diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
index 30aebdd..abeb14b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.PatrolLogMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.PatrolLogMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.PatrolLog">

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
index 30aebdd..abeb14b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.PatrolLogMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.PatrolLogMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.PatrolLog">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
index 182ca3d..aa18c82 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RobotDogInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RobotDogInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RobotDogInfo">

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
index 30aebdd..abeb14b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.PatrolLogMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.PatrolLogMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.PatrolLog">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
index 182ca3d..aa18c82 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RobotDogInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RobotDogInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RobotDogInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
index 1e36465..a224cde 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoDetailMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoDetailMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfoDetail">

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
index 30aebdd..abeb14b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.PatrolLogMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.PatrolLogMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.PatrolLog">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
index 182ca3d..aa18c82 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RobotDogInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RobotDogInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RobotDogInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
index 1e36465..a224cde 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoDetailMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoDetailMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfoDetail">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
index 2542993..6e5acda 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfo">

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
index 30aebdd..abeb14b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.PatrolLogMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.PatrolLogMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.PatrolLog">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
index 182ca3d..aa18c82 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RobotDogInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RobotDogInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RobotDogInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
index 1e36465..a224cde 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoDetailMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoDetailMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfoDetail">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
index 2542993..6e5acda 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
new file mode 100644
index 0000000..1b7b208
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class PatrolLogDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+//    @ApiModelProperty("机器人id")
+//    private Long robotId;
+    @ApiModelProperty("巡航线id")
+    private Long routeInfoId;
+//    @ApiModelProperty("小区名称")
+//    private String communityName;
+//    @ApiModelProperty("小区地址")
+//    private String communityAddress;
+
+
+}

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
index 30aebdd..abeb14b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.PatrolLogMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.PatrolLogMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.PatrolLog">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
index 182ca3d..aa18c82 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RobotDogInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RobotDogInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RobotDogInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
index 1e36465..a224cde 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoDetailMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoDetailMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfoDetail">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
index 2542993..6e5acda 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
new file mode 100644
index 0000000..1b7b208
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class PatrolLogDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+//    @ApiModelProperty("机器人id")
+//    private Long robotId;
+    @ApiModelProperty("巡航线id")
+    private Long routeInfoId;
+//    @ApiModelProperty("小区名称")
+//    private String communityName;
+//    @ApiModelProperty("小区地址")
+//    private String communityAddress;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
index 99f94ff..e76a861 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
@@ -15,5 +15,8 @@
     @ApiModelProperty("设备名称")
     private String robotName;
 
+    @ApiModelProperty("设备编号")
+    private String robotCode;
+
 
 }

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
index 30aebdd..abeb14b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.PatrolLogMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.PatrolLogMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.PatrolLog">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
index 182ca3d..aa18c82 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RobotDogInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RobotDogInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RobotDogInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
index 1e36465..a224cde 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoDetailMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoDetailMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfoDetail">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
index 2542993..6e5acda 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
new file mode 100644
index 0000000..1b7b208
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class PatrolLogDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+//    @ApiModelProperty("机器人id")
+//    private Long robotId;
+    @ApiModelProperty("巡航线id")
+    private Long routeInfoId;
+//    @ApiModelProperty("小区名称")
+//    private String communityName;
+//    @ApiModelProperty("小区地址")
+//    private String communityAddress;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
index 99f94ff..e76a861 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
@@ -15,5 +15,8 @@
     @ApiModelProperty("设备名称")
     private String robotName;
 
+    @ApiModelProperty("设备编号")
+    private String robotCode;
+
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
new file mode 100644
index 0000000..b8156d7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class SelectDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+
+    @ApiModelProperty("id")
+    private Long id;
+
+    @ApiModelProperty("name")
+    private String name;
+
+    @ApiModelProperty("code")
+    private String code;
+
+
+}

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
index 30aebdd..abeb14b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.PatrolLogMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.PatrolLogMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.PatrolLog">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
index 182ca3d..aa18c82 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RobotDogInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RobotDogInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RobotDogInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
index 1e36465..a224cde 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoDetailMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoDetailMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfoDetail">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
index 2542993..6e5acda 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
new file mode 100644
index 0000000..1b7b208
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class PatrolLogDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+//    @ApiModelProperty("机器人id")
+//    private Long robotId;
+    @ApiModelProperty("巡航线id")
+    private Long routeInfoId;
+//    @ApiModelProperty("小区名称")
+//    private String communityName;
+//    @ApiModelProperty("小区地址")
+//    private String communityAddress;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
index 99f94ff..e76a861 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
@@ -15,5 +15,8 @@
     @ApiModelProperty("设备名称")
     private String robotName;
 
+    @ApiModelProperty("设备编号")
+    private String robotCode;
+
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
new file mode 100644
index 0000000..b8156d7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class SelectDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+
+    @ApiModelProperty("id")
+    private Long id;
+
+    @ApiModelProperty("name")
+    private String name;
+
+    @ApiModelProperty("code")
+    private String code;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
index 454b1bc..bfb9c50 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
@@ -46,10 +46,14 @@
     @TableField("robot_port")
     private Integer robotPort;
 
-    @ApiModelProperty("机器狗状态(1,有效，0无效)")
+    @ApiModelProperty("机器狗状态(1,在线，离线)")
     @TableField("robot_status")
     private String robotStatus;
 
+    @ApiModelProperty("删除状态(1,有效，0无效)")
+    @TableField("valid")
+    private String valid;
+
     @ApiModelProperty("电量")
     @TableField("robot_cell")
     private String robotCell;

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
index 30aebdd..abeb14b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.PatrolLogMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.PatrolLogMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.PatrolLog">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
index 182ca3d..aa18c82 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RobotDogInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RobotDogInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RobotDogInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
index 1e36465..a224cde 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoDetailMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoDetailMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfoDetail">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
index 2542993..6e5acda 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
new file mode 100644
index 0000000..1b7b208
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class PatrolLogDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+//    @ApiModelProperty("机器人id")
+//    private Long robotId;
+    @ApiModelProperty("巡航线id")
+    private Long routeInfoId;
+//    @ApiModelProperty("小区名称")
+//    private String communityName;
+//    @ApiModelProperty("小区地址")
+//    private String communityAddress;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
index 99f94ff..e76a861 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
@@ -15,5 +15,8 @@
     @ApiModelProperty("设备名称")
     private String robotName;
 
+    @ApiModelProperty("设备编号")
+    private String robotCode;
+
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
new file mode 100644
index 0000000..b8156d7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class SelectDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+
+    @ApiModelProperty("id")
+    private Long id;
+
+    @ApiModelProperty("name")
+    private String name;
+
+    @ApiModelProperty("code")
+    private String code;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
index 454b1bc..bfb9c50 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
@@ -46,10 +46,14 @@
     @TableField("robot_port")
     private Integer robotPort;
 
-    @ApiModelProperty("机器狗状态(1,有效，0无效)")
+    @ApiModelProperty("机器狗状态(1,在线，离线)")
     @TableField("robot_status")
     private String robotStatus;
 
+    @ApiModelProperty("删除状态(1,有效，0无效)")
+    @TableField("valid")
+    private String valid;
+
     @ApiModelProperty("电量")
     @TableField("robot_cell")
     private String robotCell;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
index 9b88a35..299594b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
@@ -43,6 +43,10 @@
     @TableField("route_name")
     private String routeName;
 
+    @ApiModelProperty("状态1:有效，0：无效")
+    @TableField("status")
+    private String status;
+
     @ApiModelProperty("机器人ID")
     @TableField("robot_id")
     private Long robotId;
@@ -61,4 +65,9 @@
     @TableField(exist = false)
     private List<RouteInfoDetail> routeInfoDetailList;
 
+
+    @ApiModelProperty("机器人名称")
+    @TableField(exist = false)
+    private String robotName;
+
 }

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
index 30aebdd..abeb14b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.PatrolLogMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.PatrolLogMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.PatrolLog">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
index 182ca3d..aa18c82 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RobotDogInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RobotDogInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RobotDogInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
index 1e36465..a224cde 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoDetailMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoDetailMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfoDetail">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
index 2542993..6e5acda 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
new file mode 100644
index 0000000..1b7b208
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class PatrolLogDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+//    @ApiModelProperty("机器人id")
+//    private Long robotId;
+    @ApiModelProperty("巡航线id")
+    private Long routeInfoId;
+//    @ApiModelProperty("小区名称")
+//    private String communityName;
+//    @ApiModelProperty("小区地址")
+//    private String communityAddress;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
index 99f94ff..e76a861 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
@@ -15,5 +15,8 @@
     @ApiModelProperty("设备名称")
     private String robotName;
 
+    @ApiModelProperty("设备编号")
+    private String robotCode;
+
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
new file mode 100644
index 0000000..b8156d7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class SelectDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+
+    @ApiModelProperty("id")
+    private Long id;
+
+    @ApiModelProperty("name")
+    private String name;
+
+    @ApiModelProperty("code")
+    private String code;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
index 454b1bc..bfb9c50 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
@@ -46,10 +46,14 @@
     @TableField("robot_port")
     private Integer robotPort;
 
-    @ApiModelProperty("机器狗状态(1,有效，0无效)")
+    @ApiModelProperty("机器狗状态(1,在线，离线)")
     @TableField("robot_status")
     private String robotStatus;
 
+    @ApiModelProperty("删除状态(1,有效，0无效)")
+    @TableField("valid")
+    private String valid;
+
     @ApiModelProperty("电量")
     @TableField("robot_cell")
     private String robotCell;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
index 9b88a35..299594b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
@@ -43,6 +43,10 @@
     @TableField("route_name")
     private String routeName;
 
+    @ApiModelProperty("状态1:有效，0：无效")
+    @TableField("status")
+    private String status;
+
     @ApiModelProperty("机器人ID")
     @TableField("robot_id")
     private Long robotId;
@@ -61,4 +65,9 @@
     @TableField(exist = false)
     private List<RouteInfoDetail> routeInfoDetailList;
 
+
+    @ApiModelProperty("机器人名称")
+    @TableField(exist = false)
+    private String robotName;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java b/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
index 7924c30..6bafabf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
@@ -29,7 +29,9 @@
 
     MONITOR_VALID_FAILED(2099, "云台登录地址重复"),
 
-    DEVICE_DUPLICATE(2011, "设备编号重复");
+    DEVICE_DUPLICATE(2011, "设备编号重复"),
+
+    CONFIG_FAIL(4005, "设备通讯一次，下发失败");
 
 
     private Integer code;

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
index 30aebdd..abeb14b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.PatrolLogMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.PatrolLogMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.PatrolLog">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
index 182ca3d..aa18c82 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RobotDogInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RobotDogInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RobotDogInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
index 1e36465..a224cde 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoDetailMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoDetailMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfoDetail">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
index 2542993..6e5acda 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
new file mode 100644
index 0000000..1b7b208
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class PatrolLogDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+//    @ApiModelProperty("机器人id")
+//    private Long robotId;
+    @ApiModelProperty("巡航线id")
+    private Long routeInfoId;
+//    @ApiModelProperty("小区名称")
+//    private String communityName;
+//    @ApiModelProperty("小区地址")
+//    private String communityAddress;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
index 99f94ff..e76a861 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
@@ -15,5 +15,8 @@
     @ApiModelProperty("设备名称")
     private String robotName;
 
+    @ApiModelProperty("设备编号")
+    private String robotCode;
+
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
new file mode 100644
index 0000000..b8156d7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class SelectDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+
+    @ApiModelProperty("id")
+    private Long id;
+
+    @ApiModelProperty("name")
+    private String name;
+
+    @ApiModelProperty("code")
+    private String code;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
index 454b1bc..bfb9c50 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
@@ -46,10 +46,14 @@
     @TableField("robot_port")
     private Integer robotPort;
 
-    @ApiModelProperty("机器狗状态(1,有效，0无效)")
+    @ApiModelProperty("机器狗状态(1,在线，离线)")
     @TableField("robot_status")
     private String robotStatus;
 
+    @ApiModelProperty("删除状态(1,有效，0无效)")
+    @TableField("valid")
+    private String valid;
+
     @ApiModelProperty("电量")
     @TableField("robot_cell")
     private String robotCell;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
index 9b88a35..299594b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
@@ -43,6 +43,10 @@
     @TableField("route_name")
     private String routeName;
 
+    @ApiModelProperty("状态1:有效，0：无效")
+    @TableField("status")
+    private String status;
+
     @ApiModelProperty("机器人ID")
     @TableField("robot_id")
     private Long robotId;
@@ -61,4 +65,9 @@
     @TableField(exist = false)
     private List<RouteInfoDetail> routeInfoDetailList;
 
+
+    @ApiModelProperty("机器人名称")
+    @TableField(exist = false)
+    private String robotName;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java b/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
index 7924c30..6bafabf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
@@ -29,7 +29,9 @@
 
     MONITOR_VALID_FAILED(2099, "云台登录地址重复"),
 
-    DEVICE_DUPLICATE(2011, "设备编号重复");
+    DEVICE_DUPLICATE(2011, "设备编号重复"),
+
+    CONFIG_FAIL(4005, "设备通讯一次，下发失败");
 
 
     private Integer code;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
index 52b8451..0e608c3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
@@ -39,7 +39,7 @@
                     .childOption(ChannelOption.SO_KEEPALIVE, true);
 
             // 绑定端口并开始接受进来的连接
-            future = bootstrap.bind(7000).sync();
+            future = bootstrap.bind(11647).sync();
 
             // 等待服务器套接字关闭
             future.channel().closeFuture().sync();

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
index 30aebdd..abeb14b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.PatrolLogMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.PatrolLogMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.PatrolLog">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
index 182ca3d..aa18c82 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RobotDogInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RobotDogInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RobotDogInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
index 1e36465..a224cde 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoDetailMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoDetailMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfoDetail">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
index 2542993..6e5acda 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
new file mode 100644
index 0000000..1b7b208
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class PatrolLogDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+//    @ApiModelProperty("机器人id")
+//    private Long robotId;
+    @ApiModelProperty("巡航线id")
+    private Long routeInfoId;
+//    @ApiModelProperty("小区名称")
+//    private String communityName;
+//    @ApiModelProperty("小区地址")
+//    private String communityAddress;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
index 99f94ff..e76a861 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
@@ -15,5 +15,8 @@
     @ApiModelProperty("设备名称")
     private String robotName;
 
+    @ApiModelProperty("设备编号")
+    private String robotCode;
+
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
new file mode 100644
index 0000000..b8156d7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class SelectDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+
+    @ApiModelProperty("id")
+    private Long id;
+
+    @ApiModelProperty("name")
+    private String name;
+
+    @ApiModelProperty("code")
+    private String code;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
index 454b1bc..bfb9c50 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
@@ -46,10 +46,14 @@
     @TableField("robot_port")
     private Integer robotPort;
 
-    @ApiModelProperty("机器狗状态(1,有效，0无效)")
+    @ApiModelProperty("机器狗状态(1,在线，离线)")
     @TableField("robot_status")
     private String robotStatus;
 
+    @ApiModelProperty("删除状态(1,有效，0无效)")
+    @TableField("valid")
+    private String valid;
+
     @ApiModelProperty("电量")
     @TableField("robot_cell")
     private String robotCell;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
index 9b88a35..299594b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
@@ -43,6 +43,10 @@
     @TableField("route_name")
     private String routeName;
 
+    @ApiModelProperty("状态1:有效，0：无效")
+    @TableField("status")
+    private String status;
+
     @ApiModelProperty("机器人ID")
     @TableField("robot_id")
     private Long robotId;
@@ -61,4 +65,9 @@
     @TableField(exist = false)
     private List<RouteInfoDetail> routeInfoDetailList;
 
+
+    @ApiModelProperty("机器人名称")
+    @TableField(exist = false)
+    private String robotName;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java b/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
index 7924c30..6bafabf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
@@ -29,7 +29,9 @@
 
     MONITOR_VALID_FAILED(2099, "云台登录地址重复"),
 
-    DEVICE_DUPLICATE(2011, "设备编号重复");
+    DEVICE_DUPLICATE(2011, "设备编号重复"),
+
+    CONFIG_FAIL(4005, "设备通讯一次，下发失败");
 
 
     private Integer code;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
index 52b8451..0e608c3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
@@ -39,7 +39,7 @@
                     .childOption(ChannelOption.SO_KEEPALIVE, true);
 
             // 绑定端口并开始接受进来的连接
-            future = bootstrap.bind(7000).sync();
+            future = bootstrap.bind(11647).sync();
 
             // 等待服务器套接字关闭
             future.channel().closeFuture().sync();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
index 11878ff..ac53fc7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
@@ -1,6 +1,7 @@
 package com.casic.missiles.modular.system.netty;
 
 
+import cn.hutool.core.util.ObjectUtil;
 import com.casic.missiles.modular.system.service.impl.RouteInfoServiceImpl;
 import io.netty.channel.Channel;
 import io.netty.channel.ChannelHandlerContext;
@@ -43,16 +44,16 @@
         executor.submit(new Runnable() {
             @Override
             public void run() {
-                String encryptData = msg.toString();
-                DeviceCommon.devcodeMap.put(encryptData, channel.id().asLongText());
-                System.out.println("接收到加密数据：" + encryptData);
-                routeInfoService.getMsg(1L,encryptData);
-//                String decryptData = RSAUtil.getDecryptMsg(encryptData);
-//                if (ObjectUtil.isNotEmpty(decryptData) && decryptData.contains(",")) {
-//                    String devCode = decryptData.split(",")[0];
-//                    DeviceCommon.devcodeMap.put(devCode, channel.id().asLongText());
-//                    dataPanGasService.process(decryptData);
-//                }
+                String dataMsg = msg.toString();
+                log.info("接收到机器狗数据：" + dataMsg);
+                if(ObjectUtil.isNotEmpty(dataMsg)){
+                    //只接收设备基本信息，其他过滤
+                    if(dataMsg.startsWith("devCode:")){
+                        String devCode = dataMsg.substring(8);
+                        DeviceCommon.devcodeMap.put(devCode, channel.id().asLongText());
+                        routeInfoService.getMsg(devCode,dataMsg);
+                    }
+                }
             }
         });
     }

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
index 30aebdd..abeb14b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.PatrolLogMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.PatrolLogMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.PatrolLog">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
index 182ca3d..aa18c82 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RobotDogInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RobotDogInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RobotDogInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
index 1e36465..a224cde 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoDetailMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoDetailMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfoDetail">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
index 2542993..6e5acda 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
new file mode 100644
index 0000000..1b7b208
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class PatrolLogDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+//    @ApiModelProperty("机器人id")
+//    private Long robotId;
+    @ApiModelProperty("巡航线id")
+    private Long routeInfoId;
+//    @ApiModelProperty("小区名称")
+//    private String communityName;
+//    @ApiModelProperty("小区地址")
+//    private String communityAddress;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
index 99f94ff..e76a861 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
@@ -15,5 +15,8 @@
     @ApiModelProperty("设备名称")
     private String robotName;
 
+    @ApiModelProperty("设备编号")
+    private String robotCode;
+
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
new file mode 100644
index 0000000..b8156d7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class SelectDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+
+    @ApiModelProperty("id")
+    private Long id;
+
+    @ApiModelProperty("name")
+    private String name;
+
+    @ApiModelProperty("code")
+    private String code;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
index 454b1bc..bfb9c50 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
@@ -46,10 +46,14 @@
     @TableField("robot_port")
     private Integer robotPort;
 
-    @ApiModelProperty("机器狗状态(1,有效，0无效)")
+    @ApiModelProperty("机器狗状态(1,在线，离线)")
     @TableField("robot_status")
     private String robotStatus;
 
+    @ApiModelProperty("删除状态(1,有效，0无效)")
+    @TableField("valid")
+    private String valid;
+
     @ApiModelProperty("电量")
     @TableField("robot_cell")
     private String robotCell;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
index 9b88a35..299594b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
@@ -43,6 +43,10 @@
     @TableField("route_name")
     private String routeName;
 
+    @ApiModelProperty("状态1:有效，0：无效")
+    @TableField("status")
+    private String status;
+
     @ApiModelProperty("机器人ID")
     @TableField("robot_id")
     private Long robotId;
@@ -61,4 +65,9 @@
     @TableField(exist = false)
     private List<RouteInfoDetail> routeInfoDetailList;
 
+
+    @ApiModelProperty("机器人名称")
+    @TableField(exist = false)
+    private String robotName;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java b/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
index 7924c30..6bafabf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
@@ -29,7 +29,9 @@
 
     MONITOR_VALID_FAILED(2099, "云台登录地址重复"),
 
-    DEVICE_DUPLICATE(2011, "设备编号重复");
+    DEVICE_DUPLICATE(2011, "设备编号重复"),
+
+    CONFIG_FAIL(4005, "设备通讯一次，下发失败");
 
 
     private Integer code;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
index 52b8451..0e608c3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
@@ -39,7 +39,7 @@
                     .childOption(ChannelOption.SO_KEEPALIVE, true);
 
             // 绑定端口并开始接受进来的连接
-            future = bootstrap.bind(7000).sync();
+            future = bootstrap.bind(11647).sync();
 
             // 等待服务器套接字关闭
             future.channel().closeFuture().sync();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
index 11878ff..ac53fc7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
@@ -1,6 +1,7 @@
 package com.casic.missiles.modular.system.netty;
 
 
+import cn.hutool.core.util.ObjectUtil;
 import com.casic.missiles.modular.system.service.impl.RouteInfoServiceImpl;
 import io.netty.channel.Channel;
 import io.netty.channel.ChannelHandlerContext;
@@ -43,16 +44,16 @@
         executor.submit(new Runnable() {
             @Override
             public void run() {
-                String encryptData = msg.toString();
-                DeviceCommon.devcodeMap.put(encryptData, channel.id().asLongText());
-                System.out.println("接收到加密数据：" + encryptData);
-                routeInfoService.getMsg(1L,encryptData);
-//                String decryptData = RSAUtil.getDecryptMsg(encryptData);
-//                if (ObjectUtil.isNotEmpty(decryptData) && decryptData.contains(",")) {
-//                    String devCode = decryptData.split(",")[0];
-//                    DeviceCommon.devcodeMap.put(devCode, channel.id().asLongText());
-//                    dataPanGasService.process(decryptData);
-//                }
+                String dataMsg = msg.toString();
+                log.info("接收到机器狗数据：" + dataMsg);
+                if(ObjectUtil.isNotEmpty(dataMsg)){
+                    //只接收设备基本信息，其他过滤
+                    if(dataMsg.startsWith("devCode:")){
+                        String devCode = dataMsg.substring(8);
+                        DeviceCommon.devcodeMap.put(devCode, channel.id().asLongText());
+                        routeInfoService.getMsg(devCode,dataMsg);
+                    }
+                }
             }
         });
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java
index 1c6f24e..1320c8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java
@@ -1,7 +1,8 @@
 package com.casic.missiles.modular.system.service;
 
-import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.system.dto.SelectDTO;
+import com.casic.missiles.modular.system.entity.RobotDogInfo;
 
 import java.util.List;
 
@@ -17,4 +18,12 @@
 
     boolean batchDeleteDogs(List<Long> ids);
 
+    boolean updateRobotDogLine(String devCode, Long lineId);
+
+    boolean updateRobotDogStatus(String devCode, String status);
+
+    List<SelectDTO> selectDogList();
+
+    List<SelectDTO> selectLines(Long robotId);
+
 }

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
index 30aebdd..abeb14b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.PatrolLogMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.PatrolLogMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.PatrolLog">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
index 182ca3d..aa18c82 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RobotDogInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RobotDogInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RobotDogInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
index 1e36465..a224cde 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoDetailMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoDetailMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfoDetail">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
index 2542993..6e5acda 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
new file mode 100644
index 0000000..1b7b208
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class PatrolLogDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+//    @ApiModelProperty("机器人id")
+//    private Long robotId;
+    @ApiModelProperty("巡航线id")
+    private Long routeInfoId;
+//    @ApiModelProperty("小区名称")
+//    private String communityName;
+//    @ApiModelProperty("小区地址")
+//    private String communityAddress;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
index 99f94ff..e76a861 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
@@ -15,5 +15,8 @@
     @ApiModelProperty("设备名称")
     private String robotName;
 
+    @ApiModelProperty("设备编号")
+    private String robotCode;
+
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
new file mode 100644
index 0000000..b8156d7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class SelectDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+
+    @ApiModelProperty("id")
+    private Long id;
+
+    @ApiModelProperty("name")
+    private String name;
+
+    @ApiModelProperty("code")
+    private String code;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
index 454b1bc..bfb9c50 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
@@ -46,10 +46,14 @@
     @TableField("robot_port")
     private Integer robotPort;
 
-    @ApiModelProperty("机器狗状态(1,有效，0无效)")
+    @ApiModelProperty("机器狗状态(1,在线，离线)")
     @TableField("robot_status")
     private String robotStatus;
 
+    @ApiModelProperty("删除状态(1,有效，0无效)")
+    @TableField("valid")
+    private String valid;
+
     @ApiModelProperty("电量")
     @TableField("robot_cell")
     private String robotCell;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
index 9b88a35..299594b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
@@ -43,6 +43,10 @@
     @TableField("route_name")
     private String routeName;
 
+    @ApiModelProperty("状态1:有效，0：无效")
+    @TableField("status")
+    private String status;
+
     @ApiModelProperty("机器人ID")
     @TableField("robot_id")
     private Long robotId;
@@ -61,4 +65,9 @@
     @TableField(exist = false)
     private List<RouteInfoDetail> routeInfoDetailList;
 
+
+    @ApiModelProperty("机器人名称")
+    @TableField(exist = false)
+    private String robotName;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java b/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
index 7924c30..6bafabf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
@@ -29,7 +29,9 @@
 
     MONITOR_VALID_FAILED(2099, "云台登录地址重复"),
 
-    DEVICE_DUPLICATE(2011, "设备编号重复");
+    DEVICE_DUPLICATE(2011, "设备编号重复"),
+
+    CONFIG_FAIL(4005, "设备通讯一次，下发失败");
 
 
     private Integer code;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
index 52b8451..0e608c3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
@@ -39,7 +39,7 @@
                     .childOption(ChannelOption.SO_KEEPALIVE, true);
 
             // 绑定端口并开始接受进来的连接
-            future = bootstrap.bind(7000).sync();
+            future = bootstrap.bind(11647).sync();
 
             // 等待服务器套接字关闭
             future.channel().closeFuture().sync();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
index 11878ff..ac53fc7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
@@ -1,6 +1,7 @@
 package com.casic.missiles.modular.system.netty;
 
 
+import cn.hutool.core.util.ObjectUtil;
 import com.casic.missiles.modular.system.service.impl.RouteInfoServiceImpl;
 import io.netty.channel.Channel;
 import io.netty.channel.ChannelHandlerContext;
@@ -43,16 +44,16 @@
         executor.submit(new Runnable() {
             @Override
             public void run() {
-                String encryptData = msg.toString();
-                DeviceCommon.devcodeMap.put(encryptData, channel.id().asLongText());
-                System.out.println("接收到加密数据：" + encryptData);
-                routeInfoService.getMsg(1L,encryptData);
-//                String decryptData = RSAUtil.getDecryptMsg(encryptData);
-//                if (ObjectUtil.isNotEmpty(decryptData) && decryptData.contains(",")) {
-//                    String devCode = decryptData.split(",")[0];
-//                    DeviceCommon.devcodeMap.put(devCode, channel.id().asLongText());
-//                    dataPanGasService.process(decryptData);
-//                }
+                String dataMsg = msg.toString();
+                log.info("接收到机器狗数据：" + dataMsg);
+                if(ObjectUtil.isNotEmpty(dataMsg)){
+                    //只接收设备基本信息，其他过滤
+                    if(dataMsg.startsWith("devCode:")){
+                        String devCode = dataMsg.substring(8);
+                        DeviceCommon.devcodeMap.put(devCode, channel.id().asLongText());
+                        routeInfoService.getMsg(devCode,dataMsg);
+                    }
+                }
             }
         });
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java
index 1c6f24e..1320c8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java
@@ -1,7 +1,8 @@
 package com.casic.missiles.modular.system.service;
 
-import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.system.dto.SelectDTO;
+import com.casic.missiles.modular.system.entity.RobotDogInfo;
 
 import java.util.List;
 
@@ -17,4 +18,12 @@
 
     boolean batchDeleteDogs(List<Long> ids);
 
+    boolean updateRobotDogLine(String devCode, Long lineId);
+
+    boolean updateRobotDogStatus(String devCode, String status);
+
+    List<SelectDTO> selectDogList();
+
+    List<SelectDTO> selectLines(Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java
index 1658f2e..9cb5804 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java
@@ -24,7 +24,7 @@
 
     boolean editRouteInfo(RouteInfo routeInfo);
 
-    void control(String command,Long robotDogId);
+    boolean control(String command,String devCode);
 
     void processData(Map map);
 

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
index 30aebdd..abeb14b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.PatrolLogMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.PatrolLogMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.PatrolLog">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
index 182ca3d..aa18c82 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RobotDogInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RobotDogInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RobotDogInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
index 1e36465..a224cde 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoDetailMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoDetailMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfoDetail">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
index 2542993..6e5acda 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
new file mode 100644
index 0000000..1b7b208
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class PatrolLogDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+//    @ApiModelProperty("机器人id")
+//    private Long robotId;
+    @ApiModelProperty("巡航线id")
+    private Long routeInfoId;
+//    @ApiModelProperty("小区名称")
+//    private String communityName;
+//    @ApiModelProperty("小区地址")
+//    private String communityAddress;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
index 99f94ff..e76a861 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
@@ -15,5 +15,8 @@
     @ApiModelProperty("设备名称")
     private String robotName;
 
+    @ApiModelProperty("设备编号")
+    private String robotCode;
+
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
new file mode 100644
index 0000000..b8156d7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class SelectDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+
+    @ApiModelProperty("id")
+    private Long id;
+
+    @ApiModelProperty("name")
+    private String name;
+
+    @ApiModelProperty("code")
+    private String code;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
index 454b1bc..bfb9c50 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
@@ -46,10 +46,14 @@
     @TableField("robot_port")
     private Integer robotPort;
 
-    @ApiModelProperty("机器狗状态(1,有效，0无效)")
+    @ApiModelProperty("机器狗状态(1,在线，离线)")
     @TableField("robot_status")
     private String robotStatus;
 
+    @ApiModelProperty("删除状态(1,有效，0无效)")
+    @TableField("valid")
+    private String valid;
+
     @ApiModelProperty("电量")
     @TableField("robot_cell")
     private String robotCell;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
index 9b88a35..299594b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
@@ -43,6 +43,10 @@
     @TableField("route_name")
     private String routeName;
 
+    @ApiModelProperty("状态1:有效，0：无效")
+    @TableField("status")
+    private String status;
+
     @ApiModelProperty("机器人ID")
     @TableField("robot_id")
     private Long robotId;
@@ -61,4 +65,9 @@
     @TableField(exist = false)
     private List<RouteInfoDetail> routeInfoDetailList;
 
+
+    @ApiModelProperty("机器人名称")
+    @TableField(exist = false)
+    private String robotName;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java b/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
index 7924c30..6bafabf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
@@ -29,7 +29,9 @@
 
     MONITOR_VALID_FAILED(2099, "云台登录地址重复"),
 
-    DEVICE_DUPLICATE(2011, "设备编号重复");
+    DEVICE_DUPLICATE(2011, "设备编号重复"),
+
+    CONFIG_FAIL(4005, "设备通讯一次，下发失败");
 
 
     private Integer code;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
index 52b8451..0e608c3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
@@ -39,7 +39,7 @@
                     .childOption(ChannelOption.SO_KEEPALIVE, true);
 
             // 绑定端口并开始接受进来的连接
-            future = bootstrap.bind(7000).sync();
+            future = bootstrap.bind(11647).sync();
 
             // 等待服务器套接字关闭
             future.channel().closeFuture().sync();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
index 11878ff..ac53fc7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
@@ -1,6 +1,7 @@
 package com.casic.missiles.modular.system.netty;
 
 
+import cn.hutool.core.util.ObjectUtil;
 import com.casic.missiles.modular.system.service.impl.RouteInfoServiceImpl;
 import io.netty.channel.Channel;
 import io.netty.channel.ChannelHandlerContext;
@@ -43,16 +44,16 @@
         executor.submit(new Runnable() {
             @Override
             public void run() {
-                String encryptData = msg.toString();
-                DeviceCommon.devcodeMap.put(encryptData, channel.id().asLongText());
-                System.out.println("接收到加密数据：" + encryptData);
-                routeInfoService.getMsg(1L,encryptData);
-//                String decryptData = RSAUtil.getDecryptMsg(encryptData);
-//                if (ObjectUtil.isNotEmpty(decryptData) && decryptData.contains(",")) {
-//                    String devCode = decryptData.split(",")[0];
-//                    DeviceCommon.devcodeMap.put(devCode, channel.id().asLongText());
-//                    dataPanGasService.process(decryptData);
-//                }
+                String dataMsg = msg.toString();
+                log.info("接收到机器狗数据：" + dataMsg);
+                if(ObjectUtil.isNotEmpty(dataMsg)){
+                    //只接收设备基本信息，其他过滤
+                    if(dataMsg.startsWith("devCode:")){
+                        String devCode = dataMsg.substring(8);
+                        DeviceCommon.devcodeMap.put(devCode, channel.id().asLongText());
+                        routeInfoService.getMsg(devCode,dataMsg);
+                    }
+                }
             }
         });
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java
index 1c6f24e..1320c8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java
@@ -1,7 +1,8 @@
 package com.casic.missiles.modular.system.service;
 
-import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.system.dto.SelectDTO;
+import com.casic.missiles.modular.system.entity.RobotDogInfo;
 
 import java.util.List;
 
@@ -17,4 +18,12 @@
 
     boolean batchDeleteDogs(List<Long> ids);
 
+    boolean updateRobotDogLine(String devCode, Long lineId);
+
+    boolean updateRobotDogStatus(String devCode, String status);
+
+    List<SelectDTO> selectDogList();
+
+    List<SelectDTO> selectLines(Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java
index 1658f2e..9cb5804 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java
@@ -24,7 +24,7 @@
 
     boolean editRouteInfo(RouteInfo routeInfo);
 
-    void control(String command,Long robotDogId);
+    boolean control(String command,String devCode);
 
     void processData(Map map);
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/PatrolLogServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/PatrolLogServiceImpl.java
index ae8438a..51b90c5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/PatrolLogServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/PatrolLogServiceImpl.java
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.util.ObjectUtil;
 import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.core.common.service.ICommonFileService;
 import com.casic.missiles.modular.system.dao.PatrolLogMapper;
@@ -9,6 +10,7 @@
 import com.casic.missiles.modular.system.service.IPatrolLogService;
 import com.casic.missiles.modular.system.util.CommonUtil;
 import com.casic.missiles.modular.system.util.HttpClientUtils;
+import com.casic.missiles.modular.system.util.WebSocket;
 import lombok.RequiredArgsConstructor;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -38,6 +40,8 @@
     @Resource
     private ICommonFileService commonFileService;
 
+    private final WebSocket webSocket;
+
     @Value("${casic.brPushUrl}")
     private String brPushUrl;
 
@@ -64,9 +68,23 @@
             }
             this.saveBatch(patrolLogList);
 
-            //推送第三方
+
             CompletableFuture.runAsync(() -> {
-//                    ResponseResolver.makeResponse(map);
+
+                        //websocket推送给前端
+                        if (patrolLogList.size() > 0) {
+                            for (PatrolLog patrolLog : patrolLogList) {
+                                JSONObject jsonObject = new JSONObject();
+                                jsonObject.put("routeInfoId", patrolLog.getRouteInfoId());
+                                jsonObject.put("patrolType", patrolLog.getPatrolType());
+                                jsonObject.put("patrolContent", patrolLog.getPatrolContent());
+                                jsonObject.put("patrolTime", patrolLog.getCreateTime());
+                                jsonObject.put("picture", patrolLog.getPatrolPicture());
+                                webSocket.sendAllMessage(jsonObject.toJSONString());
+                            }
+                        }
+
+                        //推送第三方
                         Map<String, Object> parasMap = new HashMap<>();
                         HttpClientUtils.post(brPushUrl, JSON.toJSONString(parasMap));
                     }

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
index 30aebdd..abeb14b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.PatrolLogMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.PatrolLogMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.PatrolLog">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
index 182ca3d..aa18c82 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RobotDogInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RobotDogInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RobotDogInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
index 1e36465..a224cde 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoDetailMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoDetailMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfoDetail">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
index 2542993..6e5acda 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
new file mode 100644
index 0000000..1b7b208
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class PatrolLogDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+//    @ApiModelProperty("机器人id")
+//    private Long robotId;
+    @ApiModelProperty("巡航线id")
+    private Long routeInfoId;
+//    @ApiModelProperty("小区名称")
+//    private String communityName;
+//    @ApiModelProperty("小区地址")
+//    private String communityAddress;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
index 99f94ff..e76a861 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
@@ -15,5 +15,8 @@
     @ApiModelProperty("设备名称")
     private String robotName;
 
+    @ApiModelProperty("设备编号")
+    private String robotCode;
+
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
new file mode 100644
index 0000000..b8156d7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class SelectDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+
+    @ApiModelProperty("id")
+    private Long id;
+
+    @ApiModelProperty("name")
+    private String name;
+
+    @ApiModelProperty("code")
+    private String code;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
index 454b1bc..bfb9c50 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
@@ -46,10 +46,14 @@
     @TableField("robot_port")
     private Integer robotPort;
 
-    @ApiModelProperty("机器狗状态(1,有效，0无效)")
+    @ApiModelProperty("机器狗状态(1,在线，离线)")
     @TableField("robot_status")
     private String robotStatus;
 
+    @ApiModelProperty("删除状态(1,有效，0无效)")
+    @TableField("valid")
+    private String valid;
+
     @ApiModelProperty("电量")
     @TableField("robot_cell")
     private String robotCell;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
index 9b88a35..299594b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
@@ -43,6 +43,10 @@
     @TableField("route_name")
     private String routeName;
 
+    @ApiModelProperty("状态1:有效，0：无效")
+    @TableField("status")
+    private String status;
+
     @ApiModelProperty("机器人ID")
     @TableField("robot_id")
     private Long robotId;
@@ -61,4 +65,9 @@
     @TableField(exist = false)
     private List<RouteInfoDetail> routeInfoDetailList;
 
+
+    @ApiModelProperty("机器人名称")
+    @TableField(exist = false)
+    private String robotName;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java b/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
index 7924c30..6bafabf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
@@ -29,7 +29,9 @@
 
     MONITOR_VALID_FAILED(2099, "云台登录地址重复"),
 
-    DEVICE_DUPLICATE(2011, "设备编号重复");
+    DEVICE_DUPLICATE(2011, "设备编号重复"),
+
+    CONFIG_FAIL(4005, "设备通讯一次，下发失败");
 
 
     private Integer code;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
index 52b8451..0e608c3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
@@ -39,7 +39,7 @@
                     .childOption(ChannelOption.SO_KEEPALIVE, true);
 
             // 绑定端口并开始接受进来的连接
-            future = bootstrap.bind(7000).sync();
+            future = bootstrap.bind(11647).sync();
 
             // 等待服务器套接字关闭
             future.channel().closeFuture().sync();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
index 11878ff..ac53fc7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
@@ -1,6 +1,7 @@
 package com.casic.missiles.modular.system.netty;
 
 
+import cn.hutool.core.util.ObjectUtil;
 import com.casic.missiles.modular.system.service.impl.RouteInfoServiceImpl;
 import io.netty.channel.Channel;
 import io.netty.channel.ChannelHandlerContext;
@@ -43,16 +44,16 @@
         executor.submit(new Runnable() {
             @Override
             public void run() {
-                String encryptData = msg.toString();
-                DeviceCommon.devcodeMap.put(encryptData, channel.id().asLongText());
-                System.out.println("接收到加密数据：" + encryptData);
-                routeInfoService.getMsg(1L,encryptData);
-//                String decryptData = RSAUtil.getDecryptMsg(encryptData);
-//                if (ObjectUtil.isNotEmpty(decryptData) && decryptData.contains(",")) {
-//                    String devCode = decryptData.split(",")[0];
-//                    DeviceCommon.devcodeMap.put(devCode, channel.id().asLongText());
-//                    dataPanGasService.process(decryptData);
-//                }
+                String dataMsg = msg.toString();
+                log.info("接收到机器狗数据：" + dataMsg);
+                if(ObjectUtil.isNotEmpty(dataMsg)){
+                    //只接收设备基本信息，其他过滤
+                    if(dataMsg.startsWith("devCode:")){
+                        String devCode = dataMsg.substring(8);
+                        DeviceCommon.devcodeMap.put(devCode, channel.id().asLongText());
+                        routeInfoService.getMsg(devCode,dataMsg);
+                    }
+                }
             }
         });
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java
index 1c6f24e..1320c8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java
@@ -1,7 +1,8 @@
 package com.casic.missiles.modular.system.service;
 
-import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.system.dto.SelectDTO;
+import com.casic.missiles.modular.system.entity.RobotDogInfo;
 
 import java.util.List;
 
@@ -17,4 +18,12 @@
 
     boolean batchDeleteDogs(List<Long> ids);
 
+    boolean updateRobotDogLine(String devCode, Long lineId);
+
+    boolean updateRobotDogStatus(String devCode, String status);
+
+    List<SelectDTO> selectDogList();
+
+    List<SelectDTO> selectLines(Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java
index 1658f2e..9cb5804 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java
@@ -24,7 +24,7 @@
 
     boolean editRouteInfo(RouteInfo routeInfo);
 
-    void control(String command,Long robotDogId);
+    boolean control(String command,String devCode);
 
     void processData(Map map);
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/PatrolLogServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/PatrolLogServiceImpl.java
index ae8438a..51b90c5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/PatrolLogServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/PatrolLogServiceImpl.java
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.util.ObjectUtil;
 import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.core.common.service.ICommonFileService;
 import com.casic.missiles.modular.system.dao.PatrolLogMapper;
@@ -9,6 +10,7 @@
 import com.casic.missiles.modular.system.service.IPatrolLogService;
 import com.casic.missiles.modular.system.util.CommonUtil;
 import com.casic.missiles.modular.system.util.HttpClientUtils;
+import com.casic.missiles.modular.system.util.WebSocket;
 import lombok.RequiredArgsConstructor;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -38,6 +40,8 @@
     @Resource
     private ICommonFileService commonFileService;
 
+    private final WebSocket webSocket;
+
     @Value("${casic.brPushUrl}")
     private String brPushUrl;
 
@@ -64,9 +68,23 @@
             }
             this.saveBatch(patrolLogList);
 
-            //推送第三方
+
             CompletableFuture.runAsync(() -> {
-//                    ResponseResolver.makeResponse(map);
+
+                        //websocket推送给前端
+                        if (patrolLogList.size() > 0) {
+                            for (PatrolLog patrolLog : patrolLogList) {
+                                JSONObject jsonObject = new JSONObject();
+                                jsonObject.put("routeInfoId", patrolLog.getRouteInfoId());
+                                jsonObject.put("patrolType", patrolLog.getPatrolType());
+                                jsonObject.put("patrolContent", patrolLog.getPatrolContent());
+                                jsonObject.put("patrolTime", patrolLog.getCreateTime());
+                                jsonObject.put("picture", patrolLog.getPatrolPicture());
+                                webSocket.sendAllMessage(jsonObject.toJSONString());
+                            }
+                        }
+
+                        //推送第三方
                         Map<String, Object> parasMap = new HashMap<>();
                         HttpClientUtils.post(brPushUrl, JSON.toJSONString(parasMap));
                     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RobotDogInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RobotDogInfoServiceImpl.java
index ad9caa9..a260aaa 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RobotDogInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RobotDogInfoServiceImpl.java
@@ -3,6 +3,7 @@
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.system.dao.RobotDogInfoMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.service.IRobotDogInfoService;
 import org.springframework.stereotype.Service;
@@ -20,12 +21,38 @@
 @Service
 public class RobotDogInfoServiceImpl extends ServiceImpl<RobotDogInfoMapper, RobotDogInfo> implements IRobotDogInfoService {
 
-
     @Override
     public boolean batchDeleteDogs(List<Long> ids) {
         UpdateWrapper<RobotDogInfo> updateWrapper = new UpdateWrapper<>();
         updateWrapper.in("id", ids);
-        updateWrapper.set("robot_status", "0");
+        updateWrapper.set("valid", "0");
+        return this.update(updateWrapper);
+    }
+
+    @Override
+    public List<SelectDTO> selectDogList() {
+
+        return this.baseMapper.selectDogList();
+    }
+
+    @Override
+    public List<SelectDTO> selectLines(Long robotId) {
+        return this.baseMapper.selectLines(robotId);
+    }
+
+    @Override
+    public boolean updateRobotDogLine(String devCode, Long lineId) {
+        UpdateWrapper<RobotDogInfo> updateWrapper = new UpdateWrapper<>();
+        updateWrapper.eq("robot_code", devCode);
+        updateWrapper.set("route_id", lineId);
+        return this.update(updateWrapper);
+    }
+
+    @Override
+    public boolean updateRobotDogStatus(String devCode, String status) {
+        UpdateWrapper<RobotDogInfo> updateWrapper = new UpdateWrapper<>();
+        updateWrapper.eq("robot_code", devCode);
+        updateWrapper.set("robot_status", status);
         return this.update(updateWrapper);
     }
 }

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
index 30aebdd..abeb14b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.PatrolLogMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.PatrolLogMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.PatrolLog">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
index 182ca3d..aa18c82 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RobotDogInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RobotDogInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RobotDogInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
index 1e36465..a224cde 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoDetailMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoDetailMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfoDetail">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
index 2542993..6e5acda 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
new file mode 100644
index 0000000..1b7b208
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class PatrolLogDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+//    @ApiModelProperty("机器人id")
+//    private Long robotId;
+    @ApiModelProperty("巡航线id")
+    private Long routeInfoId;
+//    @ApiModelProperty("小区名称")
+//    private String communityName;
+//    @ApiModelProperty("小区地址")
+//    private String communityAddress;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
index 99f94ff..e76a861 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
@@ -15,5 +15,8 @@
     @ApiModelProperty("设备名称")
     private String robotName;
 
+    @ApiModelProperty("设备编号")
+    private String robotCode;
+
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
new file mode 100644
index 0000000..b8156d7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class SelectDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+
+    @ApiModelProperty("id")
+    private Long id;
+
+    @ApiModelProperty("name")
+    private String name;
+
+    @ApiModelProperty("code")
+    private String code;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
index 454b1bc..bfb9c50 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
@@ -46,10 +46,14 @@
     @TableField("robot_port")
     private Integer robotPort;
 
-    @ApiModelProperty("机器狗状态(1,有效，0无效)")
+    @ApiModelProperty("机器狗状态(1,在线，离线)")
     @TableField("robot_status")
     private String robotStatus;
 
+    @ApiModelProperty("删除状态(1,有效，0无效)")
+    @TableField("valid")
+    private String valid;
+
     @ApiModelProperty("电量")
     @TableField("robot_cell")
     private String robotCell;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
index 9b88a35..299594b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
@@ -43,6 +43,10 @@
     @TableField("route_name")
     private String routeName;
 
+    @ApiModelProperty("状态1:有效，0：无效")
+    @TableField("status")
+    private String status;
+
     @ApiModelProperty("机器人ID")
     @TableField("robot_id")
     private Long robotId;
@@ -61,4 +65,9 @@
     @TableField(exist = false)
     private List<RouteInfoDetail> routeInfoDetailList;
 
+
+    @ApiModelProperty("机器人名称")
+    @TableField(exist = false)
+    private String robotName;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java b/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
index 7924c30..6bafabf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
@@ -29,7 +29,9 @@
 
     MONITOR_VALID_FAILED(2099, "云台登录地址重复"),
 
-    DEVICE_DUPLICATE(2011, "设备编号重复");
+    DEVICE_DUPLICATE(2011, "设备编号重复"),
+
+    CONFIG_FAIL(4005, "设备通讯一次，下发失败");
 
 
     private Integer code;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
index 52b8451..0e608c3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
@@ -39,7 +39,7 @@
                     .childOption(ChannelOption.SO_KEEPALIVE, true);
 
             // 绑定端口并开始接受进来的连接
-            future = bootstrap.bind(7000).sync();
+            future = bootstrap.bind(11647).sync();
 
             // 等待服务器套接字关闭
             future.channel().closeFuture().sync();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
index 11878ff..ac53fc7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
@@ -1,6 +1,7 @@
 package com.casic.missiles.modular.system.netty;
 
 
+import cn.hutool.core.util.ObjectUtil;
 import com.casic.missiles.modular.system.service.impl.RouteInfoServiceImpl;
 import io.netty.channel.Channel;
 import io.netty.channel.ChannelHandlerContext;
@@ -43,16 +44,16 @@
         executor.submit(new Runnable() {
             @Override
             public void run() {
-                String encryptData = msg.toString();
-                DeviceCommon.devcodeMap.put(encryptData, channel.id().asLongText());
-                System.out.println("接收到加密数据：" + encryptData);
-                routeInfoService.getMsg(1L,encryptData);
-//                String decryptData = RSAUtil.getDecryptMsg(encryptData);
-//                if (ObjectUtil.isNotEmpty(decryptData) && decryptData.contains(",")) {
-//                    String devCode = decryptData.split(",")[0];
-//                    DeviceCommon.devcodeMap.put(devCode, channel.id().asLongText());
-//                    dataPanGasService.process(decryptData);
-//                }
+                String dataMsg = msg.toString();
+                log.info("接收到机器狗数据：" + dataMsg);
+                if(ObjectUtil.isNotEmpty(dataMsg)){
+                    //只接收设备基本信息，其他过滤
+                    if(dataMsg.startsWith("devCode:")){
+                        String devCode = dataMsg.substring(8);
+                        DeviceCommon.devcodeMap.put(devCode, channel.id().asLongText());
+                        routeInfoService.getMsg(devCode,dataMsg);
+                    }
+                }
             }
         });
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java
index 1c6f24e..1320c8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java
@@ -1,7 +1,8 @@
 package com.casic.missiles.modular.system.service;
 
-import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.system.dto.SelectDTO;
+import com.casic.missiles.modular.system.entity.RobotDogInfo;
 
 import java.util.List;
 
@@ -17,4 +18,12 @@
 
     boolean batchDeleteDogs(List<Long> ids);
 
+    boolean updateRobotDogLine(String devCode, Long lineId);
+
+    boolean updateRobotDogStatus(String devCode, String status);
+
+    List<SelectDTO> selectDogList();
+
+    List<SelectDTO> selectLines(Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java
index 1658f2e..9cb5804 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java
@@ -24,7 +24,7 @@
 
     boolean editRouteInfo(RouteInfo routeInfo);
 
-    void control(String command,Long robotDogId);
+    boolean control(String command,String devCode);
 
     void processData(Map map);
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/PatrolLogServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/PatrolLogServiceImpl.java
index ae8438a..51b90c5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/PatrolLogServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/PatrolLogServiceImpl.java
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.util.ObjectUtil;
 import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.core.common.service.ICommonFileService;
 import com.casic.missiles.modular.system.dao.PatrolLogMapper;
@@ -9,6 +10,7 @@
 import com.casic.missiles.modular.system.service.IPatrolLogService;
 import com.casic.missiles.modular.system.util.CommonUtil;
 import com.casic.missiles.modular.system.util.HttpClientUtils;
+import com.casic.missiles.modular.system.util.WebSocket;
 import lombok.RequiredArgsConstructor;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -38,6 +40,8 @@
     @Resource
     private ICommonFileService commonFileService;
 
+    private final WebSocket webSocket;
+
     @Value("${casic.brPushUrl}")
     private String brPushUrl;
 
@@ -64,9 +68,23 @@
             }
             this.saveBatch(patrolLogList);
 
-            //推送第三方
+
             CompletableFuture.runAsync(() -> {
-//                    ResponseResolver.makeResponse(map);
+
+                        //websocket推送给前端
+                        if (patrolLogList.size() > 0) {
+                            for (PatrolLog patrolLog : patrolLogList) {
+                                JSONObject jsonObject = new JSONObject();
+                                jsonObject.put("routeInfoId", patrolLog.getRouteInfoId());
+                                jsonObject.put("patrolType", patrolLog.getPatrolType());
+                                jsonObject.put("patrolContent", patrolLog.getPatrolContent());
+                                jsonObject.put("patrolTime", patrolLog.getCreateTime());
+                                jsonObject.put("picture", patrolLog.getPatrolPicture());
+                                webSocket.sendAllMessage(jsonObject.toJSONString());
+                            }
+                        }
+
+                        //推送第三方
                         Map<String, Object> parasMap = new HashMap<>();
                         HttpClientUtils.post(brPushUrl, JSON.toJSONString(parasMap));
                     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RobotDogInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RobotDogInfoServiceImpl.java
index ad9caa9..a260aaa 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RobotDogInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RobotDogInfoServiceImpl.java
@@ -3,6 +3,7 @@
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.system.dao.RobotDogInfoMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.service.IRobotDogInfoService;
 import org.springframework.stereotype.Service;
@@ -20,12 +21,38 @@
 @Service
 public class RobotDogInfoServiceImpl extends ServiceImpl<RobotDogInfoMapper, RobotDogInfo> implements IRobotDogInfoService {
 
-
     @Override
     public boolean batchDeleteDogs(List<Long> ids) {
         UpdateWrapper<RobotDogInfo> updateWrapper = new UpdateWrapper<>();
         updateWrapper.in("id", ids);
-        updateWrapper.set("robot_status", "0");
+        updateWrapper.set("valid", "0");
+        return this.update(updateWrapper);
+    }
+
+    @Override
+    public List<SelectDTO> selectDogList() {
+
+        return this.baseMapper.selectDogList();
+    }
+
+    @Override
+    public List<SelectDTO> selectLines(Long robotId) {
+        return this.baseMapper.selectLines(robotId);
+    }
+
+    @Override
+    public boolean updateRobotDogLine(String devCode, Long lineId) {
+        UpdateWrapper<RobotDogInfo> updateWrapper = new UpdateWrapper<>();
+        updateWrapper.eq("robot_code", devCode);
+        updateWrapper.set("route_id", lineId);
+        return this.update(updateWrapper);
+    }
+
+    @Override
+    public boolean updateRobotDogStatus(String devCode, String status) {
+        UpdateWrapper<RobotDogInfo> updateWrapper = new UpdateWrapper<>();
+        updateWrapper.eq("robot_code", devCode);
+        updateWrapper.set("robot_status", status);
         return this.update(updateWrapper);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RouteInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RouteInfoServiceImpl.java
index 501dedd..3f583f6 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RouteInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RouteInfoServiceImpl.java
@@ -3,13 +3,17 @@
 import cn.hutool.core.util.ObjectUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.system.dao.RouteInfoMapper;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.entity.RouteInfoDetail;
+import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
+import com.casic.missiles.modular.system.exception.BusinessException;
 import com.casic.missiles.modular.system.netty.DeviceCommon;
+import com.casic.missiles.modular.system.service.IRobotDogInfoService;
 import com.casic.missiles.modular.system.service.IRouteInfoDetailService;
 import com.casic.missiles.modular.system.service.IRouteInfoService;
 import com.casic.missiles.modular.system.util.SnowFlakeUtil;
@@ -37,6 +41,8 @@
     private final IRouteInfoDetailService detailService;
     private final DeviceCommon deviceCommon;
     private final WebSocket webSocket;
+    private final IRobotDogInfoService iRobotDogInfoService;
+
     @Transactional
     @Override
     public boolean saveRouteInfo(RouteInfo routeInfo) {
@@ -52,9 +58,18 @@
             }
             detailService.saveBatch(routeInfo.getRouteInfoDetailList());
         }
+        //由于机器人只能有一条有效的巡航线，其他已录入的更新成无效
+        deleteRouteInfo(routeInfo.getRobotId());
         return true;
     }
 
+    public void deleteRouteInfo(Long robotId) {
+        UpdateWrapper<RouteInfo> updateWrapper = new UpdateWrapper<>();
+        updateWrapper.eq("robot_id", robotId);
+        updateWrapper.set("status", "0");
+        this.update(updateWrapper);
+    }
+
 
     @Override
     public Page<RouteInfo> pageList(Page<RouteInfo> page, RouteInfoDTO requestDTO) {
@@ -74,7 +89,10 @@
         //先删除巡航线预置点信息
         detailService.deleteByRouteInfoIds(ids);
         //再删除巡航线信息
-        return this.removeByIds(ids);
+        UpdateWrapper<RouteInfo> updateWrapper = new UpdateWrapper<>();
+        updateWrapper.in("id", ids);
+        updateWrapper.set("status", "0");
+        return this.update(updateWrapper);
     }
 
     @Transactional
@@ -92,38 +110,33 @@
     }
 
     @Override
-    public void control(String command, Long robotDogId) {
-        switch (command) {
-            case "startRecordMap":
-                deviceCommon.sendMsg("111","startRecordMap");
-//                this.deviceInit(detectorId);
-                break;
-            case "endRecordMap":
-//                this.pressurize(detectorId);
-                break;
-            case "startRecordRoutInfo":
-//                this.depress(detectorId);
-                break;
-            case "startPatrol":
-//                this.depress(detectorId);
-                break;
-            case "stopPatrol":
-//                this.depress(detectorId);
-                break;
-            case "endRecordRoutInfo":
+    public boolean control(String command, String devCode) {
+        boolean isSend = deviceCommon.sendMsg(devCode, command);
+        if (!isSend) {
+            throw new BusinessException(BusinessExceptionEnum.CONFIG_FAIL);
+        }
 
+        switch (command) {
+            case "a/":
+                //开始巡检时更新机器人巡检路线信息
+                Long lineId = getLineId(devCode);
+                if (null != lineId)
+                    iRobotDogInfoService.updateRobotDogLine(devCode, lineId);
+                break;
             default:
                 break;
         }
+        return isSend;
     }
 
-    public void getMsg(Long detectorId, String msg) {
-
-        //TOdO:处理数据
-
-        System.out.println("getMsg"+ msg);
-        //发送指令给设备
-        //发送指令给设备
+    public void getMsg(String devCode, String msg) {
+        //更新设备状态
+        iRobotDogInfoService.updateRobotDogStatus(devCode, "1");
+        //推送上线消息给前端
+        JSONObject jsonObject = new JSONObject();
+        jsonObject.put("devCode", devCode);
+        jsonObject.put("type", "onLine");
+        webSocket.sendAllMessage(jsonObject.toJSONString());
     }
 
     @Override
@@ -136,14 +149,28 @@
         //{"type":2,"devcode":"1212",data:[{"gps_x:1212","gps_y":1212","route_x":"1","route_y":"1","route_number":1},{"gps_x:1212","gps_y":"1212","route_x":"1","route_y":"1","route_number":2}]}
         //{"type":1,"devcode":"1212",data:[{"gps_x:1212","gps_y":1212"}]
         //{"type":3,"devcode":"1212",data:[{"gps_x:1212","gps_y":1212"}]
-        //{"type":5,"devcode":"1212",data:[{"cell:1212","gps_y":1212"}]
+        //{"type":5,"devcode":"1212",data:{"cell:20"}
+        if ("2".equals(type)) {
+//            JSONArray jsonArray = json.getJSONArray("data");
+//            for (int i = 0; i < jsonArray.size(); i++) {
+//                JSONObject jsonObject = jsonArray.getJSONObject(i);
+//                RouteInfoDetail routeInfoDetail = new RouteInfoDetail();
+//                routeInfoDetail.setGpsX(jsonObject.getString("gps_x"));
+//                routeInfoDetail.setGpsY(jsonObject.getString("gps_y"));
+//                routeInfoDetail.setRouteX(jsonObject.getString("route_x"));
+//                routeInfoDetail.setRouteY(jsonObject.getString("route_y"));
+//                routeInfoDetail.setRouteNumber(jsonObject.getString("route_number"));
+//            }
 
+            JSONObject msg = new JSONObject();
+            msg.put("devcode", "922431");
+            msg.put("points", json.getJSONArray("data"));
+            msg.put("type", "sendPoints");
+            webSocket.sendAllMessage(msg.toJSONString());
+        }
+    }
 
-        JSONObject msg = new JSONObject();
-        msg.put("devcode", "1212");
-        msg.put("gps_x", "121212");
-        msg.put("gps_y", "322323");
-        webSocket.sendAllMessage(msg.toJSONString());
-
+    public Long getLineId(String devCode) {
+        return this.baseMapper.getLineId(devCode);
     }
 }

diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
index b277154..0b5a69b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/PatrolLogController.java
@@ -1,9 +1,20 @@
 package com.casic.missiles.modular.system.controller;
 
 
-import org.springframework.web.bind.annotation.RequestMapping;
-
-import org.springframework.web.bind.annotation.RestController;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import com.casic.missiles.core.base.controller.ExportController;
+import com.casic.missiles.core.page.PageFactory;
+import com.casic.missiles.modular.system.dto.PatrolLogDTO;
+import com.casic.missiles.modular.system.dto.ReturnDTO;
+import com.casic.missiles.modular.system.entity.PatrolLog;
+import com.casic.missiles.modular.system.service.IPatrolLogService;
+import com.casic.missiles.modular.system.util.ReturnUtil;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.*;
 
 /**
  * <p>
@@ -13,9 +24,23 @@
  * @author zt
  * @since 2025-03-14
  */
+@Api(tags = "巡航日志管理模块")
+@RequiredArgsConstructor
 @RestController
 @RequestMapping("/system/patrolLog")
-public class PatrolLogController {
+public class PatrolLogController extends ExportController {
 
+    private final IPatrolLogService iPatrolLogService;
+
+    @ApiOperation("查询分页接口")
+    @PostMapping("/listPage")
+    @ResponseBody
+    public ReturnDTO<PatrolLog> listPage(@RequestBody PatrolLogDTO requestDTO) {
+        Page<PatrolLog> page = PageFactory.defaultPage();
+        QueryWrapper<PatrolLog> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRouteInfoId()), "route_info_id", requestDTO.getRouteInfoId());
+        queryWrapper.orderByDesc("createTime");
+        return ReturnUtil.success(super.packForBT(iPatrolLogService.page(page, queryWrapper)));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
index e0bc9c6..75ae29e 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/ReceiveDeviceDataController.java
@@ -34,7 +34,6 @@
 
         CompletableFuture.runAsync(() -> {
                     iRouteInfoService.processData(map);
-//                    ResponseResolver.makeResponse(map);
                 }
         );
         return ReturnUtil.success();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
index baffa6f..004b2bf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RobotDogInfoController.java
@@ -7,9 +7,7 @@
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.casic.missiles.core.base.controller.ExportController;
 import com.casic.missiles.core.page.PageFactory;
-import com.casic.missiles.modular.system.dto.IdsDTO;
-import com.casic.missiles.modular.system.dto.ReturnDTO;
-import com.casic.missiles.modular.system.dto.RobotDogInfoDTO;
+import com.casic.missiles.modular.system.dto.*;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -20,7 +18,6 @@
 import lombok.RequiredArgsConstructor;
 import org.springframework.web.bind.annotation.*;
 
-import java.util.List;
 import java.util.Objects;
 
 /**
@@ -46,8 +43,8 @@
         Page<RobotDogInfo> page = PageFactory.defaultPage();
         QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
         queryWrapper.like(ObjectUtil.isNotEmpty(requestDTO.getRobotName()), "robot_name", requestDTO.getRobotName());
-        queryWrapper.eq("robot_status", "1");
-        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page,queryWrapper)));
+        queryWrapper.eq("valid", "1");
+        return ReturnUtil.success(super.packForBT(iRobotDogInfoService.page(page, queryWrapper)));
     }
 
     @ApiOperation("增加设备类型")
@@ -77,5 +74,33 @@
         });
         return ReturnUtil.success(iRobotDogInfoService.batchDeleteDogs(idsDTO.getIds()));
     }
+
+    @ApiOperation("获取机器狗下拉列表")
+    @PostMapping("/selectDogList")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectDogList() {
+        return ReturnUtil.success(iRobotDogInfoService.selectDogList());
+    }
+
+    @ApiOperation("根据设备获取巡航线,id魏机器狗id")
+    @PostMapping("/selectLines")
+    @ResponseBody
+    public ReturnDTO<SelectDTO> selectLines(@RequestBody IdDTO idDTO) {
+        Assert.isFalse(Objects.isNull(idDTO.getId()), () -> {
+            throw new BusinessException(BusinessExceptionEnum.ID_NULL);
+        });
+        return ReturnUtil.success(iRobotDogInfoService.selectLines(idDTO.getId()));
+    }
+
+
+    @ApiOperation("根据设备编号获取机器狗信息")
+    @PostMapping("/getRobotDogByCode")
+    @ResponseBody
+    public ReturnDTO<RobotDogInfo> getRobotDogByCode(@RequestBody RobotDogInfoDTO requestDTO) {
+        QueryWrapper<RobotDogInfo> queryWrapper = new QueryWrapper<>();
+        queryWrapper.eq(ObjectUtil.isNotEmpty(requestDTO.getRobotCode()), "robot_code", requestDTO.getRobotCode());
+        queryWrapper.eq("robot_status", "1");
+        return ReturnUtil.success(iRobotDogInfoService.list(queryWrapper));
+    }
 }
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
index d6ccb8e..0a24375 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/controller/RouteInfoController.java
@@ -9,6 +9,7 @@
 import com.casic.missiles.modular.system.dto.IdsDTO;
 import com.casic.missiles.modular.system.dto.ReturnDTO;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
 import com.casic.missiles.modular.system.exception.BusinessException;
@@ -74,14 +75,26 @@
         return ReturnUtil.success(iRouteInfoService.editRouteInfo(routeInfo));
     }
 
+    /**
+     * startRecordMap: 'w/', // 开始地图录入
+     * endRecordMap: 'e/', // 完成地图录入
+     * startRecordRoutInfo: 'x/', // 添加巡检点
+     * endRecordRoutInfo: 'c/', // 保存巡检点和地图
+     * delRecordRoutInfo: 'v/', // 删除所有的巡检点和地图
+     * startNavigation: 'a/', // 开始巡检
+     *  pauseNavigation: 's/', // 暂停巡检
+     *  recoverNavigation: 'd/', // 恢复巡检
+     * @param command
+     * @param devCode
+     * @return
+     */
     @ApiOperation("控制指令类型（startRecordMap-开始地图录制，endRecordMap-完成地图录制，" +
-            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入,"+
+            "startRecordRoutInfo-开始巡检线路录入，endRecordRoutInfo-结束巡检线路录入," +
             "startPatrol-开始巡检，stopPatrol-结束巡检")
     @PostMapping("/control")
     @ResponseBody
-    public ResponseDataDTO control(String command, Long robotDogId) {
-        iRouteInfoService.control(command, robotDogId);
-        return ResponseDataDTO.success();
+    public ReturnDTO control(String command, String devCode) {
+        return ReturnUtil.success(iRouteInfoService.control(command, devCode));
     }
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
index bdf4553..0bbdf6c 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RobotDogInfoMapper.java
@@ -1,8 +1,13 @@
 package com.casic.missiles.modular.system.dao;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
+
+import java.util.List;
 
 /**
  * <p>
@@ -15,4 +20,11 @@
 @Mapper
 public interface RobotDogInfoMapper extends BaseMapper<RobotDogInfo> {
 
+
+    @Select("SELECT robot_name as `name`,id,robot_code as `code` FROM `robot_dog_info` where valid='1'")
+    List<SelectDTO> selectDogList();
+
+    @Select("SELECT route_name as `name`,id FROM `route_info` where robot_id = #{robotId} and status='1'")
+    List<SelectDTO> selectLines(@Param("robotId") Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
index bae594b..844b1fe 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/RouteInfoMapper.java
@@ -5,8 +5,10 @@
 import com.casic.missiles.core.datascope.DataScope;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
+import org.apache.ibatis.annotations.Delete;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
+import org.apache.ibatis.annotations.Select;
 
 /**
  * <p>
@@ -22,4 +24,8 @@
     Page<RouteInfo> listPage(@Param("page") Page<RouteInfo> page,
                              @Param("requestDTO") RouteInfoDTO requestDTO);
 
+    @Select("SELECT ri.id FROM `route_info` ri LEFT join robot_dog_info rd on ri.robot_id= rd.id " +
+            "where ri.status='1' and rd.robot_code = #{devCode} limit 1")
+    Long  getLineId(@Param("devCode") String devCode);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
index 30aebdd..abeb14b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/PatrolLogMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.PatrolLogMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.PatrolLogMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.PatrolLog">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
index 182ca3d..aa18c82 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RobotDogInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RobotDogInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RobotDogInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RobotDogInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
index 1e36465..a224cde 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoDetailMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoDetailMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoDetailMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfoDetail">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
index 2542993..6e5acda 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dao/mapping/RouteInfoMapper.xml
@@ -1,6 +1,6 @@
 <?xml version="1.0" encoding="UTF-8"?>
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="com.casic.missiles.modular.system.mapper.RouteInfoMapper">
+<mapper namespace="com.casic.missiles.modular.system.dao.RouteInfoMapper">
 
     <!-- 通用查询映射结果 -->
     <resultMap id="BaseResultMap" type="com.casic.missiles.modular.system.entity.RouteInfo">
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
new file mode 100644
index 0000000..1b7b208
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/PatrolLogDTO.java
@@ -0,0 +1,25 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class PatrolLogDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+//    @ApiModelProperty("机器人id")
+//    private Long robotId;
+    @ApiModelProperty("巡航线id")
+    private Long routeInfoId;
+//    @ApiModelProperty("小区名称")
+//    private String communityName;
+//    @ApiModelProperty("小区地址")
+//    private String communityAddress;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
index 99f94ff..e76a861 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/RobotDogInfoDTO.java
@@ -15,5 +15,8 @@
     @ApiModelProperty("设备名称")
     private String robotName;
 
+    @ApiModelProperty("设备编号")
+    private String robotCode;
+
 
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
new file mode 100644
index 0000000..b8156d7
--- /dev/null
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/dto/SelectDTO.java
@@ -0,0 +1,26 @@
+package com.casic.missiles.modular.system.dto;
+
+
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.io.Serializable;
+
+
+@Data
+public class SelectDTO implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+
+    @ApiModelProperty("id")
+    private Long id;
+
+    @ApiModelProperty("name")
+    private String name;
+
+    @ApiModelProperty("code")
+    private String code;
+
+
+}
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
index 454b1bc..bfb9c50 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RobotDogInfo.java
@@ -46,10 +46,14 @@
     @TableField("robot_port")
     private Integer robotPort;
 
-    @ApiModelProperty("机器狗状态(1,有效，0无效)")
+    @ApiModelProperty("机器狗状态(1,在线，离线)")
     @TableField("robot_status")
     private String robotStatus;
 
+    @ApiModelProperty("删除状态(1,有效，0无效)")
+    @TableField("valid")
+    private String valid;
+
     @ApiModelProperty("电量")
     @TableField("robot_cell")
     private String robotCell;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
index 9b88a35..299594b 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/entity/RouteInfo.java
@@ -43,6 +43,10 @@
     @TableField("route_name")
     private String routeName;
 
+    @ApiModelProperty("状态1:有效，0：无效")
+    @TableField("status")
+    private String status;
+
     @ApiModelProperty("机器人ID")
     @TableField("robot_id")
     private Long robotId;
@@ -61,4 +65,9 @@
     @TableField(exist = false)
     private List<RouteInfoDetail> routeInfoDetailList;
 
+
+    @ApiModelProperty("机器人名称")
+    @TableField(exist = false)
+    private String robotName;
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java b/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
index 7924c30..6bafabf 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/enums/BusinessExceptionEnum.java
@@ -29,7 +29,9 @@
 
     MONITOR_VALID_FAILED(2099, "云台登录地址重复"),
 
-    DEVICE_DUPLICATE(2011, "设备编号重复");
+    DEVICE_DUPLICATE(2011, "设备编号重复"),
+
+    CONFIG_FAIL(4005, "设备通讯一次，下发失败");
 
 
     private Integer code;
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
index 52b8451..0e608c3 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/NettyServer.java
@@ -39,7 +39,7 @@
                     .childOption(ChannelOption.SO_KEEPALIVE, true);
 
             // 绑定端口并开始接受进来的连接
-            future = bootstrap.bind(7000).sync();
+            future = bootstrap.bind(11647).sync();
 
             // 等待服务器套接字关闭
             future.channel().closeFuture().sync();
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
index 11878ff..ac53fc7 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/netty/RobotChannelHandler.java
@@ -1,6 +1,7 @@
 package com.casic.missiles.modular.system.netty;
 
 
+import cn.hutool.core.util.ObjectUtil;
 import com.casic.missiles.modular.system.service.impl.RouteInfoServiceImpl;
 import io.netty.channel.Channel;
 import io.netty.channel.ChannelHandlerContext;
@@ -43,16 +44,16 @@
         executor.submit(new Runnable() {
             @Override
             public void run() {
-                String encryptData = msg.toString();
-                DeviceCommon.devcodeMap.put(encryptData, channel.id().asLongText());
-                System.out.println("接收到加密数据：" + encryptData);
-                routeInfoService.getMsg(1L,encryptData);
-//                String decryptData = RSAUtil.getDecryptMsg(encryptData);
-//                if (ObjectUtil.isNotEmpty(decryptData) && decryptData.contains(",")) {
-//                    String devCode = decryptData.split(",")[0];
-//                    DeviceCommon.devcodeMap.put(devCode, channel.id().asLongText());
-//                    dataPanGasService.process(decryptData);
-//                }
+                String dataMsg = msg.toString();
+                log.info("接收到机器狗数据：" + dataMsg);
+                if(ObjectUtil.isNotEmpty(dataMsg)){
+                    //只接收设备基本信息，其他过滤
+                    if(dataMsg.startsWith("devCode:")){
+                        String devCode = dataMsg.substring(8);
+                        DeviceCommon.devcodeMap.put(devCode, channel.id().asLongText());
+                        routeInfoService.getMsg(devCode,dataMsg);
+                    }
+                }
             }
         });
     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java
index 1c6f24e..1320c8d 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRobotDogInfoService.java
@@ -1,7 +1,8 @@
 package com.casic.missiles.modular.system.service;
 
-import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.baomidou.mybatisplus.extension.service.IService;
+import com.casic.missiles.modular.system.dto.SelectDTO;
+import com.casic.missiles.modular.system.entity.RobotDogInfo;
 
 import java.util.List;
 
@@ -17,4 +18,12 @@
 
     boolean batchDeleteDogs(List<Long> ids);
 
+    boolean updateRobotDogLine(String devCode, Long lineId);
+
+    boolean updateRobotDogStatus(String devCode, String status);
+
+    List<SelectDTO> selectDogList();
+
+    List<SelectDTO> selectLines(Long robotId);
+
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java
index 1658f2e..9cb5804 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/IRouteInfoService.java
@@ -24,7 +24,7 @@
 
     boolean editRouteInfo(RouteInfo routeInfo);
 
-    void control(String command,Long robotDogId);
+    boolean control(String command,String devCode);
 
     void processData(Map map);
 
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/PatrolLogServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/PatrolLogServiceImpl.java
index ae8438a..51b90c5 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/PatrolLogServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/PatrolLogServiceImpl.java
@@ -2,6 +2,7 @@
 
 import cn.hutool.core.util.ObjectUtil;
 import com.alibaba.fastjson.JSON;
+import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.core.common.service.ICommonFileService;
 import com.casic.missiles.modular.system.dao.PatrolLogMapper;
@@ -9,6 +10,7 @@
 import com.casic.missiles.modular.system.service.IPatrolLogService;
 import com.casic.missiles.modular.system.util.CommonUtil;
 import com.casic.missiles.modular.system.util.HttpClientUtils;
+import com.casic.missiles.modular.system.util.WebSocket;
 import lombok.RequiredArgsConstructor;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -38,6 +40,8 @@
     @Resource
     private ICommonFileService commonFileService;
 
+    private final WebSocket webSocket;
+
     @Value("${casic.brPushUrl}")
     private String brPushUrl;
 
@@ -64,9 +68,23 @@
             }
             this.saveBatch(patrolLogList);
 
-            //推送第三方
+
             CompletableFuture.runAsync(() -> {
-//                    ResponseResolver.makeResponse(map);
+
+                        //websocket推送给前端
+                        if (patrolLogList.size() > 0) {
+                            for (PatrolLog patrolLog : patrolLogList) {
+                                JSONObject jsonObject = new JSONObject();
+                                jsonObject.put("routeInfoId", patrolLog.getRouteInfoId());
+                                jsonObject.put("patrolType", patrolLog.getPatrolType());
+                                jsonObject.put("patrolContent", patrolLog.getPatrolContent());
+                                jsonObject.put("patrolTime", patrolLog.getCreateTime());
+                                jsonObject.put("picture", patrolLog.getPatrolPicture());
+                                webSocket.sendAllMessage(jsonObject.toJSONString());
+                            }
+                        }
+
+                        //推送第三方
                         Map<String, Object> parasMap = new HashMap<>();
                         HttpClientUtils.post(brPushUrl, JSON.toJSONString(parasMap));
                     }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RobotDogInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RobotDogInfoServiceImpl.java
index ad9caa9..a260aaa 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RobotDogInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RobotDogInfoServiceImpl.java
@@ -3,6 +3,7 @@
 import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.system.dao.RobotDogInfoMapper;
+import com.casic.missiles.modular.system.dto.SelectDTO;
 import com.casic.missiles.modular.system.entity.RobotDogInfo;
 import com.casic.missiles.modular.system.service.IRobotDogInfoService;
 import org.springframework.stereotype.Service;
@@ -20,12 +21,38 @@
 @Service
 public class RobotDogInfoServiceImpl extends ServiceImpl<RobotDogInfoMapper, RobotDogInfo> implements IRobotDogInfoService {
 
-
     @Override
     public boolean batchDeleteDogs(List<Long> ids) {
         UpdateWrapper<RobotDogInfo> updateWrapper = new UpdateWrapper<>();
         updateWrapper.in("id", ids);
-        updateWrapper.set("robot_status", "0");
+        updateWrapper.set("valid", "0");
+        return this.update(updateWrapper);
+    }
+
+    @Override
+    public List<SelectDTO> selectDogList() {
+
+        return this.baseMapper.selectDogList();
+    }
+
+    @Override
+    public List<SelectDTO> selectLines(Long robotId) {
+        return this.baseMapper.selectLines(robotId);
+    }
+
+    @Override
+    public boolean updateRobotDogLine(String devCode, Long lineId) {
+        UpdateWrapper<RobotDogInfo> updateWrapper = new UpdateWrapper<>();
+        updateWrapper.eq("robot_code", devCode);
+        updateWrapper.set("route_id", lineId);
+        return this.update(updateWrapper);
+    }
+
+    @Override
+    public boolean updateRobotDogStatus(String devCode, String status) {
+        UpdateWrapper<RobotDogInfo> updateWrapper = new UpdateWrapper<>();
+        updateWrapper.eq("robot_code", devCode);
+        updateWrapper.set("robot_status", status);
         return this.update(updateWrapper);
     }
 }
diff --git a/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RouteInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RouteInfoServiceImpl.java
index 501dedd..3f583f6 100644
--- a/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RouteInfoServiceImpl.java
+++ b/casic-server/src/main/java/com/casic/missiles/modular/system/service/impl/RouteInfoServiceImpl.java
@@ -3,13 +3,17 @@
 import cn.hutool.core.util.ObjectUtil;
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.casic.missiles.modular.system.dao.RouteInfoMapper;
 import com.casic.missiles.modular.system.dto.RouteInfoDTO;
 import com.casic.missiles.modular.system.entity.RouteInfo;
 import com.casic.missiles.modular.system.entity.RouteInfoDetail;
+import com.casic.missiles.modular.system.enums.BusinessExceptionEnum;
+import com.casic.missiles.modular.system.exception.BusinessException;
 import com.casic.missiles.modular.system.netty.DeviceCommon;
+import com.casic.missiles.modular.system.service.IRobotDogInfoService;
 import com.casic.missiles.modular.system.service.IRouteInfoDetailService;
 import com.casic.missiles.modular.system.service.IRouteInfoService;
 import com.casic.missiles.modular.system.util.SnowFlakeUtil;
@@ -37,6 +41,8 @@
     private final IRouteInfoDetailService detailService;
     private final DeviceCommon deviceCommon;
     private final WebSocket webSocket;
+    private final IRobotDogInfoService iRobotDogInfoService;
+
     @Transactional
     @Override
     public boolean saveRouteInfo(RouteInfo routeInfo) {
@@ -52,9 +58,18 @@
             }
             detailService.saveBatch(routeInfo.getRouteInfoDetailList());
         }
+        //由于机器人只能有一条有效的巡航线，其他已录入的更新成无效
+        deleteRouteInfo(routeInfo.getRobotId());
         return true;
     }
 
+    public void deleteRouteInfo(Long robotId) {
+        UpdateWrapper<RouteInfo> updateWrapper = new UpdateWrapper<>();
+        updateWrapper.eq("robot_id", robotId);
+        updateWrapper.set("status", "0");
+        this.update(updateWrapper);
+    }
+
 
     @Override
     public Page<RouteInfo> pageList(Page<RouteInfo> page, RouteInfoDTO requestDTO) {
@@ -74,7 +89,10 @@
         //先删除巡航线预置点信息
         detailService.deleteByRouteInfoIds(ids);
         //再删除巡航线信息
-        return this.removeByIds(ids);
+        UpdateWrapper<RouteInfo> updateWrapper = new UpdateWrapper<>();
+        updateWrapper.in("id", ids);
+        updateWrapper.set("status", "0");
+        return this.update(updateWrapper);
     }
 
     @Transactional
@@ -92,38 +110,33 @@
     }
 
     @Override
-    public void control(String command, Long robotDogId) {
-        switch (command) {
-            case "startRecordMap":
-                deviceCommon.sendMsg("111","startRecordMap");
-//                this.deviceInit(detectorId);
-                break;
-            case "endRecordMap":
-//                this.pressurize(detectorId);
-                break;
-            case "startRecordRoutInfo":
-//                this.depress(detectorId);
-                break;
-            case "startPatrol":
-//                this.depress(detectorId);
-                break;
-            case "stopPatrol":
-//                this.depress(detectorId);
-                break;
-            case "endRecordRoutInfo":
+    public boolean control(String command, String devCode) {
+        boolean isSend = deviceCommon.sendMsg(devCode, command);
+        if (!isSend) {
+            throw new BusinessException(BusinessExceptionEnum.CONFIG_FAIL);
+        }
 
+        switch (command) {
+            case "a/":
+                //开始巡检时更新机器人巡检路线信息
+                Long lineId = getLineId(devCode);
+                if (null != lineId)
+                    iRobotDogInfoService.updateRobotDogLine(devCode, lineId);
+                break;
             default:
                 break;
         }
+        return isSend;
     }
 
-    public void getMsg(Long detectorId, String msg) {
-
-        //TOdO:处理数据
-
-        System.out.println("getMsg"+ msg);
-        //发送指令给设备
-        //发送指令给设备
+    public void getMsg(String devCode, String msg) {
+        //更新设备状态
+        iRobotDogInfoService.updateRobotDogStatus(devCode, "1");
+        //推送上线消息给前端
+        JSONObject jsonObject = new JSONObject();
+        jsonObject.put("devCode", devCode);
+        jsonObject.put("type", "onLine");
+        webSocket.sendAllMessage(jsonObject.toJSONString());
     }
 
     @Override
@@ -136,14 +149,28 @@
         //{"type":2,"devcode":"1212",data:[{"gps_x:1212","gps_y":1212","route_x":"1","route_y":"1","route_number":1},{"gps_x:1212","gps_y":"1212","route_x":"1","route_y":"1","route_number":2}]}
         //{"type":1,"devcode":"1212",data:[{"gps_x:1212","gps_y":1212"}]
         //{"type":3,"devcode":"1212",data:[{"gps_x:1212","gps_y":1212"}]
-        //{"type":5,"devcode":"1212",data:[{"cell:1212","gps_y":1212"}]
+        //{"type":5,"devcode":"1212",data:{"cell:20"}
+        if ("2".equals(type)) {
+//            JSONArray jsonArray = json.getJSONArray("data");
+//            for (int i = 0; i < jsonArray.size(); i++) {
+//                JSONObject jsonObject = jsonArray.getJSONObject(i);
+//                RouteInfoDetail routeInfoDetail = new RouteInfoDetail();
+//                routeInfoDetail.setGpsX(jsonObject.getString("gps_x"));
+//                routeInfoDetail.setGpsY(jsonObject.getString("gps_y"));
+//                routeInfoDetail.setRouteX(jsonObject.getString("route_x"));
+//                routeInfoDetail.setRouteY(jsonObject.getString("route_y"));
+//                routeInfoDetail.setRouteNumber(jsonObject.getString("route_number"));
+//            }
 
+            JSONObject msg = new JSONObject();
+            msg.put("devcode", "922431");
+            msg.put("points", json.getJSONArray("data"));
+            msg.put("type", "sendPoints");
+            webSocket.sendAllMessage(msg.toJSONString());
+        }
+    }
 
-        JSONObject msg = new JSONObject();
-        msg.put("devcode", "1212");
-        msg.put("gps_x", "121212");
-        msg.put("gps_y", "322323");
-        webSocket.sendAllMessage(msg.toJSONString());
-
+    public Long getLineId(String devCode) {
+        return this.baseMapper.getLineId(devCode);
     }
 }
diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml
index e19ffb8..3e64c75 100644
--- a/casic-web/src/main/resources/config/application-dev.yml
+++ b/casic-web/src/main/resources/config/application-dev.yml
@@ -19,12 +19,12 @@
 #   redisValueSerializer: org.springframework.data.redis.serializer.JdkSerializationRedisSerializer
 casic:
   #kaptcha-open: false #是否开启登录时验证码 (true/false)
-  no-login-urls: ${casic.sysUrl}/user/login,${casic.sysUrl}/user/appLogin,${casic.sysUrl}/kaptcha/base64,${casic.sysUrl}/config/baseConfig,/route/mockToken,/websocket/*,/v2/api-docs,/v2/api-docs-ext,/doc.html,/v2/api-docs/swagger-ui.html,/swagger-resources,/webjars/**,/device/receiveData,/algorithm/receiveData
+  no-login-urls: ${casic.sysUrl}/user/login,${casic.sysUrl}/user/appLogin,${casic.sysUrl}/kaptcha/base64,${casic.sysUrl}/config/baseConfig,/route/mockToken,/websocket/*,/v2/api-docs,/v2/api-docs-ext,/doc.html,/v2/api-docs/swagger-ui.html,/swagger-resources,/webjars/**,/device/receiveData,/algorithm/receiveData,/system/routeInfo/control
   #flowable数据源和多数据源配置
   db:
     init:
       enable: false
-  brPushUrl: http://10.30.7.26:20110/monitorDataReceive/alarmPush
+  brPushUrl: http://10.30.7.25:20115/coordination/pushAiEvent
 logging:
   level.root: info
   level.com.casic: debug