refactor(agv): 重构 AGV 控制器接口设计与数据传输对象
- 统一使用 VO 对象替代零散参数，提升接口一致性 - 新增多个 AGV 相关 VO 类，包括地图、导航、速度控制等场景 - 为所有 POST 接口添加 @RequestBody 注解明确请求体映射 - 优化 protobuf 对象到 Map 的转换逻辑，添加辅助方法 - 在所有查询接口中启用参数验证注解 @Validated - 为紧急停止和故障清除等操作改为 POST 方法增强安全性 - 更新 README.md 添加项目架构说明与开发约定 - 调整 ARM 控制器参数传递方式与验证机制
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README.md
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README.md
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# cmvr-iot
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cmvr-iot 是一个基于 Java 8 和 Spring Boot 2.5 的多模块后端工程，提供设备管理、边缘机器人控制、测试编排、巡检、TTS、AIMA、VI/TI 等业务能力。工程入口在 `cmvr-iot-admin`，其余模块按业务和基础能力拆分。
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## 技术栈
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- Java 8
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- Spring Boot 2.5.15
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- Spring Security
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- MyBatis Plus / MyBatis Plus Join
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- MySQL / Redis
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- Druid
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- Quartz
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- Knife4j / Swagger
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- gRPC Java 1.58.0
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- Protobuf / protoc-maven-plugin
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- MinIO
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## 模块说明
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| 模块 | 说明 |
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| --- | --- |
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| `cmvr-iot-admin` | Web 启动模块，包含 REST Controller、启动类和运行配置 |
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| `cmvr-iot-framework` | Web、安全、配置、通用框架能力 |
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| `cmvr-iot-common` | 公共工具、通用响应、基础常量和通用能力 |
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| `cmvr-iot-system` | 系统管理、用户、角色、菜单、字典等基础业务 |
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| `cmvr-iot-quartz` | 定时任务模块 |
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| `cmvr-iot-generator` | 代码生成模块 |
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| `cmvr-iot-device` | 设备领域模型与设备相关能力 |
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| `cmvr-iot-test` | 测试任务、编排、执行实例等业务 |
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| `cmvr-iot-vi` | VI 相关业务 |
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| `cmvr-iot-ti` | TI 相关业务 |
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| `cmvr-iot-evaluation` | 评测相关业务 |
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| `cmvr-iot-inspection` | 巡检机器人、地图、任务、告警等业务 |
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| `cmvr-iot-aima` | AIMA 相关业务 |
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| `cmvr-iot-tts` | TTS 语音合成相关业务 |
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| `cmvr-iot-api` | API 聚合模块 |
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| `cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib` | gRPC proto 与生成代码模块 |
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| `cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client` | 边缘设备 gRPC 客户端、设备控制服务和请求 VO |
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## 目录结构
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```text
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cmvr-iot
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├── cmvr-iot-admin # Spring Boot 启动模块
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├── cmvr-iot-common # 公共模块
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├── cmvr-iot-framework # 框架模块
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├── cmvr-iot-system # 系统管理模块
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├── cmvr-iot-device # 设备模块
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├── cmvr-iot-test # 测试业务模块
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├── cmvr-iot-api
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│ └── cmvr-iot-edge
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│ ├── cmvr-iot-grpc-lib # proto 与 gRPC 生成代码
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│ └── cmvr-iot-grpc-client # gRPC 客户端与边缘控制服务
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├── sql # 增量 SQL
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├── Dockerfile
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├── Jenkinsfile
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└── pom.xml # Maven 父工程
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```
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## 环境要求
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- JDK 1.8
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- Maven 3.6+
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- MySQL 5.7+/8.x
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- Redis
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- 可访问的 gRPC 机器人/边缘终端服务
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- 可选：MinIO、外部大模型/TTS/评测服务
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注意：`application-*.yml` 中包含环境相关地址、账号和密钥配置。实际部署或本地开发时，应使用本机配置、环境变量或配置中心覆盖，不要直接复用生产/测试环境敏感配置。
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## 配置文件
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主配置文件位于：
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```text
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cmvr-iot-admin/src/main/resources/application.yml
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```
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环境配置文件位于：
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```text
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cmvr-iot-admin/src/main/resources/application-dev.yml
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cmvr-iot-admin/src/main/resources/application-test.yml
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cmvr-iot-admin/src/main/resources/application-prod.yml
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```
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当前 `application.yml` 默认激活：
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```yaml
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spring:
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profiles:
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active: test
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```
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如需切换环境，可以修改 `spring.profiles.active`，或启动时指定：
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```bash
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java -jar cmvr-iot-admin-dev.jar --spring.profiles.active=dev
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```
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## 构建
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在项目根目录执行：
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```bash
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mvn clean package -DskipTests
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```
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只编译启动模块及其依赖：
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```bash
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mvn -pl cmvr-iot-admin -am compile -DskipTests
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```
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只重新生成并编译 gRPC 代码：
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```bash
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mvn -pl cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib -am compile -DskipTests
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```
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## 启动
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启动类：
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```text
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cmvr-iot-admin/src/main/java/com/cmvr/CmvrIotApplication.java
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```
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IDE 中直接运行 `CmvrIotApplication` 即可。
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打包后运行：
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```bash
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java -jar cmvr-iot-admin/target/cmvr-iot-admin-dev.jar --spring.profiles.active=dev
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```
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默认开发端口以当前 profile 配置为准，例如 `application-dev.yml` 中为：
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```yaml
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server:
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port: 13080
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```
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## 接口文档
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项目集成 Knife4j / Swagger。服务启动后可访问：
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```text
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http://localhost:13080/doc.html
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```
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如果端口或上下文路径被 profile 覆盖，请以实际配置为准。
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## 数据库脚本
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增量脚本位于：
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```text
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sql/
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```
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当前包含：
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- `aima_module.sql`
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- `inspection_module.sql`
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- `tts_corpus_module.sql`
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初始化数据库时，需要结合目标环境的基础库结构和增量脚本执行。
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## gRPC 与边缘设备
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边缘设备相关代码集中在：
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```text
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cmvr-iot-api/cmvr-iot-edge/
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```
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proto 文件位于：
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```text
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cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/
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```
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gRPC 客户端服务位于：
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```text
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cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/
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```
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边缘控制器位于：
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```text
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cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/
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```
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新增或修改 proto 后，执行 Maven compile 会触发 `protoc-maven-plugin` 生成 Java 和 gRPC Stub 代码。业务代码应复用现有 gRPC 客户端管理工具获取 Stub，避免在业务层重复创建底层 `ManagedChannel`。
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## 实时语音对讲
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当前实时语音对讲链路为：
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```text
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浏览器 WebSocket Binary PCM <-> Java 后端 <-> gRPC 双向流 <-> 机器人终端
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```
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约定音频格式：
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- PCM_S16LE
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- 48000 Hz
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- 单声道
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- 16 bit
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- 10 ms 一帧
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- 960 bytes/帧
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相关文件：
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- WebSocket 控制器：`cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/WebRtcSignalingController.java`
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- 业务会话管理：`cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/AudioService.java`
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- gRPC 音频适配：`cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/adapter/RobotAudioGrpcAdapter.java`
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- proto：`cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/robot_audio.proto`
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说明：历史 WebRTC 相关类可能仍保留在源码中，但当前浏览器音频传输链路使用 WebSocket 二进制 PCM。
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## 开发约定
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- Controller 层只做参数接收、基础校验和响应封装。
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- POST 控制类接口优先使用单个 `@RequestBody VO` 承载完整请求参数。
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- GET 查询类接口可以使用 query 参数绑定 VO。
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- 不建议在同一个接口中同时声明通用 VO 和零散业务参数。
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- gRPC 调用统一通过现有客户端管理类获取 Stub。
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- proto 修改后必须重新编译并确认生成代码已更新。
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- 不要提交本地日志、崩溃 dump、临时音频文件和包含真实密钥的配置。
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## 常用命令
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```bash
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# 编译全部模块
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mvn clean compile -DskipTests
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# 编译启动模块及依赖
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mvn -pl cmvr-iot-admin -am compile -DskipTests
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# 打包
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mvn clean package -DskipTests
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# 运行指定 profile
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java -jar cmvr-iot-admin/target/cmvr-iot-admin-dev.jar --spring.profiles.active=dev
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```
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@ -1,22 +1,36 @@
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package com.cmvr.web.controller.api;
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import cmvr.msgs.*;
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import cmvr.msgs.Agv;
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import com.cmvr.common.core.domain.AjaxResult;
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import com.cmvr.edge.client.model.EdgeCommonVO;
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import com.cmvr.edge.client.model.agv.EdgeAgvMapNameVO;
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import com.cmvr.edge.client.model.agv.EdgeAgvNavigateToPoseVO;
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import com.cmvr.edge.client.model.agv.EdgeAgvNavigateToStationVO;
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import com.cmvr.edge.client.model.agv.EdgeAgvStartMappingVO;
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import com.cmvr.edge.client.model.agv.EdgeAgvUploadMapVO;
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import com.cmvr.edge.client.model.agv.EdgeAgvVelocityVO;
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import com.cmvr.edge.client.service.EdgeAgvService;
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import io.swagger.annotations.Api;
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import io.swagger.annotations.ApiOperation;
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import io.swagger.annotations.ApiParam;
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import lombok.RequiredArgsConstructor;
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import org.springframework.validation.annotation.Validated;
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import org.springframework.web.bind.annotation.GetMapping;
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import org.springframework.web.bind.annotation.PostMapping;
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import org.springframework.web.bind.annotation.RequestBody;
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import org.springframework.web.bind.annotation.RequestMapping;
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import org.springframework.web.bind.annotation.RestController;
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import java.util.ArrayList;
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import java.util.HashMap;
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import java.util.List;
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import java.util.Map;
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/**
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* 边缘系统AGV控制器
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* 边缘系统 AGV 控制器。
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*
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* <p>接口入参约定：
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* GET 查询类接口使用 query 参数绑定 VO；POST 控制类接口只接收一个 JSON 请求体 VO，
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* 避免一个接口同时出现通用 VO 和零散业务参数，保证前端调用、Swagger 文档和后端绑定规则一致。</p>
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*
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* @author cmvr-iot
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* @since 2026-07-02
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@ -29,62 +43,24 @@ public class EdgeAgvController {
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private final EdgeAgvService edgeAgvService;
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/**
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* 获取 AGV 运行时状态。
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*/
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@ApiOperation("获取AGV运行时状态")
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@GetMapping("/getRuntimeState")
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public AjaxResult getRuntimeState(EdgeCommonVO vo) {
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public AjaxResult getRuntimeState(@Validated EdgeCommonVO vo) {
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Agv.AgvRuntimeState state = edgeAgvService.getRuntimeState(vo);
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// 转换为Map返回
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java.util.Map<String, Object> resultMap = new java.util.HashMap<>();
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resultMap.put("timestamp", state.getTimestamp());
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resultMap.put("mode", state.getMode());
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resultMap.put("connected", state.getConnected());
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resultMap.put("localized", state.getLocalized());
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resultMap.put("moving", state.getMoving());
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resultMap.put("fault", state.getFault());
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resultMap.put("emergencyStopped", state.getEmergencyStopped());
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// 位置信息
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if (state.hasPose()) {
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java.util.Map<String, Object> poseMap = new java.util.HashMap<>();
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poseMap.put("x", state.getPose().getX());
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poseMap.put("y", state.getPose().getY());
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poseMap.put("theta", state.getPose().getTheta());
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resultMap.put("pose", poseMap);
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}
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// 速度信息
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if (state.hasVelocity()) {
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java.util.Map<String, Object> velocityMap = new java.util.HashMap<>();
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velocityMap.put("vx", state.getVelocity().getVx());
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velocityMap.put("vy", state.getVelocity().getVy());
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velocityMap.put("wz", state.getVelocity().getWz());
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resultMap.put("velocity", velocityMap);
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}
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// 电池信息
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if (state.hasBattery()) {
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java.util.Map<String, Object> batteryMap = new java.util.HashMap<>();
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batteryMap.put("percentage", state.getBattery().getPercentage());
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batteryMap.put("voltage", state.getBattery().getVoltage());
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batteryMap.put("current", state.getBattery().getCurrent());
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batteryMap.put("temperature", state.getBattery().getTemperature());
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batteryMap.put("charging", state.getBattery().getCharging());
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resultMap.put("battery", batteryMap);
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}
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resultMap.put("currentMap", state.getCurrentMap());
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resultMap.put("currentStation", state.getCurrentStation());
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resultMap.put("lastError", state.getLastError());
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return AjaxResult.ok(resultMap);
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return AjaxResult.ok(toRuntimeStateMap(state));
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}
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/**
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* 获取 AGV 当前导航状态。
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*/
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@ApiOperation("获取导航状态")
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@GetMapping("/getNavigationStatus")
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public AjaxResult getNavigationStatus(EdgeCommonVO vo) {
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public AjaxResult getNavigationStatus(@Validated EdgeCommonVO vo) {
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Agv.AgvNavigationStatus status = edgeAgvService.getNavigationStatus(vo);
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||||
// 转换为Map返回
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||||
java.util.Map<String, Object> resultMap = new java.util.HashMap<>();
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||||
Map<String, Object> resultMap = new HashMap<>();
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||||
resultMap.put("state", status.getState());
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resultMap.put("type", status.getType());
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||||
resultMap.put("progress", status.getProgress());
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@ -92,162 +68,248 @@ public class EdgeAgvController {
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return AjaxResult.ok(resultMap);
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}
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||||
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||||
/**
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* AGV 紧急停止。
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*/
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@ApiOperation("紧急停止")
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@GetMapping("/emergencyStop")
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public AjaxResult emergencyStop(EdgeCommonVO vo) {
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@PostMapping("/emergencyStop")
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public AjaxResult emergencyStop(@RequestBody @Validated EdgeCommonVO vo) {
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edgeAgvService.emergencyStop(vo);
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return AjaxResult.ok();
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}
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/**
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* 清除 AGV 故障。
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*/
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@ApiOperation("清除故障")
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@GetMapping("/clearFault")
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public AjaxResult clearFault(EdgeCommonVO vo) {
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@PostMapping("/clearFault")
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||||
public AjaxResult clearFault(@RequestBody @Validated EdgeCommonVO vo) {
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||||
edgeAgvService.clearFault(vo);
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||||
return AjaxResult.ok();
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||||
}
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||||
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||||
/**
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* 导航到指定坐标。
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||||
*/
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||||
@ApiOperation("导航到指定位置")
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||||
@PostMapping("/navigateToPose")
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||||
public AjaxResult navigateToPose(EdgeCommonVO vo,
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||||
@ApiParam("X坐标") double x,
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||||
@ApiParam("Y坐标") double y,
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||||
@ApiParam("角度") double theta) {
|
||||
public AjaxResult navigateToPose(@RequestBody @Validated EdgeAgvNavigateToPoseVO vo) {
|
||||
Agv.AgvPose2d pose = Agv.AgvPose2d.newBuilder()
|
||||
.setX(x)
|
||||
.setY(y)
|
||||
.setTheta(theta)
|
||||
.build();
|
||||
.setX(vo.getX())
|
||||
.setY(vo.getY())
|
||||
.setTheta(vo.getTheta())
|
||||
.build();
|
||||
edgeAgvService.navigateToPose(vo, pose);
|
||||
return AjaxResult.ok();
|
||||
}
|
||||
|
||||
/**
|
||||
* 导航到指定站点。
|
||||
*/
|
||||
@ApiOperation("导航到站点")
|
||||
@GetMapping("/navigateToStation")
|
||||
public AjaxResult navigateToStation(EdgeCommonVO vo,
|
||||
@ApiParam("站点ID") String stationId) {
|
||||
edgeAgvService.navigateToStation(vo, stationId);
|
||||
@PostMapping("/navigateToStation")
|
||||
public AjaxResult navigateToStation(@RequestBody @Validated EdgeAgvNavigateToStationVO vo) {
|
||||
edgeAgvService.navigateToStation(vo, vo.getStationId());
|
||||
return AjaxResult.ok();
|
||||
}
|
||||
|
||||
/**
|
||||
* 暂停当前导航任务。
|
||||
*/
|
||||
@ApiOperation("暂停导航")
|
||||
@GetMapping("/pauseNavigation")
|
||||
public AjaxResult pauseNavigation(EdgeCommonVO vo) {
|
||||
@PostMapping("/pauseNavigation")
|
||||
public AjaxResult pauseNavigation(@RequestBody @Validated EdgeCommonVO vo) {
|
||||
edgeAgvService.pauseNavigation(vo);
|
||||
return AjaxResult.ok();
|
||||
}
|
||||
|
||||
/**
|
||||
* 恢复当前导航任务。
|
||||
*/
|
||||
@ApiOperation("恢复导航")
|
||||
@GetMapping("/resumeNavigation")
|
||||
public AjaxResult resumeNavigation(EdgeCommonVO vo) {
|
||||
@PostMapping("/resumeNavigation")
|
||||
public AjaxResult resumeNavigation(@RequestBody @Validated EdgeCommonVO vo) {
|
||||
edgeAgvService.resumeNavigation(vo);
|
||||
return AjaxResult.ok();
|
||||
}
|
||||
|
||||
/**
|
||||
* 取消当前导航任务。
|
||||
*/
|
||||
@ApiOperation("取消导航")
|
||||
@GetMapping("/cancelNavigation")
|
||||
public AjaxResult cancelNavigation(EdgeCommonVO vo) {
|
||||
@PostMapping("/cancelNavigation")
|
||||
public AjaxResult cancelNavigation(@RequestBody @Validated EdgeCommonVO vo) {
|
||||
edgeAgvService.cancelNavigation(vo);
|
||||
return AjaxResult.ok();
|
||||
}
|
||||
|
||||
/**
|
||||
* 设置 AGV 速度。
|
||||
*/
|
||||
@ApiOperation("设置速度")
|
||||
@PostMapping("/setVelocity")
|
||||
public AjaxResult setVelocity(EdgeCommonVO vo,
|
||||
@ApiParam("线速度X") double vx,
|
||||
@ApiParam("线速度Y") double vy,
|
||||
@ApiParam("角速度") double wz) {
|
||||
public AjaxResult setVelocity(@RequestBody @Validated EdgeAgvVelocityVO vo) {
|
||||
Agv.AgvVelocity velocity = Agv.AgvVelocity.newBuilder()
|
||||
.setVx(vx)
|
||||
.setVy(vy)
|
||||
.setWz(wz)
|
||||
.build();
|
||||
.setVx(vo.getVx())
|
||||
.setVy(vo.getVy())
|
||||
.setWz(vo.getWz())
|
||||
.build();
|
||||
edgeAgvService.setVelocity(vo, velocity);
|
||||
return AjaxResult.ok();
|
||||
}
|
||||
|
||||
/**
|
||||
* 停止速度控制。
|
||||
*/
|
||||
@ApiOperation("停止速度控制")
|
||||
@GetMapping("/stopVelocityControl")
|
||||
public AjaxResult stopVelocityControl(EdgeCommonVO vo) {
|
||||
@PostMapping("/stopVelocityControl")
|
||||
public AjaxResult stopVelocityControl(@RequestBody @Validated EdgeCommonVO vo) {
|
||||
edgeAgvService.stopVelocityControl(vo);
|
||||
return AjaxResult.ok();
|
||||
}
|
||||
|
||||
/**
|
||||
* 查询机器人本地所有地图。
|
||||
*/
|
||||
@ApiOperation("列出所有地图")
|
||||
@GetMapping("/listMaps")
|
||||
public AjaxResult listMaps(EdgeCommonVO vo) {
|
||||
public AjaxResult listMaps(@Validated EdgeCommonVO vo) {
|
||||
List<String> maps = edgeAgvService.listMaps(vo);
|
||||
return AjaxResult.ok(maps);
|
||||
}
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* 查询机器人本地所有站点。
|
||||
*/
|
||||
@ApiOperation("列出所有站点")
|
||||
@GetMapping("/listStations")
|
||||
public AjaxResult listStations(EdgeCommonVO vo) {
|
||||
public AjaxResult listStations(@Validated EdgeCommonVO vo) {
|
||||
List<Agv.AgvStation> stations = edgeAgvService.listStations(vo);
|
||||
// 转换为List<Map>返回
|
||||
List<java.util.Map<String, Object>> stationList = new java.util.ArrayList<>();
|
||||
List<Map<String, Object>> stationList = new ArrayList<>();
|
||||
for (Agv.AgvStation station : stations) {
|
||||
java.util.Map<String, Object> stationMap = new java.util.HashMap<>();
|
||||
stationMap.put("id", station.getId());
|
||||
stationMap.put("type", station.getType());
|
||||
stationMap.put("description", station.getDescription());
|
||||
|
||||
if (station.hasPose()) {
|
||||
java.util.Map<String, Object> poseMap = new java.util.HashMap<>();
|
||||
poseMap.put("x", station.getPose().getX());
|
||||
poseMap.put("y", station.getPose().getY());
|
||||
poseMap.put("theta", station.getPose().getTheta());
|
||||
stationMap.put("pose", poseMap);
|
||||
}
|
||||
|
||||
stationList.add(stationMap);
|
||||
stationList.add(toStationMap(station));
|
||||
}
|
||||
return AjaxResult.ok(stationList);
|
||||
}
|
||||
|
||||
/**
|
||||
* 切换机器人当前地图。
|
||||
*/
|
||||
@ApiOperation("切换地图")
|
||||
@GetMapping("/switchMap")
|
||||
public AjaxResult switchMap(EdgeCommonVO vo,
|
||||
@ApiParam("地图名称") String mapName) {
|
||||
edgeAgvService.switchMap(vo, mapName);
|
||||
@PostMapping("/switchMap")
|
||||
public AjaxResult switchMap(@RequestBody @Validated EdgeAgvMapNameVO vo) {
|
||||
edgeAgvService.switchMap(vo, vo.getMapName());
|
||||
return AjaxResult.ok();
|
||||
}
|
||||
|
||||
/**
|
||||
* 上传地图内容到机器人。
|
||||
*/
|
||||
@ApiOperation("上传地图")
|
||||
@PostMapping("/uploadMap")
|
||||
public AjaxResult uploadMap(EdgeCommonVO vo,
|
||||
@ApiParam("地图名称") String mapName,
|
||||
@ApiParam("地图内容") String content) {
|
||||
edgeAgvService.uploadMap(vo, mapName, content);
|
||||
public AjaxResult uploadMap(@RequestBody @Validated EdgeAgvUploadMapVO vo) {
|
||||
edgeAgvService.uploadMap(vo, vo.getMapName(), vo.getContent());
|
||||
return AjaxResult.ok();
|
||||
}
|
||||
|
||||
/**
|
||||
* 下载指定地图内容。
|
||||
*/
|
||||
@ApiOperation("下载地图")
|
||||
@GetMapping("/downloadMap")
|
||||
public AjaxResult downloadMap(EdgeCommonVO vo,
|
||||
@ApiParam("地图名称") String mapName) {
|
||||
String content = edgeAgvService.downloadMap(vo, mapName);
|
||||
public AjaxResult downloadMap(@Validated EdgeAgvMapNameVO vo) {
|
||||
String content = edgeAgvService.downloadMap(vo, vo.getMapName());
|
||||
return AjaxResult.ok(content);
|
||||
}
|
||||
|
||||
/**
|
||||
* 开始建图。
|
||||
*/
|
||||
@ApiOperation("开始建图")
|
||||
@PostMapping("/startMapping")
|
||||
public AjaxResult startMapping(EdgeCommonVO vo,
|
||||
@ApiParam("建图维度（0:未指定 1:2D 2:3D 3:2D+3D）") int dimension,
|
||||
@ApiParam("地图名称（可选）") String mapName,
|
||||
@ApiParam("是否实时建图") boolean realTime) {
|
||||
Agv.AgvMapDimension mapDimension = Agv.AgvMapDimension.forNumber(dimension);
|
||||
String sessionId = edgeAgvService.startMapping(vo, mapDimension, mapName, realTime);
|
||||
java.util.Map<String, Object> result = new java.util.HashMap<>();
|
||||
public AjaxResult startMapping(@RequestBody @Validated EdgeAgvStartMappingVO vo) {
|
||||
Agv.AgvMapDimension mapDimension = Agv.AgvMapDimension.forNumber(vo.getDimension());
|
||||
if (mapDimension == null) {
|
||||
return AjaxResult.error("建图维度不合法，允许值：0=未指定，1=2D，2=3D，3=2D+3D");
|
||||
}
|
||||
|
||||
String sessionId = edgeAgvService.startMapping(vo, mapDimension, vo.getMapName(), vo.isRealTime());
|
||||
Map<String, Object> result = new HashMap<>();
|
||||
result.put("sessionId", sessionId);
|
||||
return AjaxResult.ok(result);
|
||||
}
|
||||
|
||||
/**
|
||||
* 停止建图。
|
||||
*/
|
||||
@ApiOperation("停止建图")
|
||||
@GetMapping("/stopMapping")
|
||||
public AjaxResult stopMapping(EdgeCommonVO vo) {
|
||||
@PostMapping("/stopMapping")
|
||||
public AjaxResult stopMapping(@RequestBody @Validated EdgeCommonVO vo) {
|
||||
edgeAgvService.stopMapping(vo);
|
||||
return AjaxResult.ok();
|
||||
}
|
||||
|
||||
/**
|
||||
* 将 protobuf 运行时状态转换为前端友好的 Map，避免直接暴露 protobuf 对象结构。
|
||||
*/
|
||||
private Map<String, Object> toRuntimeStateMap(Agv.AgvRuntimeState state) {
|
||||
Map<String, Object> resultMap = new HashMap<>();
|
||||
resultMap.put("timestamp", state.getTimestamp());
|
||||
resultMap.put("mode", state.getMode());
|
||||
resultMap.put("connected", state.getConnected());
|
||||
resultMap.put("localized", state.getLocalized());
|
||||
resultMap.put("moving", state.getMoving());
|
||||
resultMap.put("fault", state.getFault());
|
||||
resultMap.put("emergencyStopped", state.getEmergencyStopped());
|
||||
|
||||
if (state.hasPose()) {
|
||||
resultMap.put("pose", toPoseMap(state.getPose()));
|
||||
}
|
||||
if (state.hasVelocity()) {
|
||||
Map<String, Object> velocityMap = new HashMap<>();
|
||||
velocityMap.put("vx", state.getVelocity().getVx());
|
||||
velocityMap.put("vy", state.getVelocity().getVy());
|
||||
velocityMap.put("wz", state.getVelocity().getWz());
|
||||
resultMap.put("velocity", velocityMap);
|
||||
}
|
||||
if (state.hasBattery()) {
|
||||
Map<String, Object> batteryMap = new HashMap<>();
|
||||
batteryMap.put("percentage", state.getBattery().getPercentage());
|
||||
batteryMap.put("voltage", state.getBattery().getVoltage());
|
||||
batteryMap.put("current", state.getBattery().getCurrent());
|
||||
batteryMap.put("temperature", state.getBattery().getTemperature());
|
||||
batteryMap.put("charging", state.getBattery().getCharging());
|
||||
resultMap.put("battery", batteryMap);
|
||||
}
|
||||
|
||||
resultMap.put("currentMap", state.getCurrentMap());
|
||||
resultMap.put("currentStation", state.getCurrentStation());
|
||||
resultMap.put("lastError", state.getLastError());
|
||||
return resultMap;
|
||||
}
|
||||
|
||||
/**
|
||||
* 将 protobuf 站点对象转换为普通 Map。
|
||||
*/
|
||||
private Map<String, Object> toStationMap(Agv.AgvStation station) {
|
||||
Map<String, Object> stationMap = new HashMap<>();
|
||||
stationMap.put("id", station.getId());
|
||||
stationMap.put("type", station.getType());
|
||||
stationMap.put("description", station.getDescription());
|
||||
if (station.hasPose()) {
|
||||
stationMap.put("pose", toPoseMap(station.getPose()));
|
||||
}
|
||||
return stationMap;
|
||||
}
|
||||
|
||||
/**
|
||||
* 将 protobuf 二维位姿转换为普通 Map。
|
||||
*/
|
||||
private Map<String, Object> toPoseMap(Agv.AgvPose2d pose) {
|
||||
Map<String, Object> poseMap = new HashMap<>();
|
||||
poseMap.put("x", pose.getX());
|
||||
poseMap.put("y", pose.getY());
|
||||
poseMap.put("theta", pose.getTheta());
|
||||
return poseMap;
|
||||
}
|
||||
}
|
||||
|
||||
@ -8,6 +8,7 @@ import com.cmvr.edge.client.service.EdgeArmService;
|
||||
import io.swagger.annotations.Api;
|
||||
import io.swagger.annotations.ApiOperation;
|
||||
import lombok.RequiredArgsConstructor;
|
||||
import org.springframework.validation.annotation.Validated;
|
||||
import org.springframework.web.bind.annotation.GetMapping;
|
||||
import org.springframework.web.bind.annotation.PostMapping;
|
||||
import org.springframework.web.bind.annotation.RequestBody;
|
||||
@ -139,8 +140,8 @@ public class EdgeArmController {
|
||||
|
||||
@ApiOperation("获取末端位姿")
|
||||
@GetMapping("/getPose")
|
||||
public AjaxResult getPose(EdgeCommonVO vo, String baseLink, String eeLink) {
|
||||
ArmCommand.GetPose.Response result = edgeArmService.getPose(vo, baseLink, eeLink);
|
||||
public AjaxResult getPose(@Validated EdgeArmPoseQueryVO vo) {
|
||||
ArmCommand.GetPose.Response result = edgeArmService.getPose(vo, vo.getBaseLink(), vo.getEeLink());
|
||||
ArmCommand.CartesianPose pose = result.getPose();
|
||||
|
||||
// 转换为VO
|
||||
@ -157,15 +158,15 @@ public class EdgeArmController {
|
||||
|
||||
@ApiOperation("标定零点")
|
||||
@GetMapping("/calibrateZeroQ")
|
||||
public AjaxResult calibrateZeroQ(EdgeCommonVO vo, String jointName) {
|
||||
edgeArmService.calibrateZeroQ(vo, jointName);
|
||||
public AjaxResult calibrateZeroQ(@Validated EdgeArmCalibrateZeroQVO vo) {
|
||||
edgeArmService.calibrateZeroQ(vo, vo.getJointName());
|
||||
return AjaxResult.ok();
|
||||
}
|
||||
|
||||
@ApiOperation("获取位姿矩阵")
|
||||
@GetMapping("/getPoseMatrix")
|
||||
public AjaxResult getPoseMatrix(EdgeCommonVO vo, String baseLink, String eeLink) {
|
||||
ArmCommand.GetPoseMatrix.Response result = edgeArmService.getPoseMatrix(vo, baseLink, eeLink);
|
||||
public AjaxResult getPoseMatrix(@Validated EdgeArmPoseQueryVO vo) {
|
||||
ArmCommand.GetPoseMatrix.Response result = edgeArmService.getPoseMatrix(vo, vo.getBaseLink(), vo.getEeLink());
|
||||
// 将TransformMatrix4x4转换为Map
|
||||
ArmCommand.TransformMatrix4x4 matrix = result.getMatrix();
|
||||
java.util.Map<String, Object> matrixMap = new java.util.HashMap<>();
|
||||
|
||||
@ -0,0 +1,22 @@
|
||||
package com.cmvr.edge.client.model.agv;
|
||||
|
||||
import com.cmvr.edge.client.model.EdgeCommonVO;
|
||||
import io.swagger.annotations.ApiModel;
|
||||
import io.swagger.annotations.ApiModelProperty;
|
||||
import lombok.Data;
|
||||
import lombok.EqualsAndHashCode;
|
||||
|
||||
import javax.validation.constraints.NotEmpty;
|
||||
|
||||
/**
|
||||
* AGV 地图名称请求参数。
|
||||
*/
|
||||
@Data
|
||||
@EqualsAndHashCode(callSuper = true)
|
||||
@ApiModel("AGV地图名称参数")
|
||||
public class EdgeAgvMapNameVO extends EdgeCommonVO {
|
||||
|
||||
@NotEmpty(message = "地图名称不能为空")
|
||||
@ApiModelProperty(value = "地图名称", required = true)
|
||||
private String mapName;
|
||||
}
|
||||
@ -0,0 +1,25 @@
|
||||
package com.cmvr.edge.client.model.agv;
|
||||
|
||||
import com.cmvr.edge.client.model.EdgeCommonVO;
|
||||
import io.swagger.annotations.ApiModel;
|
||||
import io.swagger.annotations.ApiModelProperty;
|
||||
import lombok.Data;
|
||||
import lombok.EqualsAndHashCode;
|
||||
|
||||
/**
|
||||
* AGV 导航到指定坐标的请求参数。
|
||||
*/
|
||||
@Data
|
||||
@EqualsAndHashCode(callSuper = true)
|
||||
@ApiModel("AGV导航到指定坐标参数")
|
||||
public class EdgeAgvNavigateToPoseVO extends EdgeCommonVO {
|
||||
|
||||
@ApiModelProperty(value = "目标 X 坐标，单位：米", required = true)
|
||||
private double x;
|
||||
|
||||
@ApiModelProperty(value = "目标 Y 坐标，单位：米", required = true)
|
||||
private double y;
|
||||
|
||||
@ApiModelProperty(value = "目标朝向角，单位：弧度", required = true)
|
||||
private double theta;
|
||||
}
|
||||
@ -0,0 +1,22 @@
|
||||
package com.cmvr.edge.client.model.agv;
|
||||
|
||||
import com.cmvr.edge.client.model.EdgeCommonVO;
|
||||
import io.swagger.annotations.ApiModel;
|
||||
import io.swagger.annotations.ApiModelProperty;
|
||||
import lombok.Data;
|
||||
import lombok.EqualsAndHashCode;
|
||||
|
||||
import javax.validation.constraints.NotEmpty;
|
||||
|
||||
/**
|
||||
* AGV 导航到站点的请求参数。
|
||||
*/
|
||||
@Data
|
||||
@EqualsAndHashCode(callSuper = true)
|
||||
@ApiModel("AGV导航到站点参数")
|
||||
public class EdgeAgvNavigateToStationVO extends EdgeCommonVO {
|
||||
|
||||
@NotEmpty(message = "站点ID不能为空")
|
||||
@ApiModelProperty(value = "站点ID", required = true)
|
||||
private String stationId;
|
||||
}
|
||||
@ -0,0 +1,25 @@
|
||||
package com.cmvr.edge.client.model.agv;
|
||||
|
||||
import com.cmvr.edge.client.model.EdgeCommonVO;
|
||||
import io.swagger.annotations.ApiModel;
|
||||
import io.swagger.annotations.ApiModelProperty;
|
||||
import lombok.Data;
|
||||
import lombok.EqualsAndHashCode;
|
||||
|
||||
/**
|
||||
* AGV 开始建图请求参数。
|
||||
*/
|
||||
@Data
|
||||
@EqualsAndHashCode(callSuper = true)
|
||||
@ApiModel("AGV开始建图参数")
|
||||
public class EdgeAgvStartMappingVO extends EdgeCommonVO {
|
||||
|
||||
@ApiModelProperty(value = "建图维度：0=未指定，1=2D，2=3D，3=2D+3D", required = true)
|
||||
private int dimension;
|
||||
|
||||
@ApiModelProperty("地图名称，可为空")
|
||||
private String mapName;
|
||||
|
||||
@ApiModelProperty(value = "是否实时建图", required = true)
|
||||
private boolean realTime;
|
||||
}
|
||||
@ -0,0 +1,21 @@
|
||||
package com.cmvr.edge.client.model.agv;
|
||||
|
||||
import io.swagger.annotations.ApiModel;
|
||||
import io.swagger.annotations.ApiModelProperty;
|
||||
import lombok.Data;
|
||||
import lombok.EqualsAndHashCode;
|
||||
|
||||
import javax.validation.constraints.NotEmpty;
|
||||
|
||||
/**
|
||||
* AGV 上传地图请求参数。
|
||||
*/
|
||||
@Data
|
||||
@EqualsAndHashCode(callSuper = true)
|
||||
@ApiModel("AGV上传地图参数")
|
||||
public class EdgeAgvUploadMapVO extends EdgeAgvMapNameVO {
|
||||
|
||||
@NotEmpty(message = "地图内容不能为空")
|
||||
@ApiModelProperty(value = "地图内容", required = true)
|
||||
private String content;
|
||||
}
|
||||
@ -0,0 +1,25 @@
|
||||
package com.cmvr.edge.client.model.agv;
|
||||
|
||||
import com.cmvr.edge.client.model.EdgeCommonVO;
|
||||
import io.swagger.annotations.ApiModel;
|
||||
import io.swagger.annotations.ApiModelProperty;
|
||||
import lombok.Data;
|
||||
import lombok.EqualsAndHashCode;
|
||||
|
||||
/**
|
||||
* AGV 速度控制请求参数。
|
||||
*/
|
||||
@Data
|
||||
@EqualsAndHashCode(callSuper = true)
|
||||
@ApiModel("AGV速度控制参数")
|
||||
public class EdgeAgvVelocityVO extends EdgeCommonVO {
|
||||
|
||||
@ApiModelProperty(value = "X 方向线速度，单位：m/s", required = true)
|
||||
private double vx;
|
||||
|
||||
@ApiModelProperty(value = "Y 方向线速度，单位：m/s", required = true)
|
||||
private double vy;
|
||||
|
||||
@ApiModelProperty(value = "角速度，单位：rad/s", required = true)
|
||||
private double wz;
|
||||
}
|
||||
@ -0,0 +1,22 @@
|
||||
package com.cmvr.edge.client.model.arm;
|
||||
|
||||
import com.cmvr.edge.client.model.EdgeCommonVO;
|
||||
import io.swagger.annotations.ApiModel;
|
||||
import io.swagger.annotations.ApiModelProperty;
|
||||
import lombok.Data;
|
||||
import lombok.EqualsAndHashCode;
|
||||
|
||||
import javax.validation.constraints.NotEmpty;
|
||||
|
||||
/**
|
||||
* 机械臂标定零点参数。
|
||||
*/
|
||||
@Data
|
||||
@EqualsAndHashCode(callSuper = true)
|
||||
@ApiModel("机械臂标定零点参数")
|
||||
public class EdgeArmCalibrateZeroQVO extends EdgeCommonVO {
|
||||
|
||||
@NotEmpty(message = "关节名称不能为空")
|
||||
@ApiModelProperty(value = "关节名称", required = true)
|
||||
private String jointName;
|
||||
}
|
||||
@ -0,0 +1,22 @@
|
||||
package com.cmvr.edge.client.model.arm;
|
||||
|
||||
import com.cmvr.edge.client.model.EdgeCommonVO;
|
||||
import io.swagger.annotations.ApiModel;
|
||||
import io.swagger.annotations.ApiModelProperty;
|
||||
import lombok.Data;
|
||||
import lombok.EqualsAndHashCode;
|
||||
|
||||
/**
|
||||
* 机械臂位姿查询参数。
|
||||
*/
|
||||
@Data
|
||||
@EqualsAndHashCode(callSuper = true)
|
||||
@ApiModel("机械臂位姿查询参数")
|
||||
public class EdgeArmPoseQueryVO extends EdgeCommonVO {
|
||||
|
||||
@ApiModelProperty("基座连杆名称，为空时由机器人端使用默认值")
|
||||
private String baseLink;
|
||||
|
||||
@ApiModelProperty("末端执行器连杆名称，为空时由机器人端使用默认值")
|
||||
private String eeLink;
|
||||
}
|
||||
Loading…
Reference in New Issue
Block a user