diff --git a/.idea/.gitignore b/.idea/.gitignore
index 625bcee..aff0f64 100644
--- a/.idea/.gitignore
+++ b/.idea/.gitignore
@@ -17,9 +17,9 @@
 *.class
 
 # 忽略日志文件
+/log/
 *.log
 
 # 忽略系统生成文件
 .DS_Store
 Thumbs.db
-
diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/device/controller/PayloadController.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/device/controller/PayloadController.java
index de0ee6d..68120d1 100644
--- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/device/controller/PayloadController.java
+++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/device/controller/PayloadController.java
@@ -1,9 +1,9 @@
 package com.zhangy.skyeye.device.controller;
 
+import com.zhangy.skyeye.device.dto.PayloadPageDTO;
 import com.zhangy.skyeye.device.dto.PayloadQueryDTO;
 import com.zhangy.skyeye.device.entity.SkyeyePayload;
 import com.zhangy.skyeye.device.service.IPayloadService;
-import com.zhangy.skyeye.device.dto.PayloadPageDTO;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.validation.annotation.Validated;
 import org.springframework.web.bind.annotation.*;
@@ -14,11 +14,11 @@ import javax.validation.Valid;
 @RestController
 @RequestMapping("/skyeye/payload")
 public class PayloadController {
-    
+
     @Autowired
     private IPayloadService payloadService;
-    
-    /** 
+
+    /**
      * 分页查询
      */
     @RequestMapping("/page")
@@ -26,7 +26,7 @@ public class PayloadController {
         return payloadService.selectPage(param);
     }
 
-    /** 
+    /**
      * 列表查询
      */
     @RequestMapping("/list")
@@ -36,21 +36,22 @@ public class PayloadController {
 
     /**
      * 查询可用的雷达（未执行任务且已连接）
+     *
      * @return
      */
     @GetMapping("/getEnableList")
     public Object getEnableList() {
         return payloadService.getEnableList();
     }
-    
-    /** 
+
+    /**
      * 查询详情
      */
     @GetMapping("/detail")
     public Object selectById(@RequestParam Long id) {
         return payloadService.getOne(id);
     }
-    
+
     /**
      * 新增
      */
@@ -60,7 +61,7 @@ public class PayloadController {
         e.setDr(0);
         return payloadService.insert(e);
     }
-    
+
     /**
      * 修改
      */
@@ -69,7 +70,7 @@ public class PayloadController {
         e.setDr(0);
         return payloadService.update(e);
     }
-    
+
     /**
      * 删除
      */
diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/device/service/impl/PayloadServiceImpl.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/device/service/impl/PayloadServiceImpl.java
index 7ec056b..0cc6bd4 100644
--- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/device/service/impl/PayloadServiceImpl.java
+++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/device/service/impl/PayloadServiceImpl.java
@@ -6,7 +6,6 @@ import com.zhangy.skyeye.common.extend.dto.QueryDTO;
 import com.zhangy.skyeye.common.extend.enums.EnumUtil;
 import com.zhangy.skyeye.common.extend.exception.ServiceException;
 import com.zhangy.skyeye.common.extend.util.ObjectUtil;
-import com.zhangy.skyeye.redis.utils.RedisUtil;
 import com.zhangy.skyeye.device.consts.PayloadTypeEnum;
 import com.zhangy.skyeye.device.dto.PayloadQueryDTO;
 import com.zhangy.skyeye.device.entity.SkyeyePayload;
@@ -18,6 +17,7 @@ import com.zhangy.skyeye.jm.dto.JmUavStatusDTO;
 import com.zhangy.skyeye.jm.service.JmJobStatusService;
 import com.zhangy.skyeye.publics.consts.CacheKey;
 import com.zhangy.skyeye.publics.consts.ExecStatusEnum;
+import com.zhangy.skyeye.redis.utils.RedisUtil;
 import com.zhangy.skyeye.sar.service.ISarControlService;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.data.redis.core.RedisTemplate;
@@ -37,7 +37,7 @@ public class PayloadServiceImpl implements IPayloadService {
 
     @Autowired
     private RedisTemplate redisTemplate;
-    
+
     @Autowired
     private PayloadMapper payloadMapper;
 
@@ -46,7 +46,7 @@ public class PayloadServiceImpl implements IPayloadService {
 
     @Autowired
     private ISarControlService sarControlService;
-    
+
     @Override
     public IPage<SkyeyePayload> selectPage(PageDTO param) {
         return payloadMapper.selectPage(param);
@@ -57,9 +57,7 @@ public class PayloadServiceImpl implements IPayloadService {
         PayloadQueryDTO payloadQueryDTO = new PayloadQueryDTO();
         payloadQueryDTO.setType(PayloadTypeEnum.SAR.getCode());
         List<SkyeyePayload> sarList = selectList(payloadQueryDTO);
-        sarList.forEach(e -> {
-            cacheSar(e);
-        });
+        sarList.forEach(this::cacheSar);
     }
 
     private void cacheSar(SkyeyePayload e) {
@@ -116,6 +114,7 @@ public class PayloadServiceImpl implements IPayloadService {
 
     /**
      * 先判断该设备（同IP、编号）是否已删除过，是则更新，否则新增
+     *
      * @param e
      * @return
      */
@@ -132,7 +131,7 @@ public class PayloadServiceImpl implements IPayloadService {
         cacheSar(e);
         return e;
     }
-    
+
     @Transactional
     @Override
     public SkyeyePayload update(SkyeyePayload e) {
@@ -151,6 +150,7 @@ public class PayloadServiceImpl implements IPayloadService {
 
     /**
      * 保存前校验
+     *
      * @param e
      * @return 返回已逻辑删除的载荷
      */
@@ -167,7 +167,7 @@ public class PayloadServiceImpl implements IPayloadService {
             return local;
         }
     }
-    
+
     @Transactional
     @Override
     public void delete(Long... id) {
@@ -176,7 +176,7 @@ public class PayloadServiceImpl implements IPayloadService {
                 .stream()
                 .flatMap(vo -> vo.getUavMap().values().stream())
                 .filter(vo -> vo.getSarStatus() != ExecStatusEnum.OVER)
-                .map(vo -> vo.getSarId())
+                .map(JmUavStatusDTO::getSarId)
                 .collect(Collectors.toList());
         // 任务中的不可删除
         for (Long sarId : id) {
diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/dto/JmJobStatusDTO.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/dto/JmJobStatusDTO.java
index bb7ae4e..844485a 100644
--- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/dto/JmJobStatusDTO.java
+++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/dto/JmJobStatusDTO.java
@@ -5,97 +5,101 @@ import com.zhangy.skyeye.common.extend.exception.ServiceException;
 import com.zhangy.skyeye.device.consts.PayloadTypeEnum;
 import com.zhangy.skyeye.jm.entity.JmAirline;
 import com.zhangy.skyeye.jm.entity.JmJobPayload;
+import com.zhangy.skyeye.jm.entity.JmJobUav;
 import com.zhangy.skyeye.publics.consts.ExecStatusEnum;
 import lombok.Data;
 
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
 import java.util.Map;
-import java.util.function.Function;
-import java.util.stream.Collectors;
+
 /**
  * 任务状态 - 任务
  */
 @Data
 public class JmJobStatusDTO {
 
-    /**
-     * 任务配置ID
-     */
     private Long id;
-
     private ExecStatusEnum status;
-
     private Map<Long, JmUavStatusDTO> uavMap;
 
-    public static JmJobStatusDTO parse(JmJobDTO e) {
+    /**
+     * 将 JmJobDTO 转换为前端 DTO
+     */
+    public static JmJobStatusDTO parse(JmJobDTO job) {
+        if (job.getStatus() == null) throw ServiceException.noLog("任务状态不能为空");
         JmJobStatusDTO vo = new JmJobStatusDTO();
-        long jobConfId = e.getConfId();
-        vo.setId(jobConfId);
-        Integer jobStatus = e.getStatus();
-        if (jobStatus == null) {
-            throw ServiceException.noLog("任务状态不能为空");
+        vo.setId(job.getConfId());
+        vo.setStatus(EnumUtil.parseEx(ExecStatusEnum.class, job.getStatus()));
+        // 构建 UAV Map
+        Map<Long, JmUavStatusDTO> uavMap = new HashMap<>();
+        for (JmJobUav uav : job.getUavList()) {
+            uavMap.put(uav.getUavId(), parseUav(uav, job));
         }
-        vo.setStatus(EnumUtil.parseEx(ExecStatusEnum.class, jobStatus));
-        vo.setUavMap(e.getUavList()
-                .stream()
-                .map(u -> {
-                    JmUavStatusDTO uVo = new JmUavStatusDTO();
-                    long uavId = u.getUavId();
-                    uVo.setUavId(uavId);
-                    // sar
-                    JmJobPayload sar = u.getPayloadList()
-                            .stream()
-                            .filter(p -> PayloadTypeEnum.SAR.getCode().equals(p.getType()))
-                            .findFirst()
-                            .get();
-                    long sarId = sar.getPayloadId();
-                    uVo.setSarId(sarId);
-                    uVo.setSarIp(sar.getIp());
-                    uVo.setSarImageLight(sar.getImageLight());
-                    // smp
-                    uVo.setHomeAlt(u.getStartAltitude());
-                    uVo.setHomeLon(u.getStartLon());
-                    uVo.setHomeLat(u.getStartLat());
-                    Integer sarStatus = sar.getStatus();
-                    if (sarStatus == null) {
-                        throw new ServiceException("sar状态不能为空");
-                    }
-                 //   uVo.setSarStatus(ExecStatusEnum.parseEx(sarStatus));
-                    uVo.setAirlineList(u.getAirlineList()
-                            .stream()
-                            .map(a -> {
-                                JmAirlineStatusDTO aVo = new JmAirlineStatusDTO();
-                                aVo.setConfId(a.getConfId());
-                                aVo.setExecId(a.getExecId());
-                                aVo.setNo(a.getFlightNo());
-                                aVo.setDistance(a.getDistance());
-                                aVo.setStartLon(a.getStartLon());
-                                aVo.setStartLat(a.getStartLat());
-                                aVo.setStartHeight(a.getStartHeight());
-                                aVo.setTargetHeading(a.getTargetHeading());
-                                aVo.setDirection(a.getDirection());
-                                aVo.setJobId(jobConfId);
-                                aVo.setUavId(uavId);
-                                aVo.setPayloadId(sarId);
-                                Integer airlineStatus = a.getStatus();
-                                if (airlineStatus == null) {
-                                    throw ServiceException.noLog("航线状态不能为空");
-                                }
-                                aVo.setStatus(EnumUtil.parseEx(ExecStatusEnum.class, airlineStatus));
-                                return aVo;
-                            })
-                            .collect(Collectors.toList())
-                    );
-                    uVo.setDistance(u.getAirlineList().stream().mapToInt(JmAirline::getDistance).sum());
-                    // 向前端推送图像时需要
-                    uVo.setJobId(jobConfId);
-                    uVo.setJobExecId(e.getExecId());
-                    uVo.setJobName(e.getName());
-                    uVo.setUavName(u.getUavName());
-                    uVo.setSarName(sar.getPayloadName());
-                    return uVo;
-                })
-                .collect(Collectors.toMap(uVo -> uVo.getUavId(), Function.identity()))
-        );
+        vo.setUavMap(uavMap);
         return vo;
     }
+
+    /**
+     * 将单个 UAV 对象转换为 DTO，包括 SAR 信息和航线列表
+     */
+    private static JmUavStatusDTO parseUav(JmJobUav uav, JmJobDTO job) {
+        JmUavStatusDTO uVo = new JmUavStatusDTO();
+        // UAV 基本信息
+        uVo.setUavId(uav.getUavId());
+        uVo.setHomeAlt(uav.getStartAltitude());
+        uVo.setHomeLon(uav.getStartLon());
+        uVo.setHomeLat(uav.getStartLat());
+        uVo.setJobId(job.getConfId());
+        uVo.setJobExecId(job.getExecId());
+        uVo.setJobName(job.getName());
+        uVo.setUavName(uav.getUavName());
+        // 找到 UAV 的 SAR Payload
+        JmJobPayload sar = uav.getPayloadList().stream()
+                .filter(p -> PayloadTypeEnum.SAR.getCode().equals(p.getType()))
+                .findFirst()
+                .orElseThrow(() -> new ServiceException("SAR payload不存在"));
+        uVo.setSarId(sar.getPayloadId());
+        uVo.setSarIp(sar.getIp());
+        uVo.setSarImageLight(sar.getImageLight());
+        uVo.setSarName(sar.getPayloadName());
+        // uVo.setSarStatus(ExecStatusEnum.parseEx(sar.getStatus()));
+        // 构建航线 DTO 列表，同时计算总距离
+        int totalDistance = 0;
+        List<JmAirlineStatusDTO> airlines = new ArrayList<>();
+        for (JmAirline a : uav.getAirlineList()) {
+            airlines.add(parseAirline(a, job.getConfId(), uav.getUavId(), sar.getPayloadId()));
+            totalDistance += a.getDistance();
+        }
+        uVo.setAirlineList(airlines);
+        uVo.setDistance(totalDistance);
+
+        return uVo;
+    }
+
+    /**
+     * 将单条航线对象转换为 DTO
+     */
+    private static JmAirlineStatusDTO parseAirline(JmAirline a, long jobId, long uavId, long payloadId) {
+        if (a.getStatus() == null) throw ServiceException.noLog("航线状态不能为空");
+        JmAirlineStatusDTO aVo = new JmAirlineStatusDTO();
+        // 航线基础信息
+        aVo.setConfId(a.getConfId());
+        aVo.setExecId(a.getExecId());
+        aVo.setNo(a.getFlightNo());
+        aVo.setDistance(a.getDistance());
+        aVo.setStartLon(a.getStartLon());
+        aVo.setStartLat(a.getStartLat());
+        aVo.setStartHeight(a.getStartHeight());
+        aVo.setTargetHeading(a.getTargetHeading());
+        aVo.setDirection(a.getDirection());
+        // 关联任务和 UAV
+        aVo.setJobId(jobId);
+        aVo.setUavId(uavId);
+        aVo.setPayloadId(payloadId);
+        // 状态枚举
+        aVo.setStatus(EnumUtil.parseEx(ExecStatusEnum.class, a.getStatus()));
+        return aVo;
+    }
 }
diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobExecServiceImpl.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobExecServiceImpl.java
index 3933a1f..5a223df 100644
--- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobExecServiceImpl.java
+++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobExecServiceImpl.java
@@ -7,7 +7,10 @@ import com.zhangy.skyeye.common.extend.util.ObjectUtil;
 import com.zhangy.skyeye.device.service.IPayloadService;
 import com.zhangy.skyeye.jm.dto.JmJobDTO;
 import com.zhangy.skyeye.jm.dto.JmJobQueryDTO;
-import com.zhangy.skyeye.jm.entity.*;
+import com.zhangy.skyeye.jm.entity.JmAirlineExec;
+import com.zhangy.skyeye.jm.entity.JmJobExec;
+import com.zhangy.skyeye.jm.entity.JmJobPoint;
+import com.zhangy.skyeye.jm.entity.JmJobUav;
 import com.zhangy.skyeye.jm.event.JmJobStatusInitEvent;
 import com.zhangy.skyeye.jm.mapper.JmJobExecMapper;
 import com.zhangy.skyeye.jm.service.*;
@@ -74,6 +77,7 @@ public class JmJobExecServiceImpl implements JmJobExecService {
 
     /**
      * 查询进行中的任务
+     *
      * @return
      */
     @Override
@@ -125,40 +129,36 @@ public class JmJobExecServiceImpl implements JmJobExecService {
     @Transactional
     @Override
     public void save(JmJobDTO dto) {
-        Long jobConfigId = dto.getId();
-        // 任务
-        JmJobExec e = new JmJobExec();
-        e.setStatus(dto.getStatus());
-        e.setBeginTime(dto.getBeginTime());
-        e.setConfId(jobConfigId);
-        e.setType(dto.getType());
-        jobExecMapper.insert(e);
-        long execId = e.getId();
-        // 航线
-        List<JmAirlineExec> airlineExecList = dto.getUavList()
-                .stream()
-                .flatMap(uav -> {
-                    return uav.getAirlineList()
-                            .stream()
-                            .map(airline -> {
-                                JmAirlineExec ae = new JmAirlineExec();
-                                ae.setConfId(airline.getId());
-                                ae.setStatus(ExecStatusEnum.NOT.getValue());
-                                ae.setJobId(execId);
-                                return ae;
-                            });
-                }).collect(Collectors.toList());
+        // 1. 保存任务执行信息
+        JmJobExec jobExec = new JmJobExec();
+        jobExec.setConfId(dto.getId());
+        jobExec.setStatus(dto.getStatus());
+        jobExec.setBeginTime(dto.getBeginTime());
+        jobExec.setType(dto.getType());
+        jobExecMapper.insert(jobExec);
+        long execId = jobExec.getId();
+        // 2. 构建并保存航线执行列表
+        List<JmAirlineExec> airlineExecList = dto.getUavList().stream()
+                .flatMap(uav -> uav.getAirlineList().stream()
+                        .map(airline -> {
+                            JmAirlineExec ae = new JmAirlineExec();
+                            ae.setConfId(airline.getId());
+                            ae.setJobId(execId);
+                            ae.setStatus(ExecStatusEnum.NOT.getValue());
+                            return ae;
+                        }))
+                .collect(Collectors.toList());
         jmAirlineExecService.insert(airlineExecList);
-        // 回写航线执行ID
-        // 键 航线配置ID，值 航线执行ID
-        Map<Long, Long> airlineIdMap = airlineExecList.stream().collect(Collectors.toMap(a -> a.getConfId(), a -> a.getId(), (x, y) -> y));
-        dto.getUavList().forEach(uav -> {
-            uav.getAirlineList().forEach(a -> a.setExecId(airlineIdMap.get(a.getId())));
-        });
-        // 回写任务执行ID
+        // 3. 回写航线执行ID
+        Map<Long, Long> airlineIdMap = airlineExecList.stream()
+                .collect(Collectors.toMap(JmAirlineExec::getConfId, JmAirlineExec::getId));
+        dto.getUavList().forEach(uav -> uav.getAirlineList().forEach(airline ->
+                airline.setExecId(airlineIdMap.get(airline.getId()))));
+        // 4. 回写任务执行ID
         dto.setExecId(execId);
     }
 
+
     @Override
     public void updateNotNull(JmJobExec e) {
         Long jobExecId = e.getId();
@@ -176,7 +176,7 @@ public class JmJobExecServiceImpl implements JmJobExecService {
         JmJobExec e = BeanUtil.copyProperties(dto, JmJobExec.class);
         jobExecMapper.updateNotNull(e);
     }
-    
+
     @Transactional
     @Override
     public void deleteByJobConf(Long... jobConfId) {
diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobServiceImpl.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobServiceImpl.java
index 1f4ec46..2059b82 100644
--- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobServiceImpl.java
+++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobServiceImpl.java
@@ -1,6 +1,7 @@
 package com.zhangy.skyeye.jm.service.impl;
 
 import cn.hutool.core.bean.BeanUtil;
+import cn.hutool.core.date.DateUtil;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
 import com.zhangy.skyeye.common.extend.enums.EnumUtil;
@@ -378,11 +379,9 @@ public class JmJobServiceImpl implements JmJobService {
        // SarBackImageFrameDTO.i = 1;
         // 校验无人机、载荷
         jobStatusService.checkDeviceForNewJob(job.getUavList());
-        Long jobId = job.getId();
-        // 更新任务状态
+        // 保存任务状态
         job.setStatus(ExecStatusEnum.PROCESSING.getValue());
-        job.setBeginTime(new Date());
-        // add exec
+        job.setBeginTime(DateUtil.date());
         jmJobExecService.save(job);
         try {
             // 1.发送航线到雷达
diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobStatusServiceImpl.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobStatusServiceImpl.java
index d9d5119..174bc03 100644
--- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobStatusServiceImpl.java
+++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/jm/service/impl/JmJobStatusServiceImpl.java
@@ -2,6 +2,7 @@ package com.zhangy.skyeye.jm.service.impl;
 
 import com.zhangy.skyeye.common.extend.exception.ServiceException;
 import com.zhangy.skyeye.jm.dto.*;
+import com.zhangy.skyeye.jm.entity.JmJobPayload;
 import com.zhangy.skyeye.jm.entity.JmJobUav;
 import com.zhangy.skyeye.jm.event.JmAirlineStatusEvent;
 import com.zhangy.skyeye.jm.event.JmJobStatusEvent;
@@ -12,7 +13,6 @@ import com.zhangy.skyeye.publics.consts.ExecStatusEnum;
 import com.zhangy.skyeye.publics.consts.WebSocketKey;
 import com.zhangy.skyeye.publics.utils.CoordUtil;
 import com.zhangy.skyeye.sar.listen.SarImageUdpProcessor;
-// import com.zhangy.skyeye.smp.service.ISmpSubscriptService;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.ApplicationEventPublisher;
@@ -158,27 +158,29 @@ public class JmJobStatusServiceImpl implements JmJobStatusService {
     }
 
     @Override
-    public void checkDeviceForNewJob(List<JmJobUav> uavList) {
-        // 查询未完成的无人机、载荷
-        Set<Long> uavIds = new HashSet<>();
-        Set<Long> sarIds = new HashSet<>();
-        getAll().stream().flatMap(vo -> vo.getUavMap().values().stream())
-                .forEach(vo -> {
-                    if (vo.getSarStatus() != ExecStatusEnum.OVER) {
-                        uavIds.add(vo.getUavId());
-                        sarIds.add(vo.getSarId());
-                    }
-                });
-        uavList.forEach(u -> {
-            if (uavIds.contains(u.getUavId())) {
+    public void checkDeviceForNewJob(List<JmJobUav> newJobUavs) {
+        // 收集正在执行任务的无人机ID和载荷ID
+        Set<Long> runningUavIds = new HashSet<>();
+        Set<Long> runningPayloadIds = new HashSet<>();
+        for (JmJobStatusDTO job : getAll()) {
+            for (JmUavStatusDTO value : job.getUavMap().values()) {
+                if (value.getSarStatus() != ExecStatusEnum.OVER) {
+                    runningUavIds.add(value.getUavId());
+                    runningPayloadIds.add(value.getSarId());
+                }
+            }
+        }
+        // 校验新任务中的无人机和载荷是否冲突
+        for (JmJobUav newUav : newJobUavs) {
+            if (runningUavIds.contains(newUav.getUavId())) {
                 throw ServiceException.warnLog("无人机正在任务中，无法执行新任务");
             }
-            u.getPayloadList().forEach(p -> {
-                if (sarIds.contains(p.getPayloadId())) {
+            for (JmJobPayload payload : newUav.getPayloadList()) {
+                if (runningPayloadIds.contains(payload.getPayloadId())) {
                     throw ServiceException.warnLog("载荷正在任务中，无法执行新任务");
                 }
-            });
-        });
+            }
+        }
     }
 
     /**
@@ -296,7 +298,7 @@ public class JmJobStatusServiceImpl implements JmJobStatusService {
 
     // 开启新航线
     private void startAirline(JmAirlineStatusDTO airline, JmJobStatusWsDTO ws) {
-        log.info("开启航线" + airline.getNo()  + "：id=" + airline.getExecId());
+        log.info("开启航线" + airline.getNo() + "：id=" + airline.getExecId());
         updateAirline(airline, ExecStatusEnum.PROCESSING, ws);
     }
 
@@ -314,6 +316,7 @@ public class JmJobStatusServiceImpl implements JmJobStatusService {
 
     /**
      * 获取任务完成度
+     *
      * @return
      */
     private int getCompletion(JmJobStatusDTO job) {
@@ -339,7 +342,7 @@ public class JmJobStatusServiceImpl implements JmJobStatusService {
      * 结束sar
      */
     private void endSar(JmUavStatusDTO uavVo, Long jobId, JmJobStatusWsDTO wsVo) {
-       // uavVo.setSarStatus(ExecStatusEnum.OVER);
+        // uavVo.setSarStatus(ExecStatusEnum.OVER);
         eventPublisher.publishEvent(new JmPayloadStatusEvent(jobId, uavVo.getSarId(), ExecStatusEnum.OVER));
         wsVo.setPayload(uavVo.getSarId(), ExecStatusEnum.OVER);
         log.info("结束sar，id=" + uavVo.getSarId() + "，任务ID=" + jobId);
diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/control/SarControlContext.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/control/SarControlContext.java
index fc1e734..25d2906 100644
--- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/control/SarControlContext.java
+++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/control/SarControlContext.java
@@ -69,7 +69,7 @@ public class SarControlContext {
 
     @PostConstruct
     public void log() {
-        log.info("雷达传图类型：" + imgType);
+        log.info("雷达传图类型：{}", imgType);
     }
 
     /**
diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/listen/SarImageUdpProcessor.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/listen/SarImageUdpProcessor.java
index 9cb8fc0..8c6f907 100644
--- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/listen/SarImageUdpProcessor.java
+++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/listen/SarImageUdpProcessor.java
@@ -1,6 +1,5 @@
 package com.zhangy.skyeye.sar.listen;
 
-import com.zhangy.skyeye.common.extend.exception.ServiceException;
 import com.zhangy.skyeye.jm.dto.JmAirlineStatusDTO;
 import com.zhangy.skyeye.jm.entity.JmImage;
 import com.zhangy.skyeye.jm.service.JmJobStatusService;
@@ -10,12 +9,10 @@ import com.zhangy.skyeye.sar.dto.SarImagePacketDTO;
 import com.zhangy.skyeye.sar.dto.SarImagePacketGroupDTO;
 import com.zhangy.skyeye.sar.service.ISarImageService;
 import lombok.extern.slf4j.Slf4j;
-import org.apache.tomcat.util.security.MD5Encoder;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.annotation.Primary;
 import org.springframework.stereotype.Service;
 
-import java.io.*;
 import java.nio.ByteBuffer;
 import java.nio.ByteOrder;
 import java.util.Map;
@@ -57,6 +54,7 @@ public class SarImageUdpProcessor extends SarAbstractUdpProcessor<SarImagePacket
 
     /**
      * 判断是否可以合并回图帧，首包不能丢
+     *
      * @param group
      * @return
      */
@@ -72,6 +70,7 @@ public class SarImageUdpProcessor extends SarAbstractUdpProcessor<SarImagePacket
      * 合并后删除frameMap的分包数据
      * 使用ByteBuffer替代ByteArrayOutputStream，以减少内存分配。ByteArrayOutputStream 的 toByteArray()底层用Arrays.copyOf实现，
      * 有性能开销；ByteBuffer的array()无需拷贝数组
+     *
      * @param group
      * @return
      */
@@ -97,7 +96,6 @@ public class SarImageUdpProcessor extends SarAbstractUdpProcessor<SarImagePacket
 
     @Override
     public SarImagePacketGroupDTO putPacket(String sourceIp, SarImagePacketDTO packet) {
-        //System.out.println("udp:" + packet.getSessionId() + "," + packet.getPacketNo());
         // 1.包放入缓冲区
         long sessionId = packet.getSessionId();
         SarImagePacketGroupDTO group;
@@ -114,12 +112,11 @@ public class SarImageUdpProcessor extends SarAbstractUdpProcessor<SarImagePacket
             group.setAirlineExecId(currAirline.getExecId());
             put(sourceIp, sessionId, group);
         }
-        //System.out.println(packet);
         // 2.判断是否全部包到达，是则合并
         SarImagePacketDTO last = group.getLastPacket();
         // 若所有包已收到则合并
         if (last != null && last.isLast() && group.getPackets().size() == group.getMaxNo() + 1) {
-            log.info("[UDP] sesionid="+ packet.getSessionId() + "全部到达合并！");
+            log.info("[UDP] sesionid=" + packet.getSessionId() + "全部到达合并！");
             byte[] framePacketData = join(group);
             afterJoin(framePacketData, group);
             remove(sourceIp, sessionId);
@@ -137,15 +134,16 @@ public class SarImageUdpProcessor extends SarAbstractUdpProcessor<SarImagePacket
     protected void expireProcess(SarImagePacketGroupDTO group) {
         // 定时判断：超过 PACKET_TIMEOUT 时间未收到新包且符合生成条件则合成图
         if (canJoin(group)) {
-            log.info("[UDP] sesionid="+ group.getSessionId() + "超时合并！");
+            log.info("[UDP] sesionid： {} 超时合并！", group.getSessionId());
             byte[] framePacketData = join(group);
             afterJoin(framePacketData, group);
-        } else {    // 超时且无法合并，丢弃
+        } else {
+            // 超时且无法合并，丢弃
             Map<Integer, SarImagePacketDTO> packets = group.getPackets();
             if (packets.size() == 1 && packets.values().iterator().next().isLast()) {
                 // 雷达传图有bug，每帧的尾包会多发一个，丢弃且不打印日志
             } else {
-                log.warn(getText() + "-移除超时帧: {}", group.getSessionId());
+                log.warn("{}-移除超时帧: {}", getText(), group.getSessionId());
             }
         }
     }
diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarBackWsServiceImpl.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarBackWsServiceImpl.java
index 72eed2b..ed56894 100644
--- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarBackWsServiceImpl.java
+++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarBackWsServiceImpl.java
@@ -1,15 +1,15 @@
 package com.zhangy.skyeye.sar.service.impl;
 
+import com.zhangy.skyeye.jm.dto.JmAirlineStatusDTO;
 import com.zhangy.skyeye.jm.dto.JmUavStatusDTO;
 import com.zhangy.skyeye.jm.entity.JmImage;
 import com.zhangy.skyeye.jm.service.JmJobStatusService;
-import com.zhangy.skyeye.jm.dto.JmAirlineStatusDTO;
 import com.zhangy.skyeye.publics.consts.WebSocketKey;
 import com.zhangy.skyeye.publics.service.SysFileTypeService;
+import com.zhangy.skyeye.sar.dto.JmSarWaveWsDTO;
 import com.zhangy.skyeye.sar.dto.SarBackWaveFrameDTO;
 import com.zhangy.skyeye.sar.service.ISarBackWsService;
 import com.zhangy.skyeye.sar.service.SarWsAsyncService;
-import com.zhangy.skyeye.sar.dto.JmSarWaveWsDTO;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.messaging.simp.SimpMessagingTemplate;
@@ -20,10 +20,10 @@ import java.util.Date;
 /**
  * 雷达回传数据推送
  * 图像矩阵排列，非如此排列需要转置图像
- *  1————————————————————5
- *  2                    6
- *  3                    7
- *  4————————————————————8
+ * 1————————————————————5
+ * 2                    6
+ * 3                    7
+ * 4————————————————————8
  */
 @Slf4j
 @Service
@@ -59,7 +59,7 @@ public class SarBackWsServiceImpl implements ISarBackWsService {
      * 加载任务信息
      *
      * @param payloadIp 载荷IP
-     * @param vo 包含通道信息的vo
+     * @param vo        包含通道信息的vo
      * @return
      */
     private JmSarWaveWsDTO loadJobDetail(String payloadIp, JmSarWaveWsDTO ws, byte[] frameData) {
diff --git a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarControlServiceImpl.java b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarControlServiceImpl.java
index 1b8d477..d0d9a44 100644
--- a/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarControlServiceImpl.java
+++ b/backend/Skyeye-sys-dev/skyeye-service-manager/src/main/java/com/zhangy/skyeye/sar/service/impl/SarControlServiceImpl.java
@@ -1,20 +1,23 @@
 package com.zhangy.skyeye.sar.service.impl;
 
 import com.zhangy.skyeye.common.extend.util.JsonUtil;
-import com.zhangy.skyeye.redis.utils.RedisUtil;
 import com.zhangy.skyeye.jm.dto.JmJobDTO;
-import com.zhangy.skyeye.publics.consts.CacheKey;
-import com.zhangy.skyeye.sar.control.SarControlContext;
-import com.zhangy.skyeye.sar.enums.SarControlTypeEnum;
-import com.zhangy.skyeye.jm.entity.JmJobPayload;
 import com.zhangy.skyeye.jm.dto.JmSarStatusDTO;
-import com.zhangy.skyeye.sar.service.ISarControlService;
+import com.zhangy.skyeye.jm.entity.JmJobPayload;
+import com.zhangy.skyeye.jm.entity.JmJobUav;
+import com.zhangy.skyeye.publics.consts.CacheKey;
+import com.zhangy.skyeye.redis.utils.RedisUtil;
+import com.zhangy.skyeye.sar.control.SarControlContext;
 import com.zhangy.skyeye.sar.dto.SarControlParamDTO;
+import com.zhangy.skyeye.sar.enums.SarControlTypeEnum;
+import com.zhangy.skyeye.sar.service.ISarControlService;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
+import java.util.Optional;
+
 /**
  * 控制指令
  */
@@ -30,35 +33,34 @@ public class SarControlServiceImpl implements ISarControlService {
 
     @Override
     public void sendUdp(JmJobDTO job) {
-        if (job == null) {
-            return;
-        }
+        if (job == null || job.getUavList() == null) return;
         job.getUavList().forEach(uav -> {
             JmJobPayload sar = uav.getSar0();
+            if (sar == null) return;
             SarControlParamDTO param = new SarControlParamDTO();
-            // 载荷参数 -> 雷达控制参数
             param.setIp(sar.getIp());
             param.setAirlineList(uav.getAirlineList());
             param.setAutoFocus(sar.getAutoFocus());
             param.setMoto(sar.getMoto());
             param.setImageBit(sar.getImageBit());
-
-            double startAltitude = uav.getStartAltitude();
-            param.getAirlineList().forEach(a -> {
-                // 雷达参数中的高度转为海拔高度
-                a.setFlightEndHeight(a.getFlightEndHeight() + startAltitude);
-                a.setFlightStartHeight(a.getFlightStartHeight() + startAltitude);
-                a.setGroundStartHeight(a.getGroundStartHeight() + startAltitude);
-                a.setTargetCentroidHeight(a.getTargetCentroidHeight() + startAltitude);
-            });
             param.setResolution(sar.getResolution());
             param.setControlType(SarControlTypeEnum.AUTO);
+            double startAltitude = uav.getStartAltitude();
+            // 高度加上起始高度
+            Optional.ofNullable(param.getAirlineList())
+                    .ifPresent(list -> list.forEach(a -> {
+                        a.setFlightStartHeight(a.getFlightStartHeight() + startAltitude);
+                        a.setFlightEndHeight(a.getFlightEndHeight() + startAltitude);
+                        a.setGroundStartHeight(a.getGroundStartHeight() + startAltitude);
+                        a.setTargetCentroidHeight(a.getTargetCentroidHeight() + startAltitude);
+                    }));
             param.checkOrSetData();
-            log.info("上传雷达：" + JsonUtil.toString(param));
+            log.info("上传雷达：{}", JsonUtil.toString(param));
             sendUdp(param);
         });
     }
 
+
     @Override
     public void sendUdp(SarControlParamDTO param) {
         udpSendContext.execute(param);
diff --git a/frontend/.gitignore b/frontend/.gitignore
index ae775c1..133621d 100644
--- a/frontend/.gitignore
+++ b/frontend/.gitignore
@@ -19,3 +19,4 @@ pack/
 package-lock.json
 .DS_Store
 .history
+/*.lock