diff --git "a/app/src/main/assets/SearchMarkerActivity - \346\274\224\347\244\272\347\211\210\344\273\243\347\240\201\345\244\207\344\273\275.kt" "b/app/src/main/assets/SearchMarkerActivity - \346\274\224\347\244\272\347\211\210\344\273\243\347\240\201\345\244\207\344\273\275.kt"
new file mode 100644
index 0000000..b3e68e3
--- /dev/null
+++ "b/app/src/main/assets/SearchMarkerActivity - \346\274\224\347\244\272\347\211\210\344\273\243\347\240\201\345\244\207\344\273\275.kt"
@@ -0,0 +1,447 @@
+import android.content.res.ColorStateList
+import android.graphics.Color
+import android.hardware.Sensor
+import android.hardware.SensorEvent
+import android.hardware.SensorEventListener
+import android.hardware.SensorManager
+import android.media.AudioAttributes
+import android.media.SoundPool
+import android.os.Bundle
+import android.os.Handler
+import android.os.Looper
+import android.view.View
+import androidx.core.graphics.toColorInt
+import androidx.lifecycle.ViewModelProvider
+import androidx.lifecycle.lifecycleScope
+import com.amap.api.location.AMapLocation
+import com.amap.api.maps.AMapUtils
+import com.amap.api.maps.model.LatLng
+import com.casic.common.detector.gd.R
+import com.casic.common.detector.gd.base.BaseApplication
+import com.casic.common.detector.gd.base.SerialPortBaseActivity
+import com.casic.common.detector.gd.callback.OnGetLocationListener
+import com.casic.common.detector.gd.databinding.ActivitySearchMarkerBinding
+import com.casic.common.detector.gd.model.MarkerDistanceData
+import com.casic.common.detector.gd.utils.CurrentSegment
+import com.casic.common.detector.gd.utils.LocaleConstant
+import com.casic.common.detector.gd.utils.LocationKit
+import com.casic.common.detector.gd.utils.RuntimeCache
+import com.casic.common.detector.gd.utils.SerialPortCommand
+import com.casic.common.detector.gd.vm.TaskViewModel
+import com.casic.common.detector.gd.widgets.MarkerDetailDialog
+import com.casic.common.detector.gd.widgets.NewMarkerDetailDialog
+import com.casic.common.detector.gd.widgets.RadarScanView
+import com.pengxh.kt.lite.extensions.show
+import com.pengxh.kt.lite.utils.LiteKitConstant
+import com.pengxh.kt.lite.utils.LoadingDialog
+import com.pengxh.kt.lite.utils.SaveKeyValues
+import com.pengxh.kt.lite.widget.dialog.AlertMessageDialog
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.launch
+import kotlinx.coroutines.withContext
+import kotlin.math.atan2
+
+class SearchMarkerActivity : SerialPortBaseActivity<ActivitySearchMarkerBinding>(),
+    SensorEventListener {
+
+    private val kTag = "SearchMarkerActivity"
+    private val context = this
+    private val locationKit by lazy { LocationKit(this) }
+    private val markerPoints by lazy { ArrayList<MarkerDistanceData>() }
+    private val markerBeanDao by lazy { BaseApplication.get().dataBase.markerBeanDao() }
+    private val taskMarkerBeanDao by lazy { BaseApplication.get().dataBase.taskMarkerBeanDao() }
+    private val taskViewModel by lazy { ViewModelProvider(this)[TaskViewModel::class.java] }
+    private val sensorManager by lazy { getSystemService(SENSOR_SERVICE) as SensorManager }
+    private val attr = AudioAttributes.Builder().setUsage(AudioAttributes.USAGE_ALARM)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC).build()
+    private val soundPool = SoundPool.Builder().setMaxStreams(16).setAudioAttributes(attr).build()
+    private val rotationMatrix = FloatArray(9)//旋转矩阵缓存
+    private val valueArray = FloatArray(3)//方位角数值
+    private var slowSoundResourceId = 0
+    private var fastSoundResourceId = 0
+    private var databaseMarkerId = ""//本地数据库标识器ID
+    private var detectedMarkerId = ""//真实探测到标识器ID
+    private var isExecuteTask = false
+    private var gravity: FloatArray? = null
+    private var geomagnetic: FloatArray? = null
+
+    override fun initOnCreate(savedInstanceState: Bundle?) {
+        RuntimeCache.currentSegment = CurrentSegment.SearchMarker
+        val taskState = intent.getStringExtra(LiteKitConstant.INTENT_PARAM_KEY) as String
+        isExecuteTask = taskState != "0"
+
+        slowSoundResourceId = soundPool.load(this, R.raw.ring4, 1)
+        fastSoundResourceId = soundPool.load(this, R.raw.ring2, 1)
+
+        //点位渲染，每次定位都计算当前位置与符合条件的点距离
+        locationKit.getCurrentLocation(false, object : OnGetLocationListener {
+            override fun onSuccess(location: AMapLocation) {
+                renderDataPoint(location)
+            }
+
+            override fun onError() {
+                "当前位置信号差，无法获取定位".show(context)
+            }
+        })
+
+        if (isExecuteTask) {
+            binding.taskStateView.visibility = View.GONE
+            binding.taskStateView.isSelected = false
+        } else {
+            binding.taskStateView.visibility = View.VISIBLE
+            binding.taskStateView.isSelected = true
+        }
+
+        //进入界面开始搜索信号强度
+        sendSerialPortCommand(SerialPortCommand.SEARCH_SIGNAL)
+    }
+
+    private val handler = Handler(Looper.getMainLooper())
+    private var detectDepthRunnable: DetectDepthRunnable? = null
+
+    private inner class DetectDepthRunnable(private val command: Int) : Runnable {
+        override fun run() {
+            sendSerialPortCommand(command)
+            //延迟三秒再发一次
+            handler.postDelayed(this, 3000)
+        }
+    }
+
+    override fun initEvent() {
+        binding.depthButton.setOnClickListener {
+            if (detectedMarkerId == "") {
+                //还没探测到，直接显示当初埋深
+                val result = markerBeanDao.queryMarkerById(databaseMarkerId)
+                val depth = if (result.isNotEmpty()) {
+                    "110厘米"
+                } else {
+                    result.first().markerDepth
+                }
+                AlertMessageDialog.Builder()
+                    .setContext(this)
+                    .setTitle("温馨提示")
+                    .setMessage("标识器埋深：$depth")
+                    .setPositiveButton("知道了")
+                    .setOnDialogButtonClickListener(object :
+                        AlertMessageDialog.OnDialogButtonClickListener {
+                        override fun onConfirmClick() {
+                            RuntimeCache.currentSegment = CurrentSegment.SearchMarker
+                            sendSerialPortCommand(SerialPortCommand.SEARCH_SIGNAL)
+                        }
+                    }).build().show()
+                return@setOnClickListener
+            }
+
+            //真实探测埋深
+            RuntimeCache.currentSegment = CurrentSegment.DetectDepth
+            val result = markerBeanDao.queryMarkerById(detectedMarkerId)
+            if (result.isNotEmpty()) {
+                val command = when (result.first().markerType) {
+                    "EM30" -> SerialPortCommand.DETECT_EM30_DEPTH
+                    "EM50" -> SerialPortCommand.DETECT_EM50_DEPTH
+                    "EM14" -> SerialPortCommand.DETECT_EM14_DEPTH
+                    else -> SerialPortCommand.STOP_SERIAL_PORT_DATA
+                }
+                if (command == SerialPortCommand.STOP_SERIAL_PORT_DATA) {
+                    "此标识器无法读取埋深！".show(this)
+                } else {
+                    soundPool.autoPause()
+                    LoadingDialog.show(this, "正在探测标识器埋深，请稍后...")
+
+                    // 移除之前的 Runnable（如果存在）
+                    detectDepthRunnable?.let { handler.removeCallbacks(it) }
+                    detectDepthRunnable = DetectDepthRunnable(command)
+                    // 发送读取标识器埋设深度指令
+                    handler.post(detectDepthRunnable!!)
+                }
+            } else {
+                "标识器未安装，安装成功后才可读取埋深！".show(this)
+            }
+        }
+
+        binding.markerIdButton.setOnClickListener {
+            sendSerialPortCommand(SerialPortCommand.SEARCH_MARKER_ALWAYS)
+        }
+
+        binding.markerInfoButton.setOnClickListener {
+            val markerId = if (detectedMarkerId == "") {
+                databaseMarkerId
+            } else {
+                detectedMarkerId
+            }
+            val result = markerBeanDao.queryMarkerById(markerId)
+            if (result.isNotEmpty()) {
+                MarkerDetailDialog(this).setMarker(result.first()).show()
+            } else {
+                NewMarkerDetailDialog(this, markerId)
+            }
+            //查询完之后重置ID，以便下次重走逻辑
+            databaseMarkerId = ""
+            detectedMarkerId = ""
+        }
+    }
+
+    override fun onMarkerIdDetected(markerId: String) {
+        if (RuntimeCache.currentSegment == CurrentSegment.SearchMarker) {
+            binding.depthButton.isEnabled = true
+            binding.depthButton.setTextColor(Color.WHITE)
+            binding.depthButton.backgroundTintList =
+                ColorStateList.valueOf("#004364".toColorInt())
+
+            binding.markerInfoButton.isEnabled = true
+            binding.markerInfoButton.setTextColor(Color.WHITE)
+            binding.markerInfoButton.backgroundTintList =
+                ColorStateList.valueOf("#FFA200".toColorInt())
+
+            handleMarker(markerId)
+        }
+    }
+
+    private fun handleMarker(id: String) {
+        detectedMarkerId = id
+        //自动上传标识器
+        if (isExecuteTask) {
+            val taskId = SaveKeyValues.getValue(LocaleConstant.TASK_ID, "") as String
+            val taskCode = SaveKeyValues.getValue(LocaleConstant.TASK_CODE, "") as String
+            val marker = taskMarkerBeanDao.queryTaskMarkerById(
+                taskId, taskCode, id, "0"
+            )
+            if (marker == null) {
+                return
+            }
+            taskViewModel.uploadMarker(
+                marker.markerId,
+                onLoading = {},
+                onSuccess = {
+                    "标识器${marker.markerId}已探测！".show(this)
+                    marker.isDetected = "1"
+                    taskMarkerBeanDao.updateLocalTaskMarkerState(marker)
+                },
+                onFailed = {}
+            )
+        }
+    }
+
+    override fun onMarkerDepthDetected(depth: Int) {
+        if (RuntimeCache.currentSegment == CurrentSegment.DetectDepth) {
+            detectDepthRunnable?.let { handler.removeCallbacks(it) }
+            detectDepthRunnable = null
+            LoadingDialog.dismiss()
+            if (!this.isDestroyed) {
+                AlertMessageDialog.Builder()
+                    .setContext(context)
+                    .setTitle("温馨提示")
+                    .setMessage("标识器埋深：${depth}厘米")
+                    .setPositiveButton("知道了")
+                    .setOnDialogButtonClickListener(object :
+                        AlertMessageDialog.OnDialogButtonClickListener {
+                        override fun onConfirmClick() {
+                            RuntimeCache.currentSegment = CurrentSegment.SearchMarker
+                            sendSerialPortCommand(SerialPortCommand.SEARCH_SIGNAL)
+                        }
+                    }).build().show()
+            } else {
+                "标识器埋深：${depth}厘米".show(this)
+            }
+        }
+    }
+
+    override fun onMarkerSignalDetected(signalEnergy: Int) {
+        if (RuntimeCache.currentSegment == CurrentSegment.SearchMarker) {
+            if (signalEnergy > 1000) {
+                binding.markerIdButton.isEnabled = true
+                binding.markerIdButton.setTextColor("#428d00".toColorInt())
+                binding.markerIdButton.backgroundTintList = ColorStateList.valueOf(
+                    "#7EFF00".toColorInt()
+                )
+
+                binding.searchResultView.text = "已检测到标识器"
+                binding.searchResultView.setTextColor("#428d00".toColorInt())
+                binding.searchResultView.setBackgroundResource(R.mipmap.bg_small_text_green)
+            }
+
+            //声音
+            val soundResourceId = if (signalEnergy >= 4000)
+                fastSoundResourceId else slowSoundResourceId
+            soundPool.play(soundResourceId, 1f, 1f, 0, 0, 1f)
+
+            //信号强度显示
+            binding.energyPgBar.progress = signalEnergy
+            binding.energyValueView.text = "${signalEnergy}dB"
+
+            //搜索信号文字显示
+            updateTextResult(signalEnergy)
+        }
+    }
+
+    private fun updateTextResult(signalEnergy: Int) {
+        when {
+            signalEnergy <= 700 -> {
+                setEnergyTip(
+                    "信号较弱，可能距离较远",
+                    "#8D1717".toColorInt(),
+                    R.mipmap.bg_large_text_red
+                )
+//                disableButtons()
+                binding.searchResultView.text = "未检测到标识器"
+                binding.searchResultView.setTextColor("#8D1717".toColorInt())
+                binding.searchResultView.setBackgroundResource(R.mipmap.bg_small_text_red)
+            }
+
+            signalEnergy >= 4100 -> {
+                setEnergyTip(
+                    "信号极强，接近标识器正上方",
+                    "#428d00".toColorInt(),
+                    R.mipmap.bg_large_text_green
+                )
+            }
+
+            else -> {
+                setEnergyTip(
+                    "已靠近，请继续移动位置",
+                    "#8C5700".toColorInt(),
+                    R.mipmap.bg_large_text_yellow
+                )
+            }
+        }
+    }
+
+    private fun setEnergyTip(text: String, textColorRes: Int, backgroundRes: Int) {
+        binding.energyTipsView.text = text
+        binding.energyTipsView.setTextColor(textColorRes)
+        binding.energyTipsView.setBackgroundResource(backgroundRes)
+    }
+
+    private val colorStateList = ColorStateList.valueOf("#8A8A8A".toColorInt())
+    private val textColor = "#CCCCCC".toColorInt()
+
+    private fun disableButtons() {
+        binding.depthButton.isEnabled = false
+        binding.depthButton.setTextColor(textColor)
+        binding.depthButton.backgroundTintList = colorStateList
+        binding.markerIdButton.isEnabled = false
+        binding.markerIdButton.setTextColor(textColor)
+        binding.markerIdButton.backgroundTintList = colorStateList
+        binding.markerInfoButton.isEnabled = false
+        binding.markerInfoButton.setTextColor(textColor)
+        binding.markerInfoButton.backgroundTintList = colorStateList
+    }
+
+    /**
+     * 计算并渲染数据点。点太多采用协程计算，不然会有点卡顿。默认2s计算一次
+     * @param location 定位点（RTK获取）
+     * */
+    private fun renderDataPoint(location: AMapLocation) {
+        val longitude = location.longitude
+        val latitude = location.latitude
+        lifecycleScope.launch(Dispatchers.IO) {
+            val dataPoints = ArrayList<RadarScanView.DataPoint>()
+            markerBeanDao.loadAll().forEach {
+                val distance = AMapUtils.calculateLineDistance(
+                    LatLng(it.lat.toDouble(), it.lng.toDouble()), LatLng(latitude, longitude)
+                )
+                val formatDistance = "%.2f".format(distance).toFloat()
+                markerPoints.add(MarkerDistanceData(it.markerId, formatDistance))
+
+                if (formatDistance <= LocaleConstant.MAX_DISTANCE) {
+                    val angle = atan2(
+                        (it.lat.toDouble() - latitude), (it.lng.toDouble() - longitude)
+                    ) + Math.PI
+                    val formatAngle = "%.2f".format(angle).toDouble()
+
+                    dataPoints.add(
+                        RadarScanView.DataPoint(it.markerId, formatAngle, formatDistance)
+                    )
+                }
+            }
+            withContext(Dispatchers.Main) {
+                binding.radarScanView.renderPointData(
+                    dataPoints,
+                    onGetNearestPoint = { point ->
+                        if (point == null) {
+                            binding.distanceValueView.text = "大于5.5m"
+                            binding.distancePgBar.progress = 100
+                        } else {
+                            databaseMarkerId = point.markerId
+
+                            binding.depthButton.isEnabled = true
+                            binding.depthButton.setTextColor(Color.WHITE)
+                            binding.depthButton.backgroundTintList =
+                                ColorStateList.valueOf("#004364".toColorInt())
+
+                            binding.markerInfoButton.isEnabled = true
+                            binding.markerInfoButton.setTextColor(Color.WHITE)
+                            binding.markerInfoButton.backgroundTintList =
+                                ColorStateList.valueOf("#FFA200".toColorInt())
+
+                            binding.distanceValueView.text = "${point.distance}m"
+                            val progress = if (point.distance > LocaleConstant.MAX_DISTANCE) {
+                                100
+                            } else {
+                                (point.distance / LocaleConstant.MAX_DISTANCE) * 100
+                            }
+                            binding.distancePgBar.progress = progress.toInt()
+                        }
+                    }
+                )
+            }
+        }
+    }
+
+    override fun initViewBinding(): ActivitySearchMarkerBinding {
+        return ActivitySearchMarkerBinding.inflate(layoutInflater)
+    }
+
+    override fun setupTopBarLayout() {
+
+    }
+
+    override fun onResume() {
+        super.onResume()
+        //注册加速度传感器监听
+        val accelerometer = sensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER)
+        sensorManager.registerListener(this, accelerometer, SensorManager.SENSOR_DELAY_NORMAL)
+
+        //注册磁场传感器监听
+        val magnetic = sensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD)
+        sensorManager.registerListener(this, magnetic, SensorManager.SENSOR_DELAY_NORMAL)
+    }
+
+    override fun onPause() {
+        super.onPause()
+        sensorManager.unregisterListener(this)
+    }
+
+    override fun onAccuracyChanged(sensor: Sensor?, accuracy: Int) {
+        //精度发生变化时触发
+    }
+
+    override fun onSensorChanged(event: SensorEvent?) {
+        //值发生变化时触发
+        val type = event?.sensor?.type
+
+        if (type == Sensor.TYPE_ACCELEROMETER) {
+            gravity = event.values
+        } else if (type == Sensor.TYPE_MAGNETIC_FIELD) {
+            geomagnetic = event.values
+        }
+
+        if (gravity == null || geomagnetic == null) {
+            return
+        }
+
+        if (SensorManager.getRotationMatrix(rotationMatrix, null, gravity, geomagnetic)) {
+            SensorManager.getOrientation(rotationMatrix, valueArray)
+
+            val degree = ((360f + valueArray[0] * 180f / Math.PI) % 360).toInt()
+            //更新罗盘角度
+            binding.radarScanView.setDegreeValue(degree)
+        }
+    }
+
+    override fun onDestroy() {
+        super.onDestroy()
+        soundPool.autoPause()
+        locationKit.stopLocation()
+    }
+}
\ No newline at end of file

diff --git "a/app/src/main/assets/SearchMarkerActivity - \346\274\224\347\244\272\347\211\210\344\273\243\347\240\201\345\244\207\344\273\275.kt" "b/app/src/main/assets/SearchMarkerActivity - \346\274\224\347\244\272\347\211\210\344\273\243\347\240\201\345\244\207\344\273\275.kt"
new file mode 100644
index 0000000..b3e68e3
--- /dev/null
+++ "b/app/src/main/assets/SearchMarkerActivity - \346\274\224\347\244\272\347\211\210\344\273\243\347\240\201\345\244\207\344\273\275.kt"
@@ -0,0 +1,447 @@
+import android.content.res.ColorStateList
+import android.graphics.Color
+import android.hardware.Sensor
+import android.hardware.SensorEvent
+import android.hardware.SensorEventListener
+import android.hardware.SensorManager
+import android.media.AudioAttributes
+import android.media.SoundPool
+import android.os.Bundle
+import android.os.Handler
+import android.os.Looper
+import android.view.View
+import androidx.core.graphics.toColorInt
+import androidx.lifecycle.ViewModelProvider
+import androidx.lifecycle.lifecycleScope
+import com.amap.api.location.AMapLocation
+import com.amap.api.maps.AMapUtils
+import com.amap.api.maps.model.LatLng
+import com.casic.common.detector.gd.R
+import com.casic.common.detector.gd.base.BaseApplication
+import com.casic.common.detector.gd.base.SerialPortBaseActivity
+import com.casic.common.detector.gd.callback.OnGetLocationListener
+import com.casic.common.detector.gd.databinding.ActivitySearchMarkerBinding
+import com.casic.common.detector.gd.model.MarkerDistanceData
+import com.casic.common.detector.gd.utils.CurrentSegment
+import com.casic.common.detector.gd.utils.LocaleConstant
+import com.casic.common.detector.gd.utils.LocationKit
+import com.casic.common.detector.gd.utils.RuntimeCache
+import com.casic.common.detector.gd.utils.SerialPortCommand
+import com.casic.common.detector.gd.vm.TaskViewModel
+import com.casic.common.detector.gd.widgets.MarkerDetailDialog
+import com.casic.common.detector.gd.widgets.NewMarkerDetailDialog
+import com.casic.common.detector.gd.widgets.RadarScanView
+import com.pengxh.kt.lite.extensions.show
+import com.pengxh.kt.lite.utils.LiteKitConstant
+import com.pengxh.kt.lite.utils.LoadingDialog
+import com.pengxh.kt.lite.utils.SaveKeyValues
+import com.pengxh.kt.lite.widget.dialog.AlertMessageDialog
+import kotlinx.coroutines.Dispatchers
+import kotlinx.coroutines.launch
+import kotlinx.coroutines.withContext
+import kotlin.math.atan2
+
+class SearchMarkerActivity : SerialPortBaseActivity<ActivitySearchMarkerBinding>(),
+    SensorEventListener {
+
+    private val kTag = "SearchMarkerActivity"
+    private val context = this
+    private val locationKit by lazy { LocationKit(this) }
+    private val markerPoints by lazy { ArrayList<MarkerDistanceData>() }
+    private val markerBeanDao by lazy { BaseApplication.get().dataBase.markerBeanDao() }
+    private val taskMarkerBeanDao by lazy { BaseApplication.get().dataBase.taskMarkerBeanDao() }
+    private val taskViewModel by lazy { ViewModelProvider(this)[TaskViewModel::class.java] }
+    private val sensorManager by lazy { getSystemService(SENSOR_SERVICE) as SensorManager }
+    private val attr = AudioAttributes.Builder().setUsage(AudioAttributes.USAGE_ALARM)
+        .setContentType(AudioAttributes.CONTENT_TYPE_MUSIC).build()
+    private val soundPool = SoundPool.Builder().setMaxStreams(16).setAudioAttributes(attr).build()
+    private val rotationMatrix = FloatArray(9)//旋转矩阵缓存
+    private val valueArray = FloatArray(3)//方位角数值
+    private var slowSoundResourceId = 0
+    private var fastSoundResourceId = 0
+    private var databaseMarkerId = ""//本地数据库标识器ID
+    private var detectedMarkerId = ""//真实探测到标识器ID
+    private var isExecuteTask = false
+    private var gravity: FloatArray? = null
+    private var geomagnetic: FloatArray? = null
+
+    override fun initOnCreate(savedInstanceState: Bundle?) {
+        RuntimeCache.currentSegment = CurrentSegment.SearchMarker
+        val taskState = intent.getStringExtra(LiteKitConstant.INTENT_PARAM_KEY) as String
+        isExecuteTask = taskState != "0"
+
+        slowSoundResourceId = soundPool.load(this, R.raw.ring4, 1)
+        fastSoundResourceId = soundPool.load(this, R.raw.ring2, 1)
+
+        //点位渲染，每次定位都计算当前位置与符合条件的点距离
+        locationKit.getCurrentLocation(false, object : OnGetLocationListener {
+            override fun onSuccess(location: AMapLocation) {
+                renderDataPoint(location)
+            }
+
+            override fun onError() {
+                "当前位置信号差，无法获取定位".show(context)
+            }
+        })
+
+        if (isExecuteTask) {
+            binding.taskStateView.visibility = View.GONE
+            binding.taskStateView.isSelected = false
+        } else {
+            binding.taskStateView.visibility = View.VISIBLE
+            binding.taskStateView.isSelected = true
+        }
+
+        //进入界面开始搜索信号强度
+        sendSerialPortCommand(SerialPortCommand.SEARCH_SIGNAL)
+    }
+
+    private val handler = Handler(Looper.getMainLooper())
+    private var detectDepthRunnable: DetectDepthRunnable? = null
+
+    private inner class DetectDepthRunnable(private val command: Int) : Runnable {
+        override fun run() {
+            sendSerialPortCommand(command)
+            //延迟三秒再发一次
+            handler.postDelayed(this, 3000)
+        }
+    }
+
+    override fun initEvent() {
+        binding.depthButton.setOnClickListener {
+            if (detectedMarkerId == "") {
+                //还没探测到，直接显示当初埋深
+                val result = markerBeanDao.queryMarkerById(databaseMarkerId)
+                val depth = if (result.isNotEmpty()) {
+                    "110厘米"
+                } else {
+                    result.first().markerDepth
+                }
+                AlertMessageDialog.Builder()
+                    .setContext(this)
+                    .setTitle("温馨提示")
+                    .setMessage("标识器埋深：$depth")
+                    .setPositiveButton("知道了")
+                    .setOnDialogButtonClickListener(object :
+                        AlertMessageDialog.OnDialogButtonClickListener {
+                        override fun onConfirmClick() {
+                            RuntimeCache.currentSegment = CurrentSegment.SearchMarker
+                            sendSerialPortCommand(SerialPortCommand.SEARCH_SIGNAL)
+                        }
+                    }).build().show()
+                return@setOnClickListener
+            }
+
+            //真实探测埋深
+            RuntimeCache.currentSegment = CurrentSegment.DetectDepth
+            val result = markerBeanDao.queryMarkerById(detectedMarkerId)
+            if (result.isNotEmpty()) {
+                val command = when (result.first().markerType) {
+                    "EM30" -> SerialPortCommand.DETECT_EM30_DEPTH
+                    "EM50" -> SerialPortCommand.DETECT_EM50_DEPTH
+                    "EM14" -> SerialPortCommand.DETECT_EM14_DEPTH
+                    else -> SerialPortCommand.STOP_SERIAL_PORT_DATA
+                }
+                if (command == SerialPortCommand.STOP_SERIAL_PORT_DATA) {
+                    "此标识器无法读取埋深！".show(this)
+                } else {
+                    soundPool.autoPause()
+                    LoadingDialog.show(this, "正在探测标识器埋深，请稍后...")
+
+                    // 移除之前的 Runnable（如果存在）
+                    detectDepthRunnable?.let { handler.removeCallbacks(it) }
+                    detectDepthRunnable = DetectDepthRunnable(command)
+                    // 发送读取标识器埋设深度指令
+                    handler.post(detectDepthRunnable!!)
+                }
+            } else {
+                "标识器未安装，安装成功后才可读取埋深！".show(this)
+            }
+        }
+
+        binding.markerIdButton.setOnClickListener {
+            sendSerialPortCommand(SerialPortCommand.SEARCH_MARKER_ALWAYS)
+        }
+
+        binding.markerInfoButton.setOnClickListener {
+            val markerId = if (detectedMarkerId == "") {
+                databaseMarkerId
+            } else {
+                detectedMarkerId
+            }
+            val result = markerBeanDao.queryMarkerById(markerId)
+            if (result.isNotEmpty()) {
+                MarkerDetailDialog(this).setMarker(result.first()).show()
+            } else {
+                NewMarkerDetailDialog(this, markerId)
+            }
+            //查询完之后重置ID，以便下次重走逻辑
+            databaseMarkerId = ""
+            detectedMarkerId = ""
+        }
+    }
+
+    override fun onMarkerIdDetected(markerId: String) {
+        if (RuntimeCache.currentSegment == CurrentSegment.SearchMarker) {
+            binding.depthButton.isEnabled = true
+            binding.depthButton.setTextColor(Color.WHITE)
+            binding.depthButton.backgroundTintList =
+                ColorStateList.valueOf("#004364".toColorInt())
+
+            binding.markerInfoButton.isEnabled = true
+            binding.markerInfoButton.setTextColor(Color.WHITE)
+            binding.markerInfoButton.backgroundTintList =
+                ColorStateList.valueOf("#FFA200".toColorInt())
+
+            handleMarker(markerId)
+        }
+    }
+
+    private fun handleMarker(id: String) {
+        detectedMarkerId = id
+        //自动上传标识器
+        if (isExecuteTask) {
+            val taskId = SaveKeyValues.getValue(LocaleConstant.TASK_ID, "") as String
+            val taskCode = SaveKeyValues.getValue(LocaleConstant.TASK_CODE, "") as String
+            val marker = taskMarkerBeanDao.queryTaskMarkerById(
+                taskId, taskCode, id, "0"
+            )
+            if (marker == null) {
+                return
+            }
+            taskViewModel.uploadMarker(
+                marker.markerId,
+                onLoading = {},
+                onSuccess = {
+                    "标识器${marker.markerId}已探测！".show(this)
+                    marker.isDetected = "1"
+                    taskMarkerBeanDao.updateLocalTaskMarkerState(marker)
+                },
+                onFailed = {}
+            )
+        }
+    }
+
+    override fun onMarkerDepthDetected(depth: Int) {
+        if (RuntimeCache.currentSegment == CurrentSegment.DetectDepth) {
+            detectDepthRunnable?.let { handler.removeCallbacks(it) }
+            detectDepthRunnable = null
+            LoadingDialog.dismiss()
+            if (!this.isDestroyed) {
+                AlertMessageDialog.Builder()
+                    .setContext(context)
+                    .setTitle("温馨提示")
+                    .setMessage("标识器埋深：${depth}厘米")
+                    .setPositiveButton("知道了")
+                    .setOnDialogButtonClickListener(object :
+                        AlertMessageDialog.OnDialogButtonClickListener {
+                        override fun onConfirmClick() {
+                            RuntimeCache.currentSegment = CurrentSegment.SearchMarker
+                            sendSerialPortCommand(SerialPortCommand.SEARCH_SIGNAL)
+                        }
+                    }).build().show()
+            } else {
+                "标识器埋深：${depth}厘米".show(this)
+            }
+        }
+    }
+
+    override fun onMarkerSignalDetected(signalEnergy: Int) {
+        if (RuntimeCache.currentSegment == CurrentSegment.SearchMarker) {
+            if (signalEnergy > 1000) {
+                binding.markerIdButton.isEnabled = true
+                binding.markerIdButton.setTextColor("#428d00".toColorInt())
+                binding.markerIdButton.backgroundTintList = ColorStateList.valueOf(
+                    "#7EFF00".toColorInt()
+                )
+
+                binding.searchResultView.text = "已检测到标识器"
+                binding.searchResultView.setTextColor("#428d00".toColorInt())
+                binding.searchResultView.setBackgroundResource(R.mipmap.bg_small_text_green)
+            }
+
+            //声音
+            val soundResourceId = if (signalEnergy >= 4000)
+                fastSoundResourceId else slowSoundResourceId
+            soundPool.play(soundResourceId, 1f, 1f, 0, 0, 1f)
+
+            //信号强度显示
+            binding.energyPgBar.progress = signalEnergy
+            binding.energyValueView.text = "${signalEnergy}dB"
+
+            //搜索信号文字显示
+            updateTextResult(signalEnergy)
+        }
+    }
+
+    private fun updateTextResult(signalEnergy: Int) {
+        when {
+            signalEnergy <= 700 -> {
+                setEnergyTip(
+                    "信号较弱，可能距离较远",
+                    "#8D1717".toColorInt(),
+                    R.mipmap.bg_large_text_red
+                )
+//                disableButtons()
+                binding.searchResultView.text = "未检测到标识器"
+                binding.searchResultView.setTextColor("#8D1717".toColorInt())
+                binding.searchResultView.setBackgroundResource(R.mipmap.bg_small_text_red)
+            }
+
+            signalEnergy >= 4100 -> {
+                setEnergyTip(
+                    "信号极强，接近标识器正上方",
+                    "#428d00".toColorInt(),
+                    R.mipmap.bg_large_text_green
+                )
+            }
+
+            else -> {
+                setEnergyTip(
+                    "已靠近，请继续移动位置",
+                    "#8C5700".toColorInt(),
+                    R.mipmap.bg_large_text_yellow
+                )
+            }
+        }
+    }
+
+    private fun setEnergyTip(text: String, textColorRes: Int, backgroundRes: Int) {
+        binding.energyTipsView.text = text
+        binding.energyTipsView.setTextColor(textColorRes)
+        binding.energyTipsView.setBackgroundResource(backgroundRes)
+    }
+
+    private val colorStateList = ColorStateList.valueOf("#8A8A8A".toColorInt())
+    private val textColor = "#CCCCCC".toColorInt()
+
+    private fun disableButtons() {
+        binding.depthButton.isEnabled = false
+        binding.depthButton.setTextColor(textColor)
+        binding.depthButton.backgroundTintList = colorStateList
+        binding.markerIdButton.isEnabled = false
+        binding.markerIdButton.setTextColor(textColor)
+        binding.markerIdButton.backgroundTintList = colorStateList
+        binding.markerInfoButton.isEnabled = false
+        binding.markerInfoButton.setTextColor(textColor)
+        binding.markerInfoButton.backgroundTintList = colorStateList
+    }
+
+    /**
+     * 计算并渲染数据点。点太多采用协程计算，不然会有点卡顿。默认2s计算一次
+     * @param location 定位点（RTK获取）
+     * */
+    private fun renderDataPoint(location: AMapLocation) {
+        val longitude = location.longitude
+        val latitude = location.latitude
+        lifecycleScope.launch(Dispatchers.IO) {
+            val dataPoints = ArrayList<RadarScanView.DataPoint>()
+            markerBeanDao.loadAll().forEach {
+                val distance = AMapUtils.calculateLineDistance(
+                    LatLng(it.lat.toDouble(), it.lng.toDouble()), LatLng(latitude, longitude)
+                )
+                val formatDistance = "%.2f".format(distance).toFloat()
+                markerPoints.add(MarkerDistanceData(it.markerId, formatDistance))
+
+                if (formatDistance <= LocaleConstant.MAX_DISTANCE) {
+                    val angle = atan2(
+                        (it.lat.toDouble() - latitude), (it.lng.toDouble() - longitude)
+                    ) + Math.PI
+                    val formatAngle = "%.2f".format(angle).toDouble()
+
+                    dataPoints.add(
+                        RadarScanView.DataPoint(it.markerId, formatAngle, formatDistance)
+                    )
+                }
+            }
+            withContext(Dispatchers.Main) {
+                binding.radarScanView.renderPointData(
+                    dataPoints,
+                    onGetNearestPoint = { point ->
+                        if (point == null) {
+                            binding.distanceValueView.text = "大于5.5m"
+                            binding.distancePgBar.progress = 100
+                        } else {
+                            databaseMarkerId = point.markerId
+
+                            binding.depthButton.isEnabled = true
+                            binding.depthButton.setTextColor(Color.WHITE)
+                            binding.depthButton.backgroundTintList =
+                                ColorStateList.valueOf("#004364".toColorInt())
+
+                            binding.markerInfoButton.isEnabled = true
+                            binding.markerInfoButton.setTextColor(Color.WHITE)
+                            binding.markerInfoButton.backgroundTintList =
+                                ColorStateList.valueOf("#FFA200".toColorInt())
+
+                            binding.distanceValueView.text = "${point.distance}m"
+                            val progress = if (point.distance > LocaleConstant.MAX_DISTANCE) {
+                                100
+                            } else {
+                                (point.distance / LocaleConstant.MAX_DISTANCE) * 100
+                            }
+                            binding.distancePgBar.progress = progress.toInt()
+                        }
+                    }
+                )
+            }
+        }
+    }
+
+    override fun initViewBinding(): ActivitySearchMarkerBinding {
+        return ActivitySearchMarkerBinding.inflate(layoutInflater)
+    }
+
+    override fun setupTopBarLayout() {
+
+    }
+
+    override fun onResume() {
+        super.onResume()
+        //注册加速度传感器监听
+        val accelerometer = sensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER)
+        sensorManager.registerListener(this, accelerometer, SensorManager.SENSOR_DELAY_NORMAL)
+
+        //注册磁场传感器监听
+        val magnetic = sensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD)
+        sensorManager.registerListener(this, magnetic, SensorManager.SENSOR_DELAY_NORMAL)
+    }
+
+    override fun onPause() {
+        super.onPause()
+        sensorManager.unregisterListener(this)
+    }
+
+    override fun onAccuracyChanged(sensor: Sensor?, accuracy: Int) {
+        //精度发生变化时触发
+    }
+
+    override fun onSensorChanged(event: SensorEvent?) {
+        //值发生变化时触发
+        val type = event?.sensor?.type
+
+        if (type == Sensor.TYPE_ACCELEROMETER) {
+            gravity = event.values
+        } else if (type == Sensor.TYPE_MAGNETIC_FIELD) {
+            geomagnetic = event.values
+        }
+
+        if (gravity == null || geomagnetic == null) {
+            return
+        }
+
+        if (SensorManager.getRotationMatrix(rotationMatrix, null, gravity, geomagnetic)) {
+            SensorManager.getOrientation(rotationMatrix, valueArray)
+
+            val degree = ((360f + valueArray[0] * 180f / Math.PI) % 360).toInt()
+            //更新罗盘角度
+            binding.radarScanView.setDegreeValue(degree)
+        }
+    }
+
+    override fun onDestroy() {
+        super.onDestroy()
+        soundPool.autoPause()
+        locationKit.stopLocation()
+    }
+}
\ No newline at end of file
diff --git a/app/src/main/java/com/casic/common/detector/gd/bean/MarkerBean.java b/app/src/main/java/com/casic/common/detector/gd/bean/MarkerBean.java
index 7a18c20..e7ecc60 100644
--- a/app/src/main/java/com/casic/common/detector/gd/bean/MarkerBean.java
+++ b/app/src/main/java/com/casic/common/detector/gd/bean/MarkerBean.java
@@ -14,7 +14,7 @@
     private String pipelineDiameter; // 管线直径
     private String pipelineMaterial; // 管材
     private String buryMethod; // 埋设方式
-    private String buryDepth; // 埋深
+    private String buryDepth; // 管线埋深
     private String area; // 所属区域
     private String line; // 所属线路
     private String road; // 所属道路