feat(agv): 添加AGV移动到指定点功能

- 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

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"),

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();
+    }
+}

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());
         }