三张表联查

    <resultMap id="ModelServiceBOMap" type="tech.yummy.iot.base.domain.bo.ModelServiceBO">
        <id column="id" property="id"></id>
        <result column="model_id" property="modelId"/>
        <result column="service_qualifier" property="serviceQualifier"/>
        <result column="service_name" property="serviceName"/>
        <result column="create_emp" property="createEmp"/>
        <result column="create_time" property="createTime"/>
        <!-- 型号信息-->
        <collection property="serviceInParameterList" ofType="tech.yummy.iot.base.domain.bo.ModelServiceInParameterBO" javaType="java.util.List">
            <id column="msip_id" property="id"></id>
            <id column="msip_service_id" property="serviceId"></id>
            <id column="msip_parameter_qualifier" property="parameterQualifier"></id>
            <id column="msip_parameter_name" property="parameterName"></id>
            <id column="msip_parameter_type" property="parameterType"></id>
            <id column="msip_unit" property="unit"></id>
            <id column="msip_parameter_sequence" property="parameterSequence"></id>
            <id column="msip_accuracy" property="accuracy"></id>
        </collection>
        <collection property="serviceOutParameterList" ofType="tech.yummy.iot.base.domain.bo.ModelServiceOutParameterBO" javaType="java.util.List">
            <id column="msop_id" property="id"></id>
            <id column="msop_service_id" property="serviceId"></id>
            <id column="msop_parameter_qualifier" property="parameterQualifier"></id>
            <id column="msop_parameter_name" property="parameterName"></id>
            <id column="msop_parameter_type" property="parameterType"></id>
            <id column="msop_unit" property="unit"></id>
            <id column="msop_parameter_sequence" property="parameterSequence"></id>
            <id column="msop_accuracy" property="accuracy"></id>
        </collection>

    </resultMap>

    <select id="queryModelService" resultMap="ModelServiceBOMap" parameterType="tech.yummy.iot.admin.model.domain.param.ModelServiceParam">
        SELECT
        ms.id,
        ms.model_id,
        ms.service_qualifier,
        ms.service_name,

        msip.id as msip_id,
        msip.service_id as msip_service_id ,
        msip.parameter_qualifier as msip_parameter_qualifier,
        msip.parameter_name as msip_parameter_name,
        msip.parameter_type as msip_parameter_type,
        msip.unit as msip_unit,
        msip.parameter_sequence as msip_parameter_sequence,
        msip.accuracy as msip_accuracy,

        msop.id as msop_id,
        msop.service_id as msop_service_id,
        msop.parameter_qualifier as msop_parameter_qualifier,
        msop.parameter_name as msop_parameter_name,
        msop.parameter_type as msop_parameter_type,
        msop.unit as msop_unit,
        msop.parameter_sequence as msop_parameter_sequence,
        msop.accuracy as msop_accuracy
        FROM
        t_model_service ms
        left join t_model_service_in_parameter msip on ms.id = msip.service_id
        left join t_model_service_out_parameter msop on ms.id = msop.service_id
        <include refid="QueryParam"></include>
    </select>

注意事项：重命名的名字要对应，而且相同的名字，一定要对应好，因为另外两张表太像了。