feat(inspection): 新增扬声器播放音频功能并优化机器人状态同步机制

- 在 ActionEnum 中添加 SPEAKER_PLAYAUDIO 操作类型
- 配置机器人状态检查任务的启用和时间间隔参数
- 移除应用配置中的废弃TTS外部接口配置
- 实现 EdgeSpeakerOperateService 中的音频播放功能和参数验证
- 重构 FlowActionExecutorService 以支持多种操作类型的服务分发
- 更新数据库表结构中机器人状态字段的含义和注释说明
- 修改 InspectionRobot 实体类中的状态定义和业务编号描述
- 扩展 InspectionRobotMapper 接口以支持运行时状态更新和候选查询
- 实现 InspectionRobotService 中的 AGV 请求构建和状态同步逻辑
- 添加 RobotRuntimeStateRefreshTask 定时任务来同步机器人运行状态
- 修复 InspectionTaskInstanceService 中的重复机器人ID设置问题
- 优化 RobotQuicStateService 中的设备状态判断逻辑

cmvr-iot-admin/src/main/resources/application-dev.yml

@@ -132,8 +132,3 @@ flowise:
   abort: http://192.168.0.108:3000/api/v1/chatmessage/abort/f99329e9-b33d-437d-90ed-69eaa8a05418/
   query: http://192.168.0.108:3000/api/v1/executions/
   api-key: pg61JW6W_GXyqmqSoURJ4mlSRrCMRzGLBJli_w3BFkg
-
-# TTS外部接口配置
-tts:
-  external-api:
-    url: http://192.168.0.102:9003/generate_advanced_audio

cmvr-iot-admin/src/main/resources/application.yml

@@ -124,6 +124,11 @@ xss:
 
 # Integrated QUIC gateway and in-process node synchronization.
 cmvr:
+  inspection:
+    robot-state:
+      enabled: true
+      initial-delay-ms: 3000
+      refresh-ms: 1000
   quic:
     enabled: true
     bind-host: 0.0.0.0

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/InspectionRobot.java

@@ -38,9 +38,9 @@ public class InspectionRobot extends BaseEntity
     @ApiModelProperty("机器人永久唯一ID")
     private String robotId;
 
-    /** 机器人编码 */
+    /** Business display code. It is not an edge device ID. */
-    @Excel(name = "机器人编码")
+    @Excel(name = "机器人业务编号")
-    @ApiModelProperty("机器人编码")
+    @ApiModelProperty("机器人业务编号，仅用于业务展示，不作为设备ID")
     private String robotCode;
 
     /** 机器人名称 */
@@ -75,7 +75,7 @@ public class InspectionRobot extends BaseEntity
 
     /** 当前状态 */
     @Excel(name = "当前状态")
-    @ApiModelProperty("当前状态(0在线 1离线 2充电中 3巡检中)")
+    @ApiModelProperty("AGV运行模式(0未知 1断开 2空闲 3手动 4自动 5充电 6暂停 7停止 8故障 9急停)")
     private String status;
 
     /** 电量百分比 */

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/vo/InspectionRobotVo.java

@@ -34,9 +34,9 @@ public class InspectionRobotVo extends BaseEntity
     @ApiModelProperty("机器人永久唯一ID")
     private String robotId;
 
-    /** 机器人编码 */
+    /** Business display code. It is not an edge device ID. */
-    @Excel(name = "机器人编码")
+    @Excel(name = "机器人业务编号")
-    @ApiModelProperty("机器人编码")
+    @ApiModelProperty("机器人业务编号，仅用于业务展示，不作为设备ID")
     private String robotCode;
 
     /** 机器人名称 */
@@ -81,7 +81,7 @@ public class InspectionRobotVo extends BaseEntity
 
     /** 当前状态 */
     @Excel(name = "当前状态")
-    @ApiModelProperty("当前状态(0在线 1离线 2充电中 3巡检中)")
+    @ApiModelProperty("AGV运行模式(0未知 1断开 2空闲 3手动 4自动 5充电 6暂停 7停止 8故障 9急停)")
     private String status;
 
     /** 电量百分比 */

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/mapper/InspectionRobotMapper.java

@@ -27,6 +27,16 @@ public interface InspectionRobotMapper  extends MPJBaseMapper<InspectionRobot>
 
     int updateQuicRuntimeState(InspectionRobot robot);
 
+    /**
+     * Update the AGV runtime snapshot without changing business audit fields.
+     */
+    int updateRuntimeStatus(InspectionRobot robot);
+
+    /**
+     * Select connected robots that currently report one online AGV device.
+     */
+    List<InspectionRobot> selectRuntimeSyncCandidates();
+
     int archiveInspectionRobotByIds(@Param("ids") String[] ids, @Param("updateBy") String updateBy);
 
     /**

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/RobotQuicStateService.java

@@ -28,6 +28,7 @@ import java.util.Objects;
 public class RobotQuicStateService {
 
     private static final Logger log = LoggerFactory.getLogger(RobotQuicStateService.class);
+    private static final int AGV_DEVICE_KIND = 1;
 
     private final InspectionRobotMapper robotMapper;
     private final InspectionRobotDeviceMapper deviceMapper;
@@ -90,6 +91,9 @@ public class RobotQuicStateService {
         robot.setSoftwareVersion(node.getSoftwareVersion());
         robot.setLastHeartbeatTime(eventTime);
         robot.setUpdateTime(DateUtils.getNowDate());
+        if (offline || !hasEnabledAgv(node)) {
+            robot.setStatus("1");
+        }
         robotMapper.updateQuicRuntimeState(robot);
 
         if (offline) {
@@ -162,6 +166,11 @@ public class RobotQuicStateService {
         return device;
     }
 
+    private boolean hasEnabledAgv(NodeSnapshot node) {
+        return node.getDeviceManager().getDevicesList().stream()
+                .anyMatch(device -> device.getKind() == AGV_DEVICE_KIND && device.getEnabled());
+    }
+
     private String resolveGrpcHost(NodeSnapshot node) {
         String advertised = StringUtils.trimToNull(node.getGrpcEndpoint().getHost());
         String observed = StringUtils.trimToNull(node.getObservedSourceIp());

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java

@@ -2,9 +2,11 @@
 package com.cmvr.inspection.service.impl;
 
 import java.util.List;
+import java.util.Locale;
 import java.util.UUID;
 
 import cmvr.msgs.AgvUtils;
+import cmvr.quic_edge.v1.QuicEdge;
 import com.baomidou.mybatisplus.spring.service.impl.ServiceImpl;
 import com.cmvr.common.utils.SecurityUtils;
 import com.cmvr.edge.client.model.EdgeCommonVO;
@@ -167,6 +169,50 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         return robotId == null ? null : robotId.trim();
     }
 
+    /**
+     * Build an AGV request from the device snapshot reported by this robot.
+     * robotCode is a business label and must never be used as an edge device ID.
+     */
+    private EdgeCommonVO buildAgvRequest(InspectionRobot robot)
+    {
+        if (robot == null || StrUtil.isBlank(robot.getRobotId())) {
+            throw new GlobalException("机器人永久ID不能为空");
+        }
+        List<InspectionRobotDevice> agvDevices = inspectionRobotDeviceMapper.selectByRobotIdAndKind(
+                robot.getRobotId(), QuicEdge.DeviceKind.DEVICE_KIND_AGV_VALUE, true);
+        if (agvDevices.isEmpty()) {
+            List<InspectionRobotDevice> onlineDevices = inspectionRobotDeviceMapper.selectByRobotIdAndKind(
+                    robot.getRobotId(), null, true);
+            if (onlineDevices.isEmpty()) {
+                throw new GlobalException("机器人当前没有在线设备：" + robot.getRobotId());
+            }
+            String deviceSummary = onlineDevices.stream()
+                    .map(device -> device.getDeviceId() + "(" + deviceKindName(device.getDeviceKind()) + ")")
+                    .collect(java.util.stream.Collectors.joining("、"));
+            throw new GlobalException("机器人在线设备中没有AGV，当前设备：" + deviceSummary);
+        }
+        if (agvDevices.size() > 1) {
+            String deviceIds = agvDevices.stream()
+                    .map(InspectionRobotDevice::getDeviceId)
+                    .collect(java.util.stream.Collectors.joining("、"));
+            throw new GlobalException("机器人存在多个在线AGV设备，无法确定默认设备：" + deviceIds);
+        }
+
+        EdgeCommonVO request = new EdgeCommonVO();
+        request.setRobotId(robot.getRobotId());
+        request.setDeviceId(agvDevices.get(0).getDeviceId());
+        return request;
+    }
+
+    private String deviceKindName(Integer deviceKind)
+    {
+        if (deviceKind == null) {
+            return "未知类型";
+        }
+        QuicEdge.DeviceKind kind = QuicEdge.DeviceKind.forNumber(deviceKind);
+        return kind == null ? "未知类型" + deviceKind : kind.name().replace("DEVICE_KIND_", "");
+    }
+
     /**
      * 获取机器人地图列表（从AGV获取）
      *
@@ -180,15 +226,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         if (robot == null) {
             throw new GlobalException("机器人不存在");
         }
-        if (StrUtil.isBlank(robot.getIpAddress())) {
+        return edgeAgvService.listMaps(buildAgvRequest(robot));
-            throw new GlobalException("机器人IP地址未配置");
-        }
-
-        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setRobotId(robot.getRobotId());
-        edgeCommonVO.setDeviceId(robot.getRobotCode());
-
-        return edgeAgvService.listMaps(edgeCommonVO);
     }
 
     /**
@@ -233,11 +271,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
             throw new GlobalException("机器人不存在");
         }
 
-        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+        return edgeAgvService.downloadMap(buildAgvRequest(robot), mapName);
-        edgeCommonVO.setRobotId(robot.getRobotId());
-        edgeCommonVO.setDeviceId(robot.getRobotCode());
-
-        return edgeAgvService.downloadMap(edgeCommonVO, mapName);
     }
 
     /**
@@ -276,22 +310,16 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         }
 
         // 5. 从来源机器人下载地图JSON
-        EdgeCommonVO sourceEdgeVO = new EdgeCommonVO();
+        String mapContent = edgeAgvService.downloadMap(
-        sourceEdgeVO.setRobotId(sourceRobot.getRobotId());
+                buildAgvRequest(sourceRobot), map.getMapSourceName());
-        sourceEdgeVO.setDeviceId(sourceRobot.getRobotCode());
-
-        String mapContent = edgeAgvService.downloadMap(sourceEdgeVO, map.getMapSourceName());
 
         if (StrUtil.isBlank(mapContent)) {
             throw new GlobalException("下载的地图内容为空");
         }
 
         // 6. 上传地图到目标机器人
-        EdgeCommonVO targetEdgeVO = new EdgeCommonVO();
+        edgeAgvService.uploadMap(
-        targetEdgeVO.setRobotId(targetRobot.getRobotId());
+                buildAgvRequest(targetRobot), map.getMapSourceName(), mapContent);
-        targetEdgeVO.setDeviceId(targetRobot.getRobotCode());
-
-        edgeAgvService.uploadMap(targetEdgeVO, map.getMapSourceName(), mapContent);
 
         return "上传成功";
     }
@@ -310,31 +338,37 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
             throw new GlobalException("机器人不存在");
         }
 
-        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setRobotId(robot.getRobotId());
-        edgeCommonVO.setDeviceId(robot.getRobotCode());
-
         try {
-            // 获取运行时状态（包含电池、位置等信息）
+            AgvUtils.AgvRuntimeState runtimeState = edgeAgvService.getRuntimeState(buildAgvRequest(robot));
-            AgvUtils.AgvRuntimeState runtimeState = edgeAgvService.getRuntimeState(edgeCommonVO);
+            if (runtimeState == null) {
+                throw new GlobalException("AGV未返回运行状态");
+            }
             
             // 设置电池电量
             if (runtimeState.hasBattery()) {
-                robot.setBatteryLevel((int)(runtimeState.getBattery().getPercentage() * 100));
+                int percentage = (int) Math.round(runtimeState.getBattery().getPercentage() * 100D);
+                robot.setBatteryLevel(Math.max(0, Math.min(100, percentage)));
             }
 
             // 设置位置信息
             if (runtimeState.hasPose()) {
                 AgvUtils.AgvPose2d pose = runtimeState.getPose();
-                robot.setCurrentPosition(pose.getX() + "," + pose.getY() + "," + pose.getTheta());
+                robot.setCurrentPosition(String.format(Locale.ROOT, "%.3f,%.3f,%.3f",
+                        pose.getX(), pose.getY(), pose.getTheta()));
             }
 
-            robot.setUpdateTime(DateUtils.getNowDate());
+            // Keep the platform status identical to the edge AgvMode value.
-            inspectionRobotMapper.updateInspectionRobot(robot);
+            robot.setStatus(String.valueOf(runtimeState.getMode()));
 
+            inspectionRobotMapper.updateRuntimeStatus(robot);
         } catch (Exception e) {
-            // 记录日志但不抛出异常，允许部分失败
+            if (e instanceof GlobalException) {
-            e.printStackTrace();
+                throw (GlobalException) e;
+            }
+            robot.setStatus("0");
+            inspectionRobotMapper.updateRuntimeStatus(robot);
+            throw new GlobalException("获取机器人运行状态失败：" +
+                    (StrUtil.isBlank(e.getMessage()) ? e.getClass().getSimpleName() : e.getMessage()), e);
         }
 
         return robot;
@@ -354,11 +388,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
             throw new GlobalException("机器人不存在");
         }
 
-        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+        AgvUtils.AgvRuntimeState runtimeState = edgeAgvService.getRuntimeState(buildAgvRequest(robot));
-        edgeCommonVO.setRobotId(robot.getRobotId());
-        edgeCommonVO.setDeviceId(robot.getRobotCode());
-
-        AgvUtils.AgvRuntimeState runtimeState = edgeAgvService.getRuntimeState(edgeCommonVO);
         return runtimeState.hasPose() ? runtimeState.getPose() : null;
     }
 
@@ -389,12 +419,8 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
             .setTheta(theta != null ? theta : 0.0)
             .build();
 
-        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setRobotId(robot.getRobotId());
-        edgeCommonVO.setDeviceId(robot.getRobotCode());
-
         // 调用边缘端接口进行导航
-        edgeAgvService.navigateToPose(edgeCommonVO, pose);
+        edgeAgvService.navigateToPose(buildAgvRequest(robot), pose);
     }
 
     /**
@@ -414,12 +440,9 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
             throw new GlobalException("机器人不存在");
         }
 
-        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setRobotId(robot.getRobotId());
-        edgeCommonVO.setDeviceId(robot.getRobotCode());
-
         AgvUtils.AgvMapDimension mapDimension = AgvUtils.AgvMapDimension.forNumber(dimension);
-        return edgeAgvService.startMapping(edgeCommonVO, mapDimension, mapName, realTime);
+        return edgeAgvService.startMapping(
+                buildAgvRequest(robot), mapDimension, mapName, realTime);
     }
 
     /**
@@ -435,11 +458,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
             throw new GlobalException("机器人不存在");
         }
 
-        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+        edgeAgvService.stopMapping(buildAgvRequest(robot));
-        edgeCommonVO.setRobotId(robot.getRobotId());
-        edgeCommonVO.setDeviceId(robot.getRobotCode());
-
-        edgeAgvService.stopMapping(edgeCommonVO);
     }
 
 }

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionTaskInstanceServiceImpl.java

@@ -170,7 +170,6 @@ public class InspectionTaskInstanceServiceImpl extends ServiceImpl<InspectionTas
         String insId = flowTaskRuntimeService.executeTask(TeTaskExecuteNormalVO.builder()
                 .taskId(inspectionTask.getTaskConfigId())
                 .robotId(robot.getRobotId())
-                .robotId(robot.getRobotId())
                 .moduleCode(FlowExecutionModuleCodes.INSPECTION)
                 .runParams(runParams)
                 .build());

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/task/RobotRuntimeStateRefreshTask.java

@@ -0,0 +1,64 @@
+package com.cmvr.inspection.task;
+
+import com.cmvr.inspection.domain.InspectionRobot;
+import com.cmvr.inspection.mapper.InspectionRobotMapper;
+import com.cmvr.inspection.service.IInspectionRobotService;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Qualifier;
+import org.springframework.boot.autoconfigure.condition.ConditionalOnProperty;
+import org.springframework.core.task.TaskExecutor;
+import org.springframework.scheduling.annotation.Scheduled;
+import org.springframework.stereotype.Component;
+
+import java.util.Set;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * Periodically persists AGV runtime snapshots for connected robots.
+ */
+@Component
+@ConditionalOnProperty(prefix = "cmvr.inspection.robot-state", name = "enabled",
+        havingValue = "true", matchIfMissing = true)
+public class RobotRuntimeStateRefreshTask
+{
+    private static final Logger log = LoggerFactory.getLogger(RobotRuntimeStateRefreshTask.class);
+
+    private final InspectionRobotMapper inspectionRobotMapper;
+    private final IInspectionRobotService inspectionRobotService;
+    private final TaskExecutor taskExecutor;
+    private final Set<String> syncingRobotIds = ConcurrentHashMap.newKeySet();
+
+    public RobotRuntimeStateRefreshTask(InspectionRobotMapper inspectionRobotMapper,
+                                        IInspectionRobotService inspectionRobotService,
+                                        @Qualifier("threadPoolTaskExecutor") TaskExecutor taskExecutor)
+    {
+        this.inspectionRobotMapper = inspectionRobotMapper;
+        this.inspectionRobotService = inspectionRobotService;
+        this.taskExecutor = taskExecutor;
+    }
+
+    @Scheduled(initialDelayString = "${cmvr.inspection.robot-state.initial-delay-ms:3000}",
+            fixedDelayString = "${cmvr.inspection.robot-state.refresh-ms:5000}")
+    public void refreshConnectedRobots()
+    {
+        for (InspectionRobot robot : inspectionRobotMapper.selectRuntimeSyncCandidates()) {
+            if (robot.getId() == null || !syncingRobotIds.add(robot.getId())) {
+                continue;
+            }
+            taskExecutor.execute(() -> refreshRobot(robot));
+        }
+    }
+
+    private void refreshRobot(InspectionRobot robot)
+    {
+        try {
+            inspectionRobotService.syncRobotStatus(robot.getId());
+        } catch (Exception e) {
+            log.debug("Failed to refresh AGV runtime state, robotId={}, reason={}",
+                    robot.getRobotId(), e.getMessage());
+        } finally {
+            syncingRobotIds.remove(robot.getId());
+        }
+    }
+}

cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionRobotMapper.xml

@@ -169,6 +169,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     <update id="updateQuicRuntimeState" parameterType="InspectionRobot">
         update inspection_robot
         set ip_address = #{ipAddress}, port = #{port}, connect_status = #{connectStatus},
+            status = coalesce(#{status}, status),
             quic_node_id = #{quicNodeId}, quic_session_id = #{quicSessionId},
             quic_boot_id = #{quicBootId}, observed_ip = #{observedIp},
             software_version = #{softwareVersion}, last_heartbeat_time = #{lastHeartbeatTime},
@@ -176,6 +177,29 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         where id = #{id}
     </update>
 
+    <update id="updateRuntimeStatus" parameterType="InspectionRobot">
+        update inspection_robot
+        set status = coalesce(#{status}, status),
+            battery_level = coalesce(#{batteryLevel}, battery_level),
+            current_position = coalesce(#{currentPosition}, current_position)
+        where id = #{id}
+    </update>
+
+    <select id="selectRuntimeSyncCandidates" resultMap="InspectionRobotResult">
+        select r.id, r.robot_id, r.robot_code, r.robot_name, r.robot_model, r.robot_type,
+               r.ip_address, r.port, r.current_map_id, r.status, r.battery_level,
+               r.current_position, r.connect_status, r.archived_status
+        from inspection_robot r
+        where r.connect_status = '1'
+          and coalesce(r.archived_status, '0') = '0'
+          and (select count(*)
+               from inspection_robot_device d
+               where d.robot_id = r.robot_id
+                 and d.device_kind = 1
+                 and d.enabled = '1'
+                 and d.online_status = '1') = 1
+    </select>
+
     <update id="archiveInspectionRobotByIds" parameterType="String">
         update inspection_robot set archived_status = '1', connect_status = '0',
             update_time = sysdate(), update_by = #{updateBy}

cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java

@@ -11,6 +11,8 @@ import java.util.Map;
 @Getter
 @AllArgsConstructor
 public enum ActionEnum {
+    SPEAKER_PLAYAUDIO("EDGE", "SPEAKER_PLAYAUDIO", "Play audio"),
+
     // 平台控制类
     STOPPED("NONE", "STOP", "强制终止"),
     PAUSED("NONE", "PAUSED", "暂停"),

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeSpeakerOperateService.java

@@ -1,5 +1,6 @@
 package com.cmvr.test.flow.runtime.operator.edge;
 
+import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.common.exception.GlobalException;
 import com.cmvr.edge.client.service.EdgeSpeakerService;
@@ -24,6 +25,17 @@ public class EdgeSpeakerOperateService implements EdgeOperateService {
 
     @Override
     public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) {
+        JSONObject inputParams = message.getInputParams();
+        String deviceId = inputParams.getString("deviceId");
+        String audioPath = inputParams.getString("audioPath");
+        String robotId = message.getRobotId();
+        if (StrUtil.hasBlank(robotId, deviceId, audioPath)) {
+            throw new GlobalException("robotId, deviceId and audioPath are required");
+        }
+        String result = edgeSpeakerService.playAudio(robotId, deviceId, audioPath);
+        if (result != null) {
+            return TaskNodeExecuteResult.success(JSONObject.of("result", result));
+        }
 //        ActionEnum action = message.getAction();
 //        JSONObject inputParams = message.getInputParams();
 //        String deviceId = inputParams.getString("deviceId");
@@ -64,6 +76,6 @@ public class EdgeSpeakerOperateService implements EdgeOperateService {
 //                throw new GlobalException("不支持的扬声器操作类型: " + action);
 //        }
 //        return TaskNodeExecuteResult.success();
-        return null;
+        return TaskNodeExecuteResult.success();
     }
 }

cmvr-iot-test/src/main/java/com/cmvr/test/service/FlowActionExecutorService.java

@@ -17,16 +17,25 @@ import com.cmvr.edge.client.service.EdgeAgvService;
 import com.cmvr.device.service.InspectionAlertListenService;
 import com.cmvr.llm.service.LLMAiAgentPlatformService;
 import com.cmvr.test.enums.ActionEnum;
+import com.cmvr.test.flow.runtime.dispatcher.FlowCodeNodeHandler;
+import com.cmvr.test.flow.runtime.dispatcher.FlowHttpNodeHandler;
+import com.cmvr.test.flow.runtime.dispatcher.FlowSleepNodeHandler;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import com.cmvr.test.flow.runtime.operator.ae.AEOperateService;
 import com.cmvr.test.flow.runtime.operator.edge.EdgeManualInspectionOperateService;
 import com.cmvr.test.flow.runtime.operator.edge.EdgeDeviceCommandOperateService;
 import com.cmvr.test.flow.runtime.operator.edge.EdgeArmOperateService;
+import com.cmvr.test.flow.runtime.operator.edge.EdgeOperateService;
 import com.cmvr.test.flow.runtime.operator.llm.InspectionMeterRecognizeOperateService;
+import com.cmvr.test.flow.runtime.operator.llm.LLMOperateService;
 import com.cmvr.test.model.vo.FlowActionRequestVO;
 import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
+import java.util.List;
+
 @Slf4j
 @Service
 @RequiredArgsConstructor
@@ -43,6 +52,12 @@ public class FlowActionExecutorService {
     private final EdgeManualInspectionOperateService edgeManualInspectionOperateService;
     private final EdgeDeviceCommandOperateService edgeDeviceCommandOperateService;
     private final InspectionMeterRecognizeOperateService inspectionMeterRecognizeOperateService;
+    private final List<EdgeOperateService> edgeOperateServices;
+    private final List<LLMOperateService> llmOperateServices;
+    private final List<AEOperateService> aeOperateServices;
+    private final FlowSleepNodeHandler flowSleepNodeHandler;
+    private final FlowHttpNodeHandler flowHttpNodeHandler;
+    private final FlowCodeNodeHandler flowCodeNodeHandler;
 
     public String actionExecute(FlowActionRequestVO req) {
 
@@ -54,16 +69,77 @@ public class FlowActionExecutorService {
 
         switch (action.getOperate()) {
             case "EDGE":
-                return executeEdgeAction(action, req);
+                return executeEdgeOperateAction(action, req);
 
             case "LLM":
-                return executeLLMAction(action, req);
+                return executeLLMOperateAction(action, req);
+
+            case "AE":
+                return executeAEOperateAction(action, req);
+
+            case "NONE":
+                return executeStandaloneAction(action, req);
 
             default:
                 throw new GlobalException("仅设备和大模型 Action 可调用!");
         }
     }
 
+    private String executeEdgeOperateAction(ActionEnum action, FlowActionRequestVO req) {
+        TaskNodeExecuteMessage message = buildSingleNodeMessage(action, req.getPayload());
+        for (EdgeOperateService service : edgeOperateServices) {
+            if (service.supports(action)) {
+                return resultToString(service.execute(message));
+            }
+        }
+        throw new GlobalException("Unsupported EDGE action: " + action.getAction());
+    }
+
+    private String executeLLMOperateAction(ActionEnum action, FlowActionRequestVO req) {
+        TaskNodeExecuteMessage message = buildSingleNodeMessage(action, req.getPayload());
+        for (LLMOperateService service : llmOperateServices) {
+            if (service.supports(action)) {
+                return resultToString(service.execute(message));
+            }
+        }
+        throw new GlobalException("Unsupported LLM action: " + action.getAction());
+    }
+
+    private String executeAEOperateAction(ActionEnum action, FlowActionRequestVO req) {
+        TaskNodeExecuteMessage message = buildSingleNodeMessage(action, req.getPayload());
+        for (AEOperateService service : aeOperateServices) {
+            if (service.supports(action)) {
+                return resultToString(service.execute(message));
+            }
+        }
+        throw new GlobalException("Unsupported AE action: " + action.getAction());
+    }
+
+    private String executeStandaloneAction(ActionEnum action, FlowActionRequestVO req) {
+        TaskNodeExecuteMessage message = buildSingleNodeMessage(action, req.getPayload());
+        switch (action) {
+            case SLEEP:
+                return resultToString(flowSleepNodeHandler.handle(message));
+            case HTTP:
+                return resultToString(flowHttpNodeHandler.handle(message));
+            case CODE:
+                return resultToString(flowCodeNodeHandler.handle(message));
+            default:
+                throw new GlobalException("This action requires flow context: " + action.getAction());
+        }
+    }
+
+    private String resultToString(TaskNodeExecuteResult result) {
+        if (result == null) {
+            throw new GlobalException("Single-node execution returned no result");
+        }
+        if (!result.isSuccess()) {
+            throw new GlobalException(StrUtil.isBlank(result.getErrorMsg())
+                    ? "Single-node execution failed" : result.getErrorMsg());
+        }
+        return result.getOutputParams() == null ? "{}" : result.getOutputParams().toJSONString();
+    }
+
     private String executeEdgeAction(ActionEnum action, FlowActionRequestVO req) {
         JSONObject payload = req.getPayload() == null ? new JSONObject() : req.getPayload();
         String robotId = payload.getString("robotId");
@@ -253,9 +329,15 @@ public class FlowActionExecutorService {
     }
 
     private TaskNodeExecuteMessage buildSingleNodeMessage(ActionEnum action, JSONObject payload) {
+        JSONObject inputParams = payload == null ? new JSONObject() : payload;
         TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
         message.setAction(action);
-        message.setInputParams(payload == null ? new JSONObject() : payload);
+        message.setNodeId("single-node");
+        message.setRobotId(inputParams.getString("robotId"));
+        message.setIterations(java.util.Arrays.asList(1, 1));
+        message.setLoopNum(1);
+        message.setLoopArray(inputParams.get("array"));
+        message.setInputParams(inputParams);
         return message;
     }
 }

sql/inspection_module.sql

@@ -19,7 +19,7 @@ CREATE TABLE `inspection_robot` (
   `ip_address` varchar(50) DEFAULT NULL COMMENT 'IP地址',
   `port` int(11) DEFAULT NULL COMMENT '端口号',
   `current_map_id` varchar(64) DEFAULT NULL COMMENT '当前地图ID',
-  `status` char(1) DEFAULT '0' COMMENT '状态(0在线 1离线 2充电中 3巡检中)',
+  `status` char(1) DEFAULT '0' COMMENT 'AGV运行模式(0未知 1断开 2空闲 3手动 4自动 5充电 6暂停 7停止 8故障 9急停)',
   `battery_level` int(3) DEFAULT NULL COMMENT '电量百分比',
   `current_position` varchar(200) DEFAULT NULL COMMENT '当前位置',
   `connect_status` char(1) NOT NULL DEFAULT '0' COMMENT '连接状态(0离线 1在线)',