diff --git a/servo/src/main/java/com/galaxis/rcs/communication/JacksonGenericUtils.java b/servo/src/main/java/com/galaxis/rcs/communication/JacksonGenericUtils.java
new file mode 100644
index 0000000..8f527b2
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/communication/JacksonGenericUtils.java
@@ -0,0 +1,64 @@
+package com.galaxis.rcs.communication;
+
+import com.fasterxml.jackson.core.type.TypeReference;
+import com.fasterxml.jackson.databind.JavaType;
+import com.fasterxml.jackson.databind.ObjectMapper;
+import lombok.extern.slf4j.Slf4j;
+
+import java.lang.reflect.Type;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+@Slf4j
+public class JacksonGenericUtils {
+    private static final ObjectMapper mapper = new ObjectMapper();
+    private static final Map<String, JavaType> typeCache = new ConcurrentHashMap<>();
+
+    // 解析泛型对象（TypeReference方式）
+    public static <T> T parse(String json, TypeReference<T> typeRef) {
+        try {
+            return mapper.readValue(json, typeRef);
+        } catch (Exception e) {
+            log.error("JSON解析失败{}", json, e);
+            throw new RuntimeException("JSON解析失败", e);
+        }
+    }
+
+    // 动态构建JavaType（支持嵌套泛型）
+    public static JavaType buildType(Class<?> rawType, Class<?>... parameterClasses) {
+        String cacheKey = buildCacheKey(rawType, parameterClasses);
+        return typeCache.computeIfAbsent(cacheKey, k ->
+            mapper.getTypeFactory().constructParametricType(rawType, parameterClasses)
+        );
+    }
+
+    // 解析List泛型（高频场景优化）
+    public static <T> List<T> parseList(String json, Class<T> elementClass) {
+        try {
+            JavaType type = buildType(List.class, elementClass);
+            return mapper.readValue(json, type);
+        } catch (Exception e) {
+            throw new RuntimeException("List解析失败", e);
+        }
+    }
+
+    // 解析Map泛型（Key为String）
+    public static <V> Map<String, V> parseMap(String json, Class<V> valueClass) {
+        try {
+            JavaType type = mapper.getTypeFactory()
+                .constructMapType(Map.class, String.class, valueClass);
+            return mapper.readValue(json, type);
+        } catch (Exception e) {
+            throw new RuntimeException("Map解析失败", e);
+        }
+    }
+
+    private static String buildCacheKey(Class<?> rawType, Class<?>... parameterClasses) {
+        StringBuilder key = new StringBuilder(rawType.getName());
+        for (Class<?> clazz : parameterClasses) {
+            key.append("#").append(clazz.getName());
+        }
+        return key.toString();
+    }
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/AmrMessageHandler.java b/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/AmrMessageHandler.java
index 577c0dc..8db3623 100644
--- a/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/AmrMessageHandler.java
+++ b/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/AmrMessageHandler.java
@@ -1,13 +1,136 @@
 package com.galaxis.rcs.communication.amrCommunication;
 
-import org.eclipse.paho.mqttv5.client.IMqttMessageListener;
+
+import com.fasterxml.jackson.core.type.TypeReference;
+import com.galaxis.rcs.communication.JacksonGenericUtils;
+import com.galaxis.rcs.connector.cl2.receiveEntity.*;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.TaskCompletedData;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.TaskModeChangeData;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.TaskStatusChangeData;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.TaskTypeChangeData;
+import lombok.extern.slf4j.Slf4j;
+import org.clever.core.json.JsonWrapper;
 import org.eclipse.paho.mqttv5.common.MqttMessage;
 import org.springframework.stereotype.Service;
 
+import java.nio.charset.StandardCharsets;
+
+@Slf4j
 @Service
-public class AmrMessageHandler implements IMqttMessageListener {
-    @Override
-    public void messageArrived(String topic, MqttMessage message) throws Exception {
-        System.out.println("Received message: " + message.toString());
+public class AmrMessageHandler {
+
+    private static final TypeReference<AmrMessage<AmrTaskCompletedMessage>> typeRef20010Message = new TypeReference<AmrMessage<AmrTaskCompletedMessage>>() {};
+    private static final TypeReference<AmrMessage<AmrTaskStatusMessage<TaskStatusChangeData>>> typeRef20011_defaultMessage = new TypeReference<AmrMessage<AmrTaskStatusMessage<TaskStatusChangeData>>>() {};
+    private static final TypeReference<AmrMessage<AmrTaskStatusMessage<TaskModeChangeData>>> typeRef20011_1Message = new TypeReference<AmrMessage<AmrTaskStatusMessage<TaskModeChangeData>>>() {};
+    private static final TypeReference<AmrMessage<AmrTaskStatusMessage<TaskCompletedData>>> typeRef20011_4Message = new TypeReference<AmrMessage<AmrTaskStatusMessage<TaskCompletedData>>>() {};
+    private static final TypeReference<AmrMessage<AmrTaskStatusMessage<TaskTypeChangeData>>> typeRef20011_8Message = new TypeReference<AmrMessage<AmrTaskStatusMessage<TaskTypeChangeData>>>() {};
+    private static final TypeReference<AmrMessage<AmrModuleTaskStatusMessage>> typeRef20012Message = new TypeReference<AmrMessage<AmrModuleTaskStatusMessage>>() {};
+    private static final TypeReference<AmrMessage<AmrLandmarkMessage>> typeRef20020Message = new TypeReference<AmrMessage<AmrLandmarkMessage>>() {};
+    private static final TypeReference<AmrMessage<AmrAckMessage>> typeRef20050Message = new TypeReference<AmrMessage<AmrAckMessage>>() {};
+    private static final TypeReference<AmrMessage<AmrStatusMessage>> typeRef20060Message = new TypeReference<AmrMessage<AmrStatusMessage>>() {};
+    private static final TypeReference<AmrMessage<AmrHeartbeatMessage>> typeRef20100Message = new TypeReference<AmrMessage<AmrHeartbeatMessage>>() {};
+    private static final TypeReference<AmrMessage<AmrBootMessage>> typeRef20147Message = new TypeReference<AmrMessage<AmrBootMessage>>() {};
+    private static final TypeReference<AmrMessage<AmrShutdownMessage>> typeRef20148Message = new TypeReference<AmrMessage<AmrShutdownMessage>>() {};
+    private static final TypeReference<AmrMessage<AmrAppStartMessage>> typeRef20149Message = new TypeReference<AmrMessage<AmrAppStartMessage>>() {};
+    private static final TypeReference<AmrMessage<AmrOnlineMessage>> typeRef20150Message = new TypeReference<AmrMessage<AmrOnlineMessage>>() {};
+    private static final TypeReference<AmrMessage<AmrOfflineMessage>> typeRef20200Message = new TypeReference<AmrMessage<AmrOfflineMessage>>() {};
+    private static final TypeReference<AmrMessage<AmrExceptionMessage>> typeRef20250Message = new TypeReference<AmrMessage<AmrExceptionMessage>>() {};
+    public static void handleAgvRobotStatusMessage(MqttMessage message) {
+        byte[] messageData = message.getPayload();
+        String json = new String(messageData, StandardCharsets.UTF_8);
+        JsonWrapper jw = new JsonWrapper(json);
+        int id = jw.asInt("id");
+
+        /*
+         * 消息标识
+         * 小车作业完成 20010 AmrTaskCompletedMessage
+         * 任务状态上报 20011 AmrTaskStatusMessage
+         * 小车子模块任务状态 20012 AmrModuleTaskStatusMessage
+         * 地标报告 20020 AmrLandmarkMessage
+         * 消息应答 20050 AmrAckMessage
+         * 状态上报 20060 AmrStatusMessage
+         * 心跳 20100 AmrHeartbeatMessage
+         * 开机上报 20147 AmrBootMessage
+         * 关机上报 20148 AmrShutdownMessage
+         * 小车主程序启动 20149 AmrAppStartMessage
+         * 小车上线 20150 AmrOnlineMessage
+         * 小车离线 20200 AmrOfflineMessage
+         * 异常上报 20250 AmrExceptionMessage
+         */
+
+        AmrMessage<?> amrMessage = null;
+        switch (id) {
+            case 20010:
+                amrMessage = JacksonGenericUtils.parse(json, typeRef20010Message);
+                break;
+            case 20011: {
+                int EventId = jw.asInt("content", "EventId");
+                switch (EventId) {
+                    case 0:
+                    case 2:
+                    case 3:
+                    case 5:
+                    case 6:
+                    case 7:
+                        amrMessage = JacksonGenericUtils.parse(json, typeRef20011_defaultMessage);
+                        break;
+                    case 1:
+                        amrMessage = JacksonGenericUtils.parse(json, typeRef20011_1Message);
+                        break;
+                    case 4:
+                        amrMessage = JacksonGenericUtils.parse(json, typeRef20011_4Message);
+                        break;
+                    case 8:
+                        amrMessage = JacksonGenericUtils.parse(json, typeRef20011_8Message);
+                    default:
+                        break;
+                }
+                break;
+            }
+            case 20012:
+                amrMessage = JacksonGenericUtils.parse(json, typeRef20012Message);
+                break;
+            case 20020:
+                amrMessage = JacksonGenericUtils.parse(json, typeRef20020Message);
+                break;
+            case 20050:
+                amrMessage = JacksonGenericUtils.parse(json, typeRef20050Message);
+                break;
+            case 20060:
+                amrMessage = JacksonGenericUtils.parse(json, typeRef20060Message);
+                break;
+            case 20100:
+                amrMessage = JacksonGenericUtils.parse(json, typeRef20100Message);
+//                if (amrMessage.content instanceof AmrHeartbeatMessage) {
+//                    AmrHeartbeatMessage msg = (AmrHeartbeatMessage) amrMessage.content;
+//                    if (msg.VehicleId == 102) {
+//                        log.info("Received message: " + json);
+//                    }
+//                }
+                break;
+            case 20147:
+                amrMessage = JacksonGenericUtils.parse(json, typeRef20147Message);
+                break;
+            case 20148:
+                amrMessage = JacksonGenericUtils.parse(json, typeRef20148Message);
+                break;
+            case 20149:
+                amrMessage = JacksonGenericUtils.parse(json, typeRef20149Message);
+                break;
+            case 20150:
+                amrMessage = JacksonGenericUtils.parse(json, typeRef20150Message);
+                break;
+            case 20200:
+                amrMessage = JacksonGenericUtils.parse(json, typeRef20200Message);
+                break;
+            case 20250:
+                amrMessage = JacksonGenericUtils.parse(json, typeRef20250Message);
+                break;
+            default:
+                log.error("未知消息：{}", json);
+                break;
+        }
     }
+
+
 }
diff --git a/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/AmrStatusAndInfo.java b/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/AmrStatusAndInfo.java
new file mode 100644
index 0000000..216872f
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/AmrStatusAndInfo.java
@@ -0,0 +1,34 @@
+package com.galaxis.rcs.communication.amrCommunication;
+
+public class AmrStatusAndInfo {
+    // agvId 车唯一标识
+    public String agvId;
+    // agv名称
+    public String agvName;
+    // agv类型
+    public String agvType;
+    // agv型号
+    public String agvModel;
+    // AMR功能型号
+    public String agvFnModel;
+    // agv电量
+    public double agvSOC;
+    // agv电池电压
+    public double agvBatteryVoltage;
+    // agv充电状态
+    public boolean agvChargingStatus;
+    // agv充电电流
+    public double agvChargingCurrent;
+    // agv放电电流
+    public double agvDischargingCurrent;
+    // agv电池温度
+    public double agvBatteryTemperature;
+    // agv当前x坐标
+    public double x;
+    // agv当前y坐标
+    public double y;
+    // agv当前z坐标
+    public double z;
+    // agv当前方向
+    public double orientation;
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/MqttConfig.java b/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/MqttConfig.java
index 0c3991b..3c314a1 100644
--- a/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/MqttConfig.java
+++ b/servo/src/main/java/com/galaxis/rcs/communication/amrCommunication/MqttConfig.java
@@ -52,7 +52,14 @@ public class MqttConfig {
 
             @Override
             public void messageArrived(String topic, MqttMessage message) throws Exception {
-                log.info("Received message: " + message);
+                switch (topic) {
+                    case "/agv_robot/status":
+                        AmrMessageHandler.handleAgvRobotStatusMessage(message);
+                        break;
+                    default:
+                        break;
+                }
+
             }
 
             @Override
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrAckMessage.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrAckMessage.java
new file mode 100644
index 0000000..24be334
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrAckMessage.java
@@ -0,0 +1,11 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.AmrCommonMessage;
+import lombok.Data;
+
+// 消息应答 20050
+//@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class AmrAckMessage extends AmrCommonMessage {
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrAppStartMessage.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrAppStartMessage.java
new file mode 100644
index 0000000..38ef0af
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrAppStartMessage.java
@@ -0,0 +1,17 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.AmrCommonMessage;
+import lombok.Data;
+
+// 小车主程序启动 20149
+//@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class AmrAppStartMessage extends AmrCommonMessage {
+    // 电量百分比	Uint8
+    public short Battery;
+    // AMR底盘型号 String  对于底盘和功能一体的版本，由底盘型号便知道功能；对于通用底盘，底盘型号指定了底盘的版本
+    public String AGVModel;
+    // AMR功能型号  String 底盘之上的工装的型号
+    public String AGVFnModel;
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrBootMessage.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrBootMessage.java
new file mode 100644
index 0000000..0a594c2
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrBootMessage.java
@@ -0,0 +1,19 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.AmrCommonMessage;
+import lombok.Data;
+
+// 开机上报 20147 在开机后上报一次，此后AMR程序重启不会重新上报（与ID#20149的差异），除非人为清除内部记录已上报的标志。
+//@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class AmrBootMessage extends AmrCommonMessage {
+    // 电量百分比	Uint8
+    public short Battery;
+    // AMR底盘型号 String  对于底盘和功能一体的版本，由底盘型号便知道功能；对于通用底盘，底盘型号指定了底盘的版本
+    public String AGVModel;
+    // AMR功能型号  String 底盘之上的工装的型号
+    public String AGVFnModel;
+    // 上电至今的毫秒数 	Uint64
+    public long Uptime;
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrExceptionMessage.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrExceptionMessage.java
new file mode 100644
index 0000000..ae27ee3
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrExceptionMessage.java
@@ -0,0 +1,25 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.AmrCommonMessage;
+import lombok.Data;
+
+import java.util.Map;
+
+// 异常上报 20250
+//@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class AmrExceptionMessage extends AmrCommonMessage {
+    // 异常代码 UInt8 1. 货架编号不匹配 2. 地标异常 3. 电量低
+    public short ErrCode;
+    // 异常机构代码 UInt8 对于哪吒飞梭类的机型，增加MechNo用于指示异常具体是哪一层发生的。 MechNo： 1- 机构1^[1]^异常 2- 机构2异常 3- 机构3异常
+    public short MechNo;
+    // 异常详情 Struct 根据不同的异常，字段不一样，比如针对ErrCode为2电量低的情况，ErrMsg中使用CurBattery标识当前电量；
+    public Map<String, Object> ErrMsg;
+    // 异常事件类型 UInt8 0：无 1：开始 2：更新 3：结束 4：开始并结束
+    public short ErrEvtType;
+    // 异常等级 UInt8 0：Undetermined 12：Info 13：Warning 14：Critical 15：Fatal
+    public short ErrLevel;
+    // 异常生命周期 UInt8 0：易变的 1：一次性 2：持续性 3：任务期间
+    public short ErrLifecycle;
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrHeartbeatMessage.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrHeartbeatMessage.java
new file mode 100644
index 0000000..ab27c80
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrHeartbeatMessage.java
@@ -0,0 +1,21 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.AmrCommonMessage;
+import lombok.Data;
+
+//心跳 20100
+//@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class AmrHeartbeatMessage extends AmrCommonMessage {
+    // 电量百分比	Uint8
+    public short Battery;
+    // 上电至今的毫秒数 	Uint64
+    public long Uptime;
+    // static
+    public TemperatureData Temperature;
+    public static class TemperatureData {
+        // 电池温度 Double 单位：摄氏度 备注：一个电池可能有多个（不同型号的）温度传感器，目前只上报最高的温度
+        public Double Battery;
+    }
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrLandmarkMessage.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrLandmarkMessage.java
new file mode 100644
index 0000000..f227fe8
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrLandmarkMessage.java
@@ -0,0 +1,29 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.AmrCommonMessage;
+import lombok.Data;
+
+// 地标报告 20020
+//@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class AmrLandmarkMessage extends AmrCommonMessage {
+    // 当前X坐标 Double 当前实际位置在地图坐标系中的X坐标
+    public double CurX;
+    // 当前Y坐标 Double 当前实际位置在地图坐标系中的Y坐标
+    public double CurY;
+    // 当前方向 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
+    public short CurDirection;
+    // 当前所在站点的逻辑X坐标 Int32
+    public int CurLogicX;
+    // 当前所在站点的逻辑Y坐标 Int32
+    public int CurLogicY;
+    // 当前标准X坐标 double
+    public double X;
+    // 当前标准Y坐标 double
+    public double Y;
+    // 当前方向 Double 角度
+    public double CurOrientation;
+    // 未知
+    public int MarkerType;
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrMessage.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrMessage.java
index ab314d2..6a718bb 100644
--- a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrMessage.java
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrMessage.java
@@ -1,16 +1,27 @@
 package com.galaxis.rcs.connector.cl2.receiveEntity;
 
+import lombok.Data;
+
 // RCS 接收 AMR的消息
+@Data
 public class AmrMessage<T> {
-    // 作业序号 UInt32 从1开始，0作为超级序号使用，不参与序号规则判断
-    public long SeqNo;
-    // AMR编号 UInt16
-    public int VehicleId;
-    // 消息创建时间 UInt64 毫秒级时间戳
-    public long CreateTime;
-    // 消息创建时主机的开机时长 UInt64 毫秒级时间戳
-    public long CreateMonoTime;
-    // 发送消息的时间 UInt64 毫秒级时间戳
-    public long SendTime;
-
+    /**
+     * 消息标识
+     * 小车作业完成 20010 AmrTaskCompletedMessage
+     * 任务状态上报 20011 AmrTaskStatusMessage
+     * 小车子模块任务状态 20012 AmrModuleTaskStatusMessage
+     * 地标报告 20020 AmrLandmarkMessage
+     * 消息应答 20050 AmrAckMessage
+     * 状态上报 20060 AmrStatusMessage
+     * 心跳 20100 AmrHeartbeatMessage
+     * 小车主程序启动 20149 AmrAppStartMessage
+     * 小车上线 20150 AmrOnlineMessage
+     * 小车离线 20200 AmrOfflineMessage
+     * 异常上报 20250 AmrExceptionMessage
+     * 开机上报 20147 AmrBootMessage
+     * 关机上报 20148 AmrShutdownMessage
+     */
+    public int id;
+    // 消息内容
+    public T content;
 }
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrModuleTaskStatusMessage.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrModuleTaskStatusMessage.java
new file mode 100644
index 0000000..b62f295
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrModuleTaskStatusMessage.java
@@ -0,0 +1,17 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.AmrCommonMessage;
+import lombok.Data;
+
+// 小车子模块任务状态 20012
+//@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class AmrModuleTaskStatusMessage extends AmrCommonMessage {
+    // 多机构^[1]^的拣货模式 UInt8[3] 数组形式，意义同"PickMode"
+    public short[] MPickMode;
+    // 子模块任务状态 UInt8[3] 数组形式，数组下标^\[1\]^分别对应各子模块。 0：无任务 2：任务中 3：任务准备中（已有任务，但还没有执行任务的条件） 5：任务异常 7：任务完成 其它：保留
+    public short[] MechStatus;
+    // 多载货机构上每个机构上面货物的ID String[] 数组形式，分别对应各子模块上货箱的ID码的值，如果无货为"",如果解不出来为"unknown"
+    public String[] MStorageRacksNo;
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrOfflineMessage.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrOfflineMessage.java
new file mode 100644
index 0000000..04a260a
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrOfflineMessage.java
@@ -0,0 +1,11 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.AmrCommonMessage;
+import lombok.Data;
+
+// 小车离线 20200 注意：目前未实现此报文
+//@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class AmrOfflineMessage extends AmrCommonMessage {
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrOnlineMessage.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrOnlineMessage.java
new file mode 100644
index 0000000..66ed789
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrOnlineMessage.java
@@ -0,0 +1,13 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.AmrCommonMessage;
+import lombok.Data;
+
+// 小车上线 20150  代表车已经完成初始化，可以接收任务了。
+//@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class AmrOnlineMessage extends AmrCommonMessage {
+    // 电量百分比	Uint8
+    public short Battery;
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrShutdownMessage.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrShutdownMessage.java
new file mode 100644
index 0000000..54e00df
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrShutdownMessage.java
@@ -0,0 +1,15 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.AmrCommonMessage;
+import lombok.Data;
+
+// 关机上报 20148 在收到关机信号后上报此消息。
+//@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class AmrShutdownMessage extends AmrCommonMessage {
+    // 电量百分比	Uint8
+    public short Battery;
+    // 上电至今的毫秒数 	Uint64
+    public long Uptime;
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrStatusMessage.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrStatusMessage.java
new file mode 100644
index 0000000..ce3d7d4
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrStatusMessage.java
@@ -0,0 +1,51 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.AmrCommonMessage;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.CurBatteryData;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.LocationData;
+import lombok.Data;
+
+// 状态上报 20060
+//@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class AmrStatusMessage extends AmrCommonMessage {
+
+    // 电池状态
+    public CurBatteryData CurBattery;
+    // 当前方向 Double 角度
+    public double CurOrientation;
+    // 当前所在站点的逻辑X坐标 Int32
+    public int CurLogicX;
+    // 当前所在站点的逻辑Y坐标 Int32
+    public int CurLogicY;
+    // 当前X坐标 Double 当前实际位置在地图坐标系中的X坐标
+    public double CurX;
+    // 当前Y坐标 Double 当前实际位置在地图坐标系中的Y坐标
+    public double CurY;
+    // 货架当前方向  Double
+    public double RackCurOrientation;
+    // 货架当前位置 Double
+    public double RackCurPosition;
+    // 货架号 String
+    public String StorageRacksNo;
+    // 多载货机构上每个机构上面货物的ID String[]
+    public String[] MStorageRacksNo;
+    // 任务模式 Byte
+    public short TaskMode;
+    // 当前标准X坐标 double
+    public double X;
+    // 当前标准Y坐标 double
+    public double Y;
+    // 当前货物数量。数组形式。 对于单滚筒等单个托盘的机型，只需关注数据0； 对于双滚筒，滚筒1的数量放到数据0中，滚筒2的货物数量放到数据1中。 其它机型以此类推。UInt16 [4]
+    public int[] GoodsQuantity;
+    // 异常数组，存放异常的所有异常ID 	UInt16 [4]
+    public int[] Exceptions;
+    // 是否已进行精准停靠（是否能在原地直接执行对接任务） bool
+    public boolean InDock;
+    // 初始化状态 bool
+    public boolean Initialized;
+    // 车载货位信息
+    public LocationData[] GoodsSlots;
+
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrTaskCompletedMessage.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrTaskCompletedMessage.java
new file mode 100644
index 0000000..2c8e1e4
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrTaskCompletedMessage.java
@@ -0,0 +1,37 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.AmrCommonMessage;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.LocationData;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.SummaryData;
+import lombok.Data;
+
+// 小车作业完成 20010
+//@Data
+
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class AmrTaskCompletedMessage extends AmrCommonMessage {
+
+    // 当前X坐标 Double 当前实际位置在地图坐标系中的X坐标
+    public double CurX;
+    // 当前Y坐标 Double 当前实际位置在地图坐标系中的Y坐标
+    public double CurY;
+    // 当前方向 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
+    public short CurDirection;
+    // 当前方向 Double 角度
+    public double CurOrientation;
+    // 作业类型	UInt8 0：运输 1：接货 2：卸货 3：充电 4：提升移栽取货或卸货 5：滚筒取货或卸货（双向作业） 135：旋转货架 136：旋转车身
+    public short OperationType;
+    // 作业结果 Int32 参考linux errno
+    public long OperationResult;
+    // 货物ID String 在肥波类车型中是货架二维码值；在飞梭车中是箱码（目前未传，未来可能会有）；在皮带飞梭中是货物上贴的二维码的码值（如果检测到多个码，则以"
+    public String StorageRacksNo;
+    // 电量百分比	Uint8
+    public short Battery;
+    // 任务描述 Object 目前仅在飞梭和侧叉车型的报文中有这个字段，字段详情见下文
+    public SummaryData Summary;
+    // 车载货位信息
+    public LocationData[] GoodsSlots;
+
+
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrTaskStatusMessage.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrTaskStatusMessage.java
new file mode 100644
index 0000000..079b156
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/AmrTaskStatusMessage.java
@@ -0,0 +1,16 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import com.galaxis.rcs.connector.cl2.receiveEntity.base.AmrCommonMessage;
+import lombok.Data;
+
+//@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class AmrTaskStatusMessage<T> extends AmrCommonMessage {
+    // 事件ID UInt8 0：无变化 1：任务模式改变 2：任务接收成功 3：任务开始 4：任务完成 5：任务已取消 6：任务已停止 7：任务已恢复 8：任务已更变
+    public short EventId;
+    // 任务模式 Byte
+    public short TaskMode;
+    // 任务信息 由事件ID决定 Object 默认消息（0，2，3，5，6，7）：任务状态改变消息 1：任务模式消息 4：任务完成消息 8：任务类型改变消息
+    public T Info;
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/AmrCommonMessage.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/AmrCommonMessage.java
new file mode 100644
index 0000000..65b5b8b
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/AmrCommonMessage.java
@@ -0,0 +1,17 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity.base;
+
+import lombok.Data;
+
+// 共同信息字段
+public class AmrCommonMessage {
+    // 作业序号 UInt32 从1开始，0作为超级序号使用，不参与序号规则判断
+    public long SeqNo;
+    // AMR编号 UInt16
+    public int VehicleId;
+    // 消息创建时间 UInt64 毫秒级时间戳
+    public long CreateTime;
+    // 消息创建时主机的开机时长 UInt64 毫秒级时间戳
+    public long CreateMonoTime;
+    // 发送消息的时间 UInt64 毫秒级时间戳
+    public long SendTime;
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/CurBatteryData.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/CurBatteryData.java
new file mode 100644
index 0000000..50a6ec8
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/CurBatteryData.java
@@ -0,0 +1,20 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity.base;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import lombok.Data;
+
+// 电池状态
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class CurBatteryData {
+    // 充电电流
+    public double ChargingCurrent;
+    // 放电电流
+    public double DischargingCurrent;
+    // 电量
+    public double SOC;
+    // 电压
+    public double Voltage;
+    // 温度
+    public double Temperature;
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/GoodsData.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/GoodsData.java
new file mode 100644
index 0000000..b9dd321
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/GoodsData.java
@@ -0,0 +1,32 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity.base;
+
+import com.galaxis.rcs.connector.cl2.receiveEntity.AmrStatusMessage;
+import lombok.Data;
+
+// 货物信息
+@Data
+public class GoodsData {
+    // 货物类型	UInt 对于一类设备可能取放不同货物时有用；如果只有一类货物，则可以不（在地图或者RCS下发的任务报文中）指定，此种情况下报文中不包含此字段
+    public int Category;
+    // 传感器检测到的货物ID String 比如飞梭通过摄像头检测到的箱码、FM系列通过对上摄像头检测到的货架底部二维码等；如果车型没配备可以检测货物ID的传感器，则报文中不包含此字段
+    public String DetectedId;
+    // 上位系统传过来的货物ID String 通常上位传过来的ID应该跟检测到的ID一致，否则会报错；对于没有检测ID功能的车型，不做校验而只是回传该值；有些项目可能会希望两个ID分开，对应此类需求可以特别设置不校验两类ID；也许有些项目会同时传入两种ID，当前暂不支持；如果上位没传入ID，则报文中不包含此字段
+    public String UpperSystemDefinedId;
+    // 高度等级 UInt8 部分车型能检测货物高度，等级从0（最矮，默认值）开始，每一级递增1，各个等级的具体含义与车型有关，需要另行约定；如果有传感器但是由于传感器异常等原因无法获取到检测结果，则设置该值为0xff，代表状态未知。
+    public short HeightLevel;
+    // 长度等级
+    public short LengthLevel;
+    // 宽度等级
+    public short WidthLevel;
+    // 重量等级
+    public short WeightLevel;
+    // 测算的重量，不一定准	Double 单位是千克
+    public double ApproximateWeight;
+    // 货物在地图上的朝向 Double 角度（Degree）值
+    public double Orientation;
+    // 货物相对机器人的位置	包含以下成员： OffsetX：Int32类型 OffsetY：Int32类型 Orientation：Double类型，用角度（Degree）表示
+    public OffsetPosition RelativePosition;
+    // 检测到的货物状态冲突	[UInt8] 1：货物ID不匹配 2：货物高度不匹配 3：货物宽度不匹配 4：货物长度不匹配 5：应该有货但没检测到有货 6：应该没货但检测到有货
+    public short[] DetectedStatusConflicts;
+
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/LocationData.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/LocationData.java
new file mode 100644
index 0000000..8aa55bb
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/LocationData.java
@@ -0,0 +1,24 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity.base;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import lombok.Data;
+
+// 货位信息
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class LocationData {
+    // 货位ID UInt8 从0开始，每款车自己定义的车载货位的ID
+    public short ID;
+    // 货位名称 String 每款车自己定义的货位的名称
+    public String Name;
+    // 逻辑上是否应该有货 bool 有些车型有传感器来检测货物状态，这时实际的货物状态跟逻辑状态就可能不同
+    public boolean ShouldHaveGoods;
+    // 检测到的货位状态 UInt8 0: 正常 1: 冲突，即传感器检测到的状态跟逻辑状态有冲突。逻辑上有货，实际无货，是一种冲突；逻辑上货的属性（比如高度）跟实际检测到的属性不同，也会产生冲突；对于一个货位有多个货物的情况，需要查看货物信息来查找具体是哪个货物出现了什么冲突
+    public short DetectedStatus;
+    // 货位放货平面离地高度 Double
+    public double Height;
+    // 货位相对原点（初始化后货位所在位置）的相对位置  Object 包含以下成员： OffsetX：Double类型 OffsetY：Double类型 OffsetZ：Double类型，代表在高度上的位移 Orientation：Double类型，用角度（Degree）表示
+    public OffsetPosition Position;
+    // 货物信息  Object
+    public GoodsData[] Goods;
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/OffsetPosition.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/OffsetPosition.java
new file mode 100644
index 0000000..398625f
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/OffsetPosition.java
@@ -0,0 +1,16 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity.base;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import lombok.Data;
+
+// 相对原点偏移
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class OffsetPosition {
+    // OffsetX：Double类型 OffsetY：Double类型 OffsetZ：Double类型，代表在高度上的位移 Orientation：Double类型，用角度（Degree）表示
+    public double OffsetX;
+    public double OffsetY;
+    public double OffsetZ;
+    public double Orientation;
+
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/SummaryData.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/SummaryData.java
new file mode 100644
index 0000000..d19a66d
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/SummaryData.java
@@ -0,0 +1,24 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity.base;
+
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import lombok.Data;
+
+// 任务描述
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class SummaryData {
+    // 执行器（比如飞梭的载货台）任务概览列表 Array 车载多少个执行器，数组就有多少个成员
+    public ActuatorsData[] Actuators;
+
+    @Data
+    @JsonIgnoreProperties(ignoreUnknown = true)
+    public static class ActuatorsData {
+        // 执行器编号 Uint8 从1开始
+        public short MechNo;
+        // 执行器名称 String
+        public String Name;
+        // 任务类型 UInt8 同下发任务中PickMode的定义
+        public short PickMode;
+    }
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/TaskCompletedData.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/TaskCompletedData.java
new file mode 100644
index 0000000..9d19fbd
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/TaskCompletedData.java
@@ -0,0 +1,36 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity.base;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import lombok.Data;
+
+// 任务状态上报 20011 中 EventId = 4：任务完成 任务完成消息
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class TaskCompletedData {
+    // 作业类型	UInt8 0：运输 1：接货 2：卸货 3：充电 4：提升移栽取货或卸货 5：滚筒取货或卸货（双向作业） 135：旋转货架 136：旋转车身
+    public short OperationType;
+    // 作业结果 Int32 参考linux errno
+    public long OperationResult;
+    // 当前所在站点的逻辑X坐标 Int32
+    public int CurLogicX;
+    // 当前所在站点的逻辑Y坐标 Int32
+    public int CurLogicY;
+    // 当前X坐标 Double 当前实际位置在地图坐标系中的X坐标
+    public double CurX;
+    // 当前Y坐标 Double 当前实际位置在地图坐标系中的Y坐标
+    public double CurY;
+    // 当前方向 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
+    public short CurDirection;
+    // 当前方向 Double 角度
+    public double CurOrientation;
+    // 货架号 String 在肥波类车型中是货架二维码值；在飞梭车中是箱码（目前未传，未来可能会有）；在皮带飞梭中是货物上贴的二维码的码值（如果检测到多个码，则以"
+    public String StorageRacksNo;
+    // 货架朝向  UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
+    public short StorageDirection;
+    // 任务描述 Object 目前仅在飞梭和侧叉车型的报文中有这个字段，字段详情见下文
+    public SummaryData Summary;
+    // 电量百分比	Uint8
+    public short Battery;
+    // 车载货位信息
+    public LocationData[] GoodsSlots;
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/TaskModeChangeData.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/TaskModeChangeData.java
new file mode 100644
index 0000000..5d10853
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/TaskModeChangeData.java
@@ -0,0 +1,14 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity.base;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import lombok.Data;
+
+//1: 任务模式改变消息
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class TaskModeChangeData {
+    // 上一个任务模式 Uint8  0: 空闲模式 1: 初始化模式 2: 任务模式 3: 单动作模式 4: 手动模式 5: 遥控器模式 6: 充电模式 7: 任务被中断模式 有任务，但未收到终点坐标 8: 自定义模式
+    public short PrevTaskMode;
+    // 当前任务模式 Uint8  0: 空闲模式 1: 初始化模式 2: 任务模式 3: 单动作模式 4: 手动模式 5: 遥控器模式 6: 充电模式 7: 任务被中断模式 有任务，但未收到终点坐标 8: 自定义模式
+    public short TaskMode;
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/TaskStatusChangeData.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/TaskStatusChangeData.java
new file mode 100644
index 0000000..5c254cb
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/TaskStatusChangeData.java
@@ -0,0 +1,12 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity.base;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import lombok.Data;
+
+// 0，2，3，5，6，7：任务状态改变消息
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class TaskStatusChangeData {
+    // 当前任务类型 0: 运输 1: 接货 2: 卸货 3: 充电 4: 提升移栽取货或卸货 5: 滚筒取货或卸货（双向作业） 135: 旋转货架 136: 旋转车身 143: 卷帘门控制 224: 等待就绪
+    public short OperationType;
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/TaskTypeChangeData.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/TaskTypeChangeData.java
new file mode 100644
index 0000000..18c34e8
--- /dev/null
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/receiveEntity/base/TaskTypeChangeData.java
@@ -0,0 +1,14 @@
+package com.galaxis.rcs.connector.cl2.receiveEntity.base;
+
+import com.fasterxml.jackson.annotation.JsonIgnoreProperties;
+import lombok.Data;
+
+// 8: 任务类型改变消息
+@Data
+@JsonIgnoreProperties(ignoreUnknown = true)
+public class TaskTypeChangeData {
+    // 上一个任务类型 0: 运输 1: 接货 2: 卸货 3: 充电 4: 提升移栽取货或卸货 5: 滚筒取货或卸货（双向作业） 135: 旋转货架 136: 旋转车身 143: 卷帘门控制 224: 等待就绪
+    public short PrevOperationType;
+    // 当前任务类型 0: 运输 1: 接货 2: 卸货 3: 充电 4: 提升移栽取货或卸货 5: 滚筒取货或卸货（双向作业） 135: 旋转货架 136: 旋转车身 143: 卷帘门控制 224: 等待就绪
+    public short OperationType;
+}
diff --git a/servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/Cmd10010.java b/servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/Cmd10010.java
index 065518a..257f98b 100644
--- a/servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/Cmd10010.java
+++ b/servo/src/main/java/com/galaxis/rcs/connector/cl2/sendEntity/Cmd10010.java
@@ -6,9 +6,9 @@ public class Cmd10010 {
     // 作业序号 UInt32
     public long SeqNo;
     // 作业类型 UInt8 0：运输 1：接货 2：卸货 3：充电 4：提升移栽取货或卸货 5：滚筒取货或卸货（双向作业）
-    public byte OperationType;
-    //充电桩朝向UseBriefLocation	UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向
-    public byte ChargeDirection;
+    public short OperationType;
+    //充电桩朝向UseBriefLocation	UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
+    public short ChargeDirection;
     // 充电工位坐标和充电桩之间距离	UInt16 单位：mm
     public int ChargeLocation;
     // 目标货架编号 String 仅做校验使用（仅接货用）
@@ -28,29 +28,29 @@ public class Cmd10010 {
     // 路径分段信息
     public List<Link> Links;
     // AMR内置货位ID（仅对多层移栽有意义）UInt8 1～N
-    public byte BuiltinSlotNo;
+    public short BuiltinSlotNo;
     // 提升移栽货物拣货模式	UInt8 0:不控制（无动作） 1:从货架上取货 2:将货物放到货架上 3:仅调整托盘高度（不进行取放货操作） 4:调整车身货物(仅供调试，RCS勿发送此命令) 5:仅调整载货台到取货高度，但是不动作 6:仅调整载货台到放货高度，但是不动作
-    public byte PickMode;
+    public short PickMode;
     // 目标货位相对于地面的绝对高度 UInt16 单位：mm
     public int GoodsSlotHeight;
-    // 目标货位朝向 UInt8	朝向定义与充电桩朝向相同。 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向
-    public byte GoodsSlotDirection;
+    // 目标货位朝向 UInt8	朝向定义与充电桩朝向相同。 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
+    public short GoodsSlotDirection;
     // 多机构^[1]^的拣货模式 UInt8[3] 数组形式，意义同"PickMode"
-    public byte[] MPickMode	;
+    public short[] MPickMode;
     // 多机构^[1]^的目标货位高度 UInt16[3] 单位：mm
     public int[] MGoodsSlotHeight;
-    // 多机构^[1]^的目标货位朝向 UInt8[3] 朝向定义与充电桩朝向相同。 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向
-    public byte[] MGoodsSlotDirection;
+    // 多机构^[1]^的目标货位朝向 UInt8[3] 朝向定义与充电桩朝向相同。 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
+    public short[] MGoodsSlotDirection;
     // 多机构的目标货箱ID	String[3] 仅做校验使用（仅接货用）
     public String[] MStorageRacksNo;
     // 滚筒1 运动操作 对于左右滚动的双滚筒机型，此滚筒为靠近车头的滚筒。 对于前后滚动的双滚筒机型，此滚筒为车身左侧的滚筒。 UInt8 0:不控制（无动作） 1:从货架上取货 2:将货物放到货架上 3:仅调整托盘高度（不进行取放货操作） 4:调整车身货物(仅供调试，RCS勿发送此命令) 5:仅调整载货台到取货高度，但是不动作 6:仅调整载货台到放货高度，但是不动作
-    public byte Roll1Motion;
+    public short Roll1Motion;
     // 滚筒2 运动操作 对于左右滚动的双滚筒机型，此滚筒为靠近车尾的滚筒。 对于前后滚动的双滚筒机型，此滚筒为车身右侧的滚筒。 对于单滚筒机型，此参数无意义。  UInt8 0:不控制（无动作） 1:从货架上取货 2:将货物放到货架上 3:仅调整托盘高度（不进行取放货操作） 4:调整车身货物(仅供调试，RCS勿发送此命令) 5:仅调整载货台到取货高度，但是不动作 6:仅调整载货台到放货高度，但是不动作
-    public byte Roll2Motion;
-    // 与滚筒1对接的站台朝向 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向
-    public byte Roll1StationDirection;
-    // 与滚筒2对接的站台朝向 对于单滚筒机型，此参数无意义。 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向
-    public byte Roll2StationDirection;
+    public short Roll2Motion;
+    // 与滚筒1对接的站台朝向 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
+    public short Roll1StationDirection;
+    // 与滚筒2对接的站台朝向 对于单滚筒机型，此参数无意义。 UInt8 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
+    public short Roll2StationDirection;
     // 滚筒1目标货物长度 UInt16 单位：mm
     public int Roll1GoodsLength;
     // 滚筒2目标货物长度 对于单滚筒机型，此参数无意义。UInt16 单位：mm
@@ -60,9 +60,9 @@ public class Cmd10010 {
     // 滚筒2目标货物数量 对于单滚筒机型，此参数无意义。 UInt16 1～N
     public int Roll2GoodsQuantity;
     // 多滚筒运动模式 UInt8[6]	数组形式，0:不控制（无动作） 1:从货架上取货 2:将货物放到货架上 3:仅调整托盘高度（不进行取放货操作） 4:调整车身货物(仅供调试，RCS勿发送此命令) 5:仅调整载货台到取货高度，但是不动作 6:仅调整载货台到放货高度，但是不动作
-    public byte[] MRollMotion;
-    // 多滚筒对接的站台朝向	UInt8[6] 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向
-    public byte[] MRollStationDirection;
+    public short[] MRollMotion;
+    // 多滚筒对接的站台朝向	UInt8[6] 0: X轴正向 1: Y轴正向 2: X轴负向 3: Y轴负向 15: 未知方向
+    public short[] MRollStationDirection;
     // 多滚筒目标货物数量	UInt16[6] 数组形式，意义同"RollGoodsQuantity"
     public int[] MRollGoodsQuantity;
     // 是否仅执行任务的准备部分	bool 默认为false，仅执行该动作的准备部分，如仅进行导航，调整托盘高度等，但不进行取放货操作
diff --git a/servo/src/main/resources/application-dev.yml b/servo/src/main/resources/application-dev.yml
index 923f8e5..5f132a8 100644
--- a/servo/src/main/resources/application-dev.yml
+++ b/servo/src/main/resources/application-dev.yml
@@ -42,6 +42,11 @@ mqtt:
   client-id: 'yvan-rcs-dev'
   username: 'galaxis'
   password: 'Admin1234_'
+#mqtt:
+#  broker-url: 'tcp://10.10.8.31:1883'
+#  client-id: 'yvan-rcs-dev'
+#  username: 'admin'
+#  password: 'admin'
 web:
   resources:
     enable: true