From 0f36d8b4d1f4fdfccb92ba8ea6e929e03500901f Mon Sep 17 00:00:00 2001 From: lixiaolong <702156524@qq.com> Date: Tue, 30 Jun 2026 15:00:25 +0800 Subject: [PATCH] =?UTF-8?q?feat(agv):=20=E6=B7=BB=E5=8A=A0AGV=E7=A7=BB?= =?UTF-8?q?=E5=8A=A8=E5=88=B0=E6=8C=87=E5=AE=9A=E7=82=B9=E5=8A=9F=E8=83=BD?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 在ActionEnum中新增AGV_MOVE_TO_POINT枚举值 - 在FlowActionExecutorService中添加AGV移动逻辑处理 - 新增EdgeAgvOperateService实现AGV边缘操作服务 - 集成EdgeAgvService进行机器人导航控制 - 实现坐标参数解析和验证功能 - 添加AGV移动任务下发和结果返回机制 --- .../java/com/cmvr/test/enums/ActionEnum.java | 3 + .../operator/edge/EdgeAgvOperateService.java | 89 +++++++++++++++++++ .../service/FlowActionExecutorService.java | 40 +++++++++ 3 files changed, 132 insertions(+) create mode 100644 cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeAgvOperateService.java diff --git a/cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java b/cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java index a888df8..f97b5ad 100644 --- a/cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java +++ b/cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java @@ -63,6 +63,9 @@ public enum ActionEnum { BIO_HEAD_SPEAK_STOP("EDGE", "BIO_HEAD_SPEAK_STOP", "停止说话"), BIO_HEAD_SPECIAL_EXPRESSION("EDGE", "BIO_HEAD_SPECIAL_EXPRESSION", "表情，1:高兴,2:惊讶,3:疲惫"), + // --------------- agv --------------- + AGV_MOVE_TO_POINT("EDGE", "AGV_MOVE_TO_POINT", "移动到指定点"), + // 大模型行为 // ---------------获取触控坐标--------------- TOUCH_COORDINATES("LLM", "TOUCH_COORDINATES", "获取触控坐标"), diff --git a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeAgvOperateService.java b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeAgvOperateService.java new file mode 100644 index 0000000..3ec51a2 --- /dev/null +++ b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeAgvOperateService.java @@ -0,0 +1,89 @@ +package com.cmvr.test.flow.runtime.operator.edge; + +import cmvr.api.AgvCommand; +import com.alibaba.fastjson2.JSONObject; +import com.cmvr.common.exception.GlobalException; +import com.cmvr.edge.client.model.EdgeCommonVO; +import com.cmvr.edge.client.service.EdgeAgvService; +import com.cmvr.test.enums.ActionEnum; +import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage; +import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult; +import lombok.RequiredArgsConstructor; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Service; + +/** + * AGV边缘操作服务 + * 处理AGV相关的设备行为，如移动到指定位置 + * + * @author cmvr-iot + * @since 2026-06-29 + */ +@Slf4j +@Service +@RequiredArgsConstructor +public class EdgeAgvOperateService implements EdgeOperateService { + + private final EdgeAgvService edgeAgvService; + + @Override + public boolean supports(ActionEnum action) { + return action.name().startsWith("AGV_"); + } + + @Override + public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) { + ActionEnum action = message.getAction(); + JSONObject inputParams = message.getInputParams(); + String terminalId = message.getTerminalId(); + + // 从输入参数中获取机器人ID + String deviceId = inputParams.getString("deviceId"); + + if (deviceId == null || deviceId.isEmpty()) { + throw new GlobalException("机器人ID(deviceId)不能为空"); + } + + switch (action) { + case AGV_MOVE_TO_POINT: { + log.info("执行AGV移动到指定位置操作，机器人ID: {}", deviceId); + + // 从输入参数中获取坐标信息 + Double x = inputParams.getDouble("x"); + Double y = inputParams.getDouble("y"); + Double theta = inputParams.getDouble("theta"); + String taskId = inputParams.getString("taskId"); + + // 参数验证 + if (x == null || y == null) { + throw new GlobalException("X和Y坐标不能为空"); + } + + // 构建自由导航点 + AgvCommand.FreeGoPoint freeGoPoint = AgvCommand.FreeGoPoint.newBuilder() + .setX(x) + .setY(y) + .setTheta(theta != null ? theta : 0.0) + .build(); + + // 构建边缘端通用参数 + EdgeCommonVO edgeCommonVO = new EdgeCommonVO(); + edgeCommonVO.setTerminalId(terminalId); + edgeCommonVO.setDeviceId(deviceId); + + // 直接调用边缘端AGV服务执行导航 + AgvCommand.RobotGoTargetResData result = + edgeAgvService.robotGoTargetWithFreeGo(edgeCommonVO, freeGoPoint, taskId); + + log.info("AGV移动任务下发成功，返回码: {}", result.getRetCode()); + + break; + } + + default: + throw new GlobalException("不支持的AGV操作类型: " + action); + } + + return TaskNodeExecuteResult.success(); + } +} diff --git a/cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowActionExecutorService.java b/cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowActionExecutorService.java index 7965aab..2168c3c 100644 --- a/cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowActionExecutorService.java +++ b/cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowActionExecutorService.java @@ -12,6 +12,7 @@ import com.cmvr.edge.client.service.EdgeCameraService; import com.cmvr.edge.client.service.EdgeHlcService; import com.cmvr.edge.client.service.EdgeMicrophoneService; import com.cmvr.edge.client.service.EdgeSpeakerService; +import com.cmvr.edge.client.service.EdgeAgvService; import com.cmvr.llm.service.LLMAiAgentPlatformService; import com.cmvr.llm.service.LLMAiTtsService; import com.cmvr.test.enums.ActionEnum; @@ -31,6 +32,7 @@ public class FlowActionExecutorService { private final EdgeHlcService edgeHlcService; private final LLMAiTtsService llmAiTtsService; private final LLMAiAgentPlatformService llmAiAgentPlatformService; + private final EdgeAgvService edgeAgvService; public String actionExecute(FlowActionRequestVO req) { @@ -104,6 +106,44 @@ public class FlowActionExecutorService { edgeFacialExpressionVO.setDeviceId(deviceId); return edgeBioHeadService.setExpression(edgeFacialExpressionVO); + // ==== AGV ==== + case AGV_MOVE_TO_POINT: { + log.info("执行AGV移动到指定位置操作"); + + // 从payload中获取机器人ID和坐标信息 + String deviceId1 = payload.getString("deviceId"); + if (StrUtil.isEmpty(deviceId1)) { + throw new GlobalException("机器人ID(deviceId)不能为空"); + } + + Double x = payload.getDouble("x"); + Double y = payload.getDouble("y"); + Double theta = payload.getDouble("theta"); + String taskId = payload.getString("taskId"); + + // 参数验证 + if (x == null || y == null) { + throw new GlobalException("X和Y坐标不能为空"); + } + + // 构建自由导航点 + cmvr.api.AgvCommand.FreeGoPoint freeGoPoint = cmvr.api.AgvCommand.FreeGoPoint.newBuilder() + .setX(x) + .setY(y) + .setTheta(theta != null ? theta : 0.0) + .build(); + + // 直接调用边缘端AGV服务 + cmvr.api.AgvCommand.RobotGoTargetResData result = + edgeAgvService.robotGoTargetWithFreeGo(edgeCommonVO, freeGoPoint, taskId); + + log.info("AGV移动任务下发成功，返回码: {}", result.getRetCode()); + + // 返回结果字符串 + return String.format("AGV移动任务下发成功, retCode=%d, errMsg=%s", + result.getRetCode(), result.getErrMsg()); + } + default: throw new UnsupportedOperationException("未实现的 EDGE Action: " + action.name()); }