feat(flow): 集成流程引擎控制巡检任务执行

- 在 GlobalException 中添加对原始异常的支持，实现错误链路追踪
- 为巡检任务和任务实例实体增加任务配置ID和检测任务ID字段
- 更新数据映射文件以同步数据库结构变更
- 在任务实例服务中注入流程控制服务并实现执行、暂停、停止和恢复功能
- 优化任务上下文管理器中的终端ID空值处理逻辑
- 移除终端ID非空校验并调整相关业务逻辑
- 重构任务执行VO类以支持流程引擎调用参数传递

cmvr-iot-common/src/main/java/com/cmvr/common/exception/GlobalException.java

@@ -3,63 +3,55 @@ package com.cmvr.common.exception;
 import cn.hutool.core.util.StrUtil;
 
 /**
- * 全局异常
+ * 全局自定义业务异常
- * 
- * @author cmvrIot
  */
-public class GlobalException extends RuntimeException
+public class GlobalException extends RuntimeException {
-{
     private static final long serialVersionUID = 1L;
 
-    /**
+    /** 前端展示提示信息 */
-     * 错误提示
-     */
     private String message;
-
+    /** 后端详细错误信息(数据库/原始异常详情) */
-    /**
-     * 错误明细，内部调试错误
-     *
-     * 和 {@link CommonResult#getDetailMessage()} 一致的设计
-     */
     private String detailMessage;
 
-    /**
+    // 空构造，序列化使用
-     * 空构造方法，避免反序列化问题
+    public GlobalException() {
-     */
-    public GlobalException()
-    {
     }
 
-    public GlobalException(String message)
+    // 单纯提示信息
-    {
+    public GlobalException(String message) {
         this.message = message;
     }
 
+    // 占位符格式化提示
     public GlobalException(String template, Object... params) {
         this.message = StrUtil.format(template, params);
     }
 
+    // 【重点：支持 提示+原始异常】对应 throw new GlobalException("任务执行失败", e);
+    public GlobalException(String message, Throwable cause) {
+        super(cause); // 绑定原始异常栈，日志可打全堆栈
+        this.message = message;
+        if (cause != null) {
+            this.detailMessage = cause.getMessage();
+        }
+    }
 
-    public String getDetailMessage()
+    public String getDetailMessage() {
-    {
         return detailMessage;
     }
 
-    public GlobalException setDetailMessage(String detailMessage)
+    public GlobalException setDetailMessage(String detailMessage) {
-    {
         this.detailMessage = detailMessage;
         return this;
     }
 
     @Override
-    public String getMessage()
+    public String getMessage() {
-    {
         return message;
     }
 
-    public GlobalException setMessage(String message)
+    public GlobalException setMessage(String message) {
-    {
         this.message = message;
         return this;
     }
-}
+}

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

@@ -45,6 +45,6 @@ public class InspectionTask extends BaseEntity
     /** 任务id */
     @Excel(name = "任务id")
     @ApiModelProperty("任务id")
-    private String teTaskConfigId;
+    private String taskConfigId;
 
 }

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

@@ -52,4 +52,8 @@ public class InspectionTaskInstance extends BaseEntity
     @ApiModelProperty("结束时间")
     private Date endTime;
 
+    @Excel(name = "检测任务id")
+    @ApiModelProperty("检测任务id")
+    private String taskInsId;
+
 }

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

@@ -90,4 +90,8 @@ public class InspectionTaskInstanceVo extends BaseEntity
     @ApiModelProperty("修改人昵称")
     private String updateByName;
 
+    @Excel(name = "检测任务id")
+    @ApiModelProperty("检测任务id")
+    private String taskInsId;
+
 }

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

@@ -53,4 +53,9 @@ public class InspectionTaskVo extends BaseEntity
     @ApiModelProperty("修改人昵称")
     private String updateByName;
 
+    /** 任务id */
+    @Excel(name = "任务id")
+    @ApiModelProperty("任务id")
+    private String taskConfigId;
+
 }

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

@@ -8,6 +8,9 @@ import com.cmvr.common.exception.ServiceException;
 import com.cmvr.common.utils.SecurityUtils;
 import com.cmvr.inspection.domain.vo.InspectionTaskInstanceVo;
 import com.cmvr.inspection.enums.TaskStatusEnum;
+import com.cmvr.test.flow.control.FlowControlService;
+import com.cmvr.test.flow.runtime.engine.FlowTaskRuntimeService;
+import com.cmvr.test.model.vo.TeTaskExecuteNormalVO;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import com.cmvr.common.utils.DateUtils;
@@ -27,6 +30,11 @@ public class InspectionTaskInstanceServiceImpl extends ServiceImpl<InspectionTas
     @Autowired
     private InspectionTaskInstanceMapper inspectionTaskInstanceMapper;
 
+    @Autowired
+    private FlowTaskRuntimeService flowTaskRuntimeService;
+    @Autowired
+    private FlowControlService flowControlService;
+
     /**
      * 查询巡检任务执行实例视图详情（包含关联信息）
      * 
@@ -125,6 +133,8 @@ public class InspectionTaskInstanceServiceImpl extends ServiceImpl<InspectionTas
         update.setStartTime(DateUtils.getNowDate());
         update.setUpdateTime(DateUtils.getNowDate());
         update.setUpdateBy(SecurityUtils.getUsername());
+        // 调用真正的执行
+        flowTaskRuntimeService.executeTask(TeTaskExecuteNormalVO.builder().taskId(instance.getTaskInsId()).build());
         return inspectionTaskInstanceMapper.updateInspectionTaskInstance(update);
     }
 
@@ -146,6 +156,7 @@ public class InspectionTaskInstanceServiceImpl extends ServiceImpl<InspectionTas
         update.setStatus(TaskStatusEnum.PAUSED.getCode());
         update.setUpdateTime(DateUtils.getNowDate());
         update.setUpdateBy(SecurityUtils.getUsername());
+        flowControlService.pause(instance.getTaskInsId());
         return inspectionTaskInstanceMapper.updateInspectionTaskInstance(update);
     }
 
@@ -168,6 +179,7 @@ public class InspectionTaskInstanceServiceImpl extends ServiceImpl<InspectionTas
         update.setEndTime(DateUtils.getNowDate());
         update.setUpdateTime(DateUtils.getNowDate());
         update.setUpdateBy(SecurityUtils.getUsername());
+        flowControlService.stop(instance.getTaskInsId());
         return inspectionTaskInstanceMapper.updateInspectionTaskInstance(update);
     }
 
@@ -189,6 +201,7 @@ public class InspectionTaskInstanceServiceImpl extends ServiceImpl<InspectionTas
         update.setStatus(TaskStatusEnum.RUNNING.getCode());
         update.setUpdateTime(DateUtils.getNowDate());
         update.setUpdateBy(SecurityUtils.getUsername());
+        flowControlService.resume(instance.getTaskInsId());
         return inspectionTaskInstanceMapper.updateInspectionTaskInstance(update);
     }
 }

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

@@ -86,7 +86,7 @@ public class InspectionTaskServiceImpl extends ServiceImpl<InspectionTaskMapper,
         // 同步新增任务
         TeTaskConfigInfo teTaskConfigInfo = TeTaskConfigInfo.builder().taskName(inspectionTask.getTaskName()).build();
         teTaskConfigInfoService.insertTeTaskConfigInfo(teTaskConfigInfo);
-        inspectionTask.setTeTaskConfigId(teTaskConfigInfo.getId());
+        inspectionTask.setTaskConfigId(teTaskConfigInfo.getId());
         return inspectionTaskMapper.insertInspectionTask(inspectionTask);
     }
 
@@ -101,7 +101,7 @@ public class InspectionTaskServiceImpl extends ServiceImpl<InspectionTaskMapper,
     {
         inspectionTask.setUpdateTime(DateUtils.getNowDate());
         inspectionTask.setUpdateBy(SecurityUtils.getUsername());
-        TeTaskConfigInfo teTaskConfigInfo = teTaskConfigInfoService.selectTeTaskConfigInfoById(inspectionTask.getTeTaskConfigId());
+        TeTaskConfigInfo teTaskConfigInfo = teTaskConfigInfoService.selectTeTaskConfigInfoById(inspectionTask.getTaskConfigId());
         teTaskConfigInfo.setTaskName(inspectionTask.getTaskName());
         teTaskConfigInfoService.updateTeTaskConfigInfo(teTaskConfigInfo);
         return inspectionTaskMapper.updateInspectionTask(inspectionTask);
@@ -121,7 +121,7 @@ public class InspectionTaskServiceImpl extends ServiceImpl<InspectionTaskMapper,
         // 批量查询巡检任务
         List<InspectionTask> inspectionTasks = this.baseMapper.selectBatchIds(Arrays.asList(ids));
         // 批量删除任务
-        teTaskConfigInfoService.deleteTeTaskConfigInfoByIds(inspectionTasks.stream().map(InspectionTask::getTeTaskConfigId).toArray(String[]::new));
+        teTaskConfigInfoService.deleteTeTaskConfigInfoByIds(inspectionTasks.stream().map(InspectionTask::getTaskConfigId).toArray(String[]::new));
         return inspectionTaskMapper.deleteInspectionTaskByIds(ids);
     }
 
@@ -166,7 +166,7 @@ public class InspectionTaskServiceImpl extends ServiceImpl<InspectionTaskMapper,
         // 查询点位
         List<InspectionWaypoint> waypoints = inspectionTaskWaypointMapper.selectWaypointsByTaskId(taskId);
         // 同步任务编排
-        TeTaskOrchestraVO teTaskOrchestraVO = TeTaskOrchestraVO.builder().taskId(inspectionTask.getTeTaskConfigId()).itemIds(waypoints.stream().map(InspectionWaypoint::getDetectItemId).collect(Collectors.toList())).build();
+        TeTaskOrchestraVO teTaskOrchestraVO = TeTaskOrchestraVO.builder().taskId(inspectionTask.getTaskConfigId()).itemIds(waypoints.stream().map(InspectionWaypoint::getDetectItemId).collect(Collectors.toList())).build();
         teTaskOrchestrationService.insertTeTaskOrchestration(teTaskOrchestraVO);
         return inspectionTaskWaypointMapper.batchInsertTaskWaypoint(list);
     }

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

@@ -16,6 +16,9 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <result property="status"    column="status"    />
         <result property="startTime"    column="start_time"    />
         <result property="endTime"    column="end_time"    />
+        <result property="createByName"    column="create_by_name"    />
+        <result property="updateByName"    column="update_by_name"    />
+        <result property="taskInsId"    column="task_ins_id"    />
     </resultMap>
 
     <resultMap type="com.cmvr.inspection.domain.vo.InspectionTaskInstanceVo" id="InspectionTaskInstanceVoResult">
@@ -37,10 +40,11 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <result property="endTime"    column="end_time"    />
         <result property="createByName"    column="create_by_name"    />
         <result property="updateByName"    column="update_by_name"    />
+        <result property="taskInsId"    column="task_ins_id"    />
     </resultMap>
 
     <sql id="selectInspectionTaskInstanceVo">
-        select id, create_by, create_time, update_by, update_time, remark, task_id, robot_id, status, start_time, end_time from inspection_task_instance
+        select id, create_by, create_time, update_by, update_time, remark, task_id, robot_id, status, start_time, end_time, task_ins_id from inspection_task_instance
     </sql>
 
     <select id="selectInspectionTaskInstanceList" parameterType="InspectionTaskInstance" resultMap="InspectionTaskInstanceResult">
@@ -71,6 +75,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="status != null">status,</if>
             <if test="startTime != null">start_time,</if>
             <if test="endTime != null">end_time,</if>
+            <if test="taskInsId != null">task_ins_id,</if>
          </trim>
         <trim prefix="values (" suffix=")" suffixOverrides=",">
             <if test="id != null">#{id},</if>
@@ -84,6 +89,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="status != null">#{status},</if>
             <if test="startTime != null">#{startTime},</if>
             <if test="endTime != null">#{endTime},</if>
+            <if test="taskInsId != null">#{taskInsId},</if>
          </trim>
     </insert>
 
@@ -100,6 +106,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="status != null">status = #{status},</if>
             <if test="startTime != null">start_time = #{startTime},</if>
             <if test="endTime != null">end_time = #{endTime},</if>
+            <if test="taskInsId != null">task_ins_id = #{taskInsId},</if>
         </trim>
         where id = #{id}
     </update>
@@ -120,7 +127,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
                ti.task_id, t.task_name, t.task_code,
                ti.robot_id, r.robot_name,
                r.current_map_id as robot_current_map_id, m.map_name,
-               ti.status, ti.start_time, ti.end_time,
+               ti.status, ti.start_time, ti.end_time, ti.task_ins_id,
                u1.nick_name as create_by_name, u2.nick_name as update_by_name
         from inspection_task_instance ti
         left join inspection_task t on ti.task_id = t.id
@@ -141,7 +148,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
                ti.task_id, t.task_name, t.task_code,
                ti.robot_id, r.robot_name,
                r.current_map_id as robot_current_map_id, m.map_name,
-               ti.status, ti.start_time, ti.end_time
+               ti.status, ti.start_time, ti.end_time, ti.task_ins_id
         from inspection_task_instance ti
         left join inspection_task t on ti.task_id = t.id
         left join inspection_robot r on ti.robot_id = r.id

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

@@ -14,6 +14,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <result property="taskCode"    column="task_code"    />
         <result property="taskName"    column="task_name"    />
         <result property="taskType"    column="task_type"    />
+        <result property="taskConfigId"    column="task_config_id"    />
     </resultMap>
 
     <resultMap type="com.cmvr.inspection.domain.vo.InspectionTaskVo" id="InspectionTaskVoResult">
@@ -28,10 +29,11 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <result property="taskType"    column="task_type"    />
         <result property="createByName"    column="create_by_name"    />
         <result property="updateByName"    column="update_by_name"    />
+        <result property="taskConfigId"    column="task_config_id"    />
     </resultMap>
 
     <sql id="selectInspectionTaskVo">
-        select id, create_by, create_time, update_by, update_time, remark, task_code, task_name, task_type from inspection_task
+        select id, create_by, create_time, update_by, update_time, remark, task_code, task_name, task_type, task_config_id from inspection_task
     </sql>
 
     <select id="selectInspectionTaskList" parameterType="InspectionTask" resultMap="InspectionTaskResult">
@@ -60,6 +62,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="taskCode != null">task_code,</if>
             <if test="taskName != null">task_name,</if>
             <if test="taskType != null">task_type,</if>
+            <if test="taskConfigId != null">task_config_id,</if>
          </trim>
         <trim prefix="values (" suffix=")" suffixOverrides=",">
             <if test="id != null">#{id},</if>
@@ -71,6 +74,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="taskCode != null">#{taskCode},</if>
             <if test="taskName != null">#{taskName},</if>
             <if test="taskType != null">#{taskType},</if>
+            <if test="taskConfigId != null">#{taskConfigId},</if>
          </trim>
     </insert>
 
@@ -85,6 +89,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="taskCode != null">task_code = #{taskCode},</if>
             <if test="taskName != null">task_name = #{taskName},</if>
             <if test="taskType != null">task_type = #{taskType},</if>
+            <if test="taskConfigId != null">task_config_id = #{taskConfigId},</if>
         </trim>
         where id = #{id}
     </update>
@@ -102,7 +107,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
 
     <select id="selectInspectionTaskVoList" parameterType="InspectionTask" resultMap="InspectionTaskVoResult">
         select t.id, t.create_by, t.create_time, t.update_by, t.update_time, t.remark,
-               t.task_code, t.task_name, t.task_type,
+               t.task_code, t.task_name, t.task_type, t.task_config_id,
                u1.user_name as create_by_name, u2.user_name as update_by_name
         from inspection_task t
         left join sys_user u1 on t.create_by = u1.user_name  <!-- 创建人关联用户 -->

cmvr-iot-test/src/main/java/com/cmvr/test/flow/context/TaskContextManager.java

@@ -34,7 +34,9 @@ public class TaskContextManager {
      */
     public void register(TaskContext context) {
         instContextMap.put(context.getInstId(), context);
-        terminalInstMap.put(context.getTerminalId(), context.getInstId());
+        if (context.getTerminalId() != null) {
+            terminalInstMap.put(context.getTerminalId(), context.getInstId());
+        }
         context.setTerminalStatus(TerminalStatusEnum.RUNNING);
         log.info("注册任务上下文：instId={}, terminalId={}", context.getInstId(), context.getTerminalId());
     }
@@ -47,7 +49,9 @@ public class TaskContextManager {
         if (ctx != null) {
             ctx.setTerminalStatus(TerminalStatusEnum.READY);
             ctx.setTerminalLocked(false);
-            terminalInstMap.remove(ctx.getTerminalId());
+            if (ctx.getTerminalId() != null) {
+                terminalInstMap.remove(ctx.getTerminalId());
+            }
             log.info("注销任务上下文：instId={}, terminalId={}", instId, ctx.getTerminalId());
         }
     }

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/FlowTaskRuntimeEntry.java

@@ -60,9 +60,9 @@ public class FlowTaskRuntimeEntry implements FlowTaskRuntimeService {
         JSONObject runParams = taskExecuteTrailVO.getRunParams();
         String terminalId = taskExecuteTrailVO.getTerminalId();
         if (StrUtil.isEmpty(terminalId)) {
-            throw new GlobalException("终端ID不能为空");
+//            throw new GlobalException("终端ID不能为空");
         }
-        if (taskInstHolder.isTerminalLocked(terminalId)) {
+        if (terminalId != null && taskInstHolder.isTerminalLocked(terminalId)) {
             throw new GlobalException("当前终端正在执行其他任务，请稍后再试");
         }
 

cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/interceptor/FlowExceptionInterceptor.java

@@ -28,6 +28,9 @@ public class FlowExceptionInterceptor implements FlowMsgPreInterceptor {
         try {
             return next.apply(message);
         } catch (Exception e) {
+            log.error("节点执行异常：instId={}, nodeId={}, action={}",
+                    message.getInstId(), message.getNodeId(), message.getAction(), e);
+
             if (ExceptionUtil.getRootCause(e) instanceof InterruptedException) {
                 log.info("节点被中断退出: {}", message.getNodeId());
                 return null;
@@ -43,9 +46,6 @@ public class FlowExceptionInterceptor implements FlowMsgPreInterceptor {
                     "执行异常：" + StrUtil.sub(ExceptionUtil.getMessage(e), 0, 480),
                     message.getIterations()
             );
-            log.error("节点执行异常：instId={}, nodeId={}, action={}",
-                    message.getInstId(), message.getNodeId(), message.getAction(), e);
-
             throw new GlobalException("任务执行失败", e);
         }
     }

cmvr-iot-test/src/main/java/com/cmvr/test/model/vo/TeTaskExecuteNormalVO.java

@@ -3,12 +3,18 @@ package com.cmvr.test.model.vo;
 import com.alibaba.fastjson2.JSONObject;
 import io.swagger.annotations.ApiModel;
 import io.swagger.annotations.ApiModelProperty;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
 import lombok.Data;
+import lombok.NoArgsConstructor;
 
 import javax.validation.constraints.NotEmpty;
 
 @Data
 @ApiModel("正常任务执行VO")
+@Builder
+@AllArgsConstructor
+@NoArgsConstructor
 public class TeTaskExecuteNormalVO {
     @ApiModelProperty("任务ID")
     @NotEmpty(message = "任务ID不能为空")

cmvr-iot-test/src/main/java/com/cmvr/test/model/vo/TeTaskExecuteTrailVO.java

@@ -20,7 +20,7 @@ public class TeTaskExecuteTrailVO {
     private String flowData;
 
     @ApiModelProperty("终端ID")
-    @NotEmpty(message = "终端ID不能为空")
+//    @NotEmpty(message = "终端ID不能为空")
     private String terminalId;
 
     @ApiModelProperty(value = "运行时参数")

sql/inspection_module.sql

@@ -55,6 +55,7 @@ CREATE TABLE `inspection_task` (
   `task_code` varchar(64) DEFAULT NULL COMMENT '任务编码',
   `task_name` varchar(100) NOT NULL COMMENT '任务名称',
   `task_type` char(1) DEFAULT '1' COMMENT '任务类型(1巡检任务 2讲解任务)',
+  `task_config_id` varchar(64) DEFAULT NULL COMMENT '任务配置ID',
   PRIMARY KEY (`id`),
   UNIQUE KEY `uk_task_code` (`task_code`)
 ) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_unicode_ci COMMENT='巡检任务表';
@@ -101,6 +102,7 @@ CREATE TABLE `inspection_task_instance` (
   `status` char(1) DEFAULT '0' COMMENT '执行状态(0待执行 1执行中 2已完成 3已取消 4执行失败 5已暂停)',
   `start_time` datetime DEFAULT NULL COMMENT '开始时间',
   `end_time` datetime DEFAULT NULL COMMENT '结束时间',
+  `task_ins_id` varchar(64) DEFAULT NULL COMMENT '检测任务id',
   PRIMARY KEY (`id`),
   KEY `idx_task_id` (`task_id`),
   KEY `idx_robot_id` (`robot_id`),