fail
     })
 
     fun getMarkerFile(userId: String, companyId: String) = launch({

diff --git a/app/src/main/java/com/casic/detector/base/BaseApplication.kt b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
index 30ccb6b..87ef650 100644
--- a/app/src/main/java/com/casic/detector/base/BaseApplication.kt
+++ b/app/src/main/java/com/casic/detector/base/BaseApplication.kt
@@ -15,21 +15,29 @@
 
     private val kTag = "BaseApplication"
     private val suffix = "/dev/ttysWK"
-    private var serialPorts = ArrayList<SerialPort>()
+    private var serialPorts: ArrayList<SerialPort>? = null
 
     @Throws(SecurityException::class, IOException::class, InvalidParameterException::class)
-    fun getSerialPorts(): ArrayList<SerialPort> {
-        if (serialPorts.isEmpty()) {
-            /**
-             * Open the serial port
-             * */
-            serialPorts.add(SerialPort(File("${suffix}1"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}2"), 9600, 0))
-            serialPorts.add(SerialPort(File("${suffix}0"), 9600, 0))
+    fun getSerialPorts(): ArrayList<SerialPort>? {
+        serialPorts = ArrayList()
+        /**
+         * Open the serial port
+         * */
+        serialPorts?.apply {
+            add(SerialPort(File("${suffix}1"), 9600, 0))
+            add(SerialPort(File("${suffix}2"), 9600, 0))
+            add(SerialPort(File("${suffix}0"), 9600, 0))
         }
         return serialPorts
     }
 
+
+    fun closeSerialPort() {
+        serialPorts?.forEach {
+            it.close()
+        }
+    }
+
     companion object {
         private var application: BaseApplication by Delegates.notNull()
 
@@ -50,11 +58,4 @@
     fun getDaoSession(): DaoSession {
         return daoSession
     }
-
-    fun closeSerialPort() {
-        serialPorts.forEach {
-            it.close()
-        }
-        serialPorts.clear()
-    }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/bean/TaskBean.java b/app/src/main/java/com/casic/detector/bean/TaskBean.java
index d6e1101..7ada7a5 100644
--- a/app/src/main/java/com/casic/detector/bean/TaskBean.java
+++ b/app/src/main/java/com/casic/detector/bean/TaskBean.java
@@ -1,5 +1,7 @@
 package com.casic.detector.bean;
 
+import com.casic.detector.model.TaskModel;
+
 import org.greenrobot.greendao.annotation.Entity;
 import org.greenrobot.greendao.annotation.Generated;
 import org.greenrobot.greendao.annotation.Id;
@@ -12,6 +14,9 @@
     private String scanner;
     private String desc;
     private String taskId;
+    /**
+     * 用 {@link TaskModel.MessageModel.TaskDetailInfosModel#id} 存
+     * */
     private String taskCode;
     private String markerId;
     private String markerRealId;
diff --git a/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
new file mode 100644
index 0000000..09203d9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/AMapLocation.kt
@@ -0,0 +1,59 @@
+package com.casic.detector.extensions
+
+import com.amap.api.location.AMapLocation
+import com.amap.api.maps.AMapUtils
+import com.amap.api.maps.model.LatLng
+import com.casic.detector.model.CalculateResult
+import kotlin.math.acos
+
+/**
+ * 计算两个经纬度之间连线的方位角，因为距离很近（一般是3米内），球面近似为平面
+ * C        B
+ * |-------/
+ * |      /
+ * |     /
+ * |    /
+ * |   /
+ * |  /
+ * | /
+ * |/
+ * A
+ * */
+fun AMapLocation.calculateAngle(target: LatLng): CalculateResult {
+    //构造直角辅助点
+    val auxiliaryPoint = LatLng(target.latitude, this.longitude)
+
+    //AB线段长度
+    val distance = AMapUtils.calculateLineDistance(
+        LatLng(this.latitude, this.longitude), target
+    )
+
+    //AC线段长度
+    val auxiliaryDistance = AMapUtils.calculateLineDistance(
+        LatLng(auxiliaryPoint.latitude, auxiliaryPoint.longitude), target
+    )
+
+    //求余弦值
+    val cosine = auxiliaryDistance / distance
+
+    //反余弦得弧度
+    val radian = acos(cosine)
+
+    //弧度转角度，度=弧度×180°/π
+    val angle = (radian * 180) / Math.PI
+
+    //判断方位
+    val direction = if (target.latitude > this.latitude && target.longitude > this.longitude) {
+        //东北方
+        "东偏北"
+    } else if (target.latitude < this.latitude && target.longitude < this.longitude) {
+        //西南方
+        "西偏南"
+    } else if (target.latitude > this.latitude && target.longitude < this.longitude) {
+        //西北方
+        "西偏北"
+    } else {
+        "东偏南"
+    }
+    return CalculateResult(angle.toInt(), direction, distance.toInt())
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/ArrayList.kt b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
new file mode 100644
index 0000000..52f8ac9
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/extensions/ArrayList.kt
@@ -0,0 +1,20 @@
+package com.casic.detector.extensions
+
+/**
+ * ArrayList扩展方法
+ */
+
+//将集合格式化成满足上传格式的数据
+fun ArrayList<String>.reformat(): String {
+    if (this.isEmpty()) return ""
+    val builder = StringBuilder()
+    //循环遍历元素，同时得到元素index(下标)
+    this.forEachIndexed { index, s ->
+        if (index == this.size - 1) {
+            builder.append(s)
+        } else {
+            builder.append(s).append(",")
+        }
+    }
+    return builder.toString()
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/extensions/String.kt b/app/src/main/java/com/casic/detector/extensions/String.kt
index b76d83d..785b89f 100644
--- a/app/src/main/java/com/casic/detector/extensions/String.kt
+++ b/app/src/main/java/com/casic/detector/extensions/String.kt
@@ -122,4 +122,9 @@
         }
     }
     return sb.toString()
+}
+
+fun String.isNumber(): Boolean {
+    val regex = Regex("[-+]?\\d+(\\.\\d+)?")
+    return this.matches(regex)
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
index cab23bb..682c3f8 100644
--- a/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
+++ b/app/src/main/java/com/casic/detector/greendao/DaoMaster.java
@@ -13,20 +13,25 @@
 
 
 // THIS CODE IS GENERATED BY greenDAO, DO NOT EDIT.
+
 /**
  * Master of DAO (schema version 1): knows all DAOs.
  */
 public class DaoMaster extends AbstractDaoMaster {
     public static final int SCHEMA_VERSION = 1;
 
-    /** Creates underlying database table using DAOs. */
+    /**
+     * Creates underlying database table using DAOs.
+     */
     public static void createAllTables(Database db, boolean ifNotExists) {
         LabelBeanDao.createTable(db, ifNotExists);
         SmallLabelBeanDao.createTable(db, ifNotExists);
         TaskBeanDao.createTable(db, ifNotExists);
     }
 
-    /** Drops underlying database table using DAOs. */
+    /**
+     * Drops underlying database table using DAOs.
+     */
     public static void dropAllTables(Database db, boolean ifExists) {
         LabelBeanDao.dropTable(db, ifExists);
         SmallLabelBeanDao.dropTable(db, ifExists);
@@ -81,7 +86,9 @@
         }
     }
 
-    /** WARNING: Drops all table on Upgrade! Use only during development. */
+    /**
+     * WARNING: Drops all table on Upgrade! Use only during development.
+     */
     public static class DevOpenHelper extends OpenHelper {
         public DevOpenHelper(Context context, String name) {
             super(context, name);
diff --git a/app/src/main/java/com/casic/detector/model/CalculateResult.kt b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
new file mode 100644
index 0000000..02cb0a0
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/model/CalculateResult.kt
@@ -0,0 +1,3 @@
+package com.casic.detector.model
+
+data class CalculateResult(val angle: Int, val direction: String, val distance: Int)
diff --git a/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt b/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
index 43a8484..cae51d5 100644
--- a/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
+++ b/app/src/main/java/com/casic/detector/retrofit/RetrofitService.kt
@@ -82,25 +82,21 @@
      */
     @GET("/ems/rs/task/update-task-mark")
     suspend fun uploadMarker(
-        @Query("taskDetailId") taskId: String,
+        @Query("taskDetailId") taskId: String
     ): String
 
     /**
      * 新建自由巡检任务
      * */
-    @GET("")
+    @GET("ems/rs/task/addAppTask")
     suspend fun createFreeTask(
         @Query("patrollerId") patrollerId: String,
-        @Query("description") description: String,
+        @Query("description") description: String
     ): String
 
     /**
      * 上传自由巡检过程中发现的标识器
      * */
-    @Multipart
-    @POST("")
-    suspend fun uploadTaskMarker(
-        @Field("taskId") taskId: String,
-        @Body requestBody: RequestBody,
-    ): String
+    @POST("ems/event/uploadAppMarker.do")
+    suspend fun uploadTaskMarker(@Body requestBody: RequestBody): String
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt b/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
index 8ae0794..ac06760 100644
--- a/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
+++ b/app/src/main/java/com/casic/detector/retrofit/RetrofitServiceManager.kt
@@ -1,9 +1,9 @@
 package com.casic.detector.retrofit
 
+import com.casic.detector.extensions.reformat
 import com.casic.detector.utils.LocaleConstant
 import com.google.gson.Gson
 import com.google.gson.JsonObject
-import com.google.gson.reflect.TypeToken
 import com.pengxh.kt.lite.utils.RetrofitFactory
 import com.pengxh.kt.lite.utils.SaveKeyValues
 import okhttp3.MediaType.Companion.toMediaType
@@ -16,7 +16,6 @@
 object RetrofitServiceManager {
 
     private val gson by lazy { Gson() }
-    private val typeToken = object : TypeToken<Array<String>>() {}.type
 
     private fun createApi(): RetrofitService {
         val serverIp = SaveKeyValues.getValue(LocaleConstant.SERVER_IP, "") as String
@@ -233,12 +232,13 @@
     /**
      * 上传自由巡检过程中发现的标识器
      */
-    suspend fun uploadTaskMarker(taskId: String, models: List<String>): String {
+    suspend fun uploadTaskMarker(taskId: String, models: ArrayList<String>): String {
         val param = JsonObject()
-        param.add("markers", gson.toJsonTree(models, typeToken).asJsonArray)
+        param.addProperty("taskId", taskId)
+        param.addProperty("ids", models.reformat())
         val requestBody = param.toString().toRequestBody(
             "application/json;charset=UTF-8".toMediaType()
         )
-        return createApi().uploadTaskMarker(taskId, requestBody)
+        return createApi().uploadTaskMarker(requestBody)
     }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt b/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
index 1c7d95b..7e627a4 100644
--- a/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
+++ b/app/src/main/java/com/casic/detector/utils/DataBaseManager.kt
@@ -105,7 +105,7 @@
     fun queryTaskLabelByIdAndState(identifierId: String, state: String): TaskBean? {
         return taskBeanDao.queryBuilder()
             .where(
-                TaskBeanDao.Properties.MarkerRealId.eq(identifierId),
+                TaskBeanDao.Properties.MarkerId.eq(identifierId),
                 TaskBeanDao.Properties.State.eq(state)
             ).list().firstOrNull()
     }
diff --git a/app/src/main/java/com/casic/detector/utils/SerialPortManager.kt b/app/src/main/java/com/casic/detector/utils/SerialPortManager.kt
new file mode 100644
index 0000000..c235471
--- /dev/null
+++ b/app/src/main/java/com/casic/detector/utils/SerialPortManager.kt
@@ -0,0 +1,119 @@
+package com.casic.detector.utils
+
+import androidx.lifecycle.Lifecycle
+import androidx.lifecycle.LifecycleOwner
+import androidx.lifecycle.LifecycleRegistry
+import androidx.lifecycle.lifecycleScope
+import com.casic.detector.base.BaseApplication
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.delay
+import kotlinx.coroutines.launch
+import kotlinx.coroutines.withContext
+import java.io.IOException
+
+class SerialPortManager(private val listener: OnSerialPortListener) : LifecycleOwner {
+
+    private val kTag = "SerialPortManager"
+    private val registry = LifecycleRegistry(this)
+
+    init {
+        //读取串口数据
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            val buffer = ByteArray(72)
+            var size: Int
+            serialPorts?.forEach {
+                val stream = it.inputStream
+                while (true) {
+                    try {
+                        size = stream.read(buffer)
+                        if (size > 0) {
+                            withContext(Dispatchers.Main) {
+                                listener.onDataReceived(buffer)
+                            }
+                        }
+                    } catch (e: IOException) {
+                        e.printStackTrace()
+                        return@launch
+                    }
+                }
+            }
+        }
+    }
+
+    /**
+     * 探测
+     * */
+    fun detectMarker() {
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            serialPorts?.apply {
+                while (size >= 1) {
+                    val outStream = this[0].outputStream
+                    try {
+                        // 发送读标识器ID指令
+                        outStream?.write('2'.code)
+                        outStream?.flush()
+                        delay(100)
+
+                        outStream.write('6'.code)
+                        outStream.flush()
+                        delay(100)
+                    } catch (e: IOException) {
+                        e.printStackTrace()
+                    }
+                }
+            }
+        }
+    }
+
+    /**
+     * 发送探测深度指令
+     * */
+    fun detectDepth(markerTag: Char) {
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            serialPorts?.apply {
+                val outStream = this[0].outputStream
+                try {
+                    // 发送测距指令
+                    outStream?.write(markerTag.code)
+                    outStream?.flush()
+                } catch (e: IOException) {
+                    e.printStackTrace()
+                }
+            }
+        }
+    }
+
+    /**
+     * 发送读标识器ID指令
+     * */
+    fun searchMarkerSignal() {
+        lifecycleScope.launch(Dispatchers.IO) {
+            val serialPorts = BaseApplication.get().getSerialPorts()
+            serialPorts?.apply {
+                val outStream = this[0].outputStream
+                try {
+                    // 发送读标识器ID指令
+                    outStream?.write('2'.code)
+                    outStream?.flush()
+                } catch (e: IOException) {
+                    e.printStackTrace()
+                }
+            }
+        }
+    }
+
+    fun closeSerialPort() {
+        BaseApplication.get().closeSerialPort()
+    }
+
+    interface OnSerialPortListener {
+        fun onDataReceived(buffer: ByteArray)
+    }
+
+    override fun getLifecycle(): Lifecycle {
+        return registry
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt b/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt
index 68d54b2..5bac324 100644
--- a/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt
+++ b/app/src/main/java/com/casic/detector/view/InstallLabelActivity.kt
@@ -2,16 +2,12 @@
 
 import android.annotation.SuppressLint
 import android.app.DatePickerDialog
-import android.content.Context
 import android.content.DialogInterface
 import android.content.Intent
 import android.media.AudioAttributes
 import android.media.SoundPool
 import android.os.Bundle
-import android.os.Handler
-import android.os.Message
 import android.provider.Settings
-import android.util.Log
 import android.view.KeyEvent
 import android.view.View
 import android.view.WindowManager
@@ -19,7 +15,6 @@
 import com.amap.api.location.AMapLocation
 import com.casic.detector.R
 import com.casic.detector.adapter.EditableImageAdapter
-import com.casic.detector.base.SerialPortActivity
 import com.casic.detector.bean.LabelBean
 import com.casic.detector.callback.ILocationListener
 import com.casic.detector.callback.OnImageCompressListener
@@ -31,29 +26,39 @@
 import com.luck.picture.lib.config.SelectMimeType
 import com.luck.picture.lib.entity.LocalMedia
 import com.luck.picture.lib.interfaces.OnResultCallbackListener
-import com.pengxh.kt.lite.extensions.*
+import com.pengxh.kt.lite.base.KotlinBaseActivity
+import com.pengxh.kt.lite.extensions.appendZero
+import com.pengxh.kt.lite.extensions.convertColor
+import com.pengxh.kt.lite.extensions.dateToTimestamp
+import com.pengxh.kt.lite.extensions.isNetworkConnected
+import com.pengxh.kt.lite.extensions.navigatePageTo
+import com.pengxh.kt.lite.extensions.show
+import com.pengxh.kt.lite.extensions.timestampToCompleteDate
+import com.pengxh.kt.lite.extensions.timestampToTime
+import com.pengxh.kt.lite.extensions.toJson
 import com.pengxh.kt.lite.utils.LoadState
 import com.pengxh.kt.lite.utils.SaveKeyValues
-import com.pengxh.kt.lite.utils.WeakReferenceHandler
 import com.pengxh.kt.lite.widget.dialog.NoNetworkDialog
 import java.io.File
-import java.io.IOException
 import java.util.*
 
 @SuppressLint("SetTextI18n")
-class InstallLabelActivity : SerialPortActivity<ActivityInstallLabelBinding>(), Handler.Callback {
+class InstallLabelActivity : KotlinBaseActivity<ActivityInstallLabelBinding>(),
+    SerialPortManager.OnSerialPortListener {
 
     private val kTag = "InstallLabelActivity"
-    private val context: Context = this@InstallLabelActivity
+    private val context = this@InstallLabelActivity
+    private val serialPortManager by lazy { SerialPortManager(this) }
     private val calendar by lazy { Calendar.getInstance() }
-    private lateinit var imageAdapter: EditableImageAdapter
-    private val realPaths: ArrayList<String> = ArrayList() //真实图片路径
-    private lateinit var taskViewModel: TaskViewModel
-    private lateinit var soundPool: SoundPool
-    private var soundResId = 0
-    private val gpioManager by lazy { GpioManager() }
+    private val audioAttributes = AudioAttributes.Builder()
+        .setUsage(AudioAttributes.USAGE_ALARM)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC)
+        .build()
+    private val realPaths = ArrayList<String>() //真实图片路径
     private val locationHub by lazy { LocationHub(this) }
-    private lateinit var weakReferenceHandler: WeakReferenceHandler
+    private lateinit var imageAdapter: EditableImageAdapter
+    private lateinit var taskViewModel: TaskViewModel
+    private var soundPool: SoundPool? = null
 
     override fun initViewBinding(): ActivityInstallLabelBinding {
         return ActivityInstallLabelBinding.inflate(layoutInflater)
@@ -79,13 +84,6 @@
         binding.objectInclude.ownerView.setText("ownerView".getDefaultValue())
         binding.identifierInclude.identifierDeepView.setText("identifierDeepView".getDefaultValue())
         binding.identifierInclude.personDeptView.setText("personDeptView".getDefaultValue())
-
-        weakReferenceHandler = WeakReferenceHandler(this)
-
-        val audioAttributes = AudioAttributes.Builder().setUsage(AudioAttributes.USAGE_MEDIA)
-            .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC).build()
-        soundPool =
-            SoundPool.Builder().setMaxStreams(16).setAudioAttributes(audioAttributes).build()
     }
 
     override fun initEvent() {
@@ -247,6 +245,14 @@
                     return@setOnClickListener
                 }
 
+                //查本地库
+                val markerId = binding.identifierInclude.identifierIdView.text.toString()
+                val result = DataBaseManager.get.queryLabelById(markerId)
+                if (result.isEmpty()) {
+                    "".show(this)
+                    return@setOnClickListener
+                }
+
                 //先存本地再上传服务器
                 saveLabelInLocal()
 
@@ -268,7 +274,7 @@
                     binding.objectInclude.constructDateView.text.toString(),
                     binding.objectInclude.ownerView.text.toString(),
                     objectId,
-                    binding.identifierInclude.identifierIdView.text.toString(),
+                    markerId,
                     binding.identifierInclude.identifierTypeSpinner.selectedItem.toString(),
                     "${binding.identifierInclude.identifierDeepView.text}mm",
                     binding.identifierInclude.personDeptView.text.toString(),
@@ -305,25 +311,35 @@
         }
 
         binding.readLabelButton.setOnClickListener {
-            gpioManager.setGpioHigh("18")
-
             LoadingDialogHub.show(this, "标识器读取中，请稍后...")
 
-            soundResId = soundPool.load(this, R.raw.ring3, 1)
-            soundPool.setOnLoadCompleteListener { soundPool, _, _ ->
-                soundPool.play(soundResId, 1f, 1f, 0, -1, 1f)
+            soundPool = SoundPool.Builder()
+                .setMaxStreams(16)
+                .setAudioAttributes(audioAttributes)
+                .build()
+            soundPool?.apply {
+                val soundResId = load(context, R.raw.ring3, 1)
+                setOnLoadCompleteListener { soundPool, _, _ ->
+                    soundPool.play(soundResId, 1f, 1f, 0, -1, 1f)
+                }
             }
 
-            // 1000ms后发送读标识器或搜索信号
-            weakReferenceHandler.postDelayed({
-                try {
-                    // 发送读标识器或搜索信号
-                    outStream?.write("2".toByteArray())
-                    outStream?.flush()
-                } catch (e: IOException) {
-                    e.printStackTrace()
-                }
-            }, 1000)
+            serialPortManager.searchMarkerSignal()
+        }
+    }
+
+    override fun onDataReceived(buffer: ByteArray) {
+        LoadingDialogHub.dismiss()
+        soundPool?.release()
+
+        val hex = buffer.toHex()
+//        Log.d(kTag, "$kTag => $hex")
+        if (hex.length >= 20) {
+            val markerId = hex.take(20).hexToString()
+            if (markerId.isNumber()) {
+                binding.identifierInclude.identifierIdView.text = markerId
+                serialPortManager.closeSerialPort()
+            }
         }
     }
 
@@ -363,41 +379,6 @@
         DataBaseManager.get.insertTaskLabel(labelBean)
     }
 
-    override fun onDataReceived(buffer: ByteArray?, size: Int) {
-        Log.d(kTag, "onDataReceived => " + buffer.contentToString())
-        if (buffer != null) {
-            val message = weakReferenceHandler.obtainMessage()
-            message.what = 2023061601
-            message.obj = buffer
-            weakReferenceHandler.sendMessage(message)
-        }
-    }
-
-    override fun handleMessage(msg: Message): Boolean {
-        if (msg.what == 2023061601) {
-            soundPool.release()
-
-            val buffer = msg.obj as ByteArray
-            val hex = buffer.toHex()
-            //3030303839383735313400000000000000000000000000000000000000000000
-            if (hex.length >= 20) {
-                val identifierId = hex.substring(0, 20).hexToString()
-
-                gpioManager.setGpioLow("18")
-
-                //查本地库
-                val result = DataBaseManager.get.queryLabelById(identifierId)
-                if (result.isEmpty()) {
-                    binding.identifierInclude.identifierIdView.text = identifierId
-                } else {
-                    "此标识器已安装，请更换标识器！".show(this)
-                }
-                LoadingDialogHub.dismiss()
-            }
-        }
-        return true
-    }
-
     private fun takePicture() {
         PictureSelector.create(this).openCamera(SelectMimeType.ofImage())
             .forResult(object : OnResultCallbackListener<LocalMedia> {
@@ -451,14 +432,14 @@
     }
 
     override fun onDestroy() {
-        soundPool.release()
-        gpioManager.setGpioLow("18")
         super.onDestroy()
+        soundPool?.release()
+        locationHub.stopLocation()
     }
 
     override fun onKeyDown(keyCode: Int, event: KeyEvent?): Boolean {
         if (keyCode == KeyEvent.KEYCODE_BACK) {
-            soundPool.release()
+            soundPool?.release()
         }
         return super.onKeyDown(keyCode, event)
     }
diff --git a/app/src/main/java/com/casic/detector/view/MainActivity.kt b/app/src/main/java/com/casic/detector/view/MainActivity.kt
index d590626..7c6446a 100644
--- a/app/src/main/java/com/casic/detector/view/MainActivity.kt
+++ b/app/src/main/java/com/casic/detector/view/MainActivity.kt
@@ -1,17 +1,19 @@
 package com.casic.detector.view
 
-import android.content.Context
 import android.content.Intent
 import android.graphics.BitmapFactory
 import android.graphics.Color
 import android.graphics.drawable.BitmapDrawable
 import android.graphics.drawable.Drawable
+import android.media.AudioAttributes
+import android.media.SoundPool
 import android.os.Bundle
-import android.os.PowerManager
 import android.provider.Settings
 import android.util.Log
 import android.view.KeyEvent
+import android.view.View
 import androidx.lifecycle.ViewModelProvider
+import androidx.lifecycle.lifecycleScope
 import com.amap.api.location.AMapLocation
 import com.amap.api.maps.AMap
 import com.amap.api.maps.AMapOptions
@@ -32,81 +34,89 @@
 import com.casic.detector.databinding.ActivityMainBinding
 import com.casic.detector.extensions.appendDownloadUrl
 import com.casic.detector.extensions.drawCircle
-import com.casic.detector.extensions.initLayoutImmersionBar
+import com.casic.detector.extensions.hexToString
+import com.casic.detector.extensions.initImmersionBar
+import com.casic.detector.extensions.isNumber
+import com.casic.detector.extensions.toHex
 import com.casic.detector.model.TaskModel
 import com.casic.detector.utils.DataBaseManager
 import com.casic.detector.utils.ExcelHub
 import com.casic.detector.utils.FileType
+import com.casic.detector.utils.GpioManager
 import com.casic.detector.utils.LoadingDialogHub
 import com.casic.detector.utils.LocaleConstant
 import com.casic.detector.utils.LocationHub
 import com.casic.detector.utils.RouteOnMap
+import com.casic.detector.utils.SerialPortManager
 import com.casic.detector.vm.TaskViewModel
 import com.casic.detector.widgets.QueryMarkerDialog
 import com.casic.detector.widgets.SamplePopupWindow
 import com.google.gson.Gson
 import com.google.gson.reflect.TypeToken
-import com.gyf.immersionbar.ImmersionBar
 import com.pengxh.kt.lite.base.KotlinBaseActivity
-import com.pengxh.kt.lite.callback.OnDownloadListener
+import com.pengxh.kt.lite.extensions.convertDrawable
 import com.pengxh.kt.lite.extensions.createDownloadFileDir
-import com.pengxh.kt.lite.extensions.downloadFile
 import com.pengxh.kt.lite.extensions.dp2px
 import com.pengxh.kt.lite.extensions.isNetworkConnected
 import com.pengxh.kt.lite.extensions.navigatePageTo
 import com.pengxh.kt.lite.extensions.show
 import com.pengxh.kt.lite.extensions.toJson
+import com.pengxh.kt.lite.utils.FileDownloadManager
+import com.pengxh.kt.lite.utils.LoadState
 import com.pengxh.kt.lite.utils.SaveKeyValues
-import com.pengxh.kt.lite.vm.LoadState
 import com.pengxh.kt.lite.widget.dialog.AlertControlDialog
+import com.pengxh.kt.lite.widget.dialog.AlertInputDialog
 import com.pengxh.kt.lite.widget.dialog.AlertMessageDialog
 import com.pengxh.kt.lite.widget.dialog.BottomActionSheet
 import com.pengxh.kt.lite.widget.dialog.NoNetworkDialog
-import kotlinx.coroutines.CoroutineScope
 import kotlinx.coroutines.Dispatchers
 import kotlinx.coroutines.launch
 import kotlinx.coroutines.withContext
 import java.io.File
 
 
-class MainActivity : KotlinBaseActivity<ActivityMainBinding>() {
+class MainActivity : KotlinBaseActivity<ActivityMainBinding>(),
+    SerialPortManager.OnSerialPortListener {
 
     private val kTag = "MainActivity"
-    private val context: Context = this@MainActivity
-    private var clickTime: Long = 0
-    private lateinit var aMap: AMap
-    private lateinit var taskViewModel: TaskViewModel
+    private val context = this@MainActivity
+    private val serialPortManager by lazy { SerialPortManager(this) }
+    private val gpioManager by lazy { GpioManager() }
     private val samplePopupWindow by lazy { SamplePopupWindow(this) }
+    private val gson by lazy { Gson() }
+    private val locationHub by lazy { LocationHub(this) }
+    private val regionRadius by lazy { LocaleConstant.RADIUS_SIZE.dp2px(this) }
+    private val backDrawables by lazy { HashMap<Int, Drawable>() }
+    private val audioAttributes = AudioAttributes.Builder()
+        .setUsage(AudioAttributes.USAGE_ALARM)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC)
+        .build()
+    private var clickTime: Long = 0
     private var labelBeans = ArrayList<LabelBean>()
     private var clusterOverlay: ClusterOverlay? = null
-    private val backDrawables = HashMap<Int, Drawable>()
-    private val regionRadius by lazy { LocaleConstant.RADIUS_SIZE.dp2px(this) }
     private var latitude: Double = 0.0
     private var longitude: Double = 0.0
-    private val gson by lazy { Gson() }
-    private val locationHub by lazy { LocationHub.obtainInstance(this) }
-    private lateinit var wakeLock: PowerManager.WakeLock
+    private var ids = ArrayList<String>()
+    private lateinit var aMap: AMap
+    private lateinit var soundPool: SoundPool
+    private lateinit var taskViewModel: TaskViewModel
     private lateinit var taskBean: TaskBean
+    private lateinit var taskId: String
 
     override fun initViewBinding(): ActivityMainBinding {
         return ActivityMainBinding.inflate(layoutInflater)
     }
 
     override fun setupTopBarLayout() {
-        ImmersionBar.with(this).statusBarDarkFont(false).statusBarColor(R.color.themeColor).init()
-        initLayoutImmersionBar(binding.rootView)
+        binding.rootView.initImmersionBar(this, false, R.color.themeColor)
     }
 
     override fun initOnCreate(savedInstanceState: Bundle?) {
-        val powerManager = getSystemService(Context.POWER_SERVICE) as PowerManager
-        wakeLock = powerManager.run {
-            newWakeLock(PowerManager.PARTIAL_WAKE_LOCK, this@MainActivity.localClassName).apply {
-                acquire(60 * 60 * 1000L)
-            }
-        }
-
         initMapConfig(savedInstanceState)
 
+        //调高串口电位
+        gpioManager.setGpioHigh("18")
+
         samplePopupWindow.setPopupMenuItem(LocaleConstant.POPUP_TITLES)
         samplePopupWindow.setBackgroundDrawable(null)
 
@@ -119,12 +129,14 @@
                 val companyId = SaveKeyValues.getValue(LocaleConstant.USER_COMPANY_ID, "")
                 val downloadUrl = companyId.toString().appendDownloadUrl(FileType.EXCEL)
                 Log.d(kTag, "downloadUrl => $downloadUrl")
-                downloadUrl.downloadFile(
-                    createDownloadFileDir().toString(),
-                    object : OnDownloadListener {
-                        override fun onDownloadEnd(file: File?) {
-                            CoroutineScope(Dispatchers.Main).launch {
-                                labelBeans = ExcelHub.read(file?.absolutePath)
+                FileDownloadManager.Builder()
+                    .setDownloadFileSource(downloadUrl)
+                    .setFileSuffix("xls")
+                    .setFileSaveDirectory(createDownloadFileDir())
+                    .setOnFileDownloadListener(object : FileDownloadManager.OnFileDownloadListener {
+                        override fun onDownloadEnd(file: File) {
+                            lifecycleScope.launch(Dispatchers.Main) {
+                                labelBeans = ExcelHub.read(file.absolutePath)
                                 withContext(Dispatchers.IO) {
                                     labelBeans.forEach { label ->
                                         DataBaseManager.get.insertTaskLabel(label)
@@ -135,14 +147,16 @@
                             }
                         }
 
-                        override fun onDownloadStart(totalBytes: Long) {
+                        override fun onFailure(throwable: Throwable) {
 
                         }
 
-                        override fun onProgressChanged(currentBytes: Long) {
+                        override fun onProgressChanged(progress: Int) {
 
                         }
                     })
+                    .build()
+                    .start()
             }
         }
         taskViewModel.taskResult.observe(this) {
@@ -159,19 +173,26 @@
                     }).build().show()
             }
         }
+
+        taskViewModel.freeTaskResult.observe(this) { taskId = it }
+
+        taskViewModel.uploadTaskMarkerResult.observe(this) {
+            "自由巡检任务已完成".show(this)
+            ids.clear()
+        }
     }
 
     override fun initEvent() {
         binding.rightImageView.setOnClickListener {
-            CoroutineScope(Dispatchers.Main).launch {
+            lifecycleScope.launch(Dispatchers.Main) {
                 val labels = withContext(Dispatchers.IO) {
                     DataBaseManager.get.queryLabelById("0")
                 }
                 if (labels.isNotEmpty()) {
                     samplePopupWindow.setShowPosition(4)
                 }
-                val x = binding.rightImageView.width - samplePopupWindow.width - 1f.dp2px(context)
-                samplePopupWindow.showAsDropDown(binding.rightImageView, x, 1f.dp2px(context))
+                val x = binding.rightImageView.width - samplePopupWindow.width - 1.dp2px(context)
+                samplePopupWindow.showAsDropDown(binding.rightImageView, x, 1.dp2px(context))
             }
         }
 
@@ -201,7 +222,7 @@
                     QueryMarkerDialog.OnDialogButtonClickListener {
                     override fun onConfirmClick(selectedItem: String, value: String) {
                         //查询数据库
-                        CoroutineScope(Dispatchers.Main).launch {
+                        lifecycleScope.launch(Dispatchers.Main) {
                             labelBeans = withContext(Dispatchers.IO) {
                                 DataBaseManager.get.loadLabelByCondition(
                                     selectedItem, value
@@ -282,12 +303,14 @@
                         }
                     }).build().show()
             } else {
-                AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
-                    .setMessage("现有任务已完成，请点击右上角菜单按钮下载新工单！")
-                    .setPositiveButton("知道了").setOnDialogButtonClickListener(object :
+                AlertMessageDialog.Builder()
+                    .setContext(this)
+                    .setTitle("温馨提示")
+                    .setMessage("现有任务已完成，请点击右上角菜单下载新工单或者开始自由巡检")
+                    .setPositiveButton("开始自由巡检").setOnDialogButtonClickListener(object :
                         AlertMessageDialog.OnDialogButtonClickListener {
                         override fun onConfirmClick() {
-
+                            startFreeTask()
                         }
                     }).build().show()
             }
@@ -297,6 +320,69 @@
         binding.detectionButton.setOnClickListener {
             navigatePageTo<SearchLabelActivity>()
         }
+
+        //自由巡检
+        binding.stopFreeTaskButton.setOnLongClickListener {
+            AlertMessageDialog.Builder()
+                .setContext(this)
+                .setTitle("温馨提示")
+                .setMessage("是否确定结束此次自由巡检任务？")
+                .setPositiveButton("是")
+                .setOnDialogButtonClickListener(object :
+                    AlertMessageDialog.OnDialogButtonClickListener {
+                    override fun onConfirmClick() {
+                        soundPool.release()
+                        serialPortManager.closeSerialPort()
+
+                        taskViewModel.uploadTaskMarker(taskId, ids)
+                        binding.stopFreeTaskButton.visibility = View.GONE
+                    }
+                }).build().show()
+            true
+        }
+    }
+
+    private fun startFreeTask() {
+        AlertInputDialog.Builder()
+            .setContext(this)
+            .setTitle("新建自由巡检任务")
+            .setHintMessage("请输入自由巡检任务简要描述")
+            .setNegativeButton("取消")
+            .setPositiveButton("确定")
+            .setOnDialogButtonClickListener(object : AlertInputDialog.OnDialogButtonClickListener {
+                override fun onConfirmClick(value: String) {
+                    val userId = SaveKeyValues.getValue(LocaleConstant.USER_ID, "") as String
+                    taskViewModel.createFreeTask(userId, value)
+
+                    soundPool = SoundPool.Builder()
+                        .setMaxStreams(16)
+                        .setAudioAttributes(audioAttributes)
+                        .build()
+                    soundPool.load(context, R.raw.ring3, 1)
+                    soundPool.setOnLoadCompleteListener { soundPool, sampleId, _ ->
+                        soundPool.play(sampleId, 1f, 1f, 0, -1, 1f)
+                    }
+
+                    //自由巡检
+                    serialPortManager.searchMarkerSignal()
+
+                    binding.stopFreeTaskButton.visibility = View.VISIBLE
+                }
+
+                override fun onCancelClick() {}
+            }).build().show()
+    }
+
+    override fun onDataReceived(buffer: ByteArray) {
+        val hex = buffer.toHex()
+//        Log.d(kTag, "$kTag => $hex")
+        if (hex.length >= 20) {
+            val markerId = hex.take(20).hexToString()
+            if (markerId.isNumber()) {
+                "标识器${markerId}已探测".show(this)
+                ids.add(markerId)
+            }
+        }
     }
 
     override fun observeRequestState() {
@@ -342,7 +428,7 @@
 
         aMap.setOnMapLongClickListener {
             //协程异步显示默认数据
-            CoroutineScope(Dispatchers.Main).launch {
+            lifecycleScope.launch(Dispatchers.Main) {
                 labelBeans = withContext(Dispatchers.IO) {
                     DataBaseManager.get.loadTaskLabels() as ArrayList<LabelBean>
                 }
@@ -381,7 +467,7 @@
                             userName,
                             messageModel.description,
                             info.taskId.toString(),
-                            info.taskCode.toString(),
+                            info.id.toString(),
                             info.markerId.toString(),
                             info.markerIdReal.toString(),
                             info.longitude.toString(),
@@ -412,7 +498,7 @@
 
         clusterOverlay = ClusterOverlay(context, aMap, clusterItems, regionRadius)
         clusterOverlay?.setClusterRender { clusterNum ->
-            val radius = 80f.dp2px(context)
+            val radius = 80.dp2px(context)
             if (clusterNum == 0) {
                 var bitmapDrawable = backDrawables[0]
                 if (bitmapDrawable == null) {
@@ -426,7 +512,7 @@
             if (clusterNum == 1) {
                 var bitmapDrawable = backDrawables[1]
                 if (bitmapDrawable == null) {
-                    bitmapDrawable = resources.getDrawable(R.mipmap.label)
+                    bitmapDrawable = R.mipmap.label.convertDrawable(this)!!
                     backDrawables[1] = bitmapDrawable
                 }
                 bitmapDrawable
@@ -478,9 +564,13 @@
             val latLngBounds = builder.build()
             aMap.animateCamera(CameraUpdateFactory.newLatLngBounds(latLngBounds, 0))
 
-            AlertControlDialog.Builder().setContext(this).setTitle("提示")
-                .setMessage("请选择操作方式").setNegativeButton("标识器信息")
-                .setPositiveButton("到这里去").setOnDialogButtonClickListener(object :
+            AlertControlDialog.Builder()
+                .setContext(this)
+                .setTitle("提示")
+                .setMessage("请选择操作方式")
+                .setNegativeButton("标识器信息")
+                .setPositiveButton("到这里去")
+                .setOnDialogButtonClickListener(object :
                     AlertControlDialog.OnDialogButtonClickListener {
                     override fun onConfirmClick() {
                         RouteOnMap.startNavigation(context, item.title, latLng)
@@ -510,13 +600,13 @@
                         BitmapDescriptorFactory.fromBitmap(
                             BitmapFactory.decodeResource(resources, R.mipmap.label_red1)
                         )
-                    ).period(99).title("工单标识器").snippet(it.markerRealId)
+                    ).period(99).title("工单标识器").snippet(it.markerId)
                 } else {
                     otMarkerOptions.icon(
                         BitmapDescriptorFactory.fromBitmap(
                             BitmapFactory.decodeResource(resources, R.mipmap.label_blue1)
                         )
-                    ).period(99).title("工单标识器").snippet(it.markerRealId)
+                    ).period(99).title("工单标识器").snippet(it.markerId)
                 }
                 aMap.addMarker(otMarkerOptions)
             }
@@ -665,7 +755,7 @@
         super.onResume()
         binding.mapView.onResume()
         //协程异步显示默认数据
-        CoroutineScope(Dispatchers.Main).launch {
+        lifecycleScope.launch(Dispatchers.Main) {
             labelBeans = withContext(Dispatchers.IO) {
                 DataBaseManager.get.loadTaskLabels() as ArrayList<LabelBean>
             }
@@ -684,8 +774,10 @@
     }
 
     override fun onDestroy() {
-        wakeLock.release()
         super.onDestroy()
         binding.mapView.onDestroy()
+        locationHub.stopLocation()
+        //降低串口电位
+        gpioManager.setGpioLow("18")
     }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/view/SearchLabelActivity.kt b/app/src/main/java/com/casic/detector/view/SearchLabelActivity.kt
index dcf39b4..426aed3 100644
--- a/app/src/main/java/com/casic/detector/view/SearchLabelActivity.kt
+++ b/app/src/main/java/com/casic/detector/view/SearchLabelActivity.kt
@@ -4,80 +4,59 @@
 import android.media.AudioAttributes
 import android.media.SoundPool
 import android.os.Bundle
-import android.os.Handler
-import android.os.Message
-import android.util.Log
+import android.os.CountDownTimer
 import android.view.animation.Animation
 import android.view.animation.RotateAnimation
+import androidx.activity.OnBackPressedCallback
 import androidx.lifecycle.ViewModelProvider
-import androidx.lifecycle.lifecycleScope
 import com.casic.detector.R
-import com.casic.detector.base.SerialPortActivity
 import com.casic.detector.bean.TaskBean
 import com.casic.detector.databinding.ActivitySearchLabelBinding
 import com.casic.detector.extensions.hexToString
+import com.casic.detector.extensions.isNumber
 import com.casic.detector.extensions.toHex
 import com.casic.detector.utils.DataBaseManager
-import com.casic.detector.utils.GpioManager
 import com.casic.detector.utils.LoadingDialogHub
-import com.casic.detector.utils.LocaleConstant
 import com.casic.detector.utils.LocationHub
+import com.casic.detector.utils.SerialPortManager
 import com.casic.detector.vm.TaskViewModel
 import com.gyf.immersionbar.ImmersionBar
+import com.pengxh.kt.lite.base.KotlinBaseActivity
 import com.pengxh.kt.lite.extensions.navigatePageTo
 import com.pengxh.kt.lite.extensions.show
 import com.pengxh.kt.lite.extensions.toJson
 import com.pengxh.kt.lite.utils.LoadState
-import com.pengxh.kt.lite.utils.SaveKeyValues
-import com.pengxh.kt.lite.utils.WeakReferenceHandler
 import com.pengxh.kt.lite.widget.dialog.AlertMessageDialog
-import kotlinx.coroutines.Dispatchers
-import kotlinx.coroutines.delay
-import kotlinx.coroutines.launch
-import java.io.IOException
 import java.text.DecimalFormat
-import java.util.Timer
-import java.util.TimerTask
 
-class SearchLabelActivity : SerialPortActivity<ActivitySearchLabelBinding>(), Handler.Callback {
+class SearchLabelActivity : KotlinBaseActivity<ActivitySearchLabelBinding>(),
+    SerialPortManager.OnSerialPortListener {
 
     private val kTag = "SearchLabelActivity"
+    private val serialPortManager by lazy { SerialPortManager(this) }
+    private val decimal by lazy { DecimalFormat("0.0") }
+    private val degreeCache by lazy { HashMap<String, Float>() }
+    private val locationHub by lazy { LocationHub(this) }
+    private val audioAttributes = AudioAttributes.Builder()
+        .setUsage(AudioAttributes.USAGE_MEDIA)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC)
+        .build()
+    private lateinit var taskViewModel: TaskViewModel
     private lateinit var slowSoundPool: SoundPool
     private lateinit var fastSoundPool: SoundPool
     private var slowResId = 0
     private var fastResId = 0
-    private val gpioManager by lazy { GpioManager() }
-    private val weakReferenceHandler by lazy { WeakReferenceHandler(this) }
-    private val detectTimer by lazy { Timer() }
-    private val decimal by lazy { DecimalFormat("0.0") }
-    private var identifierId = ""
-    private val lastDegreeMap by lazy { HashMap<String, Float>() }
-    private val locationHub by lazy { LocationHub(this) }
-    private var isPlaying = false
-    private var isDetectDepth = false
-    private lateinit var taskViewModel: TaskViewModel
+    private var markerId = ""
     private var taskLabel: TaskBean? = null
-    private val dataReceivedCode = 2023110301
+    private var isPlaying = false
 
     override fun initOnCreate(savedInstanceState: Bundle?) {
-        gpioManager.setGpioHigh("18")
-        //角度
-        lastDegreeMap["lastDegree"] = 0f
+        initSoundResource()
+        serialPortManager.detectMarker()
+
         taskViewModel = ViewModelProvider(this)[TaskViewModel::class.java]
-
-        val audioAttributes = AudioAttributes.Builder().setUsage(AudioAttributes.USAGE_MEDIA)
-            .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC).build()
-        /**
-         * 声音效果速度
-         * ling<ring3<ring4<ring2
-         * */
-        slowSoundPool =
-            SoundPool.Builder().setMaxStreams(16).setAudioAttributes(audioAttributes).build()
-        slowResId = slowSoundPool.load(this, R.raw.ring4, 1)
-
-        fastSoundPool =
-            SoundPool.Builder().setMaxStreams(16).setAudioAttributes(audioAttributes).build()
-        fastResId = fastSoundPool.load(this, R.raw.ring2, 1)
+        //角度
+        degreeCache["lastDegree"] = 0f
 
         //实时定位
 //        locationHub.getCurrentLocation(false, object : ILocationListener {
@@ -96,35 +75,12 @@
 //                }
 //            }
 //        })
-
-        //搜索信号，搜索能量指令
-        detectTimer.schedule(object : TimerTask() {
-            override fun run() {
-                try {
-                    if (!isDetectDepth) {
-                        lifecycleScope.launch(Dispatchers.IO) {
-                            if (!isDetectDepth) {
-                                outStream?.write('2'.code)
-                                outStream?.flush()
-
-                                delay(100)
-
-                                outStream?.write('6'.code)
-                                outStream?.flush()
-                            }
-                        }
-                    }
-                } catch (e: IOException) {
-                    e.printStackTrace()
-                }
-            }
-        }, 100, 100)
     }
 
     override fun initEvent() {
         binding.depthButton.setOnClickListener {
-            isDetectDepth = true
-            val result = DataBaseManager.get.queryLabelById(identifierId)
+//            serialPortManager.closeSerialPort()
+            val result = DataBaseManager.get.queryLabelById(markerId)
             if (result.isNotEmpty()) {
                 val tag = when (result.first().identifierType) {
                     "EM30" -> '7'
@@ -137,149 +93,146 @@
                 } else {
                     // 发送读取标识器埋设深度指令
                     LoadingDialogHub.show(this, "正在测距，请稍后...")
-                    try {
-                        outStream?.write(tag.code)
-                        outStream?.flush()
-                    } catch (e: IOException) {
-                        e.printStackTrace()
-                    }
+                    serialPortManager.detectDepth(tag)
+                    object : CountDownTimer(15 * 1000, 1000) {
+                        override fun onTick(millisUntilFinished: Long) {
+
+                        }
+
+                        override fun onFinish() {
+                            LoadingDialogHub.dismiss()
+                            "请重试".show(this@SearchLabelActivity)
+//                            initSoundResource()
+//                            serialPortManager.detectMarker()
+                        }
+                    }.start()
                 }
             } else {
-                "标识器未安装，安装成功后即可读取埋深！".show(this)
+                "标识器未安装，安装成功后才可读取埋深！".show(this)
             }
         }
 
         binding.markerInfoButton.setOnClickListener {
             //查库
-            val result = DataBaseManager.get.queryLabelById(identifierId)
+            val result = DataBaseManager.get.queryLabelById(markerId)
             if (result.isNotEmpty()) {
                 navigatePageTo<ObjectDetailActivity>(result.first().toJson())
             } else {
-                navigatePageTo<NewObjectDetailActivity>(identifierId)
+                navigatePageTo<NewObjectDetailActivity>(markerId)
             }
         }
+
+        //返回键监听，替换onBackPressed
+        onBackPressedDispatcher.addCallback(this, object : OnBackPressedCallback(true) {
+            override fun handleOnBackPressed() {
+                slowSoundPool.release()
+                fastSoundPool.release()
+                serialPortManager.closeSerialPort()
+                finish()
+            }
+        })
     }
 
-    override fun onDataReceived(buffer: ByteArray?, size: Int) {
-        val message = weakReferenceHandler.obtainMessage()
-        message.what = dataReceivedCode
-        message.obj = buffer
-        weakReferenceHandler.sendMessage(message)
-    }
-
-    override fun handleMessage(msg: Message): Boolean {
-        if (msg.what == dataReceivedCode) {
-            val buffer = msg.obj as ByteArray
-            val hex = buffer.toHex()
-
-            //能量强度
-            //4E30363634000000000000000000000000000000000000000000000000000000
-
-            //ID
-            //3030303839383735313400000000000000000000000000000000000000000000
-
-            //埋深
-            //5330303736000000000000000000000000000000000000000000000000000000
-            if (hex.startsWith("4E")) {
-                try {
-                    //4E转为String为N，代表能量值
-                    //用能量值转动表盘
-                    val energyResponse = hex.substring(0, 10).hexToString()
-                    //去掉前缀并缩小100倍
-                    var energy = energyResponse.substring(1).toInt() / 100
-                    if (energy >= 50) {
-                        //测试过程最大值（5189）---> 5200
-                        energy = 50
+    override fun onDataReceived(buffer: ByteArray) {
+        val hex = buffer.toHex()
+//        Log.d(kTag, "$kTag => $hex")
+        if (hex.startsWith("4E")) {
+            try {
+                //4E转为String为N，代表能量值
+                //用能量值转动表盘
+                val energyResponse = hex.take(10).hexToString()
+                val energy = energyResponse.substring(1).toInt()
+                if (energy >= 4000) {
+                    isPlaying = if (!isPlaying) {
+                        fastSoundPool.play(fastResId, 1f, 1f, 0, 0, 1f)
+                        true
+                    } else {
+                        fastSoundPool.stop(fastResId)
+                        false
                     }
+                } else {
+                    isPlaying = if (!isPlaying) {
+                        slowSoundPool.play(slowResId, 1f, 1f, 0, 0, 1f)
+                        true
+                    } else {
+                        slowSoundPool.stop(slowResId)
+                        false
+                    }
+                }
 
-                    binding.resultTextView.text = "信号能量值：${energyResponse}"
+                binding.resultTextView.text = "信号能量值：${energyResponse}"
 
-                    //转换为转动的角度
-                    val degree = (energy.toFloat() / 50) * 180
-                    binding.energyValueView.text = decimal.format(degree)
+                //转换为转动的角度
+                val degree = (energy.toFloat() / (50 * 100)) * 180
+                binding.energyValueView.text = decimal.format(degree)
 
+                degreeCache["lastDegree"]?.apply {
                     val animation = RotateAnimation(
-                        lastDegreeMap["lastDegree"]!!,
-                        degree,
-                        Animation.RELATIVE_TO_SELF,
-                        0.5f,
-                        Animation.RELATIVE_TO_SELF,
-                        0.5f
+                        this, degree,
+                        Animation.RELATIVE_TO_SELF, 0.5f,
+                        Animation.RELATIVE_TO_SELF, 0.5f
                     )
                     animation.duration = 0
                     animation.fillAfter = true
                     binding.needleView.startAnimation(animation)
-
-                    //保存旋转后的角度
-                    lastDegreeMap["lastDegree"] = degree
-
-                    if (energy >= 41) {
-                        isPlaying = if (!isPlaying) {
-                            fastSoundPool.play(fastResId, 1f, 1f, 0, 0, 1f)
-                            true
-                        } else {
-                            fastSoundPool.stop(fastResId)
-                            false
-                        }
-                    } else {
-                        isPlaying = if (!isPlaying) {
-                            slowSoundPool.play(slowResId, 1f, 1f, 0, 0, 1f)
-                            true
-                        } else {
-                            slowSoundPool.stop(slowResId)
-                            false
-                        }
-                    }
-
-                    if (energy <= 7) {//18°
-                        binding.energyTipsView.text = "标识器信号较弱，可能距离较远"
-                        binding.energyTipsView.setTextColor(Color.parseColor("#8D1717"))
-                        binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_red)
-
-
-                        binding.depthButton.isEnabled = false
-                        binding.depthButton.setTextColor(Color.parseColor("#CCCCCC"))
-                        binding.depthButton.setBackgroundResource(R.mipmap.left_button_disable)
-                        binding.markerInfoButton.isEnabled = false
-                        binding.markerInfoButton.setTextColor(Color.parseColor("#CCCCCC"))
-                        binding.markerInfoButton.setBackgroundResource(R.mipmap.right_button_disable)
-
-                        binding.searchResultView.text = "未检测到标识器"
-                        binding.searchResultView.setTextColor(Color.parseColor("#8D1717"))
-                        binding.searchResultView.setBackgroundResource(R.mipmap.bg_small_text_red)
-                    } else if (energy >= 41) {//148°
-                        binding.energyTipsView.text = "标识器信号极强，可能在正下方"
-                        binding.energyTipsView.setTextColor(Color.parseColor("#428d00"))
-                        binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_green)
-                    } else {//[18°,148°]
-                        binding.energyTipsView.text = "已靠近标识器，请继续移动位置"
-                        binding.energyTipsView.setTextColor(Color.parseColor("#8C5700"))
-                        binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_yellow)
-                    }
-                } catch (e: NumberFormatException) {
-                    e.printStackTrace()
                 }
-            } else if (hex.startsWith("53")) {
-                try {
-                    LoadingDialogHub.dismiss()
-                    //53转为String为S，代表深度
-                    val depthResponse = hex.substring(0, 10).hexToString()
-                    val depth = depthResponse.substring(1).toInt()
-                    AlertMessageDialog.Builder().setContext(this).setTitle("温馨提示")
-                        .setMessage("标识器埋深：${depth}厘米").setPositiveButton("知道了")
-                        .setOnDialogButtonClickListener(object :
-                            AlertMessageDialog.OnDialogButtonClickListener {
-                            override fun onConfirmClick() {
-                                isDetectDepth = false
-                            }
-                        }).build().show()
-                } catch (e: NumberFormatException) {
-                    e.printStackTrace()
+
+                //保存旋转后的角度
+                degreeCache["lastDegree"] = degree
+
+                if (energy <= 700) {//18°
+                    binding.energyTipsView.text = "标识器信号较弱，可能距离较远"
+                    binding.energyTipsView.setTextColor(Color.parseColor("#8D1717"))
+                    binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_red)
+
+                    binding.depthButton.isEnabled = false
+                    binding.depthButton.setTextColor(Color.parseColor("#CCCCCC"))
+                    binding.depthButton.setBackgroundResource(R.mipmap.left_button_disable)
+                    binding.markerInfoButton.isEnabled = false
+                    binding.markerInfoButton.setTextColor(Color.parseColor("#CCCCCC"))
+                    binding.markerInfoButton.setBackgroundResource(R.mipmap.right_button_disable)
+
+                    binding.searchResultView.text = "未检测到标识器"
+                    binding.searchResultView.setTextColor(Color.parseColor("#8D1717"))
+                    binding.searchResultView.setBackgroundResource(R.mipmap.bg_small_text_red)
+                } else if (energy >= 4100) {//148°
+                    binding.energyTipsView.text = "标识器信号极强，可能在正下方"
+                    binding.energyTipsView.setTextColor(Color.parseColor("#428d00"))
+                    binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_green)
+                } else {//[18°,148°]
+                    binding.energyTipsView.text = "已靠近标识器，请继续移动位置"
+                    binding.energyTipsView.setTextColor(Color.parseColor("#8C5700"))
+                    binding.energyTipsView.setBackgroundResource(R.mipmap.bg_large_text_yellow)
                 }
-            } else {
-                val id = hex.substring(0, 20).hexToString()
-                val regex = "^[a-z0-9A-Z]+$"
-                if (id.matches(Regex(regex))) {
+            } catch (e: NumberFormatException) {
+                e.printStackTrace()
+            }
+        } else if (hex.startsWith("53")) {
+            LoadingDialogHub.dismiss()
+            try {
+                val depthResponse = hex.take(10).hexToString()
+                val depth = depthResponse.drop(4)
+                AlertMessageDialog.Builder()
+                    .setContext(this@SearchLabelActivity)
+                    .setTitle("温馨提示")
+                    .setMessage("标识器埋深：${depth}厘米")
+                    .setPositiveButton("知道了")
+                    .setOnDialogButtonClickListener(object :
+                        AlertMessageDialog.OnDialogButtonClickListener {
+                        override fun onConfirmClick() {
+//                            initSoundResource()
+//                            serialPortManager.detectMarker()
+                        }
+                    }).build().show()
+            } catch (e: NumberFormatException) {
+                e.printStackTrace()
+            }
+        } else {
+            if (hex.length >= 20) {
+                val id = hex.take(20).hexToString()
+                if (markerId.isNumber()) {
+                    markerId = id
+
                     binding.depthButton.isEnabled = true
                     binding.depthButton.setTextColor(Color.WHITE)
                     binding.depthButton.setBackgroundResource(R.mipmap.left_button_enable)
@@ -292,21 +245,36 @@
                     binding.searchResultView.setBackgroundResource(R.mipmap.bg_small_text_green)
 
                     //自动上传标识器
-                    taskLabel = DataBaseManager.get.queryTaskLabelByIdAndState(id, "未开始")
-                    if (taskLabel != null) {
-                        val userName = SaveKeyValues.getValue(
-                            LocaleConstant.USER_NAME, ""
-                        ).toString()
-                        taskViewModel.uploadMarker(userName, id)
+                    taskLabel = DataBaseManager.get.queryTaskLabelByIdAndState(
+                        markerId, "未开始"
+                    )
+                    taskLabel?.apply {
+                        /**
+                         * 此taskCode是 [com.casic.detector.model.TaskModel.MessageModel.TaskDetailInfosModel] 里面的主键，也就是这个标签在数据库里面的主键
+                         * */
+                        taskViewModel.uploadMarker(taskCode)
                     }
-
-                    this.identifierId = id
-                } else {
-                    Log.d(kTag, "handleMessage => $id")
                 }
             }
         }
-        return true
+    }
+
+    private fun initSoundResource() {
+        /**
+         * 声音效果速度
+         * ling<ring3<ring4<ring2
+         * */
+        slowSoundPool = SoundPool.Builder()
+            .setMaxStreams(16)
+            .setAudioAttributes(audioAttributes)
+            .build()
+        slowResId = slowSoundPool.load(this, R.raw.ring4, 1)
+
+        fastSoundPool = SoundPool.Builder()
+            .setMaxStreams(16)
+            .setAudioAttributes(audioAttributes)
+            .build()
+        fastResId = fastSoundPool.load(this, R.raw.ring2, 1)
     }
 
     override fun initViewBinding(): ActivitySearchLabelBinding {
@@ -316,7 +284,7 @@
     override fun observeRequestState() {
         taskViewModel.loadState.observe(this) {
             if (it == LoadState.Success) {
-                "标识器${identifierId}已探测！".show(this)
+                "标识器${markerId}已探测！".show(this)
                 DataBaseManager.get.updateTaskLabel(taskLabel)
             }
         }
@@ -328,8 +296,6 @@
 
     override fun onDestroy() {
         super.onDestroy()
-        gpioManager.setGpioLow("18")
-        detectTimer.cancel()
 //        locationHub.stopLocation()
     }
 }
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/detector/vm/TaskViewModel.kt b/app/src/main/java/com/casic/detector/vm/TaskViewModel.kt
index b87e764..800abe7 100644
--- a/app/src/main/java/com/casic/detector/vm/TaskViewModel.kt
+++ b/app/src/main/java/com/casic/detector/vm/TaskViewModel.kt
@@ -10,6 +10,7 @@
 import com.casic.detector.utils.DataBaseManager
 import com.casic.detector.utils.LocaleConstant
 import com.google.gson.Gson
+import com.google.gson.JsonParser
 import com.google.gson.reflect.TypeToken
 import com.pengxh.kt.lite.base.BaseViewModel
 import com.pengxh.kt.lite.extensions.launch
@@ -23,11 +24,14 @@
     val markerFileResult = MutableLiveData<MarkerFileModel>()
     val taskResult = MutableLiveData<TaskModel>()
     val freeTaskResult = MutableLiveData<String>()
+    val uploadTaskMarkerResult = MutableLiveData<String>()
 
     fun createFreeTask(patrollerId: String, description: String) = launch({
         val response = RetrofitServiceManager.createFreeTask(patrollerId, description)
         if (response.getResponseState()) {
-//            freeTaskResult.value =
+            val element = JsonParser.parseString(response)
+            val jsonObject = element.asJsonObject
+            freeTaskResult.value = jsonObject.get("taskId").asInt.toString()
         } else {
             response.getResponseMessage().show(BaseApplication.get())
         }
@@ -35,18 +39,17 @@
         it.printStackTrace()
     })
 
-    fun uploadTaskMarker(taskId: String, models: List<String>) = launch({
-        loadState.value = LoadState.Loading
+    fun uploadTaskMarker(taskId: String, models: ArrayList<String>) = launch({
         val response = RetrofitServiceManager.uploadTaskMarker(taskId, models)
         if (response.getResponseState()) {
-            loadState.value = LoadState.Success
+            val element = JsonParser.parseString(response)
+            val jsonObject = element.asJsonObject
+            uploadTaskMarkerResult.value = jsonObject.get("success").asString
         } else {
             response.getResponseMessage().show(BaseApplication.get())
-            loadState.value = LoadState.Fail
         }
     }, {
         it.printStackTrace()
-        loadState.value = LoadState.Fail
     })
 
     fun getMarkerFile(userId: String, companyId: String) = launch({
diff --git a/app/src/main/res/layout/activity_search_label.xml b/app/src/main/res/layout/activity_search_label.xml
index 52d761a..ef54017 100644
--- a/app/src/main/res/layout/activity_search_label.xml
+++ b/app/src/main/res/layout/activity_search_label.xml
@@ -119,4 +119,17 @@
             android:textColor="#CCCCCC"
             android:textSize="@dimen/sp_22" />
     </RelativeLayout>
+
+    <TextView
+        android:id="@+id/resultTextView"
+        android:layout_width="320dp"
+        android:layout_height="match_parent"
+        android:layout_gravity="center_horizontal"
+        android:layout_marginVertical="@dimen/dp_15"
+        android:background="@color/white"
+        android:fontFamily="@font/fzdhjt"
+        android:padding="@dimen/dp_5"
+        android:textColor="@color/black"
+        android:textSize="@dimen/sp_18"
+        android:visibility="gone" />
 </LinearLayout>
\ No newline at end of file