refactor(robot): 重构机器人地图上传功能

- 移除原有的 uploadMapToRobot 方法，简化服务接口 - 添加新的 uploadMapFromSource 方法，支持从源机器人下载并上传到目标机器人 - 更新控制器中的路径变量注解，移除冗余参数定义 - 实现跨机器人地图传输功能，包括从源机器人下载和向目标机器人上传 - 添加完整的异常处理和验证逻辑，确保机器人和地图存在性检查 - 统一错误消息处理，提高代码可维护性
2026-06-29 09:05:18 +08:00 · 2026-06-29 09:05:18 +08:00 · 6d39c4296e
commit 6d39c4296e
parent 87d691f927
3 changed files with 96 additions and 83 deletions
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java
@ -112,7 +112,7 @@ public class InspectionRobotController extends BaseController
    @ApiOperation("获取机器人地图列表")
    @PreAuthorize("@ss.hasPermi('inspection:robot:query')")
    @GetMapping("/{robotId}/maps")
-    public AjaxResult getRobotMapList(@PathVariable("robotId") String robotId)
+    public AjaxResult getRobotMapList(@PathVariable String robotId)
    {
        AgvCommand.AgvMapStatus robotMapList = inspectionRobotService.getRobotMapList(robotId);
        return success(robotMapList.getMapsList());
@ -125,26 +125,12 @@ public class InspectionRobotController extends BaseController
    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
    @Log(title = "绑定机器人地图", businessType = BusinessType.UPDATE)
    @PostMapping("/{robotId}/bind-map/{mapId}")
-    public AjaxResult bindRobotMap(@PathVariable("robotId") String robotId,
-                                   @PathVariable("mapId") String mapId)
+    public AjaxResult bindRobotMap(@PathVariable String robotId,
+                                   @PathVariable String mapId)
    {
        return toAjax(inspectionRobotService.bindRobotMap(robotId, mapId));
    }

-    /**
-     * 上传地图到机器人
-     */
-    @ApiOperation("上传地图到机器人")
-    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
-    @Log(title = "上传地图到机器人", businessType = BusinessType.OTHER)
-    @PostMapping("/{robotId}/upload-map/{mapId}")
-    public AjaxResult uploadMapToRobot(@PathVariable("robotId") String robotId,
-                                       @PathVariable("mapId") String mapId)
-    {
-        String result = inspectionRobotService.uploadMapToRobot(robotId, mapId);
-        return success(result);
-    }
-
    /**
     * 从机器人下载地图
     */
@ -153,7 +139,7 @@ public class InspectionRobotController extends BaseController
    @Log(title = "从机器人下载地图", businessType = BusinessType.INSERT)
    @GetMapping("/{robotId}/download-map")
    public AjaxResult downloadMapFromRobot(
-            @PathVariable(value = "robotId") @ApiParam("机器人ID") String robotId,
+            @PathVariable @ApiParam("机器人ID") String robotId,
            @RequestParam(value = "mapName") @ApiParam("地图名称") String mapName
    )
    {
@ -161,6 +147,19 @@ public class InspectionRobotController extends BaseController
        return success(mapId);
    }

+    /**
+     * 上传地图（从源机器人下载到目标机器人）
+     */
+    @ApiOperation("上传地图到机器人")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
+    @Log(title = "上传地图到机器人", businessType = BusinessType.OTHER)
+    @PostMapping("/{robotId}/upload-map-from-source")
+    public AjaxResult uploadMapFromSource(@PathVariable String robotId)
+    {
+        String result = inspectionRobotService.uploadMapFromSource(robotId);
+        return success(result);
+    }
+
    /**
     * 同步机器人状态
     */
@ -168,7 +167,7 @@ public class InspectionRobotController extends BaseController
    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
    @Log(title = "同步机器人状态", businessType = BusinessType.UPDATE)
    @PostMapping("/{robotId}/sync-status")
-    public AjaxResult syncRobotStatus(@PathVariable("robotId") String robotId)
+    public AjaxResult syncRobotStatus(@PathVariable String robotId)
    {
        return success(inspectionRobotService.syncRobotStatus(robotId));
    }
--- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java
+++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java
@ -73,15 +73,6 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
     */
    int bindRobotMap(String robotId, String mapId);

-    /**
-     * 上传地图到机器人
-     *
-     * @param robotId 机器人ID
-     * @param mapId 地图ID
-     * @return 结果
-     */
-    String uploadMapToRobot(String robotId, String mapId);
-
    /**
     * 从机器人下载地图
     *
@ -91,6 +82,14 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
     */
    String downloadMapFromRobot(String robotId, String mapName);

+    /**
+     * 上传地图（从源机器人下载到目标机器人）
+     *
+     * @param robotId 目标机器人ID
+     * @return 结果
+     */
+    String uploadMapFromSource(String robotId);
+
    /**
     * 同步机器人状态（电量、位置等）
     *
--- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java
+++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java
@ -1,6 +1,7 @@

 package com.cmvr.inspection.service.impl;

+import java.nio.charset.StandardCharsets;
 import java.util.Arrays;
 import java.util.List;
 import java.util.UUID;
@ -180,49 +181,6 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
        return inspectionRobotMapper.updateInspectionRobot(robot);
    }

-    /**
-     * 上传地图到机器人
-     *
-     * @param robotId 机器人ID
-     * @param mapId 地图ID
-     * @return 结果
-     */
-    @Override
-    public String uploadMapToRobot(String robotId, String mapId)
-    {
-        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
-        if (robot == null) {
-            throw new GlobalException("机器人不存在");
-        }
-
-        InspectionMap map = inspectionMapMapper.selectInspectionMapById(mapId);
-        if (map == null) {
-            throw new GlobalException("地图不存在");
-        }
-
-        if (StrUtil.isBlank(map.getMapFilePath())) {
-            throw new GlobalException("地图文件路径不存在");
-        }
-
-        // 从文件路径读取地图内容
-        String mapContent = readMapFile(map.getMapFilePath());
-        if (StrUtil.isBlank(mapContent)) {
-            throw new GlobalException("地图文件内容为空");
-        }
-
-        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
-        edgeCommonVO.setTerminalId(robot.getTerminalId());
-        edgeCommonVO.setDeviceId(robot.getRobotCode());
-
-        AgvCommand.AgvUploadMapResult result = edgeAgvService.robotConfigUploadMap(edgeCommonVO, mapContent);
-
-        if (result.getRetCode() != 0) {
-            throw new GlobalException("上传地图失败: " + result.getErrMsg());
-        }
-
-        return "上传成功";
-    }
-
    /**
     * 从机器人下载地图
     *
@ -264,6 +222,75 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
        return result.getMapContent();
    }

+    /**
+     * 上传地图（从源机器人下载到目标机器人）
+     *
+     * @param robotId 目标机器人ID
+     * @return 结果
+     */
+    @Override
+    public String uploadMapFromSource(String robotId)
+    {
+        // 1. 获取目标机器人信息
+        InspectionRobot targetRobot = inspectionRobotMapper.selectInspectionRobotById(robotId);
+        if (targetRobot == null) {
+            throw new GlobalException("目标机器人不存在");
+        }
+
+        // 2. 获取地图信息
+        InspectionMap map = inspectionMapMapper.selectInspectionMapById(targetRobot.getCurrentMapId());
+        if (map == null) {
+            throw new GlobalException("地图不存在");
+        }
+
+        // 3. 检查地图是否有来源机器人ID和地图名称
+        if (StrUtil.isBlank(map.getMapSourceRobotId())) {
+            throw new GlobalException("地图未配置来源机器人ID");
+        }
+        if (StrUtil.isBlank(map.getMapSourceName())) {
+            throw new GlobalException("地图未配置来源地图名称");
+        }
+
+        // 4. 获取来源机器人信息
+        InspectionRobot sourceRobot = inspectionRobotMapper.selectInspectionRobotById(map.getMapSourceRobotId());
+        if (sourceRobot == null) {
+            throw new GlobalException("来源机器人不存在");
+        }
+
+        // 5. 从来源机器人下载地图JSON
+        EdgeCommonVO sourceEdgeVO = new EdgeCommonVO();
+        sourceEdgeVO.setTerminalId(sourceRobot.getTerminalId());
+        sourceEdgeVO.setDeviceId(sourceRobot.getRobotCode());
+
+        AgvCommand.AgvDownloadMapResult downloadResult = edgeAgvService.robotConfigDownloadMap(
+            sourceEdgeVO, map.getMapSourceName()
+        );
+
+        if (downloadResult.getRetCode() != 0) {
+            throw new GlobalException("从来源机器人下载地图失败: " + downloadResult.getErrMsg());
+        }
+
+        String mapContent = downloadResult.getMapContent();
+        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();
+        targetEdgeVO.setTerminalId(targetRobot.getTerminalId());
+        targetEdgeVO.setDeviceId(targetRobot.getRobotCode());
+
+        AgvCommand.AgvUploadMapResult uploadResult = edgeAgvService.robotConfigUploadMap(
+            targetEdgeVO, mapContent
+        );
+
+        if (uploadResult.getRetCode() != 0) {
+            throw new GlobalException("上传地图到目标机器人失败: " + uploadResult.getErrMsg());
+        }
+
+        return "上传成功";
+    }
+
    /**
     * 同步机器人状态（电量、位置等）
     *
@ -305,16 +332,4 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
        return robot;
    }

-    /**
-     * 读取地图文件内容
-     *
-     * @param filePath 文件路径
-     * @return 文件内容
-     */
-    private String readMapFile(String filePath)
-    {
-        // TODO: 实现文件读取逻辑
-        return "";
-    }
-
 }