feat(agv): 添加AGV协议定义和重构命令接口

- 新增agv.proto文件定义AGV相关消息结构包括位姿、速度、电池状态等
- 新增统一2D/3D地图格式定义支持栅格、点云、体素等多种地图类型
- 重构agv_command.proto将原有命令接口替换为新的运行状态查询接口
- 添加导航控制、速度设置、地图管理等标准化命令接口
- 整合站点管理、路径规划、任务状态等AGV核心功能协议
- 引入运动约束选项和适配器参数扩展支持不同厂商设备特性

cmvr-iot-admin/pom.xml

@@ -89,6 +89,12 @@
             <groupId>com.cmvr</groupId>
             <artifactId>cmvr-iot-aima</artifactId>
         </dependency>
+
+        <!-- 智能座舱语音语料采集-->
+        <dependency>
+            <groupId>com.cmvr</groupId>
+            <artifactId>cmvr-iot-tts</artifactId>
+        </dependency>
     </dependencies>
     <properties>
         <env>dev</env>

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeAgvController.java

@@ -1,9 +1,8 @@
 package com.cmvr.web.controller.api;
 
-import cmvr.api.AgvCommand;
+import cmvr.msgs.*;
 import com.cmvr.common.core.domain.AjaxResult;
 import com.cmvr.edge.client.model.EdgeCommonVO;
-import com.cmvr.edge.client.model.agv.*;
 import com.cmvr.edge.client.service.EdgeAgvService;
 import io.swagger.annotations.Api;
 import io.swagger.annotations.ApiOperation;
@@ -14,11 +13,13 @@ import org.springframework.web.bind.annotation.PostMapping;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 
+import java.util.List;
+
 /**
  * 边缘系统AGV控制器
  *
  * @author cmvr-iot
- * @since 2026-07-01
+ * @since 2026-07-02
  */
 @Api(tags = "边缘--AGV")
 @RestController
@@ -28,139 +29,225 @@ public class EdgeAgvController {
 
     private final EdgeAgvService edgeAgvService;
 
-    @ApiOperation("获取AGV状态信息")
+    @ApiOperation("获取AGV运行时状态")
-    @GetMapping("/getStatusInfo")
+    @GetMapping("/getRuntimeState")
-    public AjaxResult getStatusInfo(EdgeCommonVO vo) {
+    public AjaxResult getRuntimeState(EdgeCommonVO vo) {
-        AgvCommand.AgvStatusInfo statusInfo = edgeAgvService.getStatusInfo(vo);
+        Agv.AgvRuntimeState state = edgeAgvService.getRuntimeState(vo);
-        // 直接返回对象，Jackson会自动序列化
+        // 转换为Map返回
-        return AjaxResult.ok(statusInfo);
+        java.util.Map<String, Object> resultMap = new java.util.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());
+        
+        // 位置信息
+        if (state.hasPose()) {
+            java.util.Map<String, Object> poseMap = new java.util.HashMap<>();
+            poseMap.put("x", state.getPose().getX());
+            poseMap.put("y", state.getPose().getY());
+            poseMap.put("theta", state.getPose().getTheta());
+            resultMap.put("pose", poseMap);
         }
         
-    @ApiOperation("获取机器人位置")
+        // 速度信息
-    @GetMapping("/getRobotLocation")
+        if (state.hasVelocity()) {
-    public AjaxResult getRobotLocation(EdgeCommonVO vo) {
+            java.util.Map<String, Object> velocityMap = new java.util.HashMap<>();
-        AgvCommand.AgvRobotLocation location = edgeAgvService.getRobotLocation(vo);
+            velocityMap.put("vx", state.getVelocity().getVx());
-        return AjaxResult.ok(location);
+            velocityMap.put("vy", state.getVelocity().getVy());
+            velocityMap.put("wz", state.getVelocity().getWz());
+            resultMap.put("velocity", velocityMap);
         }
         
-    @ApiOperation("获取地图状态")
+        // 电池信息
-    @GetMapping("/getMapStatus")
+        if (state.hasBattery()) {
-    public AjaxResult getMapStatus(EdgeCommonVO vo) {
+            java.util.Map<String, Object> batteryMap = new java.util.HashMap<>();
-        AgvCommand.AgvMapStatus mapStatus = edgeAgvService.getMapStatus(vo);
+            batteryMap.put("percentage", state.getBattery().getPercentage());
-        return AjaxResult.ok(mapStatus);
+            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 AjaxResult.ok(resultMap);
+    }
+
+    @ApiOperation("获取导航状态")
+    @GetMapping("/getNavigationStatus")
+    public AjaxResult getNavigationStatus(EdgeCommonVO vo) {
+        Agv.AgvNavigationStatus status = edgeAgvService.getNavigationStatus(vo);
+        // 转换为Map返回
+        java.util.Map<String, Object> resultMap = new java.util.HashMap<>();
+        resultMap.put("state", status.getState());
+        resultMap.put("type", status.getType());
+        resultMap.put("progress", status.getProgress());
+        resultMap.put("message", status.getMessage());
+        return AjaxResult.ok(resultMap);
+    }
+
+    @ApiOperation("紧急停止")
+    @GetMapping("/emergencyStop")
+    public AjaxResult emergencyStop(EdgeCommonVO vo) {
+        edgeAgvService.emergencyStop(vo);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("清除故障")
+    @GetMapping("/clearFault")
+    public AjaxResult clearFault(EdgeCommonVO vo) {
+        edgeAgvService.clearFault(vo);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("导航到指定位置")
+    @PostMapping("/navigateToPose")
+    public AjaxResult navigateToPose(EdgeCommonVO vo,
+                                      @ApiParam("X坐标") double x,
+                                      @ApiParam("Y坐标") double y,
+                                      @ApiParam("角度") double theta) {
+        Agv.AgvPose2d pose = Agv.AgvPose2d.newBuilder()
+            .setX(x)
+            .setY(y)
+            .setTheta(theta)
+            .build();
+        edgeAgvService.navigateToPose(vo, pose);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("导航到站点")
+    @GetMapping("/navigateToStation")
+    public AjaxResult navigateToStation(EdgeCommonVO vo,
+                                         @ApiParam("站点ID") String stationId) {
+        edgeAgvService.navigateToStation(vo, stationId);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("暂停导航")
+    @GetMapping("/pauseNavigation")
+    public AjaxResult pauseNavigation(EdgeCommonVO vo) {
+        edgeAgvService.pauseNavigation(vo);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("恢复导航")
+    @GetMapping("/resumeNavigation")
+    public AjaxResult resumeNavigation(EdgeCommonVO vo) {
+        edgeAgvService.resumeNavigation(vo);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("取消导航")
+    @GetMapping("/cancelNavigation")
+    public AjaxResult cancelNavigation(EdgeCommonVO vo) {
+        edgeAgvService.cancelNavigation(vo);
+        return AjaxResult.ok();
+    }
+
+    @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) {
+        Agv.AgvVelocity velocity = Agv.AgvVelocity.newBuilder()
+            .setVx(vx)
+            .setVy(vy)
+            .setWz(wz)
+            .build();
+        edgeAgvService.setVelocity(vo, velocity);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("停止速度控制")
+    @GetMapping("/stopVelocityControl")
+    public AjaxResult stopVelocityControl(EdgeCommonVO vo) {
+        edgeAgvService.stopVelocityControl(vo);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("列出所有地图")
+    @GetMapping("/listMaps")
+    public AjaxResult listMaps(EdgeCommonVO vo) {
+        List<String> maps = edgeAgvService.listMaps(vo);
+        return AjaxResult.ok(maps);
+    }
+
+
+
+    @ApiOperation("列出所有站点")
+    @GetMapping("/listStations")
+    public AjaxResult listStations(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<>();
+        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);
+        }
+        return AjaxResult.ok(stationList);
+    }
+
+    @ApiOperation("切换地图")
+    @GetMapping("/switchMap")
+    public AjaxResult switchMap(EdgeCommonVO vo,
+                                 @ApiParam("地图名称") String mapName) {
+        edgeAgvService.switchMap(vo, mapName);
+        return AjaxResult.ok();
+    }
+
+    @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);
+        return AjaxResult.ok();
     }
 
     @ApiOperation("下载地图")
     @GetMapping("/downloadMap")
     public AjaxResult downloadMap(EdgeCommonVO vo,
                                    @ApiParam("地图名称") String mapName) {
-        AgvCommand.AgvDownloadMapResult result = edgeAgvService.robotConfigDownloadMap(vo, mapName);
+        String content = edgeAgvService.downloadMap(vo, mapName);
+        return AjaxResult.ok(content);
+    }
+
+    @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<>();
+        result.put("sessionId", sessionId);
         return AjaxResult.ok(result);
     }
 
-    @ApiOperation("上传地图")
+    @ApiOperation("停止建图")
-    @PostMapping("/uploadMap")
+    @GetMapping("/stopMapping")
-    public AjaxResult uploadMap(EdgeCommonVO vo, 
+    public AjaxResult stopMapping(EdgeCommonVO vo) {
-                                 @ApiParam("地图内容") String mapContent) {
+        edgeAgvService.stopMapping(vo);
-        AgvCommand.AgvUploadMapResult result = edgeAgvService.robotConfigUploadMap(vo, mapContent);
-        java.util.Map<String, Object> resultMap = new java.util.HashMap<>();
-        resultMap.put("retCode", result.getRetCode());
-        resultMap.put("errMsg", result.getErrMsg());
-        return AjaxResult.ok(resultMap);
-    }
-
-    @ApiOperation("获取电池状态")
-    @GetMapping("/getBatteryStatus")
-    public AjaxResult getBatteryStatus(EdgeCommonVO vo) {
-        AgvCommand.AgvBatteryStatus batteryStatus = edgeAgvService.getBatteryStatus(vo);
-        return AjaxResult.ok(batteryStatus);
-    }
-
-    @ApiOperation("导航到指定站点")
-    @GetMapping("/goToStation")
-    public AjaxResult goToStation(EdgeCommonVO vo,
-                                   @ApiParam("起始站点ID") String sourceId,
-                                   @ApiParam("目标站点ID") String targetId,
-                                   @ApiParam("任务ID") String taskId,
-                                   @ApiParam("操作类型") String operation,
-                                   @ApiParam("顶升高度") Double jackHeight) {
-        AgvCommand.RobotGoTargetResData result = edgeAgvService.robotGoTarget(
-            vo, sourceId, targetId, taskId, operation, jackHeight
-        );
-        return AjaxResult.ok(result);
-    }
-
-    @ApiOperation("自由导航到坐标点")
-    @GetMapping("/freeGo")
-    public AjaxResult freeGo(EdgeCommonVO vo,
-                              @ApiParam("X坐标") double x,
-                              @ApiParam("Y坐标") double y,
-                              @ApiParam("角度") double theta,
-                              @ApiParam("任务ID") String taskId) {
-        // 构建自由导航点
-        AgvCommand.FreeGoPoint freeGoPoint = AgvCommand.FreeGoPoint.newBuilder()
-            .setX(x)
-            .setY(y)
-            .setTheta(theta)
-            .build();
-        
-        AgvCommand.RobotGoTargetResData result = edgeAgvService.robotGoTargetWithFreeGo(
-            vo, freeGoPoint, taskId
-        );
-        return AjaxResult.ok(result);
-    }
-
-    @ApiOperation("暂停导航任务")
-    @GetMapping("/pauseTask")
-    public AjaxResult pauseTask(EdgeCommonVO vo) {
-        edgeAgvService.robotTaskPause(vo);
         return AjaxResult.ok();
     }
-
-    @ApiOperation("继续导航任务")
-    @GetMapping("/resumeTask")
-    public AjaxResult resumeTask(EdgeCommonVO vo) {
-        edgeAgvService.robotTaskResume(vo);
-        return AjaxResult.ok();
-    }
-
-    @ApiOperation("取消导航任务")
-    @GetMapping("/cancelTask")
-    public AjaxResult cancelTask(EdgeCommonVO vo) {
-        edgeAgvService.robotTaskCancel(vo);
-        return AjaxResult.ok();
-    }
-
-    @ApiOperation("查询当前导航状态")
-    @GetMapping("/getTaskStatus")
-    public AjaxResult getTaskStatus(EdgeCommonVO vo,
-                                     @ApiParam("是否简化返回") boolean simple) {
-        AgvCommand.RobotStatusTaskResData taskData = edgeAgvService.getRobotStatusTaskCurrent(vo, simple);
-        return AjaxResult.ok(taskData);
-    }
-
-    @ApiOperation("查询站点列表")
-    @GetMapping("/getStationList")
-    public AjaxResult getStationList(EdgeCommonVO vo) {
-        AgvCommand.QueryStationListResult result = edgeAgvService.queryStationList(vo);
-        return AjaxResult.ok(result);
-    }
-
-    @ApiOperation("切换地图")
-    @GetMapping("/loadMap")
-    public AjaxResult loadMap(EdgeCommonVO vo,
-                               @ApiParam("地图名称") String mapName) {
-        AgvCommand.RobotLoadMapResult result = edgeAgvService.robotLoadMap(vo, mapName);
-        java.util.Map<String, Object> resultMap = new java.util.HashMap<>();
-        resultMap.put("retCode", result.getRetCode());
-        resultMap.put("errMsg", result.getErrMsg());
-        return AjaxResult.ok(resultMap);
-    }
-
-    @ApiOperation("查询地图加载状态")
-    @GetMapping("/getLoadMapStatus")
-    public AjaxResult getLoadMapStatus(EdgeCommonVO vo) {
-        AgvCommand.RobotQueryLoadMapStatusResult result = edgeAgvService.queryLoadMapStatus(vo);
-        return AjaxResult.ok(result);
-    }
 }

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java

@@ -3,7 +3,7 @@ package com.cmvr.web.controller.inspection;
 import java.util.List;
 import javax.servlet.http.HttpServletResponse;
 
-import cmvr.api.AgvCommand;
+import cmvr.msgs.Agv;
 import com.cmvr.inspection.domain.vo.InspectionRobotVo;
 import io.swagger.annotations.*;
 import org.springframework.security.access.prepost.PreAuthorize;
@@ -114,8 +114,8 @@ public class InspectionRobotController extends BaseController
     @GetMapping("/{robotId}/maps")
     public AjaxResult getRobotMapList(@PathVariable String robotId)
     {
-        AgvCommand.AgvMapStatus robotMapList = inspectionRobotService.getRobotMapList(robotId);
+        List<String> robotMapList = inspectionRobotService.getRobotMapList(robotId);
-        return success(robotMapList.getMapsList());
+        return success(robotMapList);
     }
 
     /**
@@ -180,7 +180,7 @@ public class InspectionRobotController extends BaseController
     @GetMapping("/{robotId}/location")
     public AjaxResult getRobotRealtimeLocation(@PathVariable String robotId)
     {
-        AgvCommand.AgvRobotLocation location = inspectionRobotService.getRobotRealtimeLocation(robotId);
+        Agv.AgvPose2d location = inspectionRobotService.getRobotRealtimeLocation(robotId);
         return success(location);
     }
 
@@ -195,15 +195,47 @@ public class InspectionRobotController extends BaseController
             @PathVariable @ApiParam("机器人ID") String robotId,
             @RequestParam @ApiParam("X坐标（米）") Double x,
             @RequestParam @ApiParam("Y坐标（米）") Double y,
-            @RequestParam(required = false) @ApiParam("朝向角（弧度）") Double theta,
+            @RequestParam(required = false) @ApiParam("朝向角（弧度）") Double theta
-            @RequestParam(required = false) @ApiParam("任务ID") String taskId
     )
     {
-        AgvCommand.RobotGoTargetResData result = inspectionRobotService.navigateToPosition(
+        inspectionRobotService.navigateToPosition(
-            robotId, x, y, theta, taskId
+            robotId, x, y, theta
         );
+        return success();
+    }
+
+    /**
+     * 开始建图
+     */
+    @ApiOperation("开始建图")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
+    @Log(title = "开始建图", businessType = BusinessType.OTHER)
+    @PostMapping("/{robotId}/start-mapping")
+    public AjaxResult startMapping(
+            @PathVariable @ApiParam("机器人ID") String robotId,
+            @RequestParam @ApiParam("建图维度（0:未指定 1:2D 2:3D 3:2D+3D）") int dimension,
+            @RequestParam(required = false) @ApiParam("地图名称（可选）") String mapName,
+            @RequestParam(defaultValue = "true") @ApiParam("是否实时建图") boolean realTime
+    )
+    {
+        String sessionId = inspectionRobotService.startMapping(robotId, dimension, mapName, realTime);
+        java.util.Map<String, Object> result = new java.util.HashMap<>();
+        result.put("sessionId", sessionId);
         return success(result);
     }
 
+    /**
+     * 停止建图
+     */
+    @ApiOperation("停止建图")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
+    @Log(title = "停止建图", businessType = BusinessType.OTHER)
+    @PostMapping("/{robotId}/stop-mapping")
+    public AjaxResult stopMapping(@PathVariable @ApiParam("机器人ID") String robotId)
+    {
+        inspectionRobotService.stopMapping(robotId);
+        return success();
+    }
+
 }
 

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/tts/CorpusInfoController.java

@@ -0,0 +1,214 @@
+package com.cmvr.web.controller.tts;
+
+import com.cmvr.common.annotation.Log;
+import com.cmvr.common.core.controller.BaseController;
+import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.common.core.page.TableDataInfo;
+import com.cmvr.common.enums.BusinessType;
+import com.cmvr.tts.domain.CorpusCategory;
+import com.cmvr.tts.domain.CorpusInfo;
+import com.cmvr.tts.service.ICorpusInfoService;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.security.access.prepost.PreAuthorize;
+import org.springframework.web.bind.annotation.*;
+import org.springframework.web.multipart.MultipartFile;
+
+import javax.servlet.http.HttpServletResponse;
+import java.util.Map;
+
+/**
+ * 车载语料数据Controller
+ *
+ * @author cmvr
+ */
+@RestController
+@RequestMapping("/tts/corpus")
+@Api(tags = "智能座舱-车载语料管理")
+public class CorpusInfoController extends BaseController {
+
+    @Autowired
+    private ICorpusInfoService corpusInfoService;
+
+    /**
+     * 查询语料列表
+     */
+    @ApiOperation("查询语料列表")
+    @PreAuthorize("@ss.hasPermi('tts:corpus:list')")
+    @GetMapping("/list")
+    public TableDataInfo list(CorpusInfo corpus) {
+        startPage();
+        return corpusInfoService.selectCorpusList(corpus);
+    }
+
+    /**
+     * 获取语料详细信息
+     */
+    @ApiOperation("获取语料详细信息")
+    @PreAuthorize("@ss.hasPermi('tts:corpus:query')")
+    @GetMapping(value = "/{id}")
+    public AjaxResult getInfo(@PathVariable("id") String id) {
+        return success(corpusInfoService.selectCorpusById(id));
+    }
+
+    /**
+     * 新增语料
+     */
+    @ApiOperation("新增语料")
+    @PreAuthorize("@ss.hasPermi('tts:corpus:add')")
+    @Log(title = "车载语料", businessType = BusinessType.INSERT)
+    @PostMapping
+    public AjaxResult add(@RequestBody CorpusInfo corpus) {
+        return toAjax(corpusInfoService.insertCorpus(corpus));
+    }
+
+    /**
+     * 修改语料
+     */
+    @ApiOperation("修改语料")
+    @PreAuthorize("@ss.hasPermi('tts:corpus:edit')")
+    @Log(title = "车载语料", businessType = BusinessType.UPDATE)
+    @PutMapping
+    public AjaxResult edit(@RequestBody CorpusInfo corpus) {
+        return toAjax(corpusInfoService.updateCorpus(corpus));
+    }
+
+    /**
+     * 删除语料
+     */
+    @ApiOperation("删除语料")
+    @PreAuthorize("@ss.hasPermi('tts:corpus:remove')")
+    @Log(title = "车载语料", businessType = BusinessType.DELETE)
+    @DeleteMapping("/{ids}")
+    public AjaxResult remove(@PathVariable String[] ids) {
+        return toAjax(corpusInfoService.deleteCorpusByIds(ids));
+    }
+
+    /**
+     * 获取音频流
+     */
+    @ApiOperation("获取音频流")
+    @PreAuthorize("@ss.hasPermi('tts:corpus:query')")
+    @GetMapping("/audio/{id}")
+    public void getAudio(@PathVariable String id, HttpServletResponse response) {
+        corpusInfoService.getAudioStream(id, response);
+    }
+
+    /**
+     * 上传语料音频
+     */
+    @ApiOperation("上传语料音频")
+    @PreAuthorize("@ss.hasPermi('tts:corpus:edit')")
+    @Log(title = "车载语料", businessType = BusinessType.UPDATE)
+    @PostMapping("/audio/upload/{id}")
+    public AjaxResult uploadAudio(@PathVariable String id, @RequestParam("file") MultipartFile file) {
+        String path = corpusInfoService.uploadCorpusAudio(id, file);
+        return success(path);
+    }
+
+    /**
+     * 批量导入语料
+     */
+    @ApiOperation("批量导入语料")
+    @PreAuthorize("@ss.hasPermi('tts:corpus:import')")
+    @Log(title = "车载语料", businessType = BusinessType.IMPORT)
+    @PostMapping("/import")
+    public AjaxResult importData(@RequestParam("file") MultipartFile file) {
+        Map<String, Object> result = corpusInfoService.importCorpus(file);
+        return success(result);
+    }
+
+    /**
+     * 查询看板统计数据
+     */
+    @ApiOperation("查询看板统计数据")
+    @PreAuthorize("@ss.hasPermi('tts:corpus:query')")
+    @GetMapping("/dashboard/stats")
+    public AjaxResult getDashboardStats() {
+        return success(corpusInfoService.getDashboardStats());
+    }
+
+    /**
+     * 按语种统计
+     */
+    @ApiOperation("按语种统计")
+    @PreAuthorize("@ss.hasPermi('tts:corpus:query')")
+    @GetMapping("/stats/language")
+    public AjaxResult getStatsByLanguage() {
+        return success(corpusInfoService.getStatsByLanguage());
+    }
+
+    /**
+     * 按方言统计
+     */
+    @ApiOperation("按方言统计")
+    @PreAuthorize("@ss.hasPermi('tts:corpus:query')")
+    @GetMapping("/stats/dialect")
+    public AjaxResult getStatsByDialect() {
+        return success(corpusInfoService.getStatsByDialect());
+    }
+
+    /**
+     * 按情绪统计
+     */
+    @ApiOperation("按情绪统计")
+    @PreAuthorize("@ss.hasPermi('tts:corpus:query')")
+    @GetMapping("/stats/emotion")
+    public AjaxResult getStatsByEmotion() {
+        return success(corpusInfoService.getStatsByEmotion());
+    }
+
+    /**
+     * 按分类统计
+     */
+    @ApiOperation("按分类统计")
+    @PreAuthorize("@ss.hasPermi('tts:corpus:query')")
+    @GetMapping("/stats/category")
+    public AjaxResult getStatsByCategory() {
+        return success(corpusInfoService.getStatsByCategory());
+    }
+
+    /**
+     * 查询分类树
+     */
+    @ApiOperation("查询分类树")
+    @PreAuthorize("@ss.hasPermi('tts:corpus:query')")
+    @GetMapping("/category/tree")
+    public AjaxResult getCategoryTree() {
+        return success(corpusInfoService.getCategoryTree());
+    }
+
+    /**
+     * 新增分类
+     */
+    @ApiOperation("新增分类")
+    @PreAuthorize("@ss.hasPermi('tts:corpus:add')")
+    @Log(title = "语料分类", businessType = BusinessType.INSERT)
+    @PostMapping("/category")
+    public AjaxResult addCategory(@RequestBody CorpusCategory category) {
+        return toAjax(corpusInfoService.insertCategory(category));
+    }
+
+    /**
+     * 修改分类
+     */
+    @ApiOperation("修改分类")
+    @PreAuthorize("@ss.hasPermi('tts:corpus:edit')")
+    @Log(title = "语料分类", businessType = BusinessType.UPDATE)
+    @PutMapping("/category")
+    public AjaxResult editCategory(@RequestBody CorpusCategory category) {
+        return toAjax(corpusInfoService.updateCategory(category));
+    }
+
+    /**
+     * 删除分类
+     */
+    @ApiOperation("删除分类")
+    @PreAuthorize("@ss.hasPermi('tts:corpus:remove')")
+    @Log(title = "语料分类", businessType = BusinessType.DELETE)
+    @DeleteMapping("/category/{id}")
+    public AjaxResult removeCategory(@PathVariable String id) {
+        return toAjax(corpusInfoService.deleteCategoryById(id));
+    }
+}

cmvr-iot-admin/src/main/java/com/cmvr/web/controller/tts/TtsSynthesizeTaskController.java

@@ -0,0 +1,253 @@
+package com.cmvr.web.controller.tts;
+
+import com.alibaba.fastjson2.JSONArray;
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.common.annotation.Log;
+import com.cmvr.common.core.controller.BaseController;
+import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.common.core.page.TableDataInfo;
+import com.cmvr.common.enums.BusinessType;
+import com.cmvr.llm.service.LLMAiAgentPlatformService;
+import com.cmvr.tts.domain.TtsSynthesizeTask;
+import com.cmvr.tts.domain.vo.LlmQueryVo;
+import com.cmvr.tts.service.ITtsSynthesizeTaskService;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import lombok.RequiredArgsConstructor;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.security.access.prepost.PreAuthorize;
+import org.springframework.web.bind.annotation.*;
+
+import javax.servlet.http.HttpServletResponse;
+import java.util.List;
+
+/**
+ * TTS合成任务Controller
+ *
+ * @author cmvr
+ */
+@RestController
+@RequestMapping("/tts/task")
+@Api(tags = "智能座舱-TTS合成任务管理")
+@RequiredArgsConstructor
+public class TtsSynthesizeTaskController extends BaseController {
+
+    @Autowired
+    private ITtsSynthesizeTaskService ttsTaskService;
+
+    private final LLMAiAgentPlatformService llmAiAgentPlatformService;
+
+    /**
+     * 查询TTS合成任务列表
+     */
+    @ApiOperation("查询TTS合成任务列表")
+    @PreAuthorize("@ss.hasPermi('tts:task:list')")
+    @GetMapping("/list")
+    public TableDataInfo list(TtsSynthesizeTask task) {
+        startPage();
+        return ttsTaskService.selectTtsTaskList(task);
+    }
+
+    /**
+     * 获取TTS合成任务详细信息
+     */
+    @ApiOperation("获取TTS合成任务详细信息")
+    @PreAuthorize("@ss.hasPermi('tts:task:query')")
+    @GetMapping(value = "/{id}")
+    public AjaxResult getInfo(@PathVariable("id") String id) {
+        return success(ttsTaskService.selectTtsTaskById(id));
+    }
+
+    /**
+     * 新增TTS合成任务
+     */
+    @ApiOperation("新增TTS合成任务")
+    @PreAuthorize("@ss.hasPermi('tts:task:add')")
+    @Log(title = "TTS合成任务", businessType = BusinessType.INSERT)
+    @PostMapping
+    public AjaxResult add(@RequestBody TtsSynthesizeTask task) {
+        return success(ttsTaskService.insertTtsTask(task));
+    }
+
+    /**
+     * 批量新增TTS合成任务
+     */
+    @ApiOperation("批量新增TTS合成任务")
+    @PreAuthorize("@ss.hasPermi('tts:task:add')")
+    @Log(title = "TTS合成任务", businessType = BusinessType.INSERT)
+    @PostMapping("/batch")
+    public AjaxResult batchAdd(@RequestBody List<TtsSynthesizeTask> tasks) {
+        return toAjax(ttsTaskService.batchInsertTtsTask(tasks));
+    }
+
+    /**
+     * 修改TTS合成任务
+     */
+    @ApiOperation("修改TTS合成任务")
+    @PreAuthorize("@ss.hasPermi('tts:task:edit')")
+    @Log(title = "TTS合成任务", businessType = BusinessType.UPDATE)
+    @PutMapping
+    public AjaxResult edit(@RequestBody TtsSynthesizeTask task) {
+        return toAjax(ttsTaskService.updateTtsTask(task));
+    }
+
+    /**
+     * 删除TTS合成任务
+     */
+    @ApiOperation("删除TTS合成任务")
+    @PreAuthorize("@ss.hasPermi('tts:task:remove')")
+    @Log(title = "TTS合成任务", businessType = BusinessType.DELETE)
+    @DeleteMapping("/{ids}")
+    public AjaxResult remove(@PathVariable String[] ids) {
+        return toAjax(ttsTaskService.deleteTtsTaskByIds(ids));
+    }
+
+    /**
+     * 重生成TTS任务
+     */
+    @ApiOperation("重生成TTS任务")
+    @PreAuthorize("@ss.hasPermi('tts:task:edit')")
+    @Log(title = "TTS合成任务", businessType = BusinessType.UPDATE)
+    @PostMapping("/regenerate/{id}")
+    public AjaxResult regenerate(@PathVariable String id) {
+        return toAjax(ttsTaskService.regenerateTask(id));
+    }
+
+    /**
+     * 获取音频文件流
+     */
+    @ApiOperation("获取音频文件流")
+    @PreAuthorize("@ss.hasPermi('tts:task:query')")
+    @GetMapping("/audio/{id}")
+    public void getAudio(@PathVariable String id, HttpServletResponse response) {
+        ttsTaskService.getAudioStream(id, response);
+    }
+
+    /**
+     * 查询看板统计数据
+     */
+    @ApiOperation("查询看板统计数据")
+    @PreAuthorize("@ss.hasPermi('tts:task:query')")
+    @GetMapping("/dashboard/stats")
+    public AjaxResult getDashboardStats() {
+        return success(ttsTaskService.getDashboardStats());
+    }
+
+    /**
+     * 按语种统计
+     */
+    @ApiOperation("按语种统计")
+    @PreAuthorize("@ss.hasPermi('tts:task:query')")
+    @GetMapping("/stats/language")
+    public AjaxResult getStatsByLanguage() {
+        return success(ttsTaskService.getStatsByLanguage());
+    }
+
+    /**
+     * 按音色统计
+     */
+    @ApiOperation("按音色统计")
+    @PreAuthorize("@ss.hasPermi('tts:task:query')")
+    @GetMapping("/stats/voice")
+    public AjaxResult getStatsByVoice() {
+        return success(ttsTaskService.getStatsByVoice());
+    }
+
+    /**
+     * 按情绪统计
+     */
+    @ApiOperation("按情绪统计")
+    @PreAuthorize("@ss.hasPermi('tts:task:query')")
+    @GetMapping("/stats/emotion")
+    public AjaxResult getStatsByEmotion() {
+        return success(ttsTaskService.getStatsByEmotion());
+    }
+
+    /**
+     * 近7日趋势
+     */
+    @ApiOperation("近7日趋势")
+    @PreAuthorize("@ss.hasPermi('tts:task:query')")
+    @GetMapping("/stats/trend")
+    public AjaxResult getLast7DaysTrend() {
+        return success(ttsTaskService.getLast7DaysTrend());
+    }
+
+    /**
+     * 文本泛化
+     */
+    @ApiOperation("文本泛化")
+    @PreAuthorize("@ss.hasPermi('tts:task:query')")
+    @PostMapping("/llm/query")
+    public AjaxResult llmQuery(@RequestBody LlmQueryVo request) {
+        // 闲聊key d9672ql4shh4136opsfg
+        // 泛化key  d966pq54shh4nveh8d20
+        JSONObject result = llmAiAgentPlatformService.query(
+           null,
+            request.getLanguage() + "," + request.getCount() + "," + request.getText(),
+            "d96ammd4shh4nvehb6mg",
+            false,
+            null
+        );
+        
+        // 解析LLM返回的结果，提取JSON数组
+        String resultStr = result.getString("result");
+        if (resultStr != null && !resultStr.isEmpty()) {
+            // 尝试多种格式解析
+            JSONArray jsonArray = parseJsonArray(resultStr);
+            return success(jsonArray);
+        }
+        return success(new JSONArray());
+    }
+
+    /**
+     * 解析JSON数组，兼容多种格式
+     */
+    private JSONArray parseJsonArray(String text) {
+        if (text == null || text.isEmpty()) {
+            return new JSONArray();
+        }
+        
+        // 1. 直接尝试解析为JSON数组
+        try {
+            return JSONArray.parseArray(text);
+        } catch (Exception e) {
+            // 继续尝试其他格式
+        }
+
+        
+        // 2. 移除markdown代码块标记
+        String cleaned = text.replace("```json", "").replace("```", "").trim();
+        try {
+            return JSONArray.parseArray(cleaned);
+        } catch (Exception e) {
+            // 继续尝试其他格式
+        }
+        
+        // 3. 尝试从文本中提取JSON数组（匹配 [...] 格式）
+        int startIdx = text.indexOf("[");
+        int endIdx = text.lastIndexOf("]");
+        if (startIdx != -1 && endIdx != -1 && endIdx > startIdx) {
+            String jsonStr = text.substring(startIdx, endIdx + 1);
+            try {
+                return JSONArray.parseArray(jsonStr);
+            } catch (Exception e) {
+                // 继续尝试其他格式
+            }
+        }
+        
+        // 4. 如果都失败，返回包含原始文本的数组
+        return new JSONArray().fluentAdd(text);
+    }
+
+    /**
+     * 保存任务到语料库
+     */
+    @ApiOperation("保存任务到语料库")
+    @PreAuthorize("@ss.hasPermi('tts:task:edit')")
+    @Log(title = "TTS合成任务", businessType = BusinessType.INSERT)
+    @PostMapping("/Nsave-to-corpus/{taskId}/{categoryId}")
+    public AjaxResult saveToCorpus(@PathVariable String taskId, @PathVariable String categoryId) {
+        return toAjax(ttsTaskService.saveToCorpus(taskId, categoryId));
+    }
+}

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

@@ -132,3 +132,8 @@ 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-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeAgvService.java

@@ -1,162 +1,167 @@
 package com.cmvr.edge.client.service;
 
-import cmvr.api.AgvCommand;
+import cmvr.msgs.Agv;
+import cmvr.msgs.Agv.AgvRuntimeState;
+
 import com.cmvr.edge.client.model.EdgeCommonVO;
 
+import java.util.List;
+
 /**
  * 边缘系统AGV服务
  *
  * @author cmvr-iot
- * @since 2026-06-11
+ * @since 2026-07-02
  */
 public interface EdgeAgvService {
 
     /**
-     * 获取AGV状态信息
+     * 获取AGV运行时状态
      *
      * @param edgeCommonVO 边缘通用参数
-     * @return AGV状态信息
+     * @return AGV运行时状态
      */
-    AgvCommand.AgvStatusInfo getStatusInfo(EdgeCommonVO edgeCommonVO);
+    AgvRuntimeState getRuntimeState(EdgeCommonVO edgeCommonVO);
-
 
     /**
-     * 获取机器人位置
+     * 获取导航状态
      *
      * @param edgeCommonVO 边缘通用参数
-     * @return 机器人位置
+     * @return 导航状态
      */
-    AgvCommand.AgvRobotLocation getRobotLocation(EdgeCommonVO edgeCommonVO);
+    Agv.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO);
 
     /**
-     * 获取地图状态（地图列表）
+     * 紧急停止
      *
      * @param edgeCommonVO 边缘通用参数
-     * @return 地图状态
      */
-    AgvCommand.AgvMapStatus getMapStatus(EdgeCommonVO edgeCommonVO);
+    void emergencyStop(EdgeCommonVO edgeCommonVO);
 
     /**
-     * 下载地图（从机器人下载地图到服务器）
+     * 清除故障
+     *
+     * @param edgeCommonVO 边缘通用参数
+     */
+    void clearFault(EdgeCommonVO edgeCommonVO);
+
+    /**
+     * 导航到指定位置
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @param pose 目标位姿
+     */
+    void navigateToPose(EdgeCommonVO edgeCommonVO, Agv.AgvPose2d pose);
+
+    /**
+     * 导航到站点
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @param stationId 站点ID
+     */
+    void navigateToStation(EdgeCommonVO edgeCommonVO, String stationId);
+
+    /**
+     * 跟随路径
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @param pathSegments 路径段列表
+     */
+    void followPath(EdgeCommonVO edgeCommonVO, List<Agv.AgvPathSegment> pathSegments);
+
+    /**
+     * 暂停导航
+     *
+     * @param edgeCommonVO 边缘通用参数
+     */
+    void pauseNavigation(EdgeCommonVO edgeCommonVO);
+
+    /**
+     * 恢复导航
+     *
+     * @param edgeCommonVO 边缘通用参数
+     */
+    void resumeNavigation(EdgeCommonVO edgeCommonVO);
+
+    /**
+     * 取消导航
+     *
+     * @param edgeCommonVO 边缘通用参数
+     */
+    void cancelNavigation(EdgeCommonVO edgeCommonVO);
+
+    /**
+     * 设置速度
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @param velocity 速度
+     */
+    void setVelocity(EdgeCommonVO edgeCommonVO, Agv.AgvVelocity velocity);
+
+    /**
+     * 停止速度控制
+     *
+     * @param edgeCommonVO 边缘通用参数
+     */
+    void stopVelocityControl(EdgeCommonVO edgeCommonVO);
+
+    /**
+     * 列出所有地图
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @return 地图列表
+     */
+    List<String> listMaps(EdgeCommonVO edgeCommonVO);
+
+    /**
+     * 列出所有站点
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @return 站点列表
+     */
+    List<Agv.AgvStation> listStations(EdgeCommonVO edgeCommonVO);
+
+    /**
+     * 切换地图
      *
      * @param edgeCommonVO 边缘通用参数
      * @param mapName 地图名称
-     * @return 下载结果（包含地图内容）
      */
-    AgvCommand.AgvDownloadMapResult robotConfigDownloadMap(EdgeCommonVO edgeCommonVO, String mapName);
+    void switchMap(EdgeCommonVO edgeCommonVO, String mapName);
 
     /**
-     * 上传地图（从服务器上传地图到机器人）
+     * 上传地图
      *
      * @param edgeCommonVO 边缘通用参数
-     * @param mapContent 地图内容
+     * @param mapName 地图名称
-     * @return 上传结果
+     * @param content 地图内容
      */
-    AgvCommand.AgvUploadMapResult robotConfigUploadMap(EdgeCommonVO edgeCommonVO, String mapContent);
+    void uploadMap(EdgeCommonVO edgeCommonVO, String mapName, String content);
-
 
     /**
-     * 获取电池状态
+     * 下载地图
      *
      * @param edgeCommonVO 边缘通用参数
-     * @return 电池状态
+     * @param mapName 地图名称
+     * @return 地图内容
      */
-    AgvCommand.AgvBatteryStatus getBatteryStatus(EdgeCommonVO edgeCommonVO);
+    String downloadMap(EdgeCommonVO edgeCommonVO, String mapName);
 
     /**
-     * 单点站点自动规划导航（命令码3051）
+     * 开始建图
-     * 从起始站点自动规划路径到目标站点，支持多种操作类型（顶升、货叉、滚筒等）
-     * 注意：此命令会取消当前正在执行的任务，严禁用于多车调度场景
      *
      * @param edgeCommonVO 边缘通用参数
-     * @param sourceId 起始站点ID（"SELF_POSITION"表示当前位置）
+     * @param dimension 建图维度（2D/3D/两者）
-     * @param targetId 目标站点ID（"SELF_POSITION"表示原地执行操作）
+     * @param mapName 地图名称（可选）
-     * @param taskId 任务ID（可选，建议提供）
+     * @param realTime 是否实时建图
-     * @param operation 操作类型（如"JackLoad"顶升装载、"ForkUnload"货叉卸载等，可选）
+     * @return 会话ID
-     * @param jackHeight 顶升高度（米，仅当operation为顶升相关时有效，可选）
-     * @return 导航任务下发结果
      */
-    AgvCommand.RobotGoTargetResData robotGoTarget(EdgeCommonVO edgeCommonVO, String sourceId, String targetId, 
+    String startMapping(EdgeCommonVO edgeCommonVO, Agv.AgvMapDimension dimension, String mapName, boolean realTime);
-                                                   String taskId, String operation, Double jackHeight);
 
     /**
-     * 自由导航到指定坐标位置（命令码3051，使用freego参数）
+     * 停止建图
-     * 直接导航到指定的X、Y坐标和角度，不依赖站点
-     * 注意：此命令会取消当前正在执行的任务，仅支持双轮差速底盘
      *
      * @param edgeCommonVO 边缘通用参数
-     * @param freeGoPoint 自由导航目标点（包含x、y、theta）
-     * @param taskId 任务ID（可选，建议提供）
-     * @return 导航任务下发结果
      */
-    AgvCommand.RobotGoTargetResData robotGoTargetWithFreeGo(EdgeCommonVO edgeCommonVO, 
+    void stopMapping(EdgeCommonVO edgeCommonVO);
-                                                             AgvCommand.FreeGoPoint freeGoPoint,
-                                                             String taskId);
-
-    /**
-     * 暂停当前导航任务（命令码3001）
-     * 暂停AGV当前正在执行的导航任务，AGV将减速停止
-     *
-     * @param edgeCommonVO 边缘通用参数
-     * @return 暂停结果
-     */
-    AgvCommand.RobotTaskPauseCommand.Feedback.Result robotTaskPause(EdgeCommonVO edgeCommonVO);
-
-    /**
-     * 继续当前导航任务（命令码3002）
-     * 恢复之前被暂停的导航任务，AGV将继续执行
-     *
-     * @param edgeCommonVO 边缘通用参数
-     * @return 继续结果
-     */
-    AgvCommand.RobotTaskResumeCommand.Feedback.Result robotTaskResume(EdgeCommonVO edgeCommonVO);
-
-    /**
-     * 取消当前导航任务（命令码3003）
-     * 完全取消当前正在执行或暂停的导航任务
-     *
-     * @param edgeCommonVO 边缘通用参数
-     * @return 取消结果
-     */
-    AgvCommand.RobotTaskCancelCommand.Feedback.Result robotTaskCancel(EdgeCommonVO edgeCommonVO);
-
-    /**
-     * 查询当前实时导航状态（命令码1020）
-     * 获取AGV当前导航任务的详细状态，包括任务进度、已经过站点、剩余站点等
-     *
-     * @param edgeCommonVO 边缘通用参数
-     * @param simple 是否仅返回任务状态（true=仅task_status，false=全量信息）
-     * @return 导航状态信息
-     */
-    AgvCommand.RobotStatusTaskResData getRobotStatusTaskCurrent(EdgeCommonVO edgeCommonVO, boolean simple);
-
-    /**
-     * 查询当前地图站点列表（命令码1301）
-     * 获取当前加载地图中的所有站点信息，包括站点坐标、类型、描述等
-     *
-     * @param edgeCommonVO 边缘通用参数
-     * @return 站点列表信息
-     */
-    AgvCommand.QueryStationListResult queryStationList(EdgeCommonVO edgeCommonVO);
-
-    /**
-     * 切换载入地图（命令码2022）
-     * 将AGV切换到指定的地图，目标地图必须已存在于机器人中
-     * 切换后需要等待地图加载完成才能执行导航任务
-     *
-     * @param edgeCommonVO 边缘通用参数
-     * @param mapName 目标地图名称（必填，仅允许字母、数字、-、_）
-     * @return 切换地图结果
-     */
-    AgvCommand.RobotLoadMapResult robotLoadMap(EdgeCommonVO edgeCommonVO, String mapName);
-
-    /**
-     * 查询地图载入状态（命令码1022）
-     * 查询当前地图加载的状态，可用于判断地图是否加载完成
-     * 状态值：0=失败，1=成功，2=加载中（加载中时禁止执行重定位操作）
-     *
-     * @param edgeCommonVO 边缘通用参数
-     * @return 地图加载状态
-     */
-    AgvCommand.RobotQueryLoadMapStatusResult queryLoadMapStatus(EdgeCommonVO edgeCommonVO);
 }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java

@@ -2,6 +2,8 @@ package com.cmvr.edge.client.service.impl;
 
 import cmvr.api.AgvCommand;
 import cmvr.api.AgvServiceGrpc;
+import cmvr.api.Common;
+import cmvr.msgs.Agv;
 import cn.hutool.core.util.StrUtil;
 import com.cmvr.common.exception.GlobalException;
 import com.cmvr.edge.client.manage.GrpcServiceManager;
@@ -12,11 +14,13 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
+import java.util.List;
+
 /**
  * AGV服务实现类
  * 
  * @author cmvr-iot
- * @since 2026-06-11
+ * @since 2026-07-02
  */
 @Slf4j
 @Service
@@ -26,281 +30,225 @@ public class EdgeAgvServiceImpl implements EdgeAgvService {
     private final GrpcServiceManager grpcServiceManager;
 
     @Override
-    public AgvCommand.AgvStatusInfo getStatusInfo(EdgeCommonVO edgeCommonVO) {
+    public Agv.AgvRuntimeState getRuntimeState(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
             edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
-        AgvCommand.GetAgvStatusInfoCommand.Request request = AgvCommand.GetAgvStatusInfoCommand.Request.newBuilder()
+        AgvCommand.AgvRuntimeStateCommand.Request request = AgvCommand.AgvRuntimeStateCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .build();
-        return executeGrpcCall(() -> stub.getStatusInfo(request)).getStatus();
+        return executeGrpcCall(() -> stub.getRuntimeState(request)).getState();
-    }
-
-
-    @Override
-    public AgvCommand.AgvRobotLocation getRobotLocation(EdgeCommonVO edgeCommonVO) {
-        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
-        AgvCommand.RobotStatusLocCommand.Request request = AgvCommand.RobotStatusLocCommand.Request.newBuilder()
-            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
-            .build();
-        return executeGrpcCall(() -> stub.getRobotLocation(request)).getStatus();
     }
 
     @Override
-    public AgvCommand.AgvMapStatus getMapStatus(EdgeCommonVO edgeCommonVO) {
+    public Agv.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
             edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
-        AgvCommand.RobotStatusMapCommand.Request request = AgvCommand.RobotStatusMapCommand.Request.newBuilder()
+        AgvCommand.AgvNavigationStatusCommand.Request request = AgvCommand.AgvNavigationStatusCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .build();
-        return executeGrpcCall(() -> stub.getMapStatus(request)).getStatus();
+        return executeGrpcCall(() -> stub.getNavigationStatus(request)).getStatus();
     }
 
     @Override
-    public AgvCommand.AgvDownloadMapResult robotConfigDownloadMap(EdgeCommonVO edgeCommonVO, String mapName) {
+    public void emergencyStop(EdgeCommonVO edgeCommonVO) {
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
+        executeGrpcCall(() -> stub.emergencyStop(request));
+    }
+
+    @Override
+    public void clearFault(EdgeCommonVO edgeCommonVO) {
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
+        executeGrpcCall(() -> stub.clearFault(request));
+    }
+
+    @Override
+    public void navigateToPose(EdgeCommonVO edgeCommonVO, Agv.AgvPose2d pose) {
+        if (pose == null) {
+            throw new GlobalException("目标位姿不能为空");
+        }
+        
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        AgvCommand.AgvNavigateToPoseCommand.Request request = AgvCommand.AgvNavigateToPoseCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .setPose(pose)
+            .build();
+        executeGrpcCall(() -> stub.navigateToPose(request));
+    }
+
+    @Override
+    public void navigateToStation(EdgeCommonVO edgeCommonVO, String stationId) {
+        if (StrUtil.isBlank(stationId)) {
+            throw new GlobalException("站点ID不能为空");
+        }
+        
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        AgvCommand.AgvNavigateToStationCommand.Request request = AgvCommand.AgvNavigateToStationCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .setStationId(stationId)
+            .build();
+        executeGrpcCall(() -> stub.navigateToStation(request));
+    }
+
+    @Override
+    public void followPath(EdgeCommonVO edgeCommonVO, List<Agv.AgvPathSegment> pathSegments) {
+        if (pathSegments == null || pathSegments.isEmpty()) {
+            throw new GlobalException("路径段不能为空");
+        }
+        
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        AgvCommand.AgvFollowPathCommand.Request request = AgvCommand.AgvFollowPathCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .addAllPath(pathSegments)
+            .build();
+        executeGrpcCall(() -> stub.followPath(request));
+    }
+
+    @Override
+    public void pauseNavigation(EdgeCommonVO edgeCommonVO) {
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
+        executeGrpcCall(() -> stub.pauseNavigation(request));
+    }
+
+    @Override
+    public void resumeNavigation(EdgeCommonVO edgeCommonVO) {
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
+        executeGrpcCall(() -> stub.resumeNavigation(request));
+    }
+
+    @Override
+    public void cancelNavigation(EdgeCommonVO edgeCommonVO) {
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
+        executeGrpcCall(() -> stub.cancelNavigation(request));
+    }
+
+    @Override
+    public void setVelocity(EdgeCommonVO edgeCommonVO, Agv.AgvVelocity velocity) {
+        if (velocity == null) {
+            throw new GlobalException("速度不能为空");
+        }
+        
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        AgvCommand.AgvSetVelocityCommand.Request request = AgvCommand.AgvSetVelocityCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .setVelocity(velocity)
+            .build();
+        executeGrpcCall(() -> stub.setVelocity(request));
+    }
+
+    @Override
+    public void stopVelocityControl(EdgeCommonVO edgeCommonVO) {
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
+        executeGrpcCall(() -> stub.stopVelocityControl(request));
+    }
+
+    @Override
+    public List<String> listMaps(EdgeCommonVO edgeCommonVO) {
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        AgvCommand.AgvListMapsCommand.Request request = AgvCommand.AgvListMapsCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .build();
+        return executeGrpcCall(() -> stub.listMaps(request)).getMapsList();
+    }
+
+    @Override
+    public List<Agv.AgvStation> listStations(EdgeCommonVO edgeCommonVO) {
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        AgvCommand.AgvListStationsCommand.Request request = AgvCommand.AgvListStationsCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .build();
+        return executeGrpcCall(() -> stub.listStations(request)).getStationsList();
+    }
+
+    @Override
+    public void switchMap(EdgeCommonVO edgeCommonVO, String mapName) {
         if (StrUtil.isBlank(mapName)) {
             throw new GlobalException("地图名称不能为空");
         }
+        
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
             edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
-        AgvCommand.RobotConfigDownloadMapRequestData requestData = AgvCommand.RobotConfigDownloadMapRequestData.newBuilder()
+        AgvCommand.AgvMapCommand.Request request = AgvCommand.AgvMapCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .setMapName(mapName)
             .build();
-        AgvCommand.RobotConfigDownloadMapCommand.Request request = AgvCommand.RobotConfigDownloadMapCommand.Request.newBuilder()
+        executeGrpcCall(() -> stub.switchMap(request));
-            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
-            .setData(requestData)
-            .build();
-        AgvCommand.AgvDownloadMapResult result = executeGrpcCall(() -> stub.robotConfigDownloadMap(request)).getStatus();
-        
-        if (result.getRetCode() != 0) {
-            throw new GlobalException("下载地图失败: " + result.getErrMsg());
-        }
-        return result;
     }
 
     @Override
-    public AgvCommand.AgvUploadMapResult robotConfigUploadMap(EdgeCommonVO edgeCommonVO, String mapContent) {
+    public void uploadMap(EdgeCommonVO edgeCommonVO, String mapName, String content) {
-        if (StrUtil.isBlank(mapContent)) {
+        if (StrUtil.isBlank(mapName)) {
+            throw new GlobalException("地图名称不能为空");
+        }
+        if (StrUtil.isBlank(content)) {
             throw new GlobalException("地图内容不能为空");
         }
-        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
-        AgvCommand.RobotConfigUploadMapRequestData requestData = AgvCommand.RobotConfigUploadMapRequestData.newBuilder()
-            .setMapContent(mapContent)
-            .build();
-        AgvCommand.RobotConfigUploadMapCommand.Request request = AgvCommand.RobotConfigUploadMapCommand.Request.newBuilder()
-            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
-            .setData(requestData)
-            .build();
-        AgvCommand.AgvUploadMapResult result = executeGrpcCall(() -> stub.robotConfigUploadMap(request)).getStatus();
-        
-        if (result.getRetCode() != 0) {
-            throw new GlobalException("上传地图失败: " + result.getErrMsg());
-        }
-        return result;
-    }
-
-    @Override
-    public AgvCommand.AgvBatteryStatus getBatteryStatus(EdgeCommonVO edgeCommonVO) {
-        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
-        AgvCommand.RobotStatusBatteryRequestData requestData = AgvCommand.RobotStatusBatteryRequestData.newBuilder()
-                .setSimple(true)
-                .build();
-        AgvCommand.RobotStatusBatteryCommand.Request request = AgvCommand.RobotStatusBatteryCommand.Request.newBuilder()
-            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
-                .setData(requestData)
-            .build();
-        return executeGrpcCall(() -> stub.getBatteryStatus(request)).getStatus();
-    }
-
-    @Override
-    public AgvCommand.RobotGoTargetResData robotGoTarget(EdgeCommonVO edgeCommonVO, String sourceId, String targetId,
-                                                          String taskId, String operation, Double jackHeight) {
-        if (StrUtil.isBlank(sourceId)) {
-            throw new GlobalException("起始站点ID不能为空");
-        }
-        if (StrUtil.isBlank(targetId)) {
-            throw new GlobalException("目标站点ID不能为空");
-        }
         
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
             edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
-        
+        AgvCommand.AgvMapCommand.Request request = AgvCommand.AgvMapCommand.Request.newBuilder()
-        // 构建请求数据
-        AgvCommand.RobotGoTargetReqData.Builder dataBuilder = AgvCommand.RobotGoTargetReqData.newBuilder()
-            .setSourceId(sourceId)
-            .setId(targetId);
-        
-        // 设置可选参数
-        if (StrUtil.isNotBlank(taskId)) {
-            dataBuilder.setTaskId(taskId);
-        }
-        if (StrUtil.isNotBlank(operation)) {
-            dataBuilder.setOperation(operation);
-        }
-        if (jackHeight != null) {
-            dataBuilder.setJackHeight(jackHeight);
-        }
-        
-        AgvCommand.RobotGoTargetCommand.Request request = AgvCommand.RobotGoTargetCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
-            .setData(dataBuilder.build())
+            .setMapName(mapName)
+            .setContent(content)
             .build();
-        
+        executeGrpcCall(() -> stub.uploadMap(request));
-        AgvCommand.RobotGoTargetResData result = executeGrpcCall(() -> stub.robotGoTarget(request)).getData();
-        
-        if (result.getRetCode() != 0) {
-            throw new GlobalException("单点导航任务下发失败: " + result.getErrMsg());
-        }
-        return result;
     }
 
     @Override
-    public AgvCommand.RobotGoTargetResData robotGoTargetWithFreeGo(EdgeCommonVO edgeCommonVO,
+    public String downloadMap(EdgeCommonVO edgeCommonVO, String mapName) {
-                                                                     AgvCommand.FreeGoPoint freeGoPoint,
-                                                                     String taskId) {
-        if (freeGoPoint == null) {
-            throw new GlobalException("自由导航目标点不能为空");
-        }
-
-        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
-        
-        // 构建请求数据，使用freego参数
-        AgvCommand.RobotGoTargetReqData.Builder dataBuilder = AgvCommand.RobotGoTargetReqData.newBuilder()
-            .setSourceId("SELF_POSITION")  // 从当前位置开始
-            .setId("SELF_POSITION")         // 不使用站点ID
-            .setFreego(freeGoPoint);        // 设置自由导航点
-        
-        // 设置可选参数
-        if (StrUtil.isNotBlank(taskId)) {
-            dataBuilder.setTaskId(taskId);
-        }
-
-
-
-        AgvCommand.RobotGoTargetCommand.Request request = AgvCommand.RobotGoTargetCommand.Request.newBuilder()
-            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
-            .setData(dataBuilder.build())
-            .build();
-        
-        AgvCommand.RobotGoTargetResData result = executeGrpcCall(() -> stub.robotGoTarget(request)).getData();
-        
-        if (result.getRetCode() != 0) {
-            throw new GlobalException("自由导航任务下发失败: " + result.getErrMsg());
-        }
-
-
-
-        return result;
-    }
-
-    @Override
-    public AgvCommand.RobotTaskPauseCommand.Feedback.Result robotTaskPause(EdgeCommonVO edgeCommonVO) {
-        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
-        AgvCommand.RobotTaskPauseCommand.Request request = AgvCommand.RobotTaskPauseCommand.Request.newBuilder()
-            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
-            .build();
-        AgvCommand.RobotTaskPauseCommand.Feedback.Result result = executeGrpcCall(() -> stub.robotTaskPause(request)).getStatus();
-        
-        if (result.getRetCode() != 0) {
-            throw new GlobalException("暂停导航任务失败: " + result.getErrMsg());
-        }
-        return result;
-    }
-
-    @Override
-    public AgvCommand.RobotTaskResumeCommand.Feedback.Result robotTaskResume(EdgeCommonVO edgeCommonVO) {
-        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
-        AgvCommand.RobotTaskResumeCommand.Request request = AgvCommand.RobotTaskResumeCommand.Request.newBuilder()
-            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
-            .build();
-        AgvCommand.RobotTaskResumeCommand.Feedback.Result result = executeGrpcCall(() -> stub.robotTaskResume(request)).getStatus();
-        
-        if (result.getRetCode() != 0) {
-            throw new GlobalException("继续导航任务失败: " + result.getErrMsg());
-        }
-        return result;
-    }
-
-    @Override
-    public AgvCommand.RobotTaskCancelCommand.Feedback.Result robotTaskCancel(EdgeCommonVO edgeCommonVO) {
-        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
-        AgvCommand.RobotTaskCancelCommand.Request request = AgvCommand.RobotTaskCancelCommand.Request.newBuilder()
-            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
-            .build();
-        AgvCommand.RobotTaskCancelCommand.Feedback.Result result = executeGrpcCall(() -> stub.robotTaskCancel(request)).getStatus();
-        
-        if (result.getRetCode() != 0) {
-            throw new GlobalException("取消导航任务失败: " + result.getErrMsg());
-        }
-        return result;
-    }
-
-    @Override
-    public AgvCommand.RobotStatusTaskResData getRobotStatusTaskCurrent(EdgeCommonVO edgeCommonVO, boolean simple) {
-        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
-        AgvCommand.RobotStatusTaskReqData requestData = AgvCommand.RobotStatusTaskReqData.newBuilder()
-            .setSimple(simple)
-            .build();
-        AgvCommand.RobotStatusTaskCurrentCommand.Request request = AgvCommand.RobotStatusTaskCurrentCommand.Request.newBuilder()
-            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
-            .setData(requestData)
-            .build();
-        return executeGrpcCall(() -> stub.robotStatusTaskCurrent(request)).getData();
-    }
-
-    @Override
-    public AgvCommand.QueryStationListResult queryStationList(EdgeCommonVO edgeCommonVO) {
-        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
-            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
-        AgvCommand.QueryStationListCommand.Request request = AgvCommand.QueryStationListCommand.Request.newBuilder()
-            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
-            .build();
-        AgvCommand.QueryStationListResult result = executeGrpcCall(() -> stub.queryStationList(request)).getStatus();
-        
-        if (result.getRetCode() != 0) {
-            throw new GlobalException("查询站点列表失败: " + result.getErrMsg());
-        }
-        return result;
-    }
-
-    @Override
-    public AgvCommand.RobotLoadMapResult robotLoadMap(EdgeCommonVO edgeCommonVO, String mapName) {
         if (StrUtil.isBlank(mapName)) {
             throw new GlobalException("地图名称不能为空");
         }
         
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
             edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
-        AgvCommand.RobotLoadMapRequestData requestData = AgvCommand.RobotLoadMapRequestData.newBuilder()
+        AgvCommand.AgvMapCommand.Request request = AgvCommand.AgvMapCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
             .setMapName(mapName)
             .build();
-        AgvCommand.RobotLoadMapCommand.Request request = AgvCommand.RobotLoadMapCommand.Request.newBuilder()
+        return executeGrpcCall(() -> stub.downloadMap(request)).getContent();
-            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
-            .setData(requestData)
-            .build();
-        AgvCommand.RobotLoadMapResult result = executeGrpcCall(() -> stub.robotLoadMap(request)).getStatus();
-        
-        if (result.getRetCode() != 0) {
-            throw new GlobalException("切换地图失败: " + result.getErrMsg());
-        }
-        return result;
     }
 
     @Override
-    public AgvCommand.RobotQueryLoadMapStatusResult queryLoadMapStatus(EdgeCommonVO edgeCommonVO) {
+    public String startMapping(EdgeCommonVO edgeCommonVO, Agv.AgvMapDimension dimension, String mapName, boolean realTime) {
         AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
             edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
-        AgvCommand.RobotQueryLoadMapStatusCommand.Request request = AgvCommand.RobotQueryLoadMapStatusCommand.Request.newBuilder()
+        AgvCommand.AgvStartMappingCommand.Request.Builder requestBuilder = AgvCommand.AgvStartMappingCommand.Request.newBuilder()
             .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
-            .build();
+            .setDimension(dimension != null ? dimension : Agv.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED)
-        return executeGrpcCall(() -> stub.queryLoadMapStatus(request)).getStatus();
+            .setRealTime(realTime);
+        
+        if (StrUtil.isNotBlank(mapName)) {
+            requestBuilder.setMapName(mapName);
+        }
+        
+        AgvCommand.AgvStartMappingCommand.Request request = requestBuilder.build();
+        return executeGrpcCall(() -> stub.startMapping(request)).getSessionId();
+    }
+
+    @Override
+    public void stopMapping(EdgeCommonVO edgeCommonVO) {
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId());
+        executeGrpcCall(() -> stub.stopMapping(request));
     }
 
     /**

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvServiceOuterClass.java

@@ -23,70 +23,64 @@ public final class AgvServiceOuterClass {
       descriptor;
   static {
     java.lang.String[] descriptorData = {
-      "\n\032cmvr/api/agv_service.proto\022\010cmvr.api\032\032" +
+      "\n\032cmvr/api/agv_service.proto\022\010cmvr.api\032\025" +
-      "cmvr/api/agv_command.proto2\244\021\n\nAgvServic" +
+      "cmvr/api/common.proto\032\032cmvr/api/agv_comm" +
-      "e\022f\n\rGetStatusInfo\022).cmvr.api.GetAgvStat" +
+      "and.proto2\320\016\n\nAgvService\022f\n\017getRuntimeSt" +
-      "usInfoCommand.Request\032*.cmvr.api.GetAgvS" +
+      "ate\022(.cmvr.api.AgvRuntimeStateCommand.Re" +
-      "tatusInfoCommand.Feedback\022m\n\020GetBatteryS" +
+      "quest\032).cmvr.api.AgvRuntimeStateCommand." +
-      "tatus\022+.cmvr.api.RobotStatusBatteryComma" +
+      "Feedback\022r\n\023getNavigationStatus\022,.cmvr.a" +
-      "nd.Request\032,.cmvr.api.RobotStatusBattery" +
+      "pi.AgvNavigationStatusCommand.Request\032-." +
-      "Command.Feedback\022e\n\020GetRobotLocation\022\'.c" +
+      "cmvr.api.AgvNavigationStatusCommand.Feed" +
-      "mvr.api.RobotStatusLocCommand.Request\032(." +
+      "back\022R\n\remergencyStop\022\037.cmvr.api.Command" +
-      "cmvr.api.RobotStatusLocCommand.Feedback\022" +
+      "Header.Request\032 .cmvr.api.CommandHeader." +
-      "{\n\026RobotConfigDownloadMap\022/.cmvr.api.Rob" +
+      "Feedback\022O\n\nclearFault\022\037.cmvr.api.Comman" +
-      "otConfigDownloadMapCommand.Request\0320.cmv" +
+      "dHeader.Request\032 .cmvr.api.CommandHeader" +
-      "r.api.RobotConfigDownloadMapCommand.Feed" +
+      ".Feedback\022i\n\016navigateToPose\022*.cmvr.api.A" +
-      "back\022a\n\014GetMapStatus\022\'.cmvr.api.RobotSta" +
+      "gvNavigateToPoseCommand.Request\032+.cmvr.a" +
-      "tusMapCommand.Request\032(.cmvr.api.RobotSt" +
+      "pi.AgvNavigateToPoseCommand.Feedback\022r\n\021" +
-      "atusMapCommand.Feedback\022u\n\024RobotConfigUp" +
+      "navigateToStation\022-.cmvr.api.AgvNavigate" +
-      "loadMap\022-.cmvr.api.RobotConfigUploadMapC" +
+      "ToStationCommand.Request\032..cmvr.api.AgvN" +
-      "ommand.Request\032..cmvr.api.RobotConfigUpl" +
+      "avigateToStationCommand.Feedback\022]\n\nfoll" +
-      "oadMapCommand.Feedback\022f\n\017RobotConfigLoc" +
+      "owPath\022&.cmvr.api.AgvFollowPathCommand.R" +
-      "k\022(.cmvr.api.RobotConfigLockCommand.Requ" +
+      "equest\032\'.cmvr.api.AgvFollowPathCommand.F" +
-      "est\032).cmvr.api.RobotConfigLockCommand.Fe" +
+      "eedback\022T\n\017pauseNavigation\022\037.cmvr.api.Co" +
-      "edback\022y\n\024GetCurrentLockStatus\022/.cmvr.ap" +
+      "mmandHeader.Request\032 .cmvr.api.CommandHe" +
-      "i.RobotStatusCurrentLockCommand.Request\032" +
+      "ader.Feedback\022U\n\020resumeNavigation\022\037.cmvr" +
-      "0.cmvr.api.RobotStatusCurrentLockCommand" +
+      ".api.CommandHeader.Request\032 .cmvr.api.Co" +
-      ".Feedback\022o\n\022RobotMotionControl\022+.cmvr.a" +
+      "mmandHeader.Feedback\022U\n\020cancelNavigation" +
-      "pi.RobotMotionControlCommand.Request\032,.c" +
+      "\022\037.cmvr.api.CommandHeader.Request\032 .cmvr" +
-      "mvr.api.RobotMotionControlCommand.Feedba" +
+      ".api.CommandHeader.Feedback\022`\n\013setVeloci" +
-      "ck\022]\n\014RobotLoadMap\022%.cmvr.api.RobotLoadM" +
+      "ty\022\'.cmvr.api.AgvSetVelocityCommand.Requ" +
-      "apCommand.Request\032&.cmvr.api.RobotLoadMa" +
+      "est\032(.cmvr.api.AgvSetVelocityCommand.Fee" +
-      "pCommand.Feedback\022y\n\022QueryLoadMapStatus\022" +
+      "dback\022X\n\023stopVelocityControl\022\037.cmvr.api." +
-      "0.cmvr.api.RobotQueryLoadMapStatusComman" +
+      "CommandHeader.Request\032 .cmvr.api.Command" +
-      "d.Request\0321.cmvr.api.RobotQueryLoadMapSt" +
+      "Header.Feedback\022W\n\010listMaps\022$.cmvr.api.A" +
-      "atusCommand.Feedback\022i\n\020QueryStationList" +
+      "gvListMapsCommand.Request\032%.cmvr.api.Agv" +
-      "\022).cmvr.api.QueryStationListCommand.Requ" +
+      "ListMapsCommand.Feedback\022c\n\014listStations" +
-      "est\032*.cmvr.api.QueryStationListCommand.F" +
+      "\022(.cmvr.api.AgvListStationsCommand.Reque" +
-      "eedback\022l\n\021RobotGoTargetList\022*.cmvr.api." +
+      "st\032).cmvr.api.AgvListStationsCommand.Fee" +
-      "RobotGoTargetListCommand.Request\032+.cmvr." +
+      "dback\022N\n\tswitchMap\022\037.cmvr.api.AgvMapComm" +
-      "api.RobotGoTargetListCommand.Feedback\022{\n" +
+      "and.Request\032 .cmvr.api.AgvMapCommand.Fee" +
-      "\026RobotStatusTaskCurrent\022/.cmvr.api.Robot" +
+      "dback\022N\n\tuploadMap\022\037.cmvr.api.AgvMapComm" +
-      "StatusTaskCurrentCommand.Request\0320.cmvr." +
+      "and.Request\032 .cmvr.api.AgvMapCommand.Fee" +
-      "api.RobotStatusTaskCurrentCommand.Feedba" +
+      "dback\022P\n\013downloadMap\022\037.cmvr.api.AgvMapCo" +
-      "ck\022{\n\026RobotStatusTaskPackage\022/.cmvr.api." +
+      "mmand.Request\032 .cmvr.api.AgvMapCommand.F" +
-      "RobotStatusTaskPackageCommand.Request\0320." +
+      "eedback\022c\n\014startMapping\022(.cmvr.api.AgvSt" +
-      "cmvr.api.RobotStatusTaskPackageCommand.F" +
+      "artMappingCommand.Request\032).cmvr.api.Agv" +
-      "eedback\022`\n\rRobotGoTarget\022&.cmvr.api.Robo" +
+      "StartMappingCommand.Feedback\022\\\n\tstreamMa" +
-      "tGoTargetCommand.Request\032\'.cmvr.api.Robo" +
+      "p\022%.cmvr.api.AgvMapStreamCommand.Request" +
-      "tGoTargetCommand.Feedback\022i\n\020RobotContro" +
+      "\032&.cmvr.api.AgvMapStreamCommand.Feedback" +
-      "lStop\022).cmvr.api.RobotControlStopCommand" +
+      "0\001\022P\n\013stopMapping\022\037.cmvr.api.CommandHead" +
-      ".Request\032*.cmvr.api.RobotControlStopComm" +
+      "er.Request\032 .cmvr.api.CommandHeader.Feed" +
-      "and.Feedback\022c\n\016RobotTaskPause\022\'.cmvr.ap" +
+      "backb\006proto3"
-      "i.RobotTaskPauseCommand.Request\032(.cmvr.a" +
-      "pi.RobotTaskPauseCommand.Feedback\022f\n\017Rob" +
-      "otTaskResume\022(.cmvr.api.RobotTaskResumeC" +
-      "ommand.Request\032).cmvr.api.RobotTaskResum" +
-      "eCommand.Feedback\022f\n\017RobotTaskCancel\022(.c" +
-      "mvr.api.RobotTaskCancelCommand.Request\032)" +
-      ".cmvr.api.RobotTaskCancelCommand.Feedbac" +
-      "kb\006proto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,
         new com.google.protobuf.Descriptors.FileDescriptor[] {
+          cmvr.api.Common.getDescriptor(),
           cmvr.api.AgvCommand.getDescriptor(),
         });
+    cmvr.api.Common.getDescriptor();
     cmvr.api.AgvCommand.getDescriptor();
   }
 

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_service.proto

@@ -1,74 +1,72 @@
-/**
- * @file agv_service.proto
- * @brief 定义AGV服务的gRPC接口，聚合所有AGV相关命令。
- *        服务端实现类为 gRPCAGVServiceImpl。
- */
 syntax = "proto3";
 
-import "cmvr/api/agv_command.proto";
-
 package cmvr.api;
 
+import "cmvr/api/common.proto";
+import "cmvr/api/agv_command.proto";
+
+// AGV 通用服务。该服务只暴露控制器无关的能力，
+// 厂商协议、地图文件格式和控制器特有参数由具体 AGV 适配器内部处理。
 service AgvService {
-  // 基本控制
+  // 获取 AGV 当前运行状态快照。
-  rpc GetStatusInfo(GetAgvStatusInfoCommand.Request) returns (GetAgvStatusInfoCommand.Feedback);
+  rpc getRuntimeState(AgvRuntimeStateCommand.Request) returns (AgvRuntimeStateCommand.Feedback);
 
-  rpc GetBatteryStatus(RobotStatusBatteryCommand.Request) returns (RobotStatusBatteryCommand.Feedback);
+  // 获取当前导航任务状态。
+  rpc getNavigationStatus(AgvNavigationStatusCommand.Request) returns (AgvNavigationStatusCommand.Feedback);
 
-  rpc GetRobotLocation(RobotStatusLocCommand.Request) returns (RobotStatusLocCommand.Feedback);
+  // 执行急停或等效安全停止动作。
+  rpc emergencyStop(CommandHeader.Request) returns (CommandHeader.Feedback);
 
-  rpc RobotConfigDownloadMap(RobotConfigDownloadMapCommand.Request) returns (RobotConfigDownloadMapCommand.Feedback);
+  // 清除可恢复故障或告警。
+  rpc clearFault(CommandHeader.Request) returns (CommandHeader.Feedback);
 
+  // 导航到指定地图位姿。目标位姿 x/y 单位为米，theta 单位为弧度。
+  rpc navigateToPose(AgvNavigateToPoseCommand.Request) returns (AgvNavigateToPoseCommand.Feedback);
 
-  rpc GetMapStatus(RobotStatusMapCommand.Request) returns (RobotStatusMapCommand.Feedback);
+  // 导航到指定地图站点。
+  rpc navigateToStation(AgvNavigateToStationCommand.Request) returns (AgvNavigateToStationCommand.Feedback);
 
+  // 按显式站点路径执行导航。
+  rpc followPath(AgvFollowPathCommand.Request) returns (AgvFollowPathCommand.Feedback);
 
-  rpc RobotConfigUploadMap(RobotConfigUploadMapCommand.Request) returns (RobotConfigUploadMapCommand.Feedback);
+  // 暂停当前导航任务。
+  rpc pauseNavigation(CommandHeader.Request) returns (CommandHeader.Feedback);
 
-  // 抢占机器人控制权
+  // 恢复已暂停的导航任务。
-  rpc RobotConfigLock(RobotConfigLockCommand.Request) returns (RobotConfigLockCommand.Feedback);
+  rpc resumeNavigation(CommandHeader.Request) returns (CommandHeader.Feedback);
 
-  // 查询当前控制权所有者
+  // 取消当前导航任务。
-  rpc GetCurrentLockStatus(RobotStatusCurrentLockCommand.Request) returns (RobotStatusCurrentLockCommand.Feedback);
+  rpc cancelNavigation(CommandHeader.Request) returns (CommandHeader.Feedback);
 
-  // 开环速度运动控制
+  // 下发底盘速度控制指令。vx/vy 单位为米/秒，wz 单位为弧度/秒。
-  rpc RobotMotionControl(RobotMotionControlCommand.Request) returns (RobotMotionControlCommand.Feedback);
+  rpc setVelocity(AgvSetVelocityCommand.Request) returns (AgvSetVelocityCommand.Feedback);
 
-  // 切换载入地图 命令码2022
+  // 停止底盘速度控制。该接口不等价于取消导航任务。
-  rpc RobotLoadMap(RobotLoadMapCommand.Request) returns (RobotLoadMapCommand.Feedback);
+  rpc stopVelocityControl(CommandHeader.Request) returns (CommandHeader.Feedback);
 
+  // 查询 AGV 控制器可用地图名称列表。
+  rpc listMaps(AgvListMapsCommand.Request) returns (AgvListMapsCommand.Feedback);
 
-  // 查询地图载入状态 命令码1022
+  // 查询当前地图中的站点列表。
-  rpc QueryLoadMapStatus(RobotQueryLoadMapStatusCommand.Request) returns (RobotQueryLoadMapStatusCommand.Feedback);
+  rpc listStations(AgvListStationsCommand.Request) returns (AgvListStationsCommand.Feedback);
 
+  // 切换当前使用地图。
+  rpc switchMap(AgvMapCommand.Request) returns (AgvMapCommand.Feedback);
 
-  // 查询当前地图站点列表 命令码1301
+  // 上传地图内容到 AGV 控制器。地图内容字段由适配器解释。
-  rpc QueryStationList(QueryStationListCommand.Request) returns (QueryStationListCommand.Feedback);
+  rpc uploadMap(AgvMapCommand.Request) returns (AgvMapCommand.Feedback);
 
+  // 下载指定地图内容。
+  rpc downloadMap(AgvMapCommand.Request) returns (AgvMapCommand.Feedback);
 
-  // 指定路径导航 命令码3066
+  // 开始建图/扫图会话。请求只选择 2D、3D 或二者都要，
-  rpc RobotGoTargetList(RobotGoTargetListCommand.Request) returns (RobotGoTargetListCommand.Feedback);
+  // 控制器特有地图格式由 AGV 适配器内部转换。
+  rpc startMapping(AgvStartMappingCommand.Request) returns (AgvStartMappingCommand.Feedback);
 
-  // 查询当前导航状态 1020 robot_status_task_req
+  // 以服务端流方式发送统一地图。resume_token 为空时应先发送全量快照；
-  // 1020 查询当前实时导航 robot_status_task_req
+  // 后续是否发送增量由 AGV 适配器能力决定，并通过 update_type 标记。
-  rpc RobotStatusTaskCurrent(RobotStatusTaskCurrentCommand.Request) returns (RobotStatusTaskCurrentCommand.Feedback);
+  rpc streamMap(AgvMapStreamCommand.Request) returns (stream AgvMapStreamCommand.Feedback);
 
-  // 批量查询任务状态 1110 robot_status_task_status_package_req
+  // 停止当前建图/扫图会话。
-  rpc RobotStatusTaskPackage(RobotStatusTaskPackageCommand.Request) returns (RobotStatusTaskPackageCommand.Feedback);
+  rpc stopMapping(CommandHeader.Request) returns (CommandHeader.Feedback);
-
-
-  // 3051 单点站点自动规划导航 robot_task_gotarget_req 0x0BEB
-  rpc RobotGoTarget(RobotGoTargetCommand.Request) returns (RobotGoTargetCommand.Feedback);
-
-
-
-  // 0x07D0 停止开环运动
-  rpc RobotControlStop(RobotControlStopCommand.Request) returns (RobotControlStopCommand.Feedback);
-
-  // 暂停当前导航任务 命令码 3001 (0x0BB9)
-  rpc RobotTaskPause(RobotTaskPauseCommand.Request) returns (RobotTaskPauseCommand.Feedback);
-  // 继续当前导航任务 命令码 3002 (0x0BBA)
-  rpc RobotTaskResume(RobotTaskResumeCommand.Request) returns (RobotTaskResumeCommand.Feedback);
-  // 取消当前导航任务 命令码 3003 (0x0BBB)
-  rpc RobotTaskCancel(RobotTaskCancelCommand.Request) returns (RobotTaskCancelCommand.Feedback);
 }

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/agv.proto

@@ -0,0 +1,310 @@
+syntax = "proto3";
+
+package cmvr.msgs;
+
+// AGV 在地图平面坐标系中的二维位姿。
+message AgvPose2d {
+  // X 坐标，单位：米。
+  double x = 1;
+  // Y 坐标，单位：米。
+  double y = 2;
+  // 航向角，单位：弧度，逆时针为正。
+  double theta = 3;
+}
+
+// AGV 车体坐标系下的平面速度。
+message AgvVelocity {
+  // 车体 X 方向线速度，单位：米/秒。
+  double vx = 1;
+  // 车体 Y 方向线速度，单位：米/秒。
+  double vy = 2;
+  // 绕 Z 轴角速度，单位：弧度/秒。
+  double wz = 3;
+}
+
+// AGV 电池状态。
+message AgvBatteryState {
+  // 电量比例，范围：[0, 1]，例如 0.8 表示 80%。
+  double percentage = 1;
+  // 电池电压，单位：伏特。
+  double voltage = 2;
+  // 电池电流，单位：安培；正负号含义由具体 AGV 适配器保持一致。
+  double current = 3;
+  // 电池温度，单位：摄氏度。
+  double temperature = 4;
+  // 是否正在充电。
+  bool charging = 5;
+}
+
+// 导航任务的通用运动约束和执行选项。
+message AgvMotionOptions {
+  // 最大线速度，单位：米/秒；0 表示使用 AGV 默认值。
+  double max_speed = 1;
+  // 最大角速度，单位：弧度/秒；0 表示使用 AGV 默认值。
+  double max_angular_speed = 2;
+  // 最大线加速度，单位：米/秒^2；0 表示使用 AGV 默认值。
+  double max_acceleration = 3;
+  // 最大角加速度，单位：弧度/秒^2；0 表示使用 AGV 默认值。
+  double max_angular_acceleration = 4;
+  // 到达目标点的距离容差，单位：米；0 表示使用 AGV 默认值。
+  double reach_distance = 5;
+  // 到达目标角度的角度容差，单位：弧度；0 表示使用 AGV 默认值。
+  double reach_angle = 6;
+  // 速度比例，范围通常为 [0, 1]；1 表示不降速。
+  double speed_ratio = 7;
+  // 是否异步执行；true 表示下发任务后立即返回。
+  bool asynchronous = 8;
+}
+
+// AGV 适配器扩展参数。用于传递厂商或控制器特有的参数。
+message AgvAdapterParams {
+  // 参数键值表。键和值都使用字符串，具体含义由 AGV 适配器解释。
+  map<string, string> values = 1;
+}
+
+// AGV 当前运行状态快照。
+message AgvRuntimeState {
+  // 状态采样时间，Unix 时间戳，单位：秒。
+  double timestamp = 1;
+  // 运行模式，取值对应服务端内部 AgvMode 枚举的整数值。
+  int32 mode = 2;
+  // 是否已连接 AGV 控制器。
+  bool connected = 3;
+  // 是否已定位成功。
+  bool localized = 4;
+  // AGV 是否处于运动状态。
+  bool moving = 5;
+  // AGV 是否处于故障状态。
+  bool fault = 6;
+  // AGV 是否处于急停状态。
+  bool emergency_stopped = 7;
+  // 当前地图坐标系下的二维位姿。
+  AgvPose2d pose = 8;
+  // 当前车体速度。
+  AgvVelocity velocity = 9;
+  // 当前电池状态。
+  AgvBatteryState battery = 10;
+  // 当前加载地图名称；为空表示未知或控制器未返回。
+  string current_map = 11;
+  // 当前或最近站点 id；为空表示未知或当前不在站点附近。
+  string current_station = 12;
+  // 最近一次错误信息；为空表示无错误或未知。
+  string last_error = 13;
+}
+
+// 地图中的站点信息。
+message AgvStation {
+  // 站点唯一 id。
+  string id = 1;
+  // 站点类型；具体枚举由地图或控制器定义。
+  string type = 2;
+  // 站点在地图坐标系下的二维位姿。
+  AgvPose2d pose = 3;
+  // 站点描述或备注。
+  string description = 4;
+}
+
+// 显式站点路径中的一段路径。
+message AgvPathSegment {
+  // 起点站点 id。
+  string source_station = 1;
+  // 目标站点 id。
+  string target_station = 2;
+}
+
+// 地图维度请求。这里只描述上位机想要 2D、3D 还是二者都要，
+// 不用于指定厂商文件格式；厂商格式必须在 AGV 适配器内部转换。
+enum AgvMapDimension {
+  // 未指定。服务端应选择最有用的默认地图，通常是当前加载地图。
+  AGV_MAP_DIMENSION_UNSPECIFIED = 0;
+  // 只请求统一 2D 地图。
+  AGV_MAP_2D = 1;
+  // 只请求统一 3D 地图。
+  AGV_MAP_3D = 2;
+  // 在同一个流中请求统一 2D 和统一 3D 地图。
+  AGV_MAP_2D_AND_3D = 3;
+}
+
+// 地图流更新类型。上位机应根据该字段判断是全量、增量还是缓存重置。
+enum AgvMapUpdateType {
+  // 未指定。
+  AGV_MAP_UPDATE_UNSPECIFIED = 0;
+  // 全量地图快照。首次请求或无法增量续传时应发送该类型。
+  AGV_MAP_UPDATE_SNAPSHOT = 1;
+  // 全量快照之后的增量更新。仅当适配器能够可靠生成差异时发送。
+  AGV_MAP_UPDATE_INCREMENTAL = 2;
+  // 上位机本地缓存已失效，应丢弃缓存并等待后续全量快照。
+  AGV_MAP_UPDATE_RESET = 3;
+}
+
+// 2D/3D 地图共用的语义对象类型。
+enum AgvMapObjectType {
+  // 未指定。
+  AGV_MAP_OBJECT_UNSPECIFIED = 0;
+  // 导航站点或路径点。
+  AGV_MAP_OBJECT_STATION = 1;
+  // 路径线、禁行线、引导线等线对象。
+  AGV_MAP_OBJECT_LINE = 2;
+  // 多边形区域，例如禁行区、限速区、作业区。
+  AGV_MAP_OBJECT_AREA = 3;
+  // 二维码、天码或其他标签地标。
+  AGV_MAP_OBJECT_QR_TAG = 4;
+  // 反光板或反光柱地标。
+  AGV_MAP_OBJECT_REFLECTOR = 5;
+  // 库位、货位或储位。
+  AGV_MAP_OBJECT_BIN_LOCATION = 6;
+  // 门、电梯、充电桩等外部设备。
+  AGV_MAP_OBJECT_EXTERNAL_DEVICE = 7;
+}
+
+// 地图坐标系下的三维点。单位：米。
+message AgvMapPoint3D {
+  // X 坐标，单位：米。
+  double x = 1;
+  // Y 坐标，单位：米。
+  double y = 2;
+  // Z 坐标，单位：米；纯 2D 几何可置为 0。
+  double z = 3;
+}
+
+// 统一 2D 地图。栅格数据按行优先排列：index = y * width + x。
+message AgvUnifiedMap2D {
+  // 坐标系名称，例如 "map"。
+  string frame_id = 1;
+  // 地图采样或更新时间，Unix 时间戳，单位：秒。
+  double timestamp = 2;
+  // 栅格分辨率，单位：米/格。
+  double resolution = 3;
+  // 栅格宽度，单位：格。
+  uint32 width = 4;
+  // 栅格高度，单位：格。
+  uint32 height = 5;
+  // 栅格 (0, 0) 在世界/地图坐标系下的位姿；x/y 单位：米，theta 单位：弧度。
+  AgvPose2d origin = 6;
+  // 占据值：-1 表示未知，0 表示空闲，100 表示占据。
+  repeated int32 data = 7;
+  // 地图中的统一语义对象，例如站点、线、区域、标签、反光板等。
+  repeated AgvMapObject objects = 8;
+}
+
+// 统一 3D 点样本。坐标单位：米。
+message AgvMapPointSample3D {
+  // X 坐标，单位：米。
+  double x = 1;
+  // Y 坐标，单位：米。
+  double y = 2;
+  // Z 坐标，单位：米。
+  double z = 3;
+  // 激光强度；无强度信息时置为 0。
+  float intensity = 4;
+  // 激光雷达线束/通道编号；无该信息时置为 0。
+  uint32 ring = 5;
+  // 相对地图时间戳的时间偏移，单位：秒；无该信息时置为 0。
+  double time_offset = 6;
+}
+
+// 统一 3D 体素。体素索引基于 AgvUnifiedMap3D.voxel_resolution。
+message AgvMapVoxel3D {
+  // 体素 X 索引。
+  int32 x = 1;
+  // 体素 Y 索引。
+  int32 y = 2;
+  // 体素 Z 索引。
+  int32 z = 3;
+  // 占据概率，范围：[0, 1]；未知时置为 -1。
+  float probability = 4;
+}
+
+// 统一 3D 平面特征。平面方程：
+// normal.x * x + normal.y * y + normal.z * z + d = 0。
+message AgvMapPlane3D {
+  // 平面中心点，单位：米。
+  AgvMapPoint3D center = 1;
+  // 平面单位法向量。
+  AgvMapPoint3D normal = 2;
+  // 平面方程偏移量，单位：米。
+  double d = 3;
+  // 平面特征近似半径，单位：米。
+  double radius = 4;
+}
+
+// 统一语义对象。几何点均使用地图坐标系，单位：米。
+message AgvMapObject {
+  // 对象稳定 id 或名称。
+  string id = 1;
+  // 对象类型。
+  AgvMapObjectType type = 2;
+  // 对象几何点。点对象使用 1 个点，线对象使用多个点，区域对象使用多边形顶点。
+  repeated AgvMapPoint3D points = 3;
+  // 朝向角，单位：弧度；不适用时置为 0。
+  double heading = 4;
+  // 额外归一化属性。为兼容不同 AGV，属性值统一使用字符串。
+  map<string, string> properties = 5;
+}
+
+// 统一 3D 地图。虽然内部包含点、体素、平面和语义对象，
+// 但对上位机来说它仍然是唯一的 3D 地图格式。
+message AgvUnifiedMap3D {
+  // 坐标系名称，例如 "map"。
+  string frame_id = 1;
+  // 地图采样或更新时间，Unix 时间戳，单位：秒。
+  double timestamp = 2;
+  // 体素分辨率，单位：米/体素；没有体素数据时置为 0。
+  double voxel_resolution = 3;
+  // 统一点云点样本。
+  repeated AgvMapPointSample3D points = 4;
+  // 统一占据体素。
+  repeated AgvMapVoxel3D voxels = 5;
+  // 统一平面特征。
+  repeated AgvMapPlane3D planes = 6;
+  // 统一 3D 语义对象，例如站点、区域、标签、地标等。
+  repeated AgvMapObject objects = 7;
+}
+
+// 地图流中的单条更新。AGV 适配器必须先把厂商地图转换成 map_2d 或 map_3d，
+// 再通过该消息发送给上位机。
+message AgvUnifiedMapUpdate {
+  // 实际发送的地图 id 或名称。请求 map_name 为空时，AGV 可选择当前或最近地图。
+  string map_id = 1;
+  // 建图或地图流会话 id。
+  string session_id = 2;
+  // 会话内单调递增序号，从 0 或 1 开始均可，但同一会话内必须保持递增。
+  uint64 sequence = 3;
+  // 用于断点续传或增量订阅的不透明令牌。
+  string resume_token = 4;
+  // 本条更新的数据维度。
+  AgvMapDimension dimension = 5;
+  // 本条更新是全量、增量还是缓存重置。
+  AgvMapUpdateType update_type = 6;
+  // 坐标系名称，例如 "map"。
+  string frame_id = 7;
+  // 本条更新产生时间，Unix 时间戳，单位：秒。
+  double timestamp = 8;
+  // 是否为全量快照的第一条消息。
+  bool snapshot_begin = 9;
+  // 是否为全量快照的最后一条消息。
+  bool snapshot_end = 10;
+  // 大地图分片发送时的分片序号，从 0 开始。
+  uint32 chunk_index = 11;
+  // 大地图分片总数；0 表示未知或连续流。
+  uint32 chunk_count = 12;
+
+  oneof payload {
+    // 统一 2D 地图或 2D 地图增量。
+    AgvUnifiedMap2D map_2d = 20;
+    // 统一 3D 地图或 3D 地图增量。
+    AgvUnifiedMap3D map_3d = 21;
+  }
+}
+
+// 当前导航任务状态。
+message AgvNavigationStatus {
+  // 导航状态，取值对应服务端内部 AgvTaskState 枚举的整数值。
+  int32 state = 1;
+  // 导航任务类型，取值对应服务端内部 AgvTaskType 枚举的整数值。
+  int32 type = 2;
+  // 当前任务进度，范围：[0, 1]；未知时置为 0。
+  double progress = 3;
+  // 状态描述或错误信息。
+  string message = 4;
+}

cmvr-iot-common/src/main/java/com/cmvr/common/core/minio/MinioService.java

@@ -22,6 +22,8 @@ import java.io.FileOutputStream;
 import java.io.InputStream;
 import java.nio.file.Files;
 import java.util.Date;
+import java.util.HashMap;
+import java.util.Map;
 
 @Slf4j
 @Component
@@ -197,7 +199,7 @@ public class MinioService {
      * @param bucketName bucket名称
      * @param path       路径
      * @param fileName   文件名
-     * @return
+     * @return true/false
      */
     public Boolean isExist(String bucketName, String path, String fileName) {
         try {
@@ -236,5 +238,68 @@ public class MinioService {
         }
     }
 
+    /**
+     * 上传文件流
+     *
+     * @param bucketName bucket名称
+     * @param objectName 对象名称（完整路径）
+     * @param inputStream 输入流
+     * @param size 文件大小
+     * @param contentType 内容类型
+     */
+    public void uploadStream(String bucketName, String objectName, InputStream inputStream, long size, String contentType) {
+        try {
+            Map<String, String> extraHeaders = new HashMap<>();
+            extraHeaders.put("x-amz-acl", "public-read");
+            PutObjectArgs objectArgs = PutObjectArgs.builder()
+                    .bucket(bucketName)
+                    .object(objectName)
+                    .stream(inputStream, size, -1)
+                    .extraHeaders(extraHeaders)
+                    .contentType(contentType)
+                    .build();
+            minioClient.putObject(objectArgs);
+        } catch (Exception e) {
+            log.error("上传文件流失败, objectName: {}", objectName, e);
+            throw new RuntimeException("上传文件流失败", e);
+        }
+    }
+
+    /**
+     * 删除文件
+     *
+     * @param bucketName bucket名称
+     * @param objectName 对象名称
+     */
+    public void deleteFile(String bucketName, String objectName) {
+        try {
+            minioClient.removeObject(RemoveObjectArgs.builder()
+                    .bucket(bucketName)
+                    .object(objectName)
+                    .build());
+        } catch (Exception e) {
+            log.error("删除文件失败, objectName: {}", objectName, e);
+            throw new RuntimeException("删除文件失败", e);
+        }
+    }
+
+    /**
+     * 获取文件输入流
+     *
+     * @param bucketName bucket名称
+     * @param objectName 对象名称
+     * @return 输入流
+     */
+    public InputStream getObject(String bucketName, String objectName) {
+        try {
+            return minioClient.getObject(GetObjectArgs.builder()
+                    .bucket(bucketName)
+                    .object(objectName)
+                    .build());
+        } catch (Exception e) {
+            log.error("获取文件失败, objectName: {}", objectName, e);
+            throw new RuntimeException("获取文件失败", e);
+        }
+    }
 
 }

cmvr-iot-common/src/main/java/com/cmvr/common/utils/http/HttpUtils.java

@@ -1,16 +1,21 @@
 package com.cmvr.common.utils.http;
 
+import cn.hutool.json.JSONUtil;
 import java.io.BufferedReader;
+import java.io.ByteArrayOutputStream;
 import java.io.IOException;
 import java.io.InputStream;
 import java.io.InputStreamReader;
+import java.io.OutputStream;
 import java.io.PrintWriter;
 import java.net.ConnectException;
+import java.net.HttpURLConnection;
 import java.net.SocketTimeoutException;
 import java.net.URL;
 import java.net.URLConnection;
 import java.nio.charset.StandardCharsets;
 import java.security.cert.X509Certificate;
+import java.util.Map;
 import javax.net.ssl.HostnameVerifier;
 import javax.net.ssl.HttpsURLConnection;
 import javax.net.ssl.SSLContext;
@@ -271,4 +276,90 @@ public class HttpUtils
             return true;
         }
     }
+
+    /**
+     * 向指定 URL 发送POST方法的请求，返回字节数组（用于接收文件流）
+     *
+     * @param url 发送请求的 URL
+     * @param params 请求参数
+     * @return 所代表远程资源的响应结果（字节数组）
+     */
+    public static byte[] sendPostReturnBytes(String url, Map<String, Object> params)
+    {
+        HttpURLConnection conn = null;
+        try
+        {
+            log.info("sendPostReturnBytes - {}", url);
+            URL realUrl = new URL(url);
+            conn = (HttpURLConnection) realUrl.openConnection();
+            conn.setRequestMethod("POST");
+            conn.setRequestProperty("accept", "*/*");
+            conn.setRequestProperty("connection", "Keep-Alive");
+            conn.setRequestProperty("user-agent", "Mozilla/5.0 (Windows NT 10.0; Win64; x64)");
+            conn.setRequestProperty("Content-Type", "application/json;charset=utf-8");
+            conn.setDoOutput(true);
+            conn.setDoInput(true);
+            conn.setConnectTimeout(30000);
+            conn.setReadTimeout(60000);
+
+            // 发送请求参数
+            String jsonParams = JSONUtil.toJsonStr(params);
+            try (OutputStream os = conn.getOutputStream())
+            {
+                os.write(jsonParams.getBytes(StandardCharsets.UTF_8));
+                os.flush();
+            }
+
+            // 读取响应
+            int responseCode = conn.getResponseCode();
+            if (responseCode == HttpURLConnection.HTTP_OK)
+            {
+                try (InputStream is = conn.getInputStream();
+                     ByteArrayOutputStream baos = new ByteArrayOutputStream())
+                {
+                    byte[] buffer = new byte[1024];
+                    int len;
+                    while ((len = is.read(buffer)) != -1)
+                    {
+                        baos.write(buffer, 0, len);
+                    }
+                    byte[] result = baos.toByteArray();
+                    log.info("recv bytes length: {}", result.length);
+                    return result;
+                }
+            }
+            else
+            {
+                log.error("HTTP error code: {}", responseCode);
+                throw new RuntimeException("HTTP error code: " + responseCode);
+            }
+        }
+        catch (ConnectException e)
+        {
+            log.error("调用HttpUtils.sendPostReturnBytes ConnectException, url=" + url, e);
+            throw new RuntimeException("连接外部TTS服务失败", e);
+        }
+        catch (SocketTimeoutException e)
+        {
+            log.error("调用HttpUtils.sendPostReturnBytes SocketTimeoutException, url=" + url, e);
+            throw new RuntimeException("外部TTS服务超时", e);
+        }
+        catch (IOException e)
+        {
+            log.error("调用HttpUtils.sendPostReturnBytes IOException, url=" + url, e);
+            throw new RuntimeException("IO异常", e);
+        }
+        catch (Exception e)
+        {
+            log.error("调用HttpUtils.sendPostReturnBytes Exception, url=" + url, e);
+            throw new RuntimeException("调用外部TTS服务异常", e);
+        }
+        finally
+        {
+            if (conn != null)
+            {
+                conn.disconnect();
+            }
+        }
+    }
 }

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

@@ -3,10 +3,10 @@ package com.cmvr.inspection.service;
 
 import java.util.List;
 
+import cmvr.msgs.Agv;
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.cmvr.inspection.domain.InspectionRobot;
 import com.cmvr.inspection.domain.vo.InspectionRobotVo;
-import cmvr.api.AgvCommand;
 
 /**
  * 巡检机器人Service接口
@@ -60,9 +60,9 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
      * 获取机器人地图列表（从AGV获取）
      *
      * @param robotId 机器人ID
-     * @return 地图状态信息
+     * @return 地图列表
      */
-    AgvCommand.AgvMapStatus getRobotMapList(String robotId);
+    List<String> getRobotMapList(String robotId);
 
     /**
      * 绑定机器人地图
@@ -78,7 +78,7 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
      *
      * @param robotId 机器人ID
      * @param mapName 地图名称
-     * @return 地图ID
+     * @return 地图内容
      */
     String downloadMapFromRobot(String robotId, String mapName);
 
@@ -102,9 +102,9 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
      * 获取机器人实时位置
      *
      * @param robotId 机器人ID
-     * @return 机器人位置信息（包含X、Y坐标、角度、当前站点等）
+     * @return 机器人位置信息
      */
-    AgvCommand.AgvRobotLocation getRobotRealtimeLocation(String robotId);
+    Agv.AgvPose2d getRobotRealtimeLocation(String robotId);
 
     /**
      * 导航到指定位置（坐标）
@@ -113,10 +113,25 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
      * @param x X坐标（米）
      * @param y Y坐标（米）
      * @param theta 朝向角（弧度）
-     * @param taskId 任务ID（可选）
-     * @return 导航任务下发结果
      */
-    AgvCommand.RobotGoTargetResData navigateToPosition(String robotId, Double x, Double y, 
+    void navigateToPosition(String robotId, Double x, Double y, Double theta);
-                                                        Double theta, String taskId);
+
+    /**
+     * 开始建图
+     *
+     * @param robotId 机器人ID
+     * @param dimension 建图维度（0:未指定 1:2D 2:3D 3:2D+3D）
+     * @param mapName 地图名称（可选）
+     * @param realTime 是否实时建图
+     * @return 会话ID
+     */
+    String startMapping(String robotId, int dimension, String mapName, boolean realTime);
+
+    /**
+     * 停止建图
+     *
+     * @param robotId 机器人ID
+     */
+    void stopMapping(String robotId);
 
 }

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

@@ -1,12 +1,11 @@
 
 package com.cmvr.inspection.service.impl;
 
-import java.nio.charset.StandardCharsets;
 import java.util.Arrays;
 import java.util.List;
 import java.util.UUID;
 
-import cmvr.api.AgvCommand;
+import cmvr.msgs.Agv;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.cmvr.common.utils.SecurityUtils;
 import com.cmvr.device.domain.DeDeviceTerminalConfig;
@@ -134,10 +133,10 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
      * 获取机器人地图列表（从AGV获取）
      *
      * @param robotId 机器人ID
-     * @return 地图状态信息
+     * @return 地图列表
      */
     @Override
-    public AgvCommand.AgvMapStatus getRobotMapList(String robotId)
+    public List<String> getRobotMapList(String robotId)
     {
         InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
         if (robot == null) {
@@ -151,7 +150,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         edgeCommonVO.setTerminalId(robot.getTerminalId());
         edgeCommonVO.setDeviceId(robot.getRobotCode());
 
-        return edgeAgvService.getMapStatus(edgeCommonVO);
+        return edgeAgvService.listMaps(edgeCommonVO);
     }
 
     /**
@@ -186,7 +185,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
      *
      * @param robotId 机器人ID
      * @param mapName 地图名称
-     * @return 地图ID
+     * @return 地图内容
      */
     @Override
     public String downloadMapFromRobot(String robotId, String mapName)
@@ -200,26 +199,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         edgeCommonVO.setTerminalId(robot.getTerminalId());
         edgeCommonVO.setDeviceId(robot.getRobotCode());
 
-        AgvCommand.AgvDownloadMapResult result = edgeAgvService.robotConfigDownloadMap(edgeCommonVO, mapName);
+        return edgeAgvService.downloadMap(edgeCommonVO, mapName);
-
-        // 保存地图到数据库
-//        InspectionMap inspectionMap = new InspectionMap();
-//        inspectionMap.setId(UUID.randomUUID().toString().replace("-", ""));
-//        inspectionMap.setMapName(mapName);
-//        inspectionMap.setMapSourceRobotId(robotId);
-//        inspectionMap.setMapSourceName(mapName);
-
-        // TODO: 将地图内容保存到文件系统，并返回文件路径
-        // String filePath = saveMapToFile(result.getMapContent(), mapName);
-        // inspectionMap.setMapFilePath(filePath);
-
-//        inspectionMap.setStatus("0");
-//        inspectionMap.setCreateTime(DateUtils.getNowDate());
-//        inspectionMap.setCreateBy(SecurityUtils.getUsername());
-//
-//        inspectionMapMapper.insertInspectionMap(inspectionMap);
-
-        return result.getMapContent();
     }
 
     /**
@@ -262,15 +242,8 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         sourceEdgeVO.setTerminalId(sourceRobot.getTerminalId());
         sourceEdgeVO.setDeviceId(sourceRobot.getRobotCode());
 
-        AgvCommand.AgvDownloadMapResult downloadResult = edgeAgvService.robotConfigDownloadMap(
+        String mapContent = edgeAgvService.downloadMap(sourceEdgeVO, map.getMapSourceName());
-            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");
         }
@@ -280,13 +253,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         targetEdgeVO.setTerminalId(targetRobot.getTerminalId());
         targetEdgeVO.setDeviceId(targetRobot.getRobotCode());
 
-        AgvCommand.AgvUploadMapResult uploadResult = edgeAgvService.robotConfigUploadMap(
+        edgeAgvService.uploadMap(targetEdgeVO, map.getMapSourceName(), mapContent);
-            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";
     }
@@ -310,16 +277,19 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         edgeCommonVO.setDeviceId(robot.getRobotCode());
 
         try {
-            // 获取电池状态
+            // 获取运行时状态（包含电池、位置等信息）
-            cmvr.api.AgvCommand.AgvBatteryStatus batteryStatus = edgeAgvService.getBatteryStatus(edgeCommonVO);
+            Agv.AgvRuntimeState runtimeState = edgeAgvService.getRuntimeState(edgeCommonVO);
-            robot.setBatteryLevel((int)(batteryStatus.getBatteryLevel() * 100));
             
-            // 获取位置信息
+            // 设置电池电量
-            cmvr.api.AgvCommand.AgvRobotLocation location = edgeAgvService.getRobotLocation(edgeCommonVO);
+            if (runtimeState.hasBattery()) {
-            robot.setCurrentPosition(location.getX() + "," + location.getY() + "," + location.getAngle());
+                robot.setBatteryLevel((int)(runtimeState.getBattery().getPercentage() * 100));
+            }
 
-            // 获取状态信息
+            // 设置位置信息
-            cmvr.api.AgvCommand.AgvStatusInfo statusInfo = edgeAgvService.getStatusInfo(edgeCommonVO);
+            if (runtimeState.hasPose()) {
+                Agv.AgvPose2d pose = runtimeState.getPose();
+                robot.setCurrentPosition(pose.getX() + "," + pose.getY() + "," + pose.getTheta());
+            }
 
             robot.setUpdateTime(DateUtils.getNowDate());
             inspectionRobotMapper.updateInspectionRobot(robot);
@@ -336,10 +306,10 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
      * 获取机器人实时位置
      *
      * @param robotId 机器人ID
-     * @return 机器人位置信息（包含X、Y坐标、角度、当前站点等）
+     * @return 机器人位置信息
      */
     @Override
-    public AgvCommand.AgvRobotLocation getRobotRealtimeLocation(String robotId)
+    public Agv.AgvPose2d getRobotRealtimeLocation(String robotId)
     {
         InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
         if (robot == null) {
@@ -350,7 +320,8 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         edgeCommonVO.setTerminalId(robot.getTerminalId());
         edgeCommonVO.setDeviceId(robot.getRobotCode());
 
-        return edgeAgvService.getRobotLocation(edgeCommonVO);
+        Agv.AgvRuntimeState runtimeState = edgeAgvService.getRuntimeState(edgeCommonVO);
+        return runtimeState.hasPose() ? runtimeState.getPose() : null;
     }
 
     /**
@@ -360,12 +331,9 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
      * @param x X坐标（米）
      * @param y Y坐标（米）
      * @param theta 朝向角（弧度）
-     * @param taskId 任务ID（可选）
-     * @return 导航任务下发结果
      */
     @Override
-    public AgvCommand.RobotGoTargetResData navigateToPosition(String robotId, Double x, Double y,
+    public void navigateToPosition(String robotId, Double x, Double y, Double theta)
-                                                               Double theta, String taskId)
     {
         InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
         if (robot == null) {
@@ -376,8 +344,8 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
             throw new GlobalException("X和Y坐标不能为空");
         }
 
-        // 构建自由导航点
+        // 构建目标位姿
-        AgvCommand.FreeGoPoint freeGoPoint = AgvCommand.FreeGoPoint.newBuilder()
+        Agv.AgvPose2d pose = Agv.AgvPose2d.newBuilder()
             .setX(x)
             .setY(y)
             .setTheta(theta != null ? theta : 0.0)
@@ -387,8 +355,53 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
         edgeCommonVO.setTerminalId(robot.getTerminalId());
         edgeCommonVO.setDeviceId(robot.getRobotCode());
 
-        // 调用边缘端接口，使用freego参数进行自由导航
+        // 调用边缘端接口进行导航
-        return edgeAgvService.robotGoTargetWithFreeGo(edgeCommonVO, freeGoPoint, taskId);
+        edgeAgvService.navigateToPose(edgeCommonVO, pose);
+    }
+
+    /**
+     * 开始建图
+     *
+     * @param robotId 机器人ID
+     * @param dimension 建图维度（0:未指定 1:2D 2:3D 3:2D+3D）
+     * @param mapName 地图名称（可选）
+     * @param realTime 是否实时建图
+     * @return 会话ID
+     */
+    @Override
+    public String startMapping(String robotId, int dimension, String mapName, boolean realTime)
+    {
+        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
+        if (robot == null) {
+            throw new GlobalException("机器人不存在");
+        }
+
+        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setDeviceId(robot.getRobotCode());
+
+        Agv.AgvMapDimension mapDimension = Agv.AgvMapDimension.forNumber(dimension);
+        return edgeAgvService.startMapping(edgeCommonVO, mapDimension, mapName, realTime);
+    }
+
+    /**
+     * 停止建图
+     *
+     * @param robotId 机器人ID
+     */
+    @Override
+    public void stopMapping(String robotId)
+    {
+        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
+        if (robot == null) {
+            throw new GlobalException("机器人不存在");
+        }
+
+        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setDeviceId(robot.getRobotCode());
+
+        edgeAgvService.stopMapping(edgeCommonVO);
     }
 
 }

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

@@ -1,6 +1,6 @@
 package com.cmvr.test.flow.runtime.operator.edge;
 
-import cmvr.api.AgvCommand;
+import cmvr.msgs.Agv;
 import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.common.exception.GlobalException;
 import com.cmvr.edge.client.model.EdgeCommonVO;
@@ -17,7 +17,7 @@ import org.springframework.stereotype.Service;
  * 处理AGV相关的设备行为，如移动到指定位置
  *
  * @author cmvr-iot
- * @since 2026-06-29
+ * @since 2026-07-02
  */
 @Slf4j
 @Service
@@ -52,15 +52,14 @@ public class EdgeAgvOperateService implements EdgeOperateService {
                 Double x = inputParams.getDouble("x");
                 Double y = inputParams.getDouble("y");
                 Double theta = inputParams.getDouble("theta");
-                String taskId = inputParams.getString("taskId");
                 
                 // 参数验证
                 if (x == null || y == null) {
                     throw new GlobalException("X和Y坐标不能为空");
                 }
                 
-                // 构建自由导航点
+                // 构建目标位姿
-                AgvCommand.FreeGoPoint freeGoPoint = AgvCommand.FreeGoPoint.newBuilder()
+                Agv.AgvPose2d pose = Agv.AgvPose2d.newBuilder()
                     .setX(x)
                     .setY(y)
                     .setTheta(theta != null ? theta : 0.0)
@@ -72,10 +71,9 @@ public class EdgeAgvOperateService implements EdgeOperateService {
                 edgeCommonVO.setDeviceId(deviceId);
                 
                 // 直接调用边缘端AGV服务执行导航
-                AgvCommand.RobotGoTargetResData result = 
+                edgeAgvService.navigateToPose(edgeCommonVO, pose);
-                    edgeAgvService.robotGoTargetWithFreeGo(edgeCommonVO, freeGoPoint, taskId);
                 
-                log.info("AGV移动任务下发成功，返回码: {}", result.getRetCode());
+                log.info("AGV移动任务下发成功");
                 
                 break;
             }

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

@@ -1,5 +1,6 @@
 package com.cmvr.test.service;
 
+import cmvr.msgs.Agv;
 import cn.hutool.core.util.ObjUtil;
 import cn.hutool.core.util.StrUtil;
 import com.alibaba.fastjson2.JSONObject;
@@ -14,7 +15,6 @@ import com.cmvr.edge.client.service.EdgeMicrophoneService;
 import com.cmvr.edge.client.service.EdgeSpeakerService;
 import com.cmvr.edge.client.service.EdgeAgvService;
 import com.cmvr.llm.service.LLMAiAgentPlatformService;
-import com.cmvr.llm.service.LLMAiTtsService;
 import com.cmvr.test.enums.ActionEnum;
 import com.cmvr.test.model.vo.FlowActionRequestVO;
 import lombok.RequiredArgsConstructor;
@@ -118,29 +118,26 @@ public class FlowActionExecutorService {
                 Double x = payload.getDouble("x");
                 Double y = payload.getDouble("y");
                 Double theta = payload.getDouble("theta");
-                String taskId = payload.getString("taskId");
                 
                 // 参数验证
                 if (x == null || y == null) {
                     throw new GlobalException("X和Y坐标不能为空");
                 }
                 
-                // 构建自由导航点
+                // 构建目标位姿
-                cmvr.api.AgvCommand.FreeGoPoint freeGoPoint = cmvr.api.AgvCommand.FreeGoPoint.newBuilder()
+                Agv.AgvPose2d pose = Agv.AgvPose2d.newBuilder()
                     .setX(x)
                     .setY(y)
                     .setTheta(theta != null ? theta : 0.0)
                     .build();
                 
                 // 直接调用边缘端AGV服务
-                cmvr.api.AgvCommand.RobotGoTargetResData result = 
+                edgeAgvService.navigateToPose(edgeCommonVO, pose);
-                    edgeAgvService.robotGoTargetWithFreeGo(edgeCommonVO, freeGoPoint, taskId);
                 
-                log.info("AGV移动任务下发成功，返回码: {}", result.getRetCode());
+                log.info("AGV移动任务下发成功");
                 
                 // 返回结果字符串
-                return String.format("AGV移动任务下发成功, retCode=%d, errMsg=%s", 
+                return "AGV移动任务下发成功";
-                    result.getRetCode(), result.getErrMsg());
             }
 
             default:

cmvr-iot-tts/pom.xml

@@ -0,0 +1,33 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0"
+         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+    <modelVersion>4.0.0</modelVersion>
+    <parent>
+        <groupId>com.cmvr</groupId>
+        <artifactId>cmvr-iot</artifactId>
+        <version>3.8.9</version>
+    </parent>
+
+    <artifactId>cmvr-iot-tts</artifactId>
+
+    <description>
+        智能座舱语音语料采集模块
+    </description>
+
+    <dependencies>
+
+        <!-- 通用工具-->
+        <dependency>
+            <groupId>com.cmvr</groupId>
+            <artifactId>cmvr-iot-common</artifactId>
+        </dependency>
+
+        <!-- 系统模块-->
+        <dependency>
+            <groupId>com.cmvr</groupId>
+            <artifactId>cmvr-iot-system</artifactId>
+        </dependency>
+
+    </dependencies>
+</project>

cmvr-iot-tts/src/main/java/com/cmvr/tts/domain/CorpusCategory.java

@@ -0,0 +1,47 @@
+package com.cmvr.tts.domain;
+
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.cmvr.common.core.domain.BaseEntity;
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+/**
+ * 语料分类对象 tts_corpus_category
+ *
+ * @author cmvr
+ */
+@Data
+@EqualsAndHashCode(callSuper = true)
+@TableName("tts_corpus_category")
+@ApiModel("语料分类请求对象")
+public class CorpusCategory extends BaseEntity {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 主键ID
+     */
+    @ApiModelProperty("主键ID")
+    @TableId(value = "id")
+    private String id;
+
+    /**
+     * 父分类ID
+     */
+    @ApiModelProperty("父分类ID")
+    private String parentId;
+
+    /**
+     * 分类名称
+     */
+    @ApiModelProperty("分类名称")
+    private String categoryName;
+
+    /**
+     * 排序
+     */
+    @ApiModelProperty("排序")
+    private Integer sortOrder;
+}

cmvr-iot-tts/src/main/java/com/cmvr/tts/domain/CorpusInfo.java

@@ -0,0 +1,109 @@
+package com.cmvr.tts.domain;
+
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.cmvr.common.core.domain.BaseEntity;
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+import java.math.BigDecimal;
+
+/**
+ * 车载语料数据对象 tts_corpus_info
+ *
+ * @author cmvr
+ */
+@Data
+@EqualsAndHashCode(callSuper = true)
+@TableName("tts_corpus_info")
+@ApiModel("车载语料数据请求对象")
+public class CorpusInfo extends BaseEntity {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 主键ID
+     */
+    @ApiModelProperty("主键ID")
+    @TableId(value = "id")
+    private String id;
+
+    /**
+     * 文本内容
+     */
+    @ApiModelProperty("文本内容")
+    private String text;
+
+    /**
+     * 拼音
+     */
+    @ApiModelProperty("拼音")
+    private String pinyin;
+
+    /**
+     * 所属分类ID
+     */
+    @ApiModelProperty("所属分类ID")
+    private String categoryId;
+
+    /**
+     * 语种
+     */
+    @ApiModelProperty("语种")
+    private String language;
+
+    /**
+     * 方言
+     */
+    @ApiModelProperty("方言")
+    private String dialect;
+
+    /**
+     * 情绪
+     */
+    @ApiModelProperty("情绪")
+    private String emotion;
+
+    /**
+     * 音色
+     */
+    @ApiModelProperty("音色")
+    private String voice;
+
+    /**
+     * 说话人
+     */
+    @ApiModelProperty("说话人")
+    private String speaker;
+
+    /**
+     * 适用场景
+     */
+    @ApiModelProperty("适用场景")
+    private String scene;
+
+    /**
+     * 音频文件路径
+     */
+    @ApiModelProperty("音频文件路径")
+    private String audioFilePath;
+
+    /**
+     * 音频时长(秒)
+     */
+    @ApiModelProperty("音频时长(秒)")
+    private BigDecimal audioDuration;
+
+    /**
+     * 文件大小(字节)
+     */
+    @ApiModelProperty("文件大小(字节)")
+    private Long fileSize;
+
+    /**
+     * ID列表(用于批量查询)
+     */
+    @ApiModelProperty("ID列表")
+    private String[] ids;
+}

cmvr-iot-tts/src/main/java/com/cmvr/tts/domain/TtsSynthesizeTask.java

@@ -0,0 +1,133 @@
+package com.cmvr.tts.domain;
+
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import com.cmvr.common.core.domain.BaseEntity;
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+
+import java.math.BigDecimal;
+
+/**
+ * TTS合成任务对象 tts_synthesize_task
+ *
+ * @author cmvr
+ */
+@Data
+@EqualsAndHashCode(callSuper = true)
+@TableName("tts_synthesize_task")
+@ApiModel("TTS合成任务请求对象")
+public class TtsSynthesizeTask extends BaseEntity {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 主键ID
+     */
+    @ApiModelProperty("主键ID")
+    @TableId(value = "id")
+    private String id;
+
+    /**
+     * 任务编码
+     */
+    @ApiModelProperty("任务编码")
+    private String taskCode;
+
+    /**
+     * 合成文本
+     */
+    @ApiModelProperty("合成文本")
+    private String text;
+
+    /**
+     * 语种
+     */
+    @ApiModelProperty("语种")
+    private String language;
+
+    /**
+     * 方言
+     */
+    @ApiModelProperty("方言")
+    private String dialect;
+
+    /**
+     * 音色
+     */
+    @ApiModelProperty("音色")
+    private String voice;
+
+    /**
+     * 情绪
+     */
+    @ApiModelProperty("情绪")
+    private String emotion;
+
+    /**
+     * 语速
+     */
+    @ApiModelProperty("语速")
+    private BigDecimal speed;
+
+    /**
+     * 音量
+     */
+    @ApiModelProperty("音量")
+    private BigDecimal volume;
+
+    /**
+     * 音高
+     */
+    @ApiModelProperty("音高")
+    private BigDecimal pitch;
+
+    /**
+     * 采样率
+     */
+    @ApiModelProperty("采样率")
+    private String sampleRate;
+
+    /**
+     * 输出格式
+     */
+    @ApiModelProperty("输出格式")
+    private String outputFormat;
+
+    /**
+     * 说话风格模板名称
+     */
+    @ApiModelProperty("说话风格模板名称")
+    private String styleTemplate;
+
+    /**
+     * 任务状态(0待处理 1合成中 2成功已完成 3失败)
+     */
+    @ApiModelProperty("任务状态(0待处理 1合成中 2成功已完成 3失败)")
+    private String status;
+
+    /**
+     * 音频文件存储路径
+     */
+    @ApiModelProperty("音频文件存储路径")
+    private String audioFilePath;
+
+    /**
+     * 音频时长(秒)
+     */
+    @ApiModelProperty("音频时长(秒)")
+    private BigDecimal audioDuration;
+
+    /**
+     * 文件大小(字节)
+     */
+    @ApiModelProperty("文件大小(字节)")
+    private Long fileSize;
+
+    /**
+     * 失败原因
+     */
+    @ApiModelProperty("失败原因")
+    private String errorMsg;
+}

cmvr-iot-tts/src/main/java/com/cmvr/tts/domain/vo/CorpusCategoryTreeVo.java

@@ -0,0 +1,46 @@
+package com.cmvr.tts.domain.vo;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * 语料分类树形VO对象
+ *
+ * @author cmvr
+ */
+@Data
+@ApiModel("语料分类树形视图对象")
+public class CorpusCategoryTreeVo {
+    /**
+     * 主键ID
+     */
+    @ApiModelProperty("主键ID")
+    private String id;
+
+    /**
+     * 父分类ID
+     */
+    @ApiModelProperty("父分类ID")
+    private String parentId;
+
+    /**
+     * 分类名称
+     */
+    @ApiModelProperty("分类名称")
+    private String categoryName;
+
+    /**
+     * 排序
+     */
+    @ApiModelProperty("排序")
+    private Integer sortOrder;
+
+    /**
+     * 子分类列表
+     */
+    @ApiModelProperty("子分类列表")
+    private List<CorpusCategoryTreeVo> children;
+}

cmvr-iot-tts/src/main/java/com/cmvr/tts/domain/vo/CorpusInfoVo.java

@@ -0,0 +1,160 @@
+package com.cmvr.tts.domain.vo;
+
+import com.cmvr.common.annotation.Excel;
+import com.fasterxml.jackson.annotation.JsonFormat;
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+
+/**
+ * 车载语料数据VO对象(包含关联信息)
+ *
+ * @author cmvr
+ */
+@Data
+@ApiModel("车载语料数据视图对象")
+public class CorpusInfoVo {
+    /**
+     * 主键ID
+     */
+    @ApiModelProperty("主键ID")
+    private String id;
+
+    /**
+     * 文本内容
+     */
+    @Excel(name = "文本内容")
+    @ApiModelProperty("文本内容")
+    private String text;
+
+    /**
+     * 拼音
+     */
+    @ApiModelProperty("拼音")
+    private String pinyin;
+
+    /**
+     * 所属分类ID
+     */
+    @ApiModelProperty("所属分类ID")
+    private String categoryId;
+
+    /**
+     * 分类名称
+     */
+    @Excel(name = "分类名称")
+    @ApiModelProperty("分类名称")
+    private String categoryName;
+
+    /**
+     * 语种
+     */
+    @ApiModelProperty("语种")
+    private String language;
+
+    /**
+     * 语种名称
+     */
+    @Excel(name = "语种")
+    @ApiModelProperty("语种名称")
+    private String languageName;
+
+    /**
+     * 方言
+     */
+    @ApiModelProperty("方言")
+    private String dialect;
+
+    /**
+     * 情绪
+     */
+    @ApiModelProperty("情绪")
+    private String emotion;
+
+    /**
+     * 情绪名称
+     */
+    @Excel(name = "情绪")
+    @ApiModelProperty("情绪名称")
+    private String emotionName;
+
+    /**
+     * 音色
+     */
+    @ApiModelProperty("音色")
+    private String voice;
+
+    /**
+     * 音色名称
+     */
+    @Excel(name = "音色")
+    @ApiModelProperty("音色名称")
+    private String voiceName;
+
+    /**
+     * 说话人
+     */
+    @ApiModelProperty("说话人")
+    private String speaker;
+
+    /**
+     * 适用场景
+     */
+    @ApiModelProperty("适用场景")
+    private String scene;
+
+    /**
+     * 音频文件路径
+     */
+    @ApiModelProperty("音频文件路径")
+    private String audioFilePath;
+
+    /**
+     * 音频时长(秒)
+     */
+    @Excel(name = "音频时长")
+    @ApiModelProperty("音频时长(秒)")
+    private BigDecimal audioDuration;
+
+    /**
+     * 文件大小(字节)
+     */
+    @Excel(name = "文件大小")
+    @ApiModelProperty("文件大小(字节)")
+    private Long fileSize;
+
+    /**
+     * 创建者
+     */
+    @ApiModelProperty("创建者")
+    private String createBy;
+
+    /**
+     * 创建时间
+     */
+    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
+    @ApiModelProperty("创建时间")
+    private Date createTime;
+
+    /**
+     * 更新者
+     */
+    @ApiModelProperty("更新者")
+    private String updateBy;
+
+    /**
+     * 更新时间
+     */
+    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
+    @ApiModelProperty("更新时间")
+    private Date updateTime;
+
+    /**
+     * 备注
+     */
+    @ApiModelProperty("备注")
+    private String remark;
+}

cmvr-iot-tts/src/main/java/com/cmvr/tts/domain/vo/LlmQueryVo.java

@@ -0,0 +1,33 @@
+package com.cmvr.tts.domain.vo;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * LLM查询请求对象
+ *
+ * @author cmvr
+ */
+@Data
+@ApiModel("LLM查询请求对象")
+public class LlmQueryVo {
+
+    /**
+     * 查询文本
+     */
+    @ApiModelProperty("查询文本")
+    private String text;
+
+    /**
+     * 语种
+     */
+    @ApiModelProperty("语种")
+    private String language;
+
+    /**
+     * 数量
+     */
+    @ApiModelProperty("数量")
+    private Integer count;
+}

cmvr-iot-tts/src/main/java/com/cmvr/tts/domain/vo/TtsSynthesizeTaskVo.java

@@ -0,0 +1,191 @@
+package com.cmvr.tts.domain.vo;
+
+import com.cmvr.common.annotation.Excel;
+import com.fasterxml.jackson.annotation.JsonFormat;
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.util.Date;
+
+/**
+ * TTS合成任务VO对象(包含关联信息)
+ *
+ * @author cmvr
+ */
+@Data
+@ApiModel("TTS合成任务视图对象")
+public class TtsSynthesizeTaskVo {
+    /**
+     * 主键ID
+     */
+    @ApiModelProperty("主键ID")
+    private String id;
+
+    /**
+     * 任务编码
+     */
+    @Excel(name = "任务编码")
+    @ApiModelProperty("任务编码")
+    private String taskCode;
+
+    /**
+     * 合成文本
+     */
+    @Excel(name = "合成文本")
+    @ApiModelProperty("合成文本")
+    private String text;
+
+    /**
+     * 语种
+     */
+    @ApiModelProperty("语种")
+    private String language;
+
+    /**
+     * 语种名称
+     */
+    @Excel(name = "语种")
+    @ApiModelProperty("语种名称")
+    private String languageName;
+
+    /**
+     * 方言
+     */
+    @ApiModelProperty("方言")
+    private String dialect;
+
+    /**
+     * 音色
+     */
+    @ApiModelProperty("音色")
+    private String voice;
+
+    /**
+     * 音色名称
+     */
+    @Excel(name = "音色")
+    @ApiModelProperty("音色名称")
+    private String voiceName;
+
+    /**
+     * 情绪
+     */
+    @ApiModelProperty("情绪")
+    private String emotion;
+
+    /**
+     * 情绪名称
+     */
+    @Excel(name = "情绪")
+    @ApiModelProperty("情绪名称")
+    private String emotionName;
+
+    /**
+     * 语速
+     */
+    @ApiModelProperty("语速")
+    private BigDecimal speed;
+
+    /**
+     * 音量
+     */
+    @ApiModelProperty("音量")
+    private BigDecimal volume;
+
+    /**
+     * 音高
+     */
+    @ApiModelProperty("音高")
+    private BigDecimal pitch;
+
+    /**
+     * 采样率
+     */
+    @ApiModelProperty("采样率")
+    private String sampleRate;
+
+    /**
+     * 输出格式
+     */
+    @ApiModelProperty("输出格式")
+    private String outputFormat;
+
+    /**
+     * 说话风格模板名称
+     */
+    @ApiModelProperty("说话风格模板名称")
+    private String styleTemplate;
+
+    /**
+     * 任务状态(0待处理 1合成中 2成功已完成 3失败)
+     */
+    @ApiModelProperty("任务状态(0待处理 1合成中 2成功已完成 3失败)")
+    private String status;
+
+    /**
+     * 任务状态名称
+     */
+    @Excel(name = "任务状态")
+    @ApiModelProperty("任务状态名称")
+    private String statusName;
+
+    /**
+     * 音频文件存储路径
+     */
+    @ApiModelProperty("音频文件存储路径")
+    private String audioFilePath;
+
+    /**
+     * 音频时长(秒)
+     */
+    @Excel(name = "音频时长")
+    @ApiModelProperty("音频时长(秒)")
+    private BigDecimal audioDuration;
+
+    /**
+     * 文件大小(字节)
+     */
+    @Excel(name = "文件大小")
+    @ApiModelProperty("文件大小(字节)")
+    private Long fileSize;
+
+    /**
+     * 失败原因
+     */
+    @ApiModelProperty("失败原因")
+    private String errorMsg;
+
+    /**
+     * 创建者
+     */
+    @ApiModelProperty("创建者")
+    private String createBy;
+
+    /**
+     * 创建时间
+     */
+    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
+    @ApiModelProperty("创建时间")
+    private Date createTime;
+
+    /**
+     * 更新者
+     */
+    @ApiModelProperty("更新者")
+    private String updateBy;
+
+    /**
+     * 更新时间
+     */
+    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
+    @ApiModelProperty("更新时间")
+    private Date updateTime;
+
+    /**
+     * 备注
+     */
+    @ApiModelProperty("备注")
+    private String remark;
+}

cmvr-iot-tts/src/main/java/com/cmvr/tts/mapper/CorpusCategoryMapper.java

@@ -0,0 +1,45 @@
+package com.cmvr.tts.mapper;
+
+import com.cmvr.tts.domain.CorpusCategory;
+
+import java.util.List;
+
+/**
+ * 语料分类Mapper接口
+ *
+ * @author cmvr
+ */
+public interface CorpusCategoryMapper {
+
+    /**
+     * 查询语料分类列表
+     *
+     * @param category 语料分类
+     * @return 语料分类集合
+     */
+    List<CorpusCategory> selectList(CorpusCategory category);
+
+    /**
+     * 新增语料分类
+     *
+     * @param category 语料分类
+     * @return 结果
+     */
+    int insert(CorpusCategory category);
+
+    /**
+     * 修改语料分类
+     *
+     * @param category 语料分类
+     * @return 结果
+     */
+    int updateById(CorpusCategory category);
+
+    /**
+     * 删除语料分类
+     *
+     * @param id 语料分类主键
+     * @return 结果
+     */
+    int deleteById(String id);
+}

cmvr-iot-tts/src/main/java/com/cmvr/tts/mapper/CorpusInfoMapper.java

@@ -0,0 +1,113 @@
+package com.cmvr.tts.mapper;
+
+import com.cmvr.tts.domain.CorpusInfo;
+import com.cmvr.tts.domain.vo.CorpusInfoVo;
+
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 车载语料数据Mapper接口
+ *
+ * @author cmvr
+ */
+public interface CorpusInfoMapper {
+
+    /**
+     * 查询车载语料数据
+     *
+     * @param id 车载语料数据主键
+     * @return 车载语料数据
+     */
+    CorpusInfo selectCorpusById(String id);
+
+    /**
+     * 查询车载语料数据列表
+     *
+     * @param corpus 车载语料数据
+     * @return 车载语料数据集合
+     */
+    List<CorpusInfo> selectCorpusList(CorpusInfo corpus);
+
+    /**
+     * 查询车载语料数据视图列表（包含关联信息）
+     *
+     * @param corpus 车载语料数据
+     * @return 车载语料数据视图集合
+     */
+    List<CorpusInfoVo> selectCorpusVoList(CorpusInfo corpus);
+
+    /**
+     * 新增车载语料数据
+     *
+     * @param corpus 车载语料数据
+     * @return 结果
+     */
+    int insertCorpus(CorpusInfo corpus);
+
+    /**
+     * 修改车载语料数据
+     *
+     * @param corpus 车载语料数据
+     * @return 结果
+     */
+    int updateCorpus(CorpusInfo corpus);
+
+    /**
+     * 删除车载语料数据
+     *
+     * @param id 车载语料数据主键
+     * @return 结果
+     */
+    int deleteCorpusById(String id);
+
+    /**
+     * 批量删除车载语料数据
+     *
+     * @param ids 需要删除的数据主键集合
+     * @return 结果
+     */
+    int deleteCorpusByIds(String[] ids);
+
+    /**
+     * 统计看板指标数据
+     *
+     * @return 统计数据
+     */
+    Map<String, Object> selectDashboardStats();
+
+    /**
+     * 统计昨日数据用于环比计算
+     *
+     * @return 昨日统计数据
+     */
+    Map<String, Object> selectYesterdayStats();
+
+    /**
+     * 按语种分组统计语料数量
+     *
+     * @return 语种统计数据
+     */
+    List<Map<String, Object>> selectStatsByLanguage();
+
+    /**
+     * 按方言分组统计语料数量
+     *
+     * @return 方言统计数据
+     */
+    List<Map<String, Object>> selectStatsByDialect();
+
+    /**
+     * 按情绪分组统计语料数量
+     *
+     * @return 情绪统计数据
+     */
+    List<Map<String, Object>> selectStatsByEmotion();
+
+    /**
+     * 按功能分类统计语料数量
+     *
+     * @return 分类统计数据
+     */
+    List<Map<String, Object>> selectStatsByCategory();
+}

cmvr-iot-tts/src/main/java/com/cmvr/tts/mapper/TtsSynthesizeTaskMapper.java

@@ -0,0 +1,113 @@
+package com.cmvr.tts.mapper;
+
+import com.cmvr.tts.domain.TtsSynthesizeTask;
+import com.cmvr.tts.domain.vo.TtsSynthesizeTaskVo;
+
+import java.util.List;
+import java.util.Map;
+
+/**
+ * TTS合成任务Mapper接口
+ *
+ * @author cmvr
+ */
+public interface TtsSynthesizeTaskMapper {
+
+    /**
+     * 查询TTS合成任务
+     *
+     * @param id TTS合成任务主键
+     * @return TTS合成任务
+     */
+    TtsSynthesizeTask selectTtsTaskById(String id);
+
+    /**
+     * 查询TTS合成任务列表
+     *
+     * @param task TTS合成任务
+     * @return TTS合成任务集合
+     */
+    List<TtsSynthesizeTask> selectTtsTaskList(TtsSynthesizeTask task);
+
+    /**
+     * 查询TTS合成任务视图列表（包含关联信息）
+     *
+     * @param task TTS合成任务
+     * @return TTS合成任务视图集合
+     */
+    List<TtsSynthesizeTaskVo> selectTtsTaskVoList(TtsSynthesizeTask task);
+
+    /**
+     * 新增TTS合成任务
+     *
+     * @param task TTS合成任务
+     * @return 结果
+     */
+    int insertTtsTask(TtsSynthesizeTask task);
+
+    /**
+     * 修改TTS合成任务
+     *
+     * @param task TTS合成任务
+     * @return 结果
+     */
+    int updateTtsTask(TtsSynthesizeTask task);
+
+    /**
+     * 删除TTS合成任务
+     *
+     * @param id TTS合成任务主键
+     * @return 结果
+     */
+    int deleteTtsTaskById(String id);
+
+    /**
+     * 批量删除TTS合成任务
+     *
+     * @param ids 需要删除的数据主键集合
+     * @return 结果
+     */
+    int deleteTtsTaskByIds(String[] ids);
+
+    /**
+     * 统计看板指标数据
+     *
+     * @return 统计数据
+     */
+    Map<String, Object> selectDashboardStats();
+
+    /**
+     * 统计昨日数据用于环比计算
+     *
+     * @return 昨日统计数据
+     */
+    Map<String, Object> selectYesterdayStats();
+
+    /**
+     * 按语种分组统计任务总量
+     *
+     * @return 语种统计数据
+     */
+    List<Map<String, Object>> selectStatsByLanguage();
+
+    /**
+     * 按音色分组统计任务总量
+     *
+     * @return 音色统计数据
+     */
+    List<Map<String, Object>> selectStatsByVoice();
+
+    /**
+     * 按情绪分组统计任务总量
+     *
+     * @return 情绪统计数据
+     */
+    List<Map<String, Object>> selectStatsByEmotion();
+
+    /**
+     * 近7日每日合成任务数量趋势
+     *
+     * @return 每日任务数量
+     */
+    List<Map<String, Object>> selectLast7DaysTrend();
+}

cmvr-iot-tts/src/main/java/com/cmvr/tts/service/ICorpusInfoService.java

@@ -0,0 +1,109 @@
+package com.cmvr.tts.service;
+
+import com.cmvr.common.core.page.TableDataInfo;
+import com.cmvr.tts.domain.CorpusInfo;
+import com.cmvr.tts.domain.vo.CorpusCategoryTreeVo;
+import com.cmvr.tts.domain.vo.CorpusInfoVo;
+import org.springframework.web.multipart.MultipartFile;
+
+import javax.servlet.http.HttpServletResponse;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * 车载语料数据Service接口
+ *
+ * @author cmvr
+ */
+public interface ICorpusInfoService {
+
+    /**
+     * 查询语料列表
+     */
+    TableDataInfo selectCorpusList(CorpusInfo corpus);
+
+    /**
+     * 新增语料
+     */
+    int insertCorpus(CorpusInfo corpus);
+
+    /**
+     * 修改语料
+     */
+    int updateCorpus(CorpusInfo corpus);
+
+    /**
+     * 删除语料
+     */
+    int deleteCorpusByIds(String[] ids);
+
+    /**
+     * 查询语料详情
+     */
+    CorpusInfoVo selectCorpusById(String id);
+
+    /**
+     * 获取音频流
+     */
+    void getAudioStream(String corpusId, HttpServletResponse response);
+
+    /**
+     * 上传语料音频
+     */
+    String uploadCorpusAudio(String corpusId, MultipartFile file);
+
+    /**
+     * 批量导入语料
+     */
+    Map<String, Object> importCorpus(MultipartFile file);
+
+    /**
+     * 导出语料
+     */
+    byte[] exportCorpusList(CorpusInfo corpus);
+
+    /**
+     * 查询看板统计
+     */
+    Map<String, Object> getDashboardStats();
+
+    /**
+     * 按语种统计
+     */
+    List<Map<String, Object>> getStatsByLanguage();
+
+    /**
+     * 按方言统计
+     */
+    List<Map<String, Object>> getStatsByDialect();
+
+    /**
+     * 按情绪统计
+     */
+    List<Map<String, Object>> getStatsByEmotion();
+
+    /**
+     * 按分类统计
+     */
+    List<Map<String, Object>> getStatsByCategory();
+
+    /**
+     * 查询分类树
+     */
+    List<CorpusCategoryTreeVo> getCategoryTree();
+
+    /**
+     * 新增分类
+     */
+    int insertCategory(com.cmvr.tts.domain.CorpusCategory category);
+
+    /**
+     * 修改分类
+     */
+    int updateCategory(com.cmvr.tts.domain.CorpusCategory category);
+
+    /**
+     * 删除分类
+     */
+    int deleteCategoryById(String id);
+}

cmvr-iot-tts/src/main/java/com/cmvr/tts/service/ITtsSynthesizeTaskService.java

@@ -0,0 +1,133 @@
+package com.cmvr.tts.service;
+
+import com.cmvr.common.core.page.TableDataInfo;
+import com.cmvr.tts.domain.TtsSynthesizeTask;
+import com.cmvr.tts.domain.vo.TtsSynthesizeTaskVo;
+
+import javax.servlet.http.HttpServletResponse;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * TTS合成任务Service接口
+ *
+ * @author cmvr
+ */
+public interface ITtsSynthesizeTaskService {
+
+    /**
+     * 查询TTS合成任务列表
+     *
+     * @param task TTS合成任务
+     * @return TTS合成任务集合
+     */
+    TableDataInfo selectTtsTaskList(TtsSynthesizeTask task);
+
+    /**
+     * 查询TTS合成任务
+     *
+     * @param id TTS合成任务主键
+     * @return TTS合成任务
+     */
+    TtsSynthesizeTaskVo selectTtsTaskById(String id);
+
+    /**
+     * 新增TTS合成任务
+     *
+     * @param task TTS合成任务
+     * @return 结果
+     */
+    TtsSynthesizeTask insertTtsTask(TtsSynthesizeTask task);
+
+    /**
+     * 批量新增TTS合成任务
+     *
+     * @param tasks TTS合成任务列表
+     * @return 结果
+     */
+    int batchInsertTtsTask(List<TtsSynthesizeTask> tasks);
+
+    /**
+     * 修改TTS合成任务
+     *
+     * @param task TTS合成任务
+     * @return 结果
+     */
+    int updateTtsTask(TtsSynthesizeTask task);
+
+    /**
+     * 删除TTS合成任务
+     *
+     * @param ids 需要删除的TTS合成任务主键集合
+     * @return 结果
+     */
+    int deleteTtsTaskByIds(String[] ids);
+
+    /**
+     * 重生成TTS任务
+     *
+     * @param taskId 任务ID
+     * @return 结果
+     */
+    int regenerateTask(String taskId);
+
+    /**
+     * 获取音频文件流
+     *
+     * @param taskId 任务ID
+     * @param response 响应
+     */
+    void getAudioStream(String taskId, HttpServletResponse response);
+
+    /**
+     * 导出TTS合成任务列表
+     *
+     * @param task TTS合成任务
+     * @return 结果
+     */
+    byte[] exportTtsTaskList(TtsSynthesizeTask task);
+
+    /**
+     * 查询看板统计数据
+     *
+     * @return 统计数据
+     */
+    Map<String, Object> getDashboardStats();
+
+    /**
+     * 按语种统计
+     *
+     * @return 统计数据
+     */
+    List<Map<String, Object>> getStatsByLanguage();
+
+    /**
+     * 按音色统计
+     *
+     * @return 统计数据
+     */
+    List<Map<String, Object>> getStatsByVoice();
+
+    /**
+     * 按情绪统计
+     *
+     * @return 统计数据
+     */
+    List<Map<String, Object>> getStatsByEmotion();
+
+    /**
+     * 近7日趋势
+     *
+     * @return 趋势数据
+     */
+    List<Map<String, Object>> getLast7DaysTrend();
+
+    /**
+     * 保存任务到语料库
+     *
+     * @param taskId 任务ID
+     * @param categoryId 分类ID
+     * @return 结果
+     */
+    int saveToCorpus(String taskId, String categoryId);
+}

cmvr-iot-tts/src/main/java/com/cmvr/tts/service/impl/CorpusInfoServiceImpl.java

@@ -0,0 +1,335 @@
+package com.cmvr.tts.service.impl;
+
+import cn.hutool.core.util.IdUtil;
+import com.cmvr.common.core.minio.MinioService;
+import com.cmvr.common.core.page.TableDataInfo;
+import com.cmvr.common.utils.DateUtils;
+import com.cmvr.common.utils.SecurityUtils;
+import com.cmvr.common.utils.StringUtils;
+import com.cmvr.tts.domain.CorpusCategory;
+import com.cmvr.tts.domain.CorpusInfo;
+import com.cmvr.tts.domain.vo.CorpusCategoryTreeVo;
+import com.cmvr.tts.domain.vo.CorpusInfoVo;
+import com.cmvr.tts.mapper.CorpusCategoryMapper;
+import com.cmvr.tts.mapper.CorpusInfoMapper;
+import com.cmvr.tts.service.ICorpusInfoService;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.BeanUtils;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+import org.springframework.web.multipart.MultipartFile;
+
+import javax.servlet.http.HttpServletResponse;
+import java.io.*;
+import java.net.URLEncoder;
+import java.util.*;
+import java.util.stream.Collectors;
+
+/**
+ * 车载语料数据Service业务层处理
+ *
+ * @author cmvr
+ */
+@Slf4j
+@Service
+public class CorpusInfoServiceImpl implements ICorpusInfoService {
+
+    @Autowired
+    private CorpusInfoMapper corpusInfoMapper;
+
+    @Autowired
+    private CorpusCategoryMapper corpusCategoryMapper;
+
+    @Autowired
+    private MinioService minioService;
+
+    /**
+     * 查询语料列表
+     */
+    @Override
+    public TableDataInfo selectCorpusList(CorpusInfo corpus) {
+        List<CorpusInfoVo> list = corpusInfoMapper.selectCorpusVoList(corpus);
+        return new TableDataInfo(list, list.size());
+    }
+
+    /**
+     * 新增语料
+     */
+    @Override
+    public int insertCorpus(CorpusInfo corpus) {
+        // 生成UUID作为主键
+        if (corpus.getId() == null || corpus.getId().isEmpty()) {
+            corpus.setId(IdUtil.fastSimpleUUID());
+        }
+        corpus.setCreateTime(DateUtils.getNowDate());
+        corpus.setCreateBy(SecurityUtils.getUsername());
+        return corpusInfoMapper.insertCorpus(corpus);
+    }
+
+    /**
+     * 修改语料
+     */
+    @Override
+    public int updateCorpus(CorpusInfo corpus) {
+        corpus.setUpdateTime(DateUtils.getNowDate());
+        corpus.setUpdateBy(SecurityUtils.getUsername());
+        return corpusInfoMapper.updateCorpus(corpus);
+    }
+
+    /**
+     * 删除语料
+     */
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public int deleteCorpusByIds(String[] ids) {
+        for (String id : ids) {
+            CorpusInfo corpus = corpusInfoMapper.selectCorpusById(id);
+            if (corpus != null && StringUtils.isNotEmpty(corpus.getAudioFilePath())) {
+                try {
+                    minioService.deleteFile("cmvr-iot", corpus.getAudioFilePath());
+                } catch (Exception e) {
+                    log.error("删除音频文件失败: {}", corpus.getAudioFilePath(), e);
+                }
+            }
+            corpusInfoMapper.deleteCorpusById(id);
+        }
+        return ids.length;
+    }
+
+    /**
+     * 查询语料详情
+     */
+    @Override
+    public CorpusInfoVo selectCorpusById(String id) {
+        CorpusInfo corpus = corpusInfoMapper.selectCorpusById(id);
+        if (corpus == null) {
+            return null;
+        }
+        CorpusInfoVo vo = new CorpusInfoVo();
+        BeanUtils.copyProperties(corpus, vo);
+        // TODO: 补充关联查询
+        return vo;
+    }
+
+    /**
+     * 获取音频流
+     */
+    @Override
+    public void getAudioStream(String corpusId, HttpServletResponse response) {
+        CorpusInfo corpus = corpusInfoMapper.selectCorpusById(corpusId);
+        if (corpus == null || StringUtils.isEmpty(corpus.getAudioFilePath())) {
+            throw new RuntimeException("音频文件不存在");
+        }
+        
+        try {
+            InputStream inputStream = minioService.getObject("cmvr-iot", corpus.getAudioFilePath());
+            response.setContentType("audio/wav");
+            response.setHeader("Content-Disposition", "attachment;filename=" + URLEncoder.encode("corpus_" + corpusId + ".wav", "UTF-8"));
+            
+            OutputStream outputStream = response.getOutputStream();
+            byte[] buffer = new byte[1024];
+            int len;
+            while ((len = inputStream.read(buffer)) != -1) {
+                outputStream.write(buffer, 0, len);
+            }
+            outputStream.flush();
+            inputStream.close();
+        } catch (Exception e) {
+            log.error("获取音频流失败", e);
+            throw new RuntimeException("获取音频流失败");
+        }
+    }
+
+    /**
+     * 上传语料音频
+     */
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public String uploadCorpusAudio(String corpusId, MultipartFile file) {
+        CorpusInfo corpus = corpusInfoMapper.selectCorpusById(corpusId);
+        if (corpus == null) {
+            throw new RuntimeException("语料不存在");
+        }
+        
+        try {
+            String objectName = "corpus/" + DateUtils.datePath() + "/" + corpusId + "_" + System.currentTimeMillis() + ".wav";
+            minioService.upload("cmvr-iot", "corpus/" + DateUtils.datePath(), file);
+            
+            corpus.setAudioFilePath(objectName);
+            corpus.setFileSize(file.getSize());
+            corpusInfoMapper.updateCorpus(corpus);
+            
+            return objectName;
+        } catch (Exception e) {
+            log.error("上传音频失败", e);
+            throw new RuntimeException("上传音频失败");
+        }
+    }
+
+    /**
+     * 批量导入语料
+     */
+    @Override
+    public Map<String, Object> importCorpus(MultipartFile file) {
+        Map<String, Object> result = new HashMap<>();
+        result.put("successCount", 0);
+        result.put("failCount", 0);
+        result.put("failDetails", new ArrayList<>());
+        
+        // TODO: 实现Excel解析和批量导入逻辑
+        
+        return result;
+    }
+
+    /**
+     * 导出语料
+     */
+    @Override
+    public byte[] exportCorpusList(CorpusInfo corpus) {
+        List<CorpusInfoVo> list = corpusInfoMapper.selectCorpusVoList(corpus);
+        // TODO: 使用Excel工具类导出
+        return new byte[0];
+    }
+
+    /**
+     * 查询看板统计
+     */
+    @Override
+    public Map<String, Object> getDashboardStats() {
+        Map<String, Object> todayStats = corpusInfoMapper.selectDashboardStats();
+        Map<String, Object> yesterdayStats = corpusInfoMapper.selectYesterdayStats();
+        
+        // 计算环比
+        if (yesterdayStats != null && !yesterdayStats.isEmpty()) {
+            Long todayTotal = ((Number) todayStats.get("totalCorpus")).longValue();
+            Long yesterdayTotal = ((Number) yesterdayStats.get("totalCorpus")).longValue();
+            todayStats.put("totalCorpusGrowth", calculatePercent(todayTotal, yesterdayTotal));
+        } else {
+            todayStats.put("totalCorpusGrowth", "0%");
+        }
+        
+        return todayStats;
+    }
+
+    /**
+     * 按语种统计
+     */
+    @Override
+    public List<Map<String, Object>> getStatsByLanguage() {
+        return corpusInfoMapper.selectStatsByLanguage();
+    }
+
+    /**
+     * 按方言统计
+     */
+    @Override
+    public List<Map<String, Object>> getStatsByDialect() {
+        return corpusInfoMapper.selectStatsByDialect();
+    }
+
+    /**
+     * 按情绪统计
+     */
+    @Override
+    public List<Map<String, Object>> getStatsByEmotion() {
+        return corpusInfoMapper.selectStatsByEmotion();
+    }
+
+    /**
+     * 按分类统计
+     */
+    @Override
+    public List<Map<String, Object>> getStatsByCategory() {
+        return corpusInfoMapper.selectStatsByCategory();
+    }
+
+    /**
+     * 查询分类树
+     */
+    @Override
+    public List<CorpusCategoryTreeVo> getCategoryTree() {
+        CorpusCategory queryParam = new CorpusCategory();
+        List<CorpusCategory> allCategories = corpusCategoryMapper.selectList(queryParam);
+        return buildCategoryTree(allCategories, "0");
+    }
+
+    /**
+     * 新增分类
+     */
+    @Override
+    public int insertCategory(CorpusCategory category) {
+        category.setId(IdUtil.fastSimpleUUID());
+        category.setCreateTime(DateUtils.getNowDate());
+        return corpusCategoryMapper.insert(category);
+    }
+
+    /**
+     * 修改分类
+     */
+    @Override
+    public int updateCategory(CorpusCategory category) {
+        category.setUpdateTime(DateUtils.getNowDate());
+        return corpusCategoryMapper.updateById(category);
+    }
+
+    /**
+     * 删除分类
+     */
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public int deleteCategoryById(String id) {
+        // 检查是否有子分类
+        CorpusCategory queryParam = new CorpusCategory();
+        queryParam.setParentId(id);
+        List<CorpusCategory> children = corpusCategoryMapper.selectList(queryParam);
+        if (children != null && !children.isEmpty()) {
+            throw new RuntimeException("存在子分类，无法删除");
+        }
+        
+        // 检查是否有关联语料
+        CorpusInfo corpusParam = new CorpusInfo();
+        corpusParam.setCategoryId(id);
+        List<CorpusInfo> corpusList = corpusInfoMapper.selectCorpusList(corpusParam);
+        if (corpusList != null && !corpusList.isEmpty()) {
+            throw new RuntimeException("分类下存在语料，无法删除");
+        }
+        
+        return corpusCategoryMapper.deleteById(id);
+    }
+
+    /**
+     * 构建分类树
+     */
+    private List<CorpusCategoryTreeVo> buildCategoryTree(List<CorpusCategory> allCategories, String parentId) {
+        return allCategories.stream()
+                .filter(category -> parentId.equals(category.getParentId()))
+                .map(category -> {
+                    CorpusCategoryTreeVo treeVo = new CorpusCategoryTreeVo();
+                    treeVo.setId(category.getId());
+                    treeVo.setParentId(category.getParentId());
+                    treeVo.setCategoryName(category.getCategoryName());
+                    treeVo.setSortOrder(category.getSortOrder());
+                    
+                    List<CorpusCategoryTreeVo> children = buildCategoryTree(allCategories, category.getId());
+                    if (!children.isEmpty()) {
+                        treeVo.setChildren(children);
+                    }
+                    
+                    return treeVo;
+                })
+                .sorted(Comparator.comparingInt(CorpusCategoryTreeVo::getSortOrder))
+                .collect(Collectors.toList());
+    }
+
+    /**
+     * 计算环比增长率
+     */
+    private String calculatePercent(Long current, Long previous) {
+        if (previous == 0) {
+            return current > 0 ? "+100%" : "0%";
+        }
+        double growth = (current - previous) * 100.0 / previous;
+        return String.format("%+.2f%%", growth);
+    }
+}

cmvr-iot-tts/src/main/java/com/cmvr/tts/service/impl/TtsSynthesizeTaskServiceImpl.java

@@ -0,0 +1,392 @@
+package com.cmvr.tts.service.impl;
+
+import cn.hutool.core.util.IdUtil;
+import com.cmvr.common.core.minio.MinioService;
+import com.cmvr.common.core.page.TableDataInfo;
+import com.cmvr.common.utils.DateUtils;
+import com.cmvr.common.utils.SecurityUtils;
+import com.cmvr.common.utils.StringUtils;
+import com.cmvr.common.utils.http.HttpUtils;
+import com.cmvr.tts.domain.CorpusInfo;
+import com.cmvr.tts.domain.TtsSynthesizeTask;
+import com.cmvr.tts.domain.vo.TtsSynthesizeTaskVo;
+import com.cmvr.tts.mapper.CorpusInfoMapper;
+import com.cmvr.tts.mapper.TtsSynthesizeTaskMapper;
+import com.cmvr.tts.service.ITtsSynthesizeTaskService;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+
+import javax.servlet.http.HttpServletResponse;
+import java.io.*;
+import java.math.BigDecimal;
+import java.net.URLEncoder;
+import java.util.*;
+
+/**
+ * TTS合成任务Service业务层处理
+ *
+ * @author cmvr
+ */
+@Slf4j
+@Service
+public class TtsSynthesizeTaskServiceImpl implements ITtsSynthesizeTaskService {
+
+    @Autowired
+    private TtsSynthesizeTaskMapper ttsTaskMapper;
+
+    @Autowired
+    private CorpusInfoMapper corpusInfoMapper;
+
+    @Autowired
+    private MinioService minioService;
+
+    @org.springframework.beans.factory.annotation.Value("${tts.external-api.url:http://192.168.1.101:8080/tts/synthesize}")
+    private String externalTtsUrl;
+
+    @org.springframework.beans.factory.annotation.Value("${minio.bucketName:cmvr-iot}")
+    private String bucketName;
+
+    /**
+     * 查询TTS合成任务列表
+     */
+    @Override
+    public TableDataInfo selectTtsTaskList(TtsSynthesizeTask task) {
+        List<TtsSynthesizeTaskVo> list = ttsTaskMapper.selectTtsTaskVoList(task);
+        return new TableDataInfo(list, list.size());
+    }
+
+    /**
+     * 查询TTS合成任务详情
+     */
+    @Override
+    public TtsSynthesizeTaskVo selectTtsTaskById(String id) {
+        TtsSynthesizeTask task = ttsTaskMapper.selectTtsTaskById(id);
+        if (task == null) {
+            return null;
+        }
+        // 转换为VO，包含关联信息
+        List<TtsSynthesizeTaskVo> voList = ttsTaskMapper.selectTtsTaskVoList(task);
+        return voList != null && !voList.isEmpty() ? voList.get(0) : null;
+    }
+
+    /**
+     * 新增TTS合成任务
+     */
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public TtsSynthesizeTask insertTtsTask(TtsSynthesizeTask task) {
+        // 生成UUID作为主键
+        if (task.getId() == null || task.getId().isEmpty()) {
+            task.setId(IdUtil.fastSimpleUUID());
+        }
+        task.setTaskCode(IdUtil.fastSimpleUUID());
+        task.setStatus("0");
+        task.setCreateTime(DateUtils.getNowDate());
+        task.setCreateBy(SecurityUtils.getUsername());
+        
+        int rows = ttsTaskMapper.insertTtsTask(task);
+        
+        // 异步调用外部TTS接口
+        if (rows > 0) {
+            callExternalTtsApi(task);
+        }
+        
+        return task;
+    }
+
+    /**
+     * 批量新增TTS合成任务
+     */
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public int batchInsertTtsTask(List<TtsSynthesizeTask> tasks) {
+        int count = 0;
+        for (TtsSynthesizeTask task : tasks) {
+            // 生成UUID作为主键
+            if (task.getId() == null || task.getId().isEmpty()) {
+                task.setId(IdUtil.fastSimpleUUID());
+            }
+            task.setTaskCode(IdUtil.fastSimpleUUID());
+            task.setStatus("0");
+            task.setCreateTime(DateUtils.getNowDate());
+            task.setCreateBy(SecurityUtils.getUsername());
+            ttsTaskMapper.insertTtsTask(task);
+            
+            // 异步调用外部TTS接口
+            callExternalTtsApi(task);
+            count++;
+        }
+        return count;
+    }
+
+    /**
+     * 修改TTS合成任务
+     */
+    @Override
+    public int updateTtsTask(TtsSynthesizeTask task) {
+        task.setUpdateTime(DateUtils.getNowDate());
+        task.setUpdateBy(SecurityUtils.getUsername());
+        return ttsTaskMapper.updateTtsTask(task);
+    }
+
+    /**
+     * 删除TTS合成任务
+     */
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public int deleteTtsTaskByIds(String[] ids) {
+        for (String id : ids) {
+            TtsSynthesizeTask task = ttsTaskMapper.selectTtsTaskById(id);
+            if (task != null && StringUtils.isNotEmpty(task.getAudioFilePath())) {
+                // 删除音频文件
+                try {
+                    minioService.deleteFile(bucketName, task.getAudioFilePath());
+                } catch (Exception e) {
+                    log.error("删除音频文件失败: {}", task.getAudioFilePath(), e);
+                }
+            }
+            ttsTaskMapper.deleteTtsTaskById(id);
+        }
+        return ids.length;
+    }
+
+    /**
+     * 重生成TTS任务
+     */
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public int regenerateTask(String taskId) {
+        TtsSynthesizeTask task = ttsTaskMapper.selectTtsTaskById(taskId);
+        if (task == null) {
+            throw new RuntimeException("任务不存在");
+        }
+        
+        // 更新状态为待处理
+        task.setStatus("0");
+        task.setErrorMsg(null);
+        task.setUpdateTime(DateUtils.getNowDate());
+        task.setUpdateBy(SecurityUtils.getUsername());
+        ttsTaskMapper.updateTtsTask(task);
+        
+        // 重新调用外部TTS接口
+        callExternalTtsApi(task);
+        
+        return 1;
+    }
+
+    /**
+     * 获取音频文件流
+     */
+    @Override
+    public void getAudioStream(String taskId, HttpServletResponse response) {
+        TtsSynthesizeTask task = ttsTaskMapper.selectTtsTaskById(taskId);
+        if (task == null || StringUtils.isEmpty(task.getAudioFilePath())) {
+            throw new RuntimeException("音频文件不存在");
+        }
+        
+        try {
+            InputStream inputStream = minioService.getObject(bucketName, task.getAudioFilePath());
+            response.setContentType("audio/wav");
+            response.setHeader("Content-Disposition", "attachment;filename=" + URLEncoder.encode("audio_" + taskId + ".wav", "UTF-8"));
+            
+            OutputStream outputStream = response.getOutputStream();
+            byte[] buffer = new byte[1024];
+            int len;
+            while ((len = inputStream.read(buffer)) != -1) {
+                outputStream.write(buffer, 0, len);
+            }
+            outputStream.flush();
+            inputStream.close();
+        } catch (Exception e) {
+            log.error("获取音频流失败", e);
+            throw new RuntimeException("获取音频流失败");
+        }
+    }
+
+    /**
+     * 导出TTS合成任务列表
+     */
+    @Override
+    public byte[] exportTtsTaskList(TtsSynthesizeTask task) {
+        List<TtsSynthesizeTaskVo> list = ttsTaskMapper.selectTtsTaskVoList(task);
+        // TODO: 使用Excel工具类导出
+        return new byte[0];
+    }
+
+    /**
+     * 查询看板统计数据
+     */
+    @Override
+    public Map<String, Object> getDashboardStats() {
+        Map<String, Object> todayStats = ttsTaskMapper.selectDashboardStats();
+        Map<String, Object> yesterdayStats = ttsTaskMapper.selectYesterdayStats();
+        
+        // 计算环比
+        calculateGrowthRate(todayStats, yesterdayStats);
+        
+        return todayStats;
+    }
+
+    /**
+     * 按语种统计
+     */
+    @Override
+    public List<Map<String, Object>> getStatsByLanguage() {
+        return ttsTaskMapper.selectStatsByLanguage();
+    }
+
+    /**
+     * 按音色统计
+     */
+    @Override
+    public List<Map<String, Object>> getStatsByVoice() {
+        return ttsTaskMapper.selectStatsByVoice();
+    }
+
+    /**
+     * 按情绪统计
+     */
+    @Override
+    public List<Map<String, Object>> getStatsByEmotion() {
+        return ttsTaskMapper.selectStatsByEmotion();
+    }
+
+    /**
+     * 近7日趋势
+     */
+    @Override
+    public List<Map<String, Object>> getLast7DaysTrend() {
+        return ttsTaskMapper.selectLast7DaysTrend();
+    }
+
+    /**
+     * 调用外部TTS接口
+     */
+    private void callExternalTtsApi(TtsSynthesizeTask task) {
+        try {
+            // 更新状态为合成中
+            task.setStatus("1");
+            ttsTaskMapper.updateTtsTask(task);
+            
+            // 构建请求参数 - 只支持text, voice, speed, volume, pitch, sampleRate, format
+            Map<String, Object> params = new HashMap<>();
+            params.put("text", task.getText());
+            params.put("voice", task.getVoice());
+            params.put("speed", task.getSpeed());
+            params.put("volume", task.getVolume());
+            params.put("pitch", task.getPitch());
+            params.put("sampleRate", task.getSampleRate());
+            params.put("format", task.getOutputFormat());
+            
+            // 调用外部TTS接口，返回音频文件(字节数组)
+            byte[] audioBytes = HttpUtils.sendPostReturnBytes(externalTtsUrl, params);
+            
+            if (audioBytes != null && audioBytes.length > 0) {
+                // 上传音频到Minio
+                String objectName = "tts/" + DateUtils.datePath() + "/" + task.getTaskCode() + ".wav";
+                ByteArrayInputStream inputStream = new ByteArrayInputStream(audioBytes);
+                
+                // 使用MinioService上传
+                minioService.uploadStream(bucketName, objectName, inputStream, audioBytes.length, "audio/wav");
+                
+                // 更新任务状态
+                task.setStatus("2");
+                task.setAudioFilePath(objectName);
+                task.setFileSize((long) audioBytes.length);
+
+                // 估算音频时长（假设WAV格式，16bit采样）
+                Integer sampleRateInt = Integer.parseInt(task.getSampleRate());
+                double duration = audioBytes.length / (sampleRateInt * 2.0);
+                task.setAudioDuration(BigDecimal.valueOf(duration).setScale(2, BigDecimal.ROUND_HALF_UP));
+                ttsTaskMapper.updateTtsTask(task);
+            } else {
+                throw new RuntimeException("外部TTS接口返回空数据");
+            }
+        } catch (Exception e) {
+            log.error("调用外部TTS接口失败", e);
+            task.setStatus("3");
+            task.setErrorMsg(e.getMessage());
+            ttsTaskMapper.updateTtsTask(task);
+        }
+    }
+
+    /**
+     * 保存任务到语料库
+     */
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public int saveToCorpus(String taskId, String categoryId) {
+        // 查询任务
+        TtsSynthesizeTask task = ttsTaskMapper.selectTtsTaskById(taskId);
+        if (task == null) {
+            throw new RuntimeException("任务不存在");
+        }
+        
+        // 检查是否有音频文件
+        if (StringUtils.isEmpty(task.getAudioFilePath())) {
+            throw new RuntimeException("任务尚未合成音频，无法保存到语料库");
+        }
+        
+        // 创建语料记录
+        CorpusInfo corpus = new CorpusInfo();
+        corpus.setId(IdUtil.fastSimpleUUID());
+        corpus.setCategoryId(categoryId);
+        corpus.setText(task.getText());
+        corpus.setLanguage(task.getLanguage());
+        corpus.setDialect(task.getDialect());
+        corpus.setEmotion(task.getEmotion());
+        corpus.setVoice(task.getVoice());
+        corpus.setAudioFilePath(task.getAudioFilePath());
+        corpus.setAudioDuration(task.getAudioDuration());
+        corpus.setFileSize(task.getFileSize());
+        corpus.setCreateBy(SecurityUtils.getUsername());
+        corpus.setCreateTime(DateUtils.getNowDate());
+        
+        return corpusInfoMapper.insertCorpus(corpus);
+    }
+
+    /**
+     * 计算环比增长率
+     */
+    private void calculateGrowthRate(Map<String, Object> today, Map<String, Object> yesterday) {
+        if (yesterday == null || yesterday.isEmpty()) {
+            today.put("totalTasksGrowth", "0%");
+            today.put("todayTasksGrowth", "0%");
+            today.put("avgDurationGrowth", "0%");
+            return;
+        }
+        
+        // 总任务数环比
+        Long todayTotal = ((Number) today.get("totalTasks")).longValue();
+        Long yesterdayTotal = ((Number) yesterday.get("totalTasks")).longValue();
+        today.put("totalTasksGrowth", calculatePercent(todayTotal, yesterdayTotal));
+        
+        // 今日任务数环比
+        Long todayNew = ((Number) today.get("todayTasks")).longValue();
+        Long yesterdayNew = ((Number) yesterday.get("todayTasks")).longValue();
+        today.put("todayTasksGrowth", calculatePercent(todayNew, yesterdayNew));
+        
+        // 平均时长环比
+        Double todayAvg = ((Number) today.get("avgDuration")).doubleValue();
+        Double yesterdayAvg = ((Number) yesterday.get("avgDuration")).doubleValue();
+        today.put("avgDurationGrowth", calculatePercentDouble(todayAvg, yesterdayAvg));
+    }
+
+    private String calculatePercent(Long current, Long previous) {
+        if (previous == 0) {
+            return current > 0 ? "+100%" : "0%";
+        }
+        double growth = (current - previous) * 100.0 / previous;
+        return String.format("%+.2f%%", growth);
+    }
+
+    private String calculatePercentDouble(Double current, Double previous) {
+        if (previous == 0 || previous.isNaN()) {
+            return "0%";
+        }
+        double growth = (current - previous) * 100.0 / previous;
+        return String.format("%+.2f%%", growth);
+    }
+}

cmvr-iot-tts/src/main/resources/mapper/tts/CorpusCategoryMapper.xml

@@ -0,0 +1,74 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE mapper
+PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
+"http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.cmvr.tts.mapper.CorpusCategoryMapper">
+
+    <resultMap type="com.cmvr.tts.domain.CorpusCategory" id="CorpusCategoryResult">
+        <result property="id" column="id"/>
+        <result property="createBy" column="create_by"/>
+        <result property="createTime" column="create_time"/>
+        <result property="updateBy" column="update_by"/>
+        <result property="updateTime" column="update_time"/>
+        <result property="remark" column="remark"/>
+        <result property="parentId" column="parent_id"/>
+        <result property="categoryName" column="category_name"/>
+        <result property="sortOrder" column="sort_order"/>
+    </resultMap>
+
+    <select id="selectList" parameterType="com.cmvr.tts.domain.CorpusCategory" resultMap="CorpusCategoryResult">
+        select id, parent_id, category_name, sort_order, create_by, create_time, update_by, update_time, remark
+        from tts_corpus_category
+        <where>
+            <if test="parentId != null and parentId != ''"> and parent_id = #{parentId}</if>
+            <if test="categoryName != null and categoryName != ''"> and category_name like concat('%', #{categoryName}, '%')</if>
+        </where>
+        order by sort_order asc
+    </select>
+
+    <insert id="insert" parameterType="com.cmvr.tts.domain.CorpusCategory">
+        insert into tts_corpus_category
+        <trim prefix="(" suffix=")" suffixOverrides=",">
+            <if test="id != null">id,</if>
+            <if test="createBy != null">create_by,</if>
+            <if test="createTime != null">create_time,</if>
+            <if test="updateBy != null">update_by,</if>
+            <if test="updateTime != null">update_time,</if>
+            <if test="remark != null">remark,</if>
+            <if test="parentId != null">parent_id,</if>
+            <if test="categoryName != null">category_name,</if>
+            <if test="sortOrder != null">sort_order,</if>
+        </trim>
+        <trim prefix="values (" suffix=")" suffixOverrides=",">
+            <if test="id != null">#{id},</if>
+            <if test="createBy != null">#{createBy},</if>
+            <if test="createTime != null">#{createTime},</if>
+            <if test="updateBy != null">#{updateBy},</if>
+            <if test="updateTime != null">#{updateTime},</if>
+            <if test="remark != null">#{remark},</if>
+            <if test="parentId != null">#{parentId},</if>
+            <if test="categoryName != null">#{categoryName},</if>
+            <if test="sortOrder != null">#{sortOrder},</if>
+        </trim>
+    </insert>
+
+    <update id="updateById" parameterType="com.cmvr.tts.domain.CorpusCategory">
+        update tts_corpus_category
+        <trim prefix="SET" suffixOverrides=",">
+            <if test="createBy != null">create_by = #{createBy},</if>
+            <if test="createTime != null">create_time = #{createTime},</if>
+            <if test="updateBy != null">update_by = #{updateBy},</if>
+            <if test="updateTime != null">update_time = #{updateTime},</if>
+            <if test="remark != null">remark = #{remark},</if>
+            <if test="parentId != null">parent_id = #{parentId},</if>
+            <if test="categoryName != null">category_name = #{categoryName},</if>
+            <if test="sortOrder != null">sort_order = #{sortOrder},</if>
+        </trim>
+        where id = #{id}
+    </update>
+
+    <delete id="deleteById" parameterType="String">
+        delete from tts_corpus_category where id = #{id}
+    </delete>
+
+</mapper>

cmvr-iot-tts/src/main/resources/mapper/tts/CorpusInfoMapper.xml

@@ -0,0 +1,248 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE mapper
+PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
+"http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.cmvr.tts.mapper.CorpusInfoMapper">
+
+    <resultMap type="com.cmvr.tts.domain.CorpusInfo" id="CorpusResult">
+        <result property="id" column="id"/>
+        <result property="createBy" column="create_by"/>
+        <result property="createTime" column="create_time"/>
+        <result property="updateBy" column="update_by"/>
+        <result property="updateTime" column="update_time"/>
+        <result property="remark" column="remark"/>
+        <result property="text" column="text"/>
+        <result property="pinyin" column="pinyin"/>
+        <result property="categoryId" column="category_id"/>
+        <result property="language" column="language"/>
+        <result property="dialect" column="dialect"/>
+        <result property="emotion" column="emotion"/>
+        <result property="voice" column="voice"/>
+        <result property="speaker" column="speaker"/>
+        <result property="scene" column="scene"/>
+        <result property="audioFilePath" column="audio_file_path"/>
+        <result property="audioDuration" column="audio_duration"/>
+        <result property="fileSize" column="file_size"/>
+    </resultMap>
+
+    <resultMap type="com.cmvr.tts.domain.vo.CorpusInfoVo" id="CorpusVoResult">
+        <result property="id" column="id"/>
+        <result property="text" column="text"/>
+        <result property="pinyin" column="pinyin"/>
+        <result property="categoryId" column="category_id"/>
+        <result property="categoryName" column="category_name"/>
+        <result property="language" column="language"/>
+        <result property="languageName" column="language_name"/>
+        <result property="dialect" column="dialect"/>
+        <result property="emotion" column="emotion"/>
+        <result property="emotionName" column="emotion_name"/>
+        <result property="voice" column="voice"/>
+        <result property="voiceName" column="voice_name"/>
+        <result property="speaker" column="speaker"/>
+        <result property="scene" column="scene"/>
+        <result property="audioFilePath" column="audio_file_path"/>
+        <result property="audioDuration" column="audio_duration"/>
+        <result property="fileSize" column="file_size"/>
+        <result property="createBy" column="create_by"/>
+        <result property="createTime" column="create_time"/>
+        <result property="updateBy" column="update_by"/>
+        <result property="updateTime" column="update_time"/>
+        <result property="remark" column="remark"/>
+    </resultMap>
+
+    <sql id="selectCorpusVo">
+        select c.id, c.text, c.pinyin, c.category_id, c.language, c.dialect, c.emotion,
+               c.voice, c.speaker, c.scene, c.audio_file_path, c.audio_duration, c.file_size,
+               c.create_by, c.create_time, c.update_by, c.update_time, c.remark,
+               cc.category_name as category_name,
+               dict_lang.dict_label as language_name,
+               dict_emotion.dict_label as emotion_name,
+               dict_voice.dict_label as voice_name
+        from tts_corpus_info c
+        left join tts_corpus_category cc on c.category_id = cc.id
+        left join sys_dict_data dict_lang on c.language = dict_lang.dict_value and dict_lang.dict_type = 'tts_language'
+        left join sys_dict_data dict_emotion on c.emotion = dict_emotion.dict_value and dict_emotion.dict_type = 'tts_emotion'
+        left join sys_dict_data dict_voice on c.voice = dict_voice.dict_value and dict_voice.dict_type = 'tts_voice'
+    </sql>
+
+    <select id="selectCorpusList" parameterType="com.cmvr.tts.domain.CorpusInfo" resultMap="CorpusResult">
+        select id, text, pinyin, category_id, language, dialect, emotion, voice, speaker, scene,
+               audio_file_path, audio_duration, file_size,
+               create_by, create_time, update_by, update_time, remark
+        from tts_corpus_info
+        <where>
+            <if test="ids != null and ids.length > 0">
+                and id in
+                <foreach item="id" collection="ids" open="(" separator="," close=")">
+                    #{id}
+                </foreach>
+            </if>
+            <if test="text != null and text != ''"> and text like concat('%', #{text}, '%')</if>
+            <if test="categoryId != null and categoryId != ''"> and category_id = #{categoryId}</if>
+            <if test="language != null and language != ''"> and language = #{language}</if>
+            <if test="dialect != null and dialect != ''"> and dialect = #{dialect}</if>
+            <if test="emotion != null and emotion != ''"> and emotion = #{emotion}</if>
+            <if test="voice != null and voice != ''"> and voice = #{voice}</if>
+        </where>
+        order by create_time desc
+    </select>
+
+    <select id="selectCorpusById" parameterType="String" resultMap="CorpusResult">
+        select id, text, pinyin, category_id, language, dialect, emotion, voice, speaker, scene,
+               audio_file_path, audio_duration, file_size,
+               create_by, create_time, update_by, update_time, remark
+        from tts_corpus_info
+        where id = #{id}
+    </select>
+
+    <select id="selectCorpusVoList" parameterType="com.cmvr.tts.domain.CorpusInfo" resultMap="CorpusVoResult">
+        <include refid="selectCorpusVo"/>
+        <where>
+            <if test="ids != null and ids.length > 0">
+                and c.id in
+                <foreach item="id" collection="ids" open="(" separator="," close=")">
+                    #{id}
+                </foreach>
+            </if>
+            <if test="text != null and text != ''"> and c.text like concat('%', #{text}, '%')</if>
+            <if test="categoryId != null and categoryId != ''"> and c.category_id = #{categoryId}</if>
+            <if test="language != null and language != ''"> and c.language = #{language}</if>
+            <if test="dialect != null and dialect != ''"> and c.dialect = #{dialect}</if>
+            <if test="emotion != null and emotion != ''"> and c.emotion = #{emotion}</if>
+            <if test="voice != null and voice != ''"> and c.voice = #{voice}</if>
+        </where>
+        order by c.create_time desc
+    </select>
+
+    <insert id="insertCorpus" parameterType="com.cmvr.tts.domain.CorpusInfo">
+        insert into tts_corpus_info
+        <trim prefix="(" suffix=")" suffixOverrides=",">
+            <if test="id != null">id,</if>
+            <if test="createBy != null">create_by,</if>
+            <if test="createTime != null">create_time,</if>
+            <if test="updateBy != null">update_by,</if>
+            <if test="updateTime != null">update_time,</if>
+            <if test="remark != null">remark,</if>
+            <if test="text != null">text,</if>
+            <if test="pinyin != null">pinyin,</if>
+            <if test="categoryId != null">category_id,</if>
+            <if test="language != null">language,</if>
+            <if test="dialect != null">dialect,</if>
+            <if test="emotion != null">emotion,</if>
+            <if test="voice != null">voice,</if>
+            <if test="speaker != null">speaker,</if>
+            <if test="scene != null">scene,</if>
+            <if test="audioFilePath != null">audio_file_path,</if>
+            <if test="audioDuration != null">audio_duration,</if>
+            <if test="fileSize != null">file_size,</if>
+        </trim>
+        <trim prefix="values (" suffix=")" suffixOverrides=",">
+            <if test="id != null">#{id},</if>
+            <if test="createBy != null">#{createBy},</if>
+            <if test="createTime != null">#{createTime},</if>
+            <if test="updateBy != null">#{updateBy},</if>
+            <if test="updateTime != null">#{updateTime},</if>
+            <if test="remark != null">#{remark},</if>
+            <if test="text != null">#{text},</if>
+            <if test="pinyin != null">#{pinyin},</if>
+            <if test="categoryId != null">#{categoryId},</if>
+            <if test="language != null">#{language},</if>
+            <if test="dialect != null">#{dialect},</if>
+            <if test="emotion != null">#{emotion},</if>
+            <if test="voice != null">#{voice},</if>
+            <if test="speaker != null">#{speaker},</if>
+            <if test="scene != null">#{scene},</if>
+            <if test="audioFilePath != null">#{audioFilePath},</if>
+            <if test="audioDuration != null">#{audioDuration},</if>
+            <if test="fileSize != null">#{fileSize},</if>
+        </trim>
+    </insert>
+
+    <update id="updateCorpus" parameterType="com.cmvr.tts.domain.CorpusInfo">
+        update tts_corpus_info
+        <trim prefix="SET" suffixOverrides=",">
+            <if test="createBy != null">create_by = #{createBy},</if>
+            <if test="createTime != null">create_time = #{createTime},</if>
+            <if test="updateBy != null">update_by = #{updateBy},</if>
+            <if test="updateTime != null">update_time = #{updateTime},</if>
+            <if test="remark != null">remark = #{remark},</if>
+            <if test="text != null">text = #{text},</if>
+            <if test="pinyin != null">pinyin = #{pinyin},</if>
+            <if test="categoryId != null">category_id = #{categoryId},</if>
+            <if test="language != null">language = #{language},</if>
+            <if test="dialect != null">dialect = #{dialect},</if>
+            <if test="emotion != null">emotion = #{emotion},</if>
+            <if test="voice != null">voice = #{voice},</if>
+            <if test="speaker != null">speaker = #{speaker},</if>
+            <if test="scene != null">scene = #{scene},</if>
+            <if test="audioFilePath != null">audio_file_path = #{audioFilePath},</if>
+            <if test="audioDuration != null">audio_duration = #{audioDuration},</if>
+            <if test="fileSize != null">file_size = #{fileSize},</if>
+        </trim>
+        where id = #{id}
+    </update>
+
+    <delete id="deleteCorpusById" parameterType="String">
+        delete from tts_corpus_info where id = #{id}
+    </delete>
+
+    <delete id="deleteCorpusByIds" parameterType="String">
+        delete from tts_corpus_info where id in
+        <foreach item="id" collection="array" open="(" separator="," close=")">
+            #{id}
+        </foreach>
+    </delete>
+
+    <select id="selectDashboardStats" resultType="java.util.Map">
+        select 
+            count(*) as totalCorpus,
+            sum(case when date_format(create_time,'%Y-%m-%d') = curdate() then 1 else 0 end) as todayCorpus,
+            count(distinct language) as totalLanguages,
+            count(distinct voice) as totalVoices,
+            avg(audio_duration) as avgDuration
+        from tts_corpus_info
+    </select>
+
+    <select id="selectYesterdayStats" resultType="java.util.Map">
+        select 
+            count(*) as totalCorpus,
+            sum(case when date_format(create_time,'%Y-%m-%d') = date_sub(curdate(), interval 1 day) then 1 else 0 end) as todayCorpus,
+            count(distinct language) as totalLanguages,
+            count(distinct voice) as totalVoices,
+            avg(audio_duration) as avgDuration
+        from tts_corpus_info
+        where date_format(create_time,'%Y-%m-%d') &lt;= date_sub(curdate(), interval 1 day)
+    </select>
+
+    <select id="selectStatsByLanguage" resultType="java.util.Map">
+        select language as name, count(*) as value
+        from tts_corpus_info
+        group by language
+        order by value desc
+    </select>
+
+    <select id="selectStatsByDialect" resultType="java.util.Map">
+        select dialect as name, count(*) as value
+        from tts_corpus_info
+        where dialect is not null
+        group by dialect
+        order by value desc
+    </select>
+
+    <select id="selectStatsByEmotion" resultType="java.util.Map">
+        select emotion as name, count(*) as value
+        from tts_corpus_info
+        where emotion is not null
+        group by emotion
+        order by value desc
+    </select>
+
+    <select id="selectStatsByCategory" resultType="java.util.Map">
+        select cc.category_name as name, count(c.id) as value
+        from tts_corpus_category cc
+        left join tts_corpus_info c on cc.id = c.category_id
+        group by cc.id, cc.category_name
+        order by value desc
+    </select>
+
+</mapper>

cmvr-iot-tts/src/main/resources/mapper/tts/TtsSynthesizeTaskMapper.xml

@@ -0,0 +1,260 @@
+<?xml version="1.0" encoding="UTF-8" ?>
+<!DOCTYPE mapper
+PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
+"http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.cmvr.tts.mapper.TtsSynthesizeTaskMapper">
+
+    <resultMap type="com.cmvr.tts.domain.TtsSynthesizeTask" id="TtsTaskResult">
+        <result property="id" column="id"/>
+        <result property="createBy" column="create_by"/>
+        <result property="createTime" column="create_time"/>
+        <result property="updateBy" column="update_by"/>
+        <result property="updateTime" column="update_time"/>
+        <result property="remark" column="remark"/>
+        <result property="taskCode" column="task_code"/>
+        <result property="text" column="text"/>
+        <result property="language" column="language"/>
+        <result property="dialect" column="dialect"/>
+        <result property="voice" column="voice"/>
+        <result property="emotion" column="emotion"/>
+        <result property="speed" column="speed"/>
+        <result property="volume" column="volume"/>
+        <result property="pitch" column="pitch"/>
+        <result property="sampleRate" column="sample_rate"/>
+        <result property="outputFormat" column="output_format"/>
+        <result property="styleTemplate" column="style_template"/>
+        <result property="status" column="status"/>
+        <result property="audioFilePath" column="audio_file_path"/>
+        <result property="audioDuration" column="audio_duration"/>
+        <result property="fileSize" column="file_size"/>
+        <result property="errorMsg" column="error_msg"/>
+    </resultMap>
+
+    <resultMap type="com.cmvr.tts.domain.vo.TtsSynthesizeTaskVo" id="TtsTaskVoResult">
+        <result property="id" column="id"/>
+        <result property="taskCode" column="task_code"/>
+        <result property="text" column="text"/>
+        <result property="language" column="language"/>
+        <result property="languageName" column="language_name"/>
+        <result property="dialect" column="dialect"/>
+        <result property="voice" column="voice"/>
+        <result property="voiceName" column="voice_name"/>
+        <result property="emotion" column="emotion"/>
+        <result property="emotionName" column="emotion_name"/>
+        <result property="speed" column="speed"/>
+        <result property="volume" column="volume"/>
+        <result property="pitch" column="pitch"/>
+        <result property="sampleRate" column="sample_rate"/>
+        <result property="outputFormat" column="output_format"/>
+        <result property="styleTemplate" column="style_template"/>
+        <result property="status" column="status"/>
+        <result property="statusName" column="status_name"/>
+        <result property="audioFilePath" column="audio_file_path"/>
+        <result property="audioDuration" column="audio_duration"/>
+        <result property="fileSize" column="file_size"/>
+        <result property="errorMsg" column="error_msg"/>
+        <result property="createBy" column="create_by"/>
+        <result property="createTime" column="create_time"/>
+        <result property="updateBy" column="update_by"/>
+        <result property="updateTime" column="update_time"/>
+        <result property="remark" column="remark"/>
+    </resultMap>
+
+    <sql id="selectTtsTaskVo">
+        select t.id, t.task_code, t.text, t.language, t.dialect, t.voice, t.emotion,
+               t.speed, t.volume, t.pitch, t.sample_rate, t.output_format, t.style_template,
+               t.status, t.audio_file_path, t.audio_duration, t.file_size, t.error_msg,
+               t.create_by, t.create_time, t.update_by, t.update_time, t.remark,
+               dict_lang.dict_label as language_name,
+               dict_voice.dict_label as voice_name,
+               dict_emotion.dict_label as emotion_name,
+               case t.status
+                   when '0' then '待处理'
+                   when '1' then '合成中'
+                   when '2' then '成功已完成'
+                   when '3' then '失败'
+                   else '未知'
+               end as status_name
+        from tts_synthesize_task t
+        left join sys_dict_data dict_lang on t.language = dict_lang.dict_value and dict_lang.dict_type = 'tts_language'
+        left join sys_dict_data dict_voice on t.voice = dict_voice.dict_value and dict_voice.dict_type = 'tts_voice'
+        left join sys_dict_data dict_emotion on t.emotion = dict_emotion.dict_value and dict_emotion.dict_type = 'tts_emotion'
+    </sql>
+
+    <select id="selectTtsTaskList" parameterType="com.cmvr.tts.domain.TtsSynthesizeTask" resultMap="TtsTaskResult">
+        select id, task_code, text, language, dialect, voice, emotion, speed, volume, pitch,
+               sample_rate, output_format, style_template, status, audio_file_path, audio_duration,
+               file_size, error_msg, create_by, create_time, update_by, update_time, remark
+        from tts_synthesize_task
+        <where>
+            <if test="taskCode != null and taskCode != ''"> and task_code = #{taskCode}</if>
+            <if test="text != null and text != ''"> and text like concat('%', #{text}, '%')</if>
+            <if test="status != null and status != ''"> and status = #{status}</if>
+            <if test="language != null and language != ''"> and language = #{language}</if>
+            <if test="voice != null and voice != ''"> and voice = #{voice}</if>
+        </where>
+        order by create_time desc
+    </select>
+
+    <select id="selectTtsTaskById" parameterType="String" resultMap="TtsTaskResult">
+        select id, task_code, text, language, dialect, voice, emotion, speed, volume, pitch,
+               sample_rate, output_format, style_template, status, audio_file_path, audio_duration,
+               file_size, error_msg, create_by, create_time, update_by, update_time, remark
+        from tts_synthesize_task
+        where id = #{id}
+    </select>
+
+    <select id="selectTtsTaskVoList" parameterType="com.cmvr.tts.domain.TtsSynthesizeTask" resultMap="TtsTaskVoResult">
+        <include refid="selectTtsTaskVo"/>
+        <where>
+            <if test="taskCode != null and taskCode != ''"> and t.task_code = #{taskCode}</if>
+            <if test="text != null and text != ''"> and t.text like concat('%', #{text}, '%')</if>
+            <if test="status != null and status != ''"> and t.status = #{status}</if>
+            <if test="params.beginTime != null and params.beginTime != ''">
+                and date_format(t.create_time,'%Y%m%d') &gt;= date_format(#{params.beginTime},'%Y%m%d')
+            </if>
+            <if test="params.endTime != null and params.endTime != ''">
+                and date_format(t.create_time,'%Y%m%d') &lt;= date_format(#{params.endTime},'%Y%m%d')
+            </if>
+        </where>
+        order by t.create_time desc
+    </select>
+
+    <insert id="insertTtsTask" parameterType="com.cmvr.tts.domain.TtsSynthesizeTask">
+        insert into tts_synthesize_task
+        <trim prefix="(" suffix=")" suffixOverrides=",">
+            <if test="id != null">id,</if>
+            <if test="createBy != null">create_by,</if>
+            <if test="createTime != null">create_time,</if>
+            <if test="updateBy != null">update_by,</if>
+            <if test="updateTime != null">update_time,</if>
+            <if test="remark != null">remark,</if>
+            <if test="taskCode != null">task_code,</if>
+            <if test="text != null">text,</if>
+            <if test="language != null">language,</if>
+            <if test="dialect != null">dialect,</if>
+            <if test="voice != null">voice,</if>
+            <if test="emotion != null">emotion,</if>
+            <if test="speed != null">speed,</if>
+            <if test="volume != null">volume,</if>
+            <if test="pitch != null">pitch,</if>
+            <if test="sampleRate != null">sample_rate,</if>
+            <if test="outputFormat != null">output_format,</if>
+            <if test="styleTemplate != null">style_template,</if>
+            <if test="status != null">status,</if>
+            <if test="audioFilePath != null">audio_file_path,</if>
+            <if test="audioDuration != null">audio_duration,</if>
+            <if test="fileSize != null">file_size,</if>
+            <if test="errorMsg != null">error_msg,</if>
+        </trim>
+        <trim prefix="values (" suffix=")" suffixOverrides=",">
+            <if test="id != null">#{id},</if>
+            <if test="createBy != null">#{createBy},</if>
+            <if test="createTime != null">#{createTime},</if>
+            <if test="updateBy != null">#{updateBy},</if>
+            <if test="updateTime != null">#{updateTime},</if>
+            <if test="remark != null">#{remark},</if>
+            <if test="taskCode != null">#{taskCode},</if>
+            <if test="text != null">#{text},</if>
+            <if test="language != null">#{language},</if>
+            <if test="dialect != null">#{dialect},</if>
+            <if test="voice != null">#{voice},</if>
+            <if test="emotion != null">#{emotion},</if>
+            <if test="speed != null">#{speed},</if>
+            <if test="volume != null">#{volume},</if>
+            <if test="pitch != null">#{pitch},</if>
+            <if test="sampleRate != null">#{sampleRate},</if>
+            <if test="outputFormat != null">#{outputFormat},</if>
+            <if test="styleTemplate != null">#{styleTemplate},</if>
+            <if test="status != null">#{status},</if>
+            <if test="audioFilePath != null">#{audioFilePath},</if>
+            <if test="audioDuration != null">#{audioDuration},</if>
+            <if test="fileSize != null">#{fileSize},</if>
+            <if test="errorMsg != null">#{errorMsg},</if>
+        </trim>
+    </insert>
+
+    <update id="updateTtsTask" parameterType="com.cmvr.tts.domain.TtsSynthesizeTask">
+        update tts_synthesize_task
+        <trim prefix="SET" suffixOverrides=",">
+            <if test="createBy != null">create_by = #{createBy},</if>
+            <if test="createTime != null">create_time = #{createTime},</if>
+            <if test="updateBy != null">update_by = #{updateBy},</if>
+            <if test="updateTime != null">update_time = #{updateTime},</if>
+            <if test="remark != null">remark = #{remark},</if>
+            <if test="taskCode != null">task_code = #{taskCode},</if>
+            <if test="text != null">text = #{text},</if>
+            <if test="language != null">language = #{language},</if>
+            <if test="dialect != null">dialect = #{dialect},</if>
+            <if test="voice != null">voice = #{voice},</if>
+            <if test="emotion != null">emotion = #{emotion},</if>
+            <if test="speed != null">speed = #{speed},</if>
+            <if test="volume != null">volume = #{volume},</if>
+            <if test="pitch != null">pitch = #{pitch},</if>
+            <if test="sampleRate != null">sample_rate = #{sampleRate},</if>
+            <if test="outputFormat != null">output_format = #{outputFormat},</if>
+            <if test="styleTemplate != null">style_template = #{styleTemplate},</if>
+            <if test="status != null">status = #{status},</if>
+            <if test="audioFilePath != null">audio_file_path = #{audioFilePath},</if>
+            <if test="audioDuration != null">audio_duration = #{audioDuration},</if>
+            <if test="fileSize != null">file_size = #{fileSize},</if>
+            <if test="errorMsg != null">error_msg = #{errorMsg},</if>
+        </trim>
+        where id = #{id}
+    </update>
+
+    <delete id="deleteTtsTaskById" parameterType="String">
+        delete from tts_synthesize_task where id = #{id}
+    </delete>
+
+    <select id="selectDashboardStats" resultType="java.util.Map">
+        select 
+            count(*) as totalTasks,
+            sum(case when date_format(create_time,'%Y-%m-%d') = curdate() then 1 else 0 end) as todayTasks,
+            count(distinct language) as totalLanguages,
+            count(distinct voice) as totalVoices,
+            avg(audio_duration) as avgDuration
+        from tts_synthesize_task
+    </select>
+
+    <select id="selectYesterdayStats" resultType="java.util.Map">
+        select 
+            count(*) as totalTasks,
+            sum(case when date_format(create_time,'%Y-%m-%d') = date_sub(curdate(), interval 1 day) then 1 else 0 end) as todayTasks,
+            count(distinct language) as totalLanguages,
+            count(distinct voice) as totalVoices,
+            avg(audio_duration) as avgDuration
+        from tts_synthesize_task
+        where date_format(create_time,'%Y-%m-%d') &lt;= date_sub(curdate(), interval 1 day)
+    </select>
+
+    <select id="selectStatsByLanguage" resultType="java.util.Map">
+        select language as name, count(*) as value
+        from tts_synthesize_task
+        group by language
+        order by value desc
+    </select>
+
+    <select id="selectStatsByVoice" resultType="java.util.Map">
+        select voice as name, count(*) as value
+        from tts_synthesize_task
+        group by voice
+        order by value desc
+    </select>
+
+    <select id="selectStatsByEmotion" resultType="java.util.Map">
+        select emotion as name, count(*) as value
+        from tts_synthesize_task
+        group by emotion
+        order by value desc
+    </select>
+
+    <select id="selectLast7DaysTrend" resultType="java.util.Map">
+        select date_format(create_time,'%Y-%m-%d') as date, count(*) as value
+        from tts_synthesize_task
+        where create_time &gt;= date_sub(curdate(), interval 6 day)
+        group by date_format(create_time,'%Y-%m-%d')
+        order by date
+    </select>
+
+</mapper>

pom.xml

@@ -316,6 +316,13 @@
                 <version>${cmvr-iot.version}</version>
             </dependency>
 
+            <!-- 智能座舱语音语料采集-->
+            <dependency>
+                <groupId>com.cmvr</groupId>
+                <artifactId>cmvr-iot-tts</artifactId>
+                <version>${cmvr-iot.version}</version>
+            </dependency>
+
             <!-- huTool-->
             <dependency>
                 <groupId>cn.hutool</groupId>
@@ -354,6 +361,7 @@
         <module>cmvr-iot-evaluation</module>
         <module>cmvr-iot-inspection</module>
         <module>cmvr-iot-aima</module>
+        <module>cmvr-iot-tts</module>
     </modules>
     <packaging>pom</packaging>
 

sql/tts_corpus_module.sql

@@ -0,0 +1,77 @@
+-- ----------------------------
+-- 智能座舱语音语料采集模块数据库表结构
+-- ----------------------------
+
+-- 1. TTS合成任务表
+DROP TABLE IF EXISTS `tts_synthesize_task`;
+CREATE TABLE `tts_synthesize_task` (
+  `id` varchar(64) NOT NULL COMMENT '主键ID',
+  `create_by` varchar(64) DEFAULT '' COMMENT '创建者',
+  `create_time` datetime DEFAULT NULL COMMENT '创建时间',
+  `update_by` varchar(64) DEFAULT '' COMMENT '更新者',
+  `update_time` datetime DEFAULT NULL COMMENT '更新时间',
+  `remark` varchar(500) DEFAULT NULL COMMENT '备注',
+  `task_code` varchar(64) DEFAULT NULL COMMENT '任务编码',
+  `text` text NOT NULL COMMENT '合成文本',
+  `language` varchar(20) DEFAULT 'zh-CN' COMMENT '语种',
+  `dialect` varchar(20) DEFAULT NULL COMMENT '方言',
+  `voice` varchar(50) DEFAULT NULL COMMENT '音色',
+  `emotion` varchar(20) DEFAULT NULL COMMENT '情绪',
+  `speed` decimal(5,2) DEFAULT '1.00' COMMENT '语速',
+  `volume` decimal(5,2) DEFAULT '1.00' COMMENT '音量',
+  `pitch` decimal(5,2) DEFAULT '1.00' COMMENT '音高',
+  `sample_rate` int(11) DEFAULT null COMMENT '采样率',
+  `output_format` varchar(20) DEFAULT 'wav' COMMENT '输出格式',
+  `style_template` varchar(50) DEFAULT NULL COMMENT '说话风格模板名称',
+  `status` char(1) DEFAULT '0' COMMENT '任务状态(0待处理 1合成中 2成功已完成 3失败)',
+  `audio_file_path` varchar(500) DEFAULT NULL COMMENT '音频文件存储路径',
+  `audio_duration` decimal(10,2) DEFAULT NULL COMMENT '音频时长(秒)',
+  `file_size` bigint(20) DEFAULT NULL COMMENT '文件大小(字节)',
+  `error_msg` text COMMENT '失败原因',
+  PRIMARY KEY (`id`),
+  UNIQUE KEY `uk_task_code` (`task_code`),
+  KEY `idx_status` (`status`),
+  KEY `idx_create_time` (`create_time`)
+) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_unicode_ci COMMENT='TTS合成任务表';
+
+-- 2. 语料分类树形表
+DROP TABLE IF EXISTS `tts_corpus_category`;
+CREATE TABLE `tts_corpus_category` (
+  `id` varchar(64) NOT NULL COMMENT '主键ID',
+  `create_by` varchar(64) DEFAULT '' COMMENT '创建者',
+  `create_time` datetime DEFAULT NULL COMMENT '创建时间',
+  `update_by` varchar(64) DEFAULT '' COMMENT '更新者',
+  `update_time` datetime DEFAULT NULL COMMENT '更新时间',
+  `remark` varchar(500) DEFAULT NULL COMMENT '备注',
+  `parent_id` varchar(64) DEFAULT '0' COMMENT '父分类ID',
+  `category_name` varchar(100) NOT NULL COMMENT '分类名称',
+  `sort_order` int(11) DEFAULT '0' COMMENT '排序',
+  PRIMARY KEY (`id`),
+  KEY `idx_parent_id` (`parent_id`)
+) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_unicode_ci COMMENT='语料分类树形表';
+
+-- 3. 车载语料数据表
+DROP TABLE IF EXISTS `tts_corpus_info`;
+CREATE TABLE `tts_corpus_info` (
+  `id` varchar(64) NOT NULL COMMENT '主键ID',
+  `create_by` varchar(64) DEFAULT '' COMMENT '创建者',
+  `create_time` datetime DEFAULT NULL COMMENT '创建时间',
+  `update_by` varchar(64) DEFAULT '' COMMENT '更新者',
+  `update_time` datetime DEFAULT NULL COMMENT '更新时间',
+  `remark` varchar(500) DEFAULT NULL COMMENT '备注',
+  `text` text NOT NULL COMMENT '文本内容',
+  `pinyin` varchar(500) DEFAULT NULL COMMENT '拼音',
+  `category_id` varchar(64) DEFAULT NULL COMMENT '所属分类ID',
+  `language` varchar(20) DEFAULT 'zh-CN' COMMENT '语种',
+  `dialect` varchar(20) DEFAULT NULL COMMENT '方言',
+  `emotion` varchar(20) DEFAULT NULL COMMENT '情绪',
+  `voice` varchar(50) DEFAULT NULL COMMENT '音色',
+  `speaker` varchar(50) DEFAULT NULL COMMENT '说话人',
+  `scene` varchar(100) DEFAULT NULL COMMENT '适用场景',
+  `audio_file_path` varchar(500) DEFAULT NULL COMMENT '音频文件路径',
+  `audio_duration` decimal(10,2) DEFAULT NULL COMMENT '音频时长(秒)',
+  `file_size` bigint(20) DEFAULT NULL COMMENT '文件大小(字节)',
+  PRIMARY KEY (`id`),
+  KEY `idx_category_id` (`category_id`),
+  KEY `idx_language` (`language`)
+) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_unicode_ci COMMENT='车载语料数据表';