From 86a8e02d858a8e0620fda4e94e8507faff2b6ae8 Mon Sep 17 00:00:00 2001 From: lixiaolong <702156524@qq.com> Date: Wed, 5 Aug 2026 11:10:19 +0800 Subject: [PATCH] =?UTF-8?q?refactor(audio):=20=E5=B0=86terminalId=E6=9B=BF?= =?UTF-8?q?=E6=8D=A2=E4=B8=BArobotId=E4=BB=A5=E7=BB=9F=E4=B8=80=E6=9C=BA?= =?UTF-8?q?=E5=99=A8=E4=BA=BA=E6=A0=87=E8=AF=86?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit - 修改AudioService中terminalId为robotId，包括变量声明、参数传递和日志输出 - 更新BaseChannelSubscribeHandler中的注释和参数解析逻辑 - 修改CameraStreamTicketService中的方法参数和记录类定义 - 更新DeRobotConfig文档中的术语描述 - 替换DeviceListController和EdgeAgvController中的terminalId参数为robotId - 修改EdgeAgvServiceImpl中所有方法的参数引用 - 更新EdgeArmController中所有终端ID参数为机器人ID - 修改EdgeArmServiceImpl中所有gRPC客户端调用的参数 - 调整EdgeArmTeleopOpenVO中的字段定义顺序 --- README.md | 19 +- .../controller/api/DeviceListController.java | 4 +- .../web/controller/api/EdgeAgvController.java | 34 +-- .../web/controller/api/EdgeArmController.java | 40 ++-- .../controller/api/EdgeCameraController.java | 50 ++-- .../controller/api/EdgeDexHandController.java | 12 +- .../api/EdgeMicrophoneController.java | 8 +- .../controller/api/EdgeSpeakerController.java | 22 +- .../controller/api/EdgeSystemController.java | 12 +- .../inspection/InspectionRobotController.java | 19 ++ .../web/controller/test/TeFlowController.java | 2 +- .../controller/test/TeFlowiseController.java | 2 +- .../service/CameraStreamTicketService.java | 6 +- .../client/adapter/RobotAudioGrpcAdapter.java | 36 +-- .../edge/client/manage/GrpcChannelCache.java | 14 +- .../client/manage/GrpcServiceManager.java | 28 +-- .../cmvr/edge/client/model/EdgeCommonVO.java | 6 +- .../model/armteleop/EdgeArmTeleopOpenVO.java | 3 +- .../quic/QuicGatewayNodeSyncService.java | 224 ------------------ .../edge/client/service/AudioService.java | 20 +- .../edge/client/service/EdgeArmService.java | 2 +- .../client/service/EdgeBioHeadService.java | 2 +- .../client/service/EdgeCameraService.java | 4 +- .../client/service/EdgeDexHandService.java | 16 +- .../edge/client/service/EdgeHlcService.java | 2 +- .../client/service/EdgeSpeakerService.java | 28 +-- .../client/service/EdgeSystemService.java | 8 +- .../service/impl/EdgeAgvServiceImpl.java | 38 +-- .../service/impl/EdgeArmServiceImpl.java | 28 +-- .../impl/EdgeArmTeleopServiceImpl.java | 6 +- .../service/impl/EdgeBioHeadServiceImpl.java | 24 +- .../service/impl/EdgeCameraServiceImpl.java | 68 +++--- .../service/impl/EdgeDexHandServiceImpl.java | 26 +- .../service/impl/EdgeHlcServiceImpl.java | 6 +- .../impl/EdgeMicrophoneServiceImpl.java | 14 +- .../service/impl/EdgeMotorServiceImpl.java | 26 +- .../service/impl/EdgeSpeakerServiceImpl.java | 42 ++-- .../service/impl/EdgeSystemServiceImpl.java | 22 +- .../service/impl/GrpcClientServiceImpl.java | 8 +- .../com/cmvr/common/robot/RobotEndpoint.java | 5 + .../common/robot/RobotEndpointResolver.java | 6 + .../com/cmvr/device/domain/DeRobotConfig.java | 6 +- .../service/InspectionAlertListenService.java | 80 +++---- .../handler/BaseChannelSubscribeHandler.java | 12 +- .../websocket/service/GrpcClientService.java | 4 +- .../inspection/domain/InspectionRobot.java | 35 ++- .../domain/InspectionRobotDevice.java | 41 ++++ .../domain/vo/InspectionRobotVo.java | 39 ++- .../mapper/InspectionRobotDeviceMapper.java | 29 +++ .../mapper/InspectionRobotMapper.java | 8 + .../service/IInspectionRobotService.java | 6 + .../InspectionRobotEndpointResolver.java | 45 ++++ ...nspectionRobotExecutionTargetResolver.java | 21 ++ .../service/RobotQuicEventSubscriber.java | 80 +++++++ .../service/RobotQuicStateService.java | 173 ++++++++++++++ .../impl/InspectionRobotServiceImpl.java | 100 +++++--- .../InspectionTaskInstanceServiceImpl.java | 10 + .../InspectionRobotDeviceMapper.xml | 85 +++++++ .../inspection/InspectionRobotMapper.xml | 75 +++++- cmvr-iot-quic/README.md | 25 +- cmvr-iot-test/pom.xml | 2 +- .../cmvr/test/flow/context/TaskContext.java | 9 +- .../test/flow/context/TaskContextManager.java | 38 +-- .../test/flow/context/TaskInstHolder.java | 6 +- .../test/flow/control/FlowControlService.java | 4 +- .../engine/FlowTaskAsyncDispatcher.java | 6 +- .../flow/runtime/engine/FlowTaskEngine.java | 4 +- .../runtime/engine/FlowTaskRuntimeEntry.java | 72 ++++-- .../engine/FlowTaskRuntimeService.java | 2 +- .../runtime/engine/RobotExecutionTarget.java | 17 ++ .../engine/RobotExecutionTargetResolver.java | 5 + .../runtime/event/FlowExecutionEvent.java | 4 +- .../interceptor/FlowAfterInterceptor.java | 2 +- .../message/TaskNodeExecuteMessage.java | 4 +- .../operator/edge/EdgeAgvOperateService.java | 6 +- .../operator/edge/EdgeArmOperateService.java | 4 +- .../edge/EdgeCameraOperateService.java | 8 +- .../edge/EdgeDeviceCommandOperateService.java | 8 +- .../operator/edge/EdgeHeadOperateService.java | 8 +- .../EdgeInspectionAlertOperateService.java | 8 +- .../edge/EdgeMicrophoneOperateService.java | 4 +- .../edge/EdgeSpeakerOperateService.java | 6 +- .../edge/EdgeTouchOperateService.java | 4 +- .../edge/vi/ViPlayOperateService.java | 8 +- .../operator/llm/LLMTouchOperateService.java | 4 +- .../cmvr/test/model/domain/TeTaskInst.java | 4 +- .../test/model/vo/FlowActionRequestVO.java | 2 +- .../test/model/vo/TeTaskExecuteNormalVO.java | 5 +- .../test/model/vo/TeTaskExecuteProjectVO.java | 5 +- .../test/model/vo/TeTaskExecuteTrailVO.java | 6 +- .../service/FlowActionExecutorService.java | 24 +- .../test/service/FlowiseActionService.java | 14 +- .../impl/TeDetectionItemServiceImpl.java | 4 +- .../engine/RobotExecutionTargetTest.java | 23 ++ .../EdgeDeviceCommandOperateServiceTest.java | 14 +- .../ti/service/impl/TiProjectServiceImpl.java | 3 +- .../vi/service/impl/ViProjectServiceImpl.java | 3 +- sql/inspection_module.sql | 43 +++- sql/robot_id_only_migration.sql | 4 + sql/robot_quic_identity_migration.sql | 45 ++++ 100 files changed, 1434 insertions(+), 824 deletions(-) delete mode 100644 cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/quic/QuicGatewayNodeSyncService.java create mode 100644 cmvr-iot-common/src/main/java/com/cmvr/common/robot/RobotEndpoint.java create mode 100644 cmvr-iot-common/src/main/java/com/cmvr/common/robot/RobotEndpointResolver.java create mode 100644 cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/InspectionRobotDevice.java create mode 100644 cmvr-iot-inspection/src/main/java/com/cmvr/inspection/mapper/InspectionRobotDeviceMapper.java create mode 100644 cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/InspectionRobotEndpointResolver.java create mode 100644 cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/InspectionRobotExecutionTargetResolver.java create mode 100644 cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/RobotQuicEventSubscriber.java create mode 100644 cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/RobotQuicStateService.java create mode 100644 cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionRobotDeviceMapper.xml create mode 100644 cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/RobotExecutionTarget.java create mode 100644 cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/engine/RobotExecutionTargetResolver.java create mode 100644 cmvr-iot-test/src/test/java/com/cmvr/test/flow/runtime/engine/RobotExecutionTargetTest.java create mode 100644 sql/robot_id_only_migration.sql create mode 100644 sql/robot_quic_identity_migration.sql diff --git a/README.md b/README.md index ecff97f..5d6a32b 100644 --- a/README.md +++ b/README.md @@ -7,7 +7,7 @@ Java 包名、Maven 坐标统一使用 `com.cmvr`。旧项目 `cmvr-iot` 仅作 ## 主要功能 - 系统管理：用户、角色、部门、菜单、字典、参数、日志和通知。 -- 设备管理：设备注册、终端配置、设备档案和机器人配置。 +- 机器人设备：以边缘端上报的永久 `robotId` 作为唯一业务身份，自动同步机器人地址、在线状态和设备清单。 - 测试业务：任务配置、任务编排、任务实例、检测项、语音唤醒、Flowise 和 AI 评估。 - 智能巡检：机器人、地图、点位、任务、执行实例、巡检结果和告警。 - 智能座舱：语音交互、触控交互、TTS、语料库和车机操作配置。 @@ -41,7 +41,7 @@ Java 包名、Maven 坐标统一使用 `com.cmvr`。旧项目 `cmvr-iot` 仅作 | `cmvr-iot-system` | 用户、角色、菜单、字典、参数和通用分组 | | `cmvr-iot-quartz` | Quartz 任务调度和任务日志 | | `cmvr-iot-generator` | 代码生成 | -| `cmvr-iot-device` | 设备、终端和机器人配置 | +| `cmvr-iot-device` | 设备协议模型、机器人配置和巡检告警监听 | | `cmvr-iot-test` | 测试任务、流程、检测项和执行实例 | | `cmvr-iot-vi` | 语音交互业务 | | `cmvr-iot-ti` | 触控交互业务 | @@ -54,7 +54,7 @@ Java 包名、Maven 坐标统一使用 `com.cmvr`。旧项目 `cmvr-iot` 仅作 | `cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client` | 原有机器人 gRPC 客户端 | | `cmvr-iot-quic-contract` | QUIC 控制、节点事件和媒体数据协议 | | `cmvr-iot-quic` | 与主应用同进程运行的 QUIC Gateway | -| `ruoyi-ui` | Vue 3 管理控制台 | +| `cmvr-iot-ui-lxl-dev-worktree` | Vue 3 管理控制台（同级独立前端仓库） | ## 环境准备 @@ -79,7 +79,8 @@ Java 包名、Maven 坐标统一使用 `com.cmvr`。旧项目 `cmvr-iot` 仅作 - `sql/aima_module.sql`：爱玛业务。 - `sql/inspection_module.sql`、`inspection_result.sql`、`inspection_detection_alert.sql`：巡检业务。 - `sql/tts_corpus_module.sql`：TTS 和语料业务。 -- `sql/quic_gateway_terminal_migration.sql`：QUIC 节点绑定及运行状态字段。 +- `sql/robot_quic_identity_migration.sql`：机器人 QUIC 身份、运行状态和设备快照表。 +- `sql/robot_id_only_migration.sql`：移除巡检机器人和任务实例中的历史终端 ID 字段。 补充脚本可能面向不同历史库版本。已有数据库升级前应先备份，并确认字段或索引尚未存在。 @@ -111,7 +112,7 @@ Knife4j 只展示带原有 `@ApiOperation` 注解的正式接口，并沿用中 ## 前端运行 ```bash -cd ruoyi-ui +cd ../cmvr-iot-ui-lxl-dev-worktree pnpm install pnpm dev ``` @@ -120,7 +121,9 @@ pnpm dev ## gRPC 与 QUIC -原有机器人 gRPC 客户端与 proto 均保留。终端 gRPC 地址优先读取 `de_device_terminal_config` 的 `host` 和 `port`，没有终端配置时使用当前 profile 中的 `grpc.client.grpc-server.address`。 +原有机器人 gRPC 客户端与 proto 均保留，但业务调用只传永久 `robotId`。平台根据 `inspection_robot.robot_id` 查找 QUIC 最近同步的 `ip_address` 和 `port`，不再使用终端 ID 或终端配置解析 gRPC 地址。 + +边缘端通过 QUIC 上报设备快照后，平台按 `robotId + deviceId` 写入 `inspection_robot_device`。前端选择机器人后只展示该机器人当前在线且启用的设备；单一匹配设备会自动选中并锁定。 QUIC 不是独立服务，`cmvr-iot-quic` 已作为 `cmvr-iot-admin` 的运行时依赖。启用时主应用同时启动： @@ -139,7 +142,7 @@ mvn test mvn clean package -DskipTests # 构建前端生产包 -cd ruoyi-ui +cd ../cmvr-iot-ui-lxl-dev-worktree pnpm build:prod ``` @@ -148,6 +151,6 @@ Windows 下也可以使用 `bin/package.bat`、`bin/run.bat` 和 `bin/clean.bat` ## 排查提示 - `ApplicationContext ... has been closed already`：彻底停止旧 Java 进程后重新启动，不要使用 DevTools 热重启。 -- `cannot find a NameResolver for static://...`：这是 gRPC target scheme 解析问题，不代表网络不通；检查 `GrpcServiceManager` 的通道创建方式和终端地址格式。 +- 找不到机器人或机器人离线：确认机器人表已登记相同的永久 `robotId`，并检查 QUIC 注册日志、`inspection_robot` 的地址和连接状态。 - QUIC 启动失败：检查证书、私钥、ALPN、UDP 端口占用和 native library 对应的操作系统架构。 - 数据库提示缺少字段：确认基础脚本版本及对应模块迁移脚本已经执行。 diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/DeviceListController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/DeviceListController.java index 6be0bfe..da8509f 100644 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/DeviceListController.java +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/DeviceListController.java @@ -28,9 +28,9 @@ public class DeviceListController { @PreAuthorize("@ss.hasPermi('device:profile:list')") @GetMapping("/addList") @ApiOperation("同步设备信息列表") - public int addDeviceList(@RequestParam String terminalId){ + public int addDeviceList(@RequestParam String robotId){ - List list = systemService.deviceList(terminalId); + List list = systemService.deviceList(robotId); return registrationService.addDeviceList(list); } diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeAgvController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeAgvController.java index aafb15e..e8f20c0 100644 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeAgvController.java +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeAgvController.java @@ -51,11 +51,11 @@ public class EdgeAgvController { @ApiOperation("获取AGV运行时状态") @GetMapping("/getRuntimeState") public AjaxResult getRuntimeState( - @ApiParam(value = "终端设备ID", required = true) - @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) + @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { - EdgeCommonVO vo = commonVo(terminalId, deviceId); + EdgeCommonVO vo = commonVo(robotId, deviceId); AgvUtils.AgvRuntimeState state = edgeAgvService.getRuntimeState(vo); return AjaxResult.ok(toRuntimeStateMap(state)); } @@ -66,11 +66,11 @@ public class EdgeAgvController { @ApiOperation("获取导航状态") @GetMapping("/getNavigationStatus") public AjaxResult getNavigationStatus( - @ApiParam(value = "终端设备ID", required = true) - @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) + @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { - EdgeCommonVO vo = commonVo(terminalId, deviceId); + EdgeCommonVO vo = commonVo(robotId, deviceId); AgvUtils.AgvNavigationStatus status = edgeAgvService.getNavigationStatus(vo); Map resultMap = new HashMap<>(); resultMap.put("state", status.getState()); @@ -186,11 +186,11 @@ public class EdgeAgvController { @ApiOperation("列出所有地图") @GetMapping("/listMaps") public AjaxResult listMaps( - @ApiParam(value = "终端设备ID", required = true) - @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) + @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { - EdgeCommonVO vo = commonVo(terminalId, deviceId); + EdgeCommonVO vo = commonVo(robotId, deviceId); List maps = edgeAgvService.listMaps(vo); return AjaxResult.ok(maps); } @@ -201,11 +201,11 @@ public class EdgeAgvController { @ApiOperation("列出所有站点") @GetMapping("/listStations") public AjaxResult listStations( - @ApiParam(value = "终端设备ID", required = true) - @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久ID", required = true) + @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { - EdgeCommonVO vo = commonVo(terminalId, deviceId); + EdgeCommonVO vo = commonVo(robotId, deviceId); List stations = edgeAgvService.listStations(vo); List> stationList = new ArrayList<>(); for (AgvUtils.AgvStation station : stations) { @@ -240,14 +240,14 @@ public class EdgeAgvController { @ApiOperation("下载地图") @GetMapping("/downloadMap") public AjaxResult downloadMap( - @ApiParam(value = "终端设备ID", required = true) - @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) + @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId, @ApiParam(value = "地图名称", required = true) @RequestParam("mapName") String mapName) { EdgeAgvMapNameVO vo = new EdgeAgvMapNameVO(); - vo.setTerminalId(terminalId); + vo.setRobotId(robotId); vo.setDeviceId(deviceId); vo.setMapName(mapName); String content = edgeAgvService.downloadMap(vo, vo.getMapName()); @@ -284,9 +284,9 @@ public class EdgeAgvController { /** * 将 protobuf 运行时状态转换为前端友好的 Map，避免直接暴露 protobuf 对象结构。 */ - private EdgeCommonVO commonVo(String terminalId, String deviceId) { + private EdgeCommonVO commonVo(String robotId, String deviceId) { EdgeCommonVO vo = new EdgeCommonVO(); - vo.setTerminalId(terminalId); + vo.setRobotId(robotId); vo.setDeviceId(deviceId); return vo; } diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmController.java index 5d73376..7a5100a 100644 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmController.java +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmController.java @@ -33,9 +33,9 @@ public class EdgeArmController { @ApiOperation("关闭力矩") @GetMapping("/torqueOff") public AjaxResult torqueOff( - @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { - EdgeCommonVO vo = commonVo(terminalId, deviceId); + EdgeCommonVO vo = commonVo(robotId, deviceId); edgeArmService.torqueOff(vo); return AjaxResult.ok(); } @@ -43,9 +43,9 @@ public class EdgeArmController { @ApiOperation("开启力矩") @GetMapping("/torqueOn") public AjaxResult torqueOn( - @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { - EdgeCommonVO vo = commonVo(terminalId, deviceId); + EdgeCommonVO vo = commonVo(robotId, deviceId); edgeArmService.torqueOn(vo); return AjaxResult.ok(); } @@ -56,9 +56,9 @@ public class EdgeArmController { @ApiOperation("清除故障") @GetMapping("/clearFault") public AjaxResult clearFault( - @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { - EdgeCommonVO vo = commonVo(terminalId, deviceId); + EdgeCommonVO vo = commonVo(robotId, deviceId); edgeArmService.clearFault(vo); return AjaxResult.ok(); } @@ -137,9 +137,9 @@ public class EdgeArmController { @ApiOperation("停止运动") @GetMapping("/stopMotion") public AjaxResult stopMotion( - @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { - EdgeCommonVO vo = commonVo(terminalId, deviceId); + EdgeCommonVO vo = commonVo(robotId, deviceId); edgeArmService.stopMotion(vo); return AjaxResult.ok(); } @@ -147,9 +147,9 @@ public class EdgeArmController { @ApiOperation("获取关节状态") @GetMapping("/getJointState") public AjaxResult getJointState( - @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { - EdgeCommonVO vo = commonVo(terminalId, deviceId); + EdgeCommonVO vo = commonVo(robotId, deviceId); ArmCommand.JointResponse result = edgeArmService.getJointState(vo); ArmCommand.JointState state = result.getState(); @@ -167,11 +167,11 @@ public class EdgeArmController { @ApiOperation("获取末端位姿") @GetMapping("/getPose") public AjaxResult getPose( - @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId, @ApiParam("基座连杆名称") @RequestParam(value = "baseLink", required = false) String baseLink, @ApiParam("末端执行器连杆名称") @RequestParam(value = "eeLink", required = false) String eeLink) { - EdgeArmPoseQueryVO vo = poseQueryVo(terminalId, deviceId, baseLink, eeLink); + EdgeArmPoseQueryVO vo = poseQueryVo(robotId, deviceId, baseLink, eeLink); ArmCommand.GetPose.Response result = edgeArmService.getPose(vo, vo.getBaseLink(), vo.getEeLink()); ArmCommand.CartesianPose pose = result.getPose(); @@ -190,11 +190,11 @@ public class EdgeArmController { @ApiOperation("标定零点") @GetMapping("/calibrateZeroQ") public AjaxResult calibrateZeroQ( - @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId, @ApiParam(value = "关节名称", required = true) @RequestParam("jointName") String jointName) { EdgeArmCalibrateZeroQVO vo = new EdgeArmCalibrateZeroQVO(); - vo.setTerminalId(terminalId); + vo.setRobotId(robotId); vo.setDeviceId(deviceId); vo.setJointName(jointName); edgeArmService.calibrateZeroQ(vo, vo.getJointName()); @@ -204,11 +204,11 @@ public class EdgeArmController { @ApiOperation("获取位姿矩阵") @GetMapping("/getPoseMatrix") public AjaxResult getPoseMatrix( - @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId, @ApiParam("基座连杆名称") @RequestParam(value = "baseLink", required = false) String baseLink, @ApiParam("末端执行器连杆名称") @RequestParam(value = "eeLink", required = false) String eeLink) { - EdgeArmPoseQueryVO vo = poseQueryVo(terminalId, deviceId, baseLink, eeLink); + EdgeArmPoseQueryVO vo = poseQueryVo(robotId, deviceId, baseLink, eeLink); ArmCommand.GetPoseMatrix.Response result = edgeArmService.getPoseMatrix(vo, vo.getBaseLink(), vo.getEeLink()); // 将TransformMatrix4x4转换为Map ArmCommand.TransformMatrix4x4 matrix = result.getMatrix(); @@ -263,16 +263,16 @@ public class EdgeArmController { return AjaxResult.ok(matrixMap); } - private EdgeCommonVO commonVo(String terminalId, String deviceId) { + private EdgeCommonVO commonVo(String robotId, String deviceId) { EdgeCommonVO vo = new EdgeCommonVO(); - vo.setTerminalId(terminalId); + vo.setRobotId(robotId); vo.setDeviceId(deviceId); return vo; } - private EdgeArmPoseQueryVO poseQueryVo(String terminalId, String deviceId, String baseLink, String eeLink) { + private EdgeArmPoseQueryVO poseQueryVo(String robotId, String deviceId, String baseLink, String eeLink) { EdgeArmPoseQueryVO vo = new EdgeArmPoseQueryVO(); - vo.setTerminalId(terminalId); + vo.setRobotId(robotId); vo.setDeviceId(deviceId); vo.setBaseLink(baseLink); vo.setEeLink(eeLink); diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeCameraController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeCameraController.java index 30d127e..a589a19 100644 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeCameraController.java +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeCameraController.java @@ -35,45 +35,45 @@ public class EdgeCameraController extends BaseController { @ApiOperation("获取相机状态") @GetMapping("/status") public AjaxResult status( - @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { - EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId); + EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId); return success(JSON.toJSONString(edgeCameraService.status(edgeCommonVO))); } @ApiOperation("开启相机") @GetMapping("/start") public AjaxResult start( - @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { - EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId); + EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId); return success(edgeCameraService.start(edgeCommonVO)); } @ApiOperation("关闭相机") @GetMapping("/stop") public AjaxResult stop( - @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { - EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId); + EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId); return success(edgeCameraService.stop(edgeCommonVO)); } @ApiOperation("获取图片") @GetMapping("/getRGBImage") public AjaxResult getRGBImage( - @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { - EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId); + EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId); return success(edgeCameraService.getRGBImage(edgeCommonVO)); } @ApiOperation("Get one depth image") @GetMapping("/getDepthImage") public AjaxResult getDepthImage( - @RequestParam("terminalId") String terminalId, + @RequestParam("robotId") String robotId, @RequestParam("deviceId") String deviceId) { - return success(edgeCameraService.getDepthImage(commonVo(terminalId, deviceId))); + return success(edgeCameraService.getDepthImage(commonVo(robotId, deviceId))); } @ApiOperation("Control camera PTZ") @@ -85,9 +85,9 @@ public class EdgeCameraController extends BaseController { @ApiOperation("Get a short-lived RGB video stream URL") @GetMapping("/rgb-stream-url") public AjaxResult rgbStreamUrl( - @RequestParam("terminalId") String terminalId, + @RequestParam("robotId") String robotId, @RequestParam("deviceId") String deviceId) { - String ticket = cameraStreamTicketService.issue(terminalId, deviceId); + String ticket = cameraStreamTicketService.issue(robotId, deviceId); return success((Object) ("/api/edge/camera/rgb-stream?ticket=" + ticket)); } @@ -98,20 +98,20 @@ public class EdgeCameraController extends BaseController { if (target == null) { return ResponseEntity.status(HttpStatus.UNAUTHORIZED).build(); } - return videoStreamResponse(target.terminalId(), target.deviceId()); + return videoStreamResponse(target.robotId(), target.deviceId()); } @ApiOperation("Public RGB fragmented MP4 live stream") @GetMapping(value = "/rgb-stream/public", produces = "video/mp4") public ResponseEntity publicRgbStream( - @RequestParam("terminalId") String terminalId, + @RequestParam("robotId") String robotId, @RequestParam("deviceId") String deviceId) { - return videoStreamResponse(terminalId, deviceId); + return videoStreamResponse(robotId, deviceId); } - private ResponseEntity videoStreamResponse(String terminalId, String deviceId) { + private ResponseEntity videoStreamResponse(String robotId, String deviceId) { StreamingResponseBody body = outputStream -> edgeCameraService.writeRGBVideoStream( - terminalId, deviceId, outputStream); + robotId, deviceId, outputStream); return ResponseEntity.ok() .contentType(MediaType.parseMediaType("video/mp4")) .cacheControl(CacheControl.noStore()) @@ -123,33 +123,33 @@ public class EdgeCameraController extends BaseController { @ApiOperation("开始录制视频") @GetMapping("/startRecording") public AjaxResult startRecording( - @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { - EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId); + EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId); return success(edgeCameraService.startRecording(edgeCommonVO)); } @ApiOperation("停止录制视频") @GetMapping("/stopRecording") public AjaxResult stopRecording( - @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { - EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId); + EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId); return success(edgeCameraService.stopRecording(edgeCommonVO)); } @ApiOperation("获取图片和视频") @GetMapping("/getRGBDImages") public AjaxResult getRGBDImages( - @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam("robotId") String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { - EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId); + EdgeCommonVO edgeCommonVO = commonVo(robotId, deviceId); return success(edgeCameraService.getRGBDImages(edgeCommonVO)); } - private EdgeCommonVO commonVo(String terminalId, String deviceId) { + private EdgeCommonVO commonVo(String robotId, String deviceId) { EdgeCommonVO vo = new EdgeCommonVO(); - vo.setTerminalId(terminalId); + vo.setRobotId(robotId); vo.setDeviceId(deviceId); return vo; } diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeDexHandController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeDexHandController.java index 8049617..45ae956 100644 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeDexHandController.java +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeDexHandController.java @@ -25,9 +25,9 @@ public class EdgeDexHandController extends BaseController { @GetMapping("/status") public AjaxResult status( @RequestParam("deviceId") String deviceId, - @RequestParam("terminalId") String terminalId + @RequestParam("robotId") String robotId ) { - return success(JSON.parseObject(JSON.toJSONString(edgeDexHandService.getStatus(terminalId, deviceId)), Map.class)); + return success(JSON.parseObject(JSON.toJSONString(edgeDexHandService.getStatus(robotId, deviceId)), Map.class)); } @@ -35,11 +35,11 @@ public class EdgeDexHandController extends BaseController { @GetMapping("/angle") public AjaxResult setAngle( @RequestParam("deviceId") String deviceId, - @RequestParam("terminalId") String terminalId, + @RequestParam("robotId") String robotId, @RequestParam("id") int id, @RequestParam("value") float value ) { - edgeDexHandService.setDexHandAngle(terminalId, deviceId, id, value); + edgeDexHandService.setDexHandAngle(robotId, deviceId, id, value); return success("ok"); } @@ -48,8 +48,8 @@ public class EdgeDexHandController extends BaseController { @GetMapping("/sensor") public AjaxResult sensor( @RequestParam("deviceId") String deviceId, - @RequestParam("terminalId") String terminalId + @RequestParam("robotId") String robotId ) { - return success(JSON.parseObject(edgeDexHandService.getSensorData(terminalId, deviceId), Map.class)); + return success(JSON.parseObject(edgeDexHandService.getSensorData(robotId, deviceId), Map.class)); } } diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeMicrophoneController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeMicrophoneController.java index 4a86698..c2c2f8b 100644 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeMicrophoneController.java +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeMicrophoneController.java @@ -25,9 +25,9 @@ public class EdgeMicrophoneController { @ApiOperation("获取麦克风状态") @PreAuthorize("@ss.hasPermi('system:microphone:query')") @GetMapping("/status") - public AjaxResult getStatus(@ApiParam(value = "终端设备ID", required = true) @RequestParam String terminalId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) { + public AjaxResult getStatus(@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam String robotId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) { EdgeCommonVO edgeCommonVO = new EdgeCommonVO(); - edgeCommonVO.setTerminalId(terminalId); + edgeCommonVO.setRobotId(robotId); edgeCommonVO.setDeviceId(deviceId); return AjaxResult.success(microphoneService.getStatus(edgeCommonVO)); } @@ -75,9 +75,9 @@ public class EdgeMicrophoneController { @ApiOperation("获取音量") @PreAuthorize("@ss.hasPermi('system:microphone:volume')") @GetMapping("/volume") - public AjaxResult getVolume(@ApiParam(value = "终端设备ID", required = true) @RequestParam String terminalId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) { + public AjaxResult getVolume(@ApiParam(value = "机器人永久唯一ID", required = true) @RequestParam String robotId, @ApiParam (value = "设备ID", required = true) @RequestParam String deviceId) { EdgeCommonVO edgeCommonVO = new EdgeCommonVO(); - edgeCommonVO.setTerminalId(terminalId); + edgeCommonVO.setRobotId(robotId); edgeCommonVO.setDeviceId(deviceId); return AjaxResult.success(microphoneService.getVolume(edgeCommonVO)); } diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeSpeakerController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeSpeakerController.java index 8aa368f..01e1a77 100644 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeSpeakerController.java +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeSpeakerController.java @@ -33,13 +33,13 @@ public class EdgeSpeakerController { @PreAuthorize("@ss.hasPermi('system:speaker:query')") @GetMapping("/status") public AjaxResult getStatus( - @ApiParam(value = "终端设备ID", required = true) - @RequestParam String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) + @RequestParam String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam String deviceId) { try { // 获取扬声器状态 - SpeakerCommand.GetSpeakerStateCommand.Feedback feedback = speakerService.getStatus(terminalId, deviceId); + SpeakerCommand.GetSpeakerStateCommand.Feedback feedback = speakerService.getStatus(robotId, deviceId); SpeakerCommand.SpeakerState state = feedback.getState(); // 构建返回结果 @@ -73,7 +73,7 @@ public class EdgeSpeakerController { @PreAuthorize("@ss.hasPermi('system:speaker:play')") @PostMapping("/play") public AjaxResult playAudio(@RequestBody EdgeSpeakerPlayAudioVO edgeSpeakerPlayAudioVO) { - speakerService.playAudio(edgeSpeakerPlayAudioVO.getTerminalId(), edgeSpeakerPlayAudioVO.getDeviceId(), edgeSpeakerPlayAudioVO.getAudioPath()); + speakerService.playAudio(edgeSpeakerPlayAudioVO.getRobotId(), edgeSpeakerPlayAudioVO.getDeviceId(), edgeSpeakerPlayAudioVO.getAudioPath()); return AjaxResult.success(); } @@ -84,7 +84,7 @@ public class EdgeSpeakerController { @PreAuthorize("@ss.hasPermi('system:speaker:stop')") @PostMapping("/stop") public AjaxResult stopPlayback(@RequestBody EdgeCommonVO edgeCommonVO) { - speakerService.stopPlayback(edgeCommonVO.getTerminalId(), edgeCommonVO.getDeviceId()); + speakerService.stopPlayback(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId()); return AjaxResult.success(); } @@ -95,7 +95,7 @@ public class EdgeSpeakerController { @PreAuthorize("@ss.hasPermi('system:speaker:pause')") @PostMapping("/pause") public AjaxResult pausePlayback(@RequestBody EdgeCommonVO edgeCommonVO) { - speakerService.pausePlayback(edgeCommonVO.getTerminalId(), edgeCommonVO.getDeviceId()); + speakerService.pausePlayback(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId()); return AjaxResult.success(); } @@ -106,7 +106,7 @@ public class EdgeSpeakerController { @PreAuthorize("@ss.hasPermi('system:speaker:resume')") @PostMapping("/resume") public AjaxResult resumePlayback(@RequestBody EdgeCommonVO edgeCommonVO) { - speakerService.resumePlayback(edgeCommonVO.getTerminalId(), edgeCommonVO.getDeviceId()); + speakerService.resumePlayback(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId()); return AjaxResult.success(); } @@ -117,7 +117,7 @@ public class EdgeSpeakerController { @PreAuthorize("@ss.hasPermi('system:speaker:volume')") @PostMapping("/volume") public AjaxResult setVolume(@RequestBody EdgeMicrophoneVolumeVO edgeMicrophoneVolumeVO) { - speakerService.setVolume(edgeMicrophoneVolumeVO.getTerminalId(), edgeMicrophoneVolumeVO.getDeviceId(), edgeMicrophoneVolumeVO.getVolume()); + speakerService.setVolume(edgeMicrophoneVolumeVO.getRobotId(), edgeMicrophoneVolumeVO.getDeviceId(), edgeMicrophoneVolumeVO.getVolume()); return AjaxResult.success(); } @@ -128,11 +128,11 @@ public class EdgeSpeakerController { @PreAuthorize("@ss.hasPermi('system:speaker:volume')") @GetMapping("/volume") public AjaxResult getVolume( - @ApiParam(value = "终端设备ID", required = true) - @RequestParam String terminalId, + @ApiParam(value = "机器人永久唯一ID", required = true) + @RequestParam String robotId, @ApiParam(value = "设备ID", required = true) @RequestParam String deviceId) { - return AjaxResult.success(speakerService.getVolume(terminalId, deviceId)); + return AjaxResult.success(speakerService.getVolume(robotId, deviceId)); } @ApiOperation("获取所有音频") diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeSystemController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeSystemController.java index 35098c6..fd2906b 100644 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeSystemController.java +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeSystemController.java @@ -26,14 +26,14 @@ public class EdgeSystemController extends BaseController { @ApiOperation("Get edge system information") @GetMapping("/info") - public AjaxResult info(@RequestParam("terminalId") String terminalId) { - return success(JSON.toJSONString(edgeSystemService.getSystemInfo(terminalId))); + public AjaxResult info(@RequestParam("robotId") String robotId) { + return success(JSON.toJSONString(edgeSystemService.getSystemInfo(robotId))); } @ApiOperation("Get edge system runtime status") @GetMapping("/status") - public AjaxResult status(@RequestParam("terminalId") String terminalId) { - return success(JSON.toJSONString(edgeSystemService.getSystemStatus(terminalId))); + public AjaxResult status(@RequestParam("robotId") String robotId) { + return success(JSON.toJSONString(edgeSystemService.getSystemStatus(robotId))); } @ApiOperation("Update edge device parameters") @@ -50,7 +50,7 @@ public class EdgeSystemController extends BaseController { @ApiOperation("停止所有设备") @GetMapping("/stopAll") - public AjaxResult stopAll(@RequestParam("terminalId") String terminalId) { - return AjaxResult.ok(edgeSystemService.stopAll(terminalId)); + public AjaxResult stopAll(@RequestParam("robotId") String robotId) { + return AjaxResult.ok(edgeSystemService.stopAll(robotId)); } } diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java index 0c1f76a..72461fc 100644 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java @@ -70,6 +70,25 @@ public class InspectionRobotController extends BaseController return success(inspectionRobotService.selectInspectionRobotById(id)); } + @ApiOperation("查询机器人自动发现的设备") + @PreAuthorize("@ss.hasPermi('inspection:robot:query')") + @GetMapping("/{id}/devices") + public AjaxResult devices(@PathVariable("id") String id) + { + return success(inspectionRobotService.selectRobotDevices(id)); + } + + @ApiOperation("按机器人ID查询自动发现的设备") + @PreAuthorize("@ss.hasPermi('inspection:robot:query')") + @GetMapping("/devices") + public AjaxResult devicesByRobotId( + @RequestParam @ApiParam(value = "机器人永久唯一ID", required = true) String robotId, + @RequestParam(required = false) @ApiParam("设备类型") Integer deviceKind, + @RequestParam(defaultValue = "true") @ApiParam("是否只查询在线且启用的设备") boolean onlineOnly) + { + return success(inspectionRobotService.selectRobotDevicesByRobotId(robotId, deviceKind, onlineOnly)); + } + /** * 新增巡检机器人 */ diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowController.java index caa10c6..444f5c2 100644 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowController.java +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowController.java @@ -157,7 +157,7 @@ public class TeFlowController extends BaseController { @PostMapping("/action") @ApiOperation(value = "单个节点执行", - notes = "设备通用指令action=DEVICE_EXECUTE_JSON_COMMAND，payload需要terminalId、deviceId、requestJson；" + notes = "设备通用指令action=DEVICE_EXECUTE_JSON_COMMAND，payload需要robotId、deviceId、requestJson；" + "巡检仪表节点action=INSPECTION_METER_RECOGNIZE，payload使用InspectionMeterRecognizeConfigVO；" + "人工判断节点action=INSPECTION_MANUAL_REVIEW_CREATE，payload使用InspectionManualReviewConfigVO。" + "该接口用于试调节点，不会生成正式巡检任务结果") diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowiseController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowiseController.java index 2c23932..d1b168d 100644 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowiseController.java +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowiseController.java @@ -51,7 +51,7 @@ public class TeFlowiseController extends BaseController { runParams.put("5bb26d52e1861c6936f3c3149eaf17e8", runParams1); TeTaskExecuteNormalVO taskExecuteNormalVO = TeTaskExecuteNormalVO.builder() .taskId("b6ab5ffff783d9b25d0dc34f13be222d") - .terminalId("4ed1246c465b97975f96c9ef8371a3bd") + .robotId("4ed1246c465b97975f96c9ef8371a3bd") .runParams(JSONObject.from(runParams)).build(); if (!taskInstIdList.isEmpty()) { try { diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/service/CameraStreamTicketService.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/service/CameraStreamTicketService.java index 14b50fe..f7962d8 100644 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/service/CameraStreamTicketService.java +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/service/CameraStreamTicketService.java @@ -13,11 +13,11 @@ public class CameraStreamTicketService { private static final long TICKET_LIFETIME_MILLIS = Duration.ofSeconds(30).toMillis(); private final Map tickets = new ConcurrentHashMap<>(); - public String issue(String terminalId, String deviceId) { + public String issue(String robotId, String deviceId) { long now = System.currentTimeMillis(); tickets.entrySet().removeIf(entry -> entry.getValue().expiresAt() < now); String ticket = UUID.randomUUID().toString().replace("-", ""); - tickets.put(ticket, new StreamTarget(terminalId, deviceId, now + TICKET_LIFETIME_MILLIS)); + tickets.put(ticket, new StreamTarget(robotId, deviceId, now + TICKET_LIFETIME_MILLIS)); return ticket; } @@ -33,6 +33,6 @@ public class CameraStreamTicketService { return target; } - public record StreamTarget(String terminalId, String deviceId, long expiresAt) { + public record StreamTarget(String robotId, String deviceId, long expiresAt) { } } diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/adapter/RobotAudioGrpcAdapter.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/adapter/RobotAudioGrpcAdapter.java index 0215f25..80d9957 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/adapter/RobotAudioGrpcAdapter.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/adapter/RobotAudioGrpcAdapter.java @@ -62,33 +62,33 @@ public class RobotAudioGrpcAdapter { private final GrpcServiceManager grpcServiceManager; private final ConcurrentMap streams = new ConcurrentHashMap<>(); - public RobotAudioStream openStream(String terminalId, + public RobotAudioStream openStream(String robotId, String deviceId, String sessionId, String operatorId, RobotAudioStreamListener listener) { - return openStream(terminalId, deviceId, deviceId, sessionId, operatorId, listener); + return openStream(robotId, deviceId, deviceId, sessionId, operatorId, listener); } - public RobotAudioStream openStream(String terminalId, + public RobotAudioStream openStream(String robotId, String speakerDeviceId, String micDeviceId, String sessionId, String operatorId, RobotAudioStreamListener listener) { SpeakerServiceGrpc.SpeakerServiceStub speakerStub = - grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceStub.class); + grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceStub.class); MicPhoneServiceGrpc.MicPhoneServiceStub micStub = - grpcServiceManager.getGrpcClient(terminalId, MicPhoneServiceGrpc.MicPhoneServiceStub.class); + grpcServiceManager.getGrpcClient(robotId, MicPhoneServiceGrpc.MicPhoneServiceStub.class); SpeakerServiceGrpc.SpeakerServiceBlockingStub speakerBlockingStub = - grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class); + grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class); MicPhoneServiceGrpc.MicPhoneServiceBlockingStub micBlockingStub = - grpcServiceManager.getGrpcClient(terminalId, MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class); + grpcServiceManager.getGrpcClient(robotId, MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class); preflightDeviceStatus(speakerBlockingStub, micBlockingStub, speakerDeviceId, micDeviceId, sessionId); RobotAudioStream stream = new RobotAudioStream( - terminalId, speakerDeviceId, micDeviceId, sessionId, operatorId, speakerStub, micStub, listener); + robotId, speakerDeviceId, micDeviceId, sessionId, operatorId, speakerStub, micStub, listener); RobotAudioStream exists = streams.putIfAbsent(sessionId, stream); if (exists != null) { throw new IllegalStateException("实时语音会话已存在：" + sessionId); @@ -96,8 +96,8 @@ public class RobotAudioGrpcAdapter { try { stream.start(); - log.info("实时对讲 gRPC 流已创建，sessionId={}，terminalId={}，speakerDeviceId={}，micDeviceId={}，operatorId={}，sampleRate={}，channels={}，bits={}，frameMs={}，frameBytes={}", - sessionId, terminalId, speakerDeviceId, micDeviceId, operatorId, SAMPLE_RATE, CHANNELS, BITS_PER_SAMPLE, FRAME_MS, FRAME_BYTES); + log.info("实时对讲 gRPC 流已创建，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}，operatorId={}，sampleRate={}，channels={}，bits={}，frameMs={}，frameBytes={}", + sessionId, robotId, speakerDeviceId, micDeviceId, operatorId, SAMPLE_RATE, CHANNELS, BITS_PER_SAMPLE, FRAME_MS, FRAME_BYTES); return stream; } catch (RuntimeException e) { streams.remove(sessionId, stream); @@ -163,7 +163,7 @@ public class RobotAudioGrpcAdapter { } public class RobotAudioStream { - private final String terminalId; + private final String robotId; private final String speakerDeviceId; private final String micDeviceId; private final String sessionId; @@ -190,7 +190,7 @@ public class RobotAudioGrpcAdapter { private volatile long lastStatsLogAt; private volatile byte[] pendingBrowserBytes = new byte[0]; - private RobotAudioStream(String terminalId, + private RobotAudioStream(String robotId, String speakerDeviceId, String micDeviceId, String sessionId, @@ -198,7 +198,7 @@ public class RobotAudioGrpcAdapter { SpeakerServiceGrpc.SpeakerServiceStub speakerStub, MicPhoneServiceGrpc.MicPhoneServiceStub micStub, RobotAudioStreamListener listener) { - this.terminalId = terminalId; + this.robotId = robotId; this.speakerDeviceId = speakerDeviceId; this.micDeviceId = micDeviceId; this.sessionId = sessionId; @@ -365,8 +365,8 @@ public class RobotAudioGrpcAdapter { return sessionId; } - public String getTerminalId() { - return terminalId; + public String getRobotId() { + return robotId; } public String getDeviceId() { @@ -639,8 +639,8 @@ public class RobotAudioGrpcAdapter { return; } Throwable actual = throwable == null ? new RuntimeException("audio stream failed") : throwable; - log.error("实时对讲 gRPC 流异常，source={}，sessionId={}，terminalId={}，speakerDeviceId={}，micDeviceId={}", - source, sessionId, terminalId, speakerDeviceId, micDeviceId, actual); + log.error("实时对讲 gRPC 流异常，source={}，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}", + source, sessionId, robotId, speakerDeviceId, micDeviceId, actual); sendExecutor.execute(new Runnable() { @Override public void run() { @@ -660,7 +660,7 @@ public class RobotAudioGrpcAdapter { if (!closed.compareAndSet(false, true)) { return; } - log.info("实时对讲 gRPC 流远端结束，sessionId={}，terminalId={}，speakerDeviceId={}，micDeviceId={}", sessionId, terminalId, speakerDeviceId, micDeviceId); + log.info("实时对讲 gRPC 流远端结束，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}", sessionId, robotId, speakerDeviceId, micDeviceId); sendExecutor.execute(new Runnable() { @Override public void run() { diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcChannelCache.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcChannelCache.java index af264c1..6902ad8 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcChannelCache.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcChannelCache.java @@ -14,7 +14,7 @@ import java.util.function.Function; public class GrpcChannelCache { private final long ttlSeconds; // 通道存活时间（秒） - private final Map channelMap = new ConcurrentHashMap<>(); // 设备 ID -> 通道包装器 + private final Map channelMap = new ConcurrentHashMap<>(); // 机器人 ID -> 通道包装器 public GrpcChannelCache(long ttlSeconds) { this.ttlSeconds = ttlSeconds; @@ -23,11 +23,11 @@ public class GrpcChannelCache { /** * 获取通道：存在则刷新时间，过期则重建，不存在则创建 */ - public ManagedChannel get(String terminalId, Function supplier) { - return channelMap.compute(terminalId, (k, v) -> { + public ManagedChannel get(String robotId, Function supplier) { + return channelMap.compute(robotId, (k, v) -> { if (v == null || v.isExpired(ttlSeconds)) { // 为空或过期时重建 if (v != null) v.close(); // 关闭旧通道 - return new ChannelWrapper(supplier.apply(terminalId)); // 创建新通道包装器 + return new ChannelWrapper(supplier.apply(robotId)); // 创建新通道包装器 } else { v.refresh(); // 更新最后访问时间 return v; @@ -50,11 +50,11 @@ public class GrpcChannelCache { } /** - * 终端主动上报的gRPC地址发生变化时立即关闭旧通道。 + * 机器人主动上报的gRPC地址发生变化时立即关闭旧通道。 * 下一次业务调用仍通过原有supplier创建ManagedChannel。 */ - public void invalidate(String terminalId) { - ChannelWrapper wrapper = channelMap.remove(terminalId); + public void invalidate(String robotId) { + ChannelWrapper wrapper = channelMap.remove(robotId); if (wrapper != null) { wrapper.close(); } diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java index 945a9d3..7d8ac7e 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java @@ -2,9 +2,8 @@ package com.cmvr.edge.client.manage; import cmvr.api.*; import cmvr.api.armteleop.v1.ArmTeleopServiceGrpc; -import cn.hutool.core.util.ObjUtil; -import com.cmvr.device.domain.DeDeviceTerminalConfig; -import com.cmvr.device.service.IDeDeviceTerminalConfigService; +import com.cmvr.common.robot.RobotEndpoint; +import com.cmvr.common.robot.RobotEndpointResolver; import io.grpc.ManagedChannel; import io.grpc.ManagedChannelBuilder; import lombok.RequiredArgsConstructor; @@ -25,7 +24,7 @@ import java.util.function.Function; @RequiredArgsConstructor public class GrpcServiceManager { - private final IDeDeviceTerminalConfigService deviceTerminalConfigService; + private final RobotEndpointResolver robotEndpointResolver; @Value("${grpc.client.grpc-server.address}") private String DEFAULT_GRPC_ADDRESS; @@ -73,8 +72,8 @@ public class GrpcServiceManager { * 获取 gRPC 客户端 Stub */ @SuppressWarnings("unchecked") - public T getGrpcClient(String terminalId, Class serviceClass) { - ManagedChannel channel = grpcChannelCache.get(terminalId, this::createChannel); + public T getGrpcClient(String robotId, Class serviceClass) { + ManagedChannel channel = grpcChannelCache.get(robotId, this::createChannel); GrpcClientFactory factory = (GrpcClientFactory) clientFactories.get(serviceClass); if (factory == null) { @@ -87,8 +86,8 @@ public class GrpcServiceManager { /** * 创建gRPC通道 */ - private ManagedChannel createChannel(String terminalId) { - InetSocketAddress endpoint = getGrpcServiceEndpoint(terminalId); + private ManagedChannel createChannel(String robotId) { + InetSocketAddress endpoint = getGrpcServiceEndpoint(robotId); return ManagedChannelBuilder.forAddress(endpoint.getHostString(), endpoint.getPort()) .usePlaintext() .maxInboundMessageSize(50 * 1024 * 1024) // 50MB @@ -98,12 +97,9 @@ public class GrpcServiceManager { /** * 获取终端地址 */ - private InetSocketAddress getGrpcServiceEndpoint(String terminalId) { - DeDeviceTerminalConfig terminal = deviceTerminalConfigService.selectDeDeviceTerminalConfigById(terminalId); - if (ObjUtil.isEmpty(terminal)) { - return parseGrpcAddress(DEFAULT_GRPC_ADDRESS); - } - return createEndpoint(terminal.getHost(), terminal.getPort(), "终端 " + terminalId); + private InetSocketAddress getGrpcServiceEndpoint(String robotId) { + RobotEndpoint endpoint = robotEndpointResolver.resolve(robotId); + return createEndpoint(endpoint.host(), (long) endpoint.port(), "机器人 " + robotId); } /** @@ -172,8 +168,8 @@ public class GrpcServiceManager { } /** QUIC发现终端地址变化后，使指定终端的旧gRPC通道立即失效。 */ - public void invalidateTerminal(String terminalId) { - grpcChannelCache.invalidate(terminalId); + public void invalidateRobot(String robotId) { + grpcChannelCache.invalidate(robotId); } /** diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/EdgeCommonVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/EdgeCommonVO.java index 0f35058..292ad03 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/EdgeCommonVO.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/EdgeCommonVO.java @@ -10,9 +10,9 @@ import jakarta.validation.constraints.NotEmpty; @ApiModel("边缘系统通用VO") public class EdgeCommonVO { - @ApiModelProperty("终端ID") - @NotEmpty(message = "终端ID不能为空") - private String terminalId; + @ApiModelProperty("机器人ID") + @NotEmpty(message = "机器人ID不能为空") + private String robotId; @ApiModelProperty("设备ID") @NotEmpty(message = "设备ID不能为空") diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopOpenVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopOpenVO.java index c9d4a50..7a827f7 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopOpenVO.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopOpenVO.java @@ -6,11 +6,10 @@ import java.util.List; @Data public class EdgeArmTeleopOpenVO { - private String terminalId; + private String robotId; private Integer protocolMajor; private Integer protocolMinor; private String clientInstanceId; - private String robotId; private String modelSha256; private String calibrationSha256; private List jointNames; diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/quic/QuicGatewayNodeSyncService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/quic/QuicGatewayNodeSyncService.java deleted file mode 100644 index 5ee3cec..0000000 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/quic/QuicGatewayNodeSyncService.java +++ /dev/null @@ -1,224 +0,0 @@ -package com.cmvr.edge.client.quic; - -import com.cmvr.device.domain.DeDeviceTerminalConfig; -import com.cmvr.device.service.IDeDeviceTerminalConfigService; -import com.cmvr.edge.client.manage.GrpcServiceManager; -import com.cmvr.quic.contract.QuicEventBus; -import com.cmvr.quic.gateway.v1.NodeEvent; -import com.cmvr.quic.gateway.v1.NodeEventType; -import com.cmvr.quic.gateway.v1.NodeSnapshot; -import jakarta.annotation.PostConstruct; -import jakarta.annotation.PreDestroy; -import lombok.RequiredArgsConstructor; -import org.slf4j.Logger; -import org.slf4j.LoggerFactory; -import org.springframework.beans.factory.annotation.Value; -import org.springframework.stereotype.Service; - -import java.util.Date; -import java.util.Map; -import java.util.Set; -import java.util.concurrent.ConcurrentHashMap; -import java.util.concurrent.ExecutorService; -import java.util.concurrent.Executors; -import java.util.concurrent.RejectedExecutionException; -import java.util.concurrent.ThreadFactory; -import java.util.concurrent.TimeUnit; -import java.util.concurrent.atomic.AtomicBoolean; - -/** 直接订阅进程内 QUIC 节点事件，并同步已绑定终端的运行状态和 gRPC 地址。 */ -@Service -@RequiredArgsConstructor -public class QuicGatewayNodeSyncService { - - private static final Logger log = LoggerFactory.getLogger(QuicGatewayNodeSyncService.class); - private static final long HEARTBEAT_PERSIST_INTERVAL_MS = 15000L; - - private final IDeDeviceTerminalConfigService terminalConfigService; - private final GrpcServiceManager grpcServiceManager; - private final QuicEventBus quicEventBus; - - @Value("${cmvr.quic.enabled:false}") - private boolean enabled; - - /** observed-source 使用 QUIC 来源 IP；advertised 使用节点主动上报的 gRPC host。 */ - @Value("${cmvr.quic.grpc-host-source:observed-source}") - private String grpcHostSource; - - private final AtomicBoolean stopping = new AtomicBoolean(false); - private final AtomicBoolean grpcHostSourceWarningLogged = new AtomicBoolean(false); - private final Set unknownNodes = ConcurrentHashMap.newKeySet(); - private final Set grpcAddressMismatchNodes = ConcurrentHashMap.newKeySet(); - private final ConcurrentHashMap lastPersistedAt = new ConcurrentHashMap(); - private final ConcurrentHashMap synchronizedTerminals = - new ConcurrentHashMap(); - private ExecutorService eventExecutor; - private QuicEventBus.Subscription subscription; - - @PostConstruct - public void start() { - if (!enabled) { - log.info("QUIC 节点状态同步未启用"); - return; - } - eventExecutor = Executors.newSingleThreadExecutor(new ThreadFactory() { - @Override - public Thread newThread(Runnable runnable) { - Thread thread = new Thread(runnable, "quic-node-sync"); - thread.setDaemon(true); - return thread; - } - }); - subscription = quicEventBus.watchNodes(true, this::enqueueEvent); - log.info("已通过进程内事件总线订阅 QUIC 节点事件"); - } - - private void enqueueEvent(final NodeEvent event) { - ExecutorService executor = eventExecutor; - if (stopping.get() || executor == null) { - return; - } - try { - executor.execute(new Runnable() { - @Override - public void run() { - handleEventSafely(event); - } - }); - } catch (RejectedExecutionException ignored) { - if (!stopping.get()) { - log.warn("QUIC 节点事件线程已停止，忽略事件，nodeId={}", event.getNode().getNodeId()); - } - } - } - - private void handleEventSafely(NodeEvent event) { - try { - syncNode(event); - } catch (RuntimeException error) { - log.error("同步 QUIC 终端状态失败，nodeId={}，eventType={}", - event.getNode().getNodeId(), event.getType(), error); - } - } - - private void syncNode(NodeEvent event) { - NodeSnapshot node = event.getNode(); - if (node.getNodeId().isEmpty()) { - return; - } - DeDeviceTerminalConfig terminal = terminalConfigService.selectByQuicNodeId(node.getNodeId()); - if (terminal == null) { - if (unknownNodes.add(node.getNodeId())) { - log.warn("QUIC 节点尚未绑定平台终端，忽略运行状态同步，nodeId={}，remoteIp={}", - node.getNodeId(), node.getObservedSourceIp()); - } - return; - } - unknownNodes.remove(node.getNodeId()); - - boolean offline = event.getType() == NodeEventType.NODE_EVENT_TYPE_OFFLINE || !node.getOnline(); - if (offline) { - synchronizedTerminals.remove(node.getNodeId()); - } else { - synchronizedTerminals.put(node.getNodeId(), terminal.getId()); - } - String grpcHost = offline ? null : resolveGrpcHost(node); - Long grpcPort = offline || node.getGrpcEndpoint().getPort() == 0 - ? null : Long.valueOf(node.getGrpcEndpoint().getPort()); - boolean endpointChanged = !offline && grpcHost != null && grpcPort != null - && (!grpcHost.equals(terminal.getHost()) || !grpcPort.equals(terminal.getPort())); - long now = System.currentTimeMillis(); - Long previousPersisted = lastPersistedAt.get(node.getNodeId()); - boolean immediate = event.getType() == NodeEventType.NODE_EVENT_TYPE_REGISTERED - || event.getType() == NodeEventType.NODE_EVENT_TYPE_OFFLINE || endpointChanged; - if (!immediate && previousPersisted != null - && now - previousPersisted.longValue() < HEARTBEAT_PERSIST_INTERVAL_MS) { - return; - } - - terminalConfigService.updateQuicRuntimeState(terminal.getId(), grpcHost, grpcPort, - node.getObservedSourceIp(), node.getSessionId(), node.getBootId(), - node.getSoftwareVersion(), offline ? "0" : "1", - new Date(event.getEventTimeUnixMs() == 0 ? now : event.getEventTimeUnixMs())); - lastPersistedAt.put(node.getNodeId(), now); - if (offline) { - lastPersistedAt.remove(node.getNodeId()); - } - if (endpointChanged || offline) { - grpcServiceManager.invalidateTerminal(terminal.getId()); - } - log.info("QUIC 终端状态已同步，terminalId={}，nodeId={}，online={}，grpc={}:{}", - terminal.getId(), node.getNodeId(), !offline, - grpcHost == null ? terminal.getHost() : grpcHost, - grpcPort == null ? terminal.getPort() : grpcPort); - } - - private String resolveGrpcHost(NodeSnapshot node) { - String advertisedHost = emptyToNull(node.getGrpcEndpoint().getHost()); - if ("advertised".equalsIgnoreCase(grpcHostSource)) { - return advertisedHost; - } - if (!"observed-source".equalsIgnoreCase(grpcHostSource) - && grpcHostSourceWarningLogged.compareAndSet(false, true)) { - log.warn("未知的 QUIC gRPC 地址来源配置，按 observed-source 处理，value={}", grpcHostSource); - } - String observedHost = emptyToNull(node.getObservedSourceIp()); - if (observedHost == null) { - log.warn("QUIC 节点缺少来源 IP，回退到节点上报地址，nodeId={}，advertisedHost={}", - node.getNodeId(), advertisedHost); - return advertisedHost; - } - if (advertisedHost != null && !observedHost.equals(advertisedHost) - && grpcAddressMismatchNodes.add(node.getNodeId())) { - log.info("QUIC 节点上报的 gRPC 地址与来源 IP 不同，使用来源 IP，nodeId={}，" - + "observedHost={}，advertisedHost={}", - node.getNodeId(), observedHost, advertisedHost); - } else if (observedHost.equals(advertisedHost)) { - grpcAddressMismatchNodes.remove(node.getNodeId()); - } - return observedHost; - } - - private void markSynchronizedTerminalsOffline() { - for (Map.Entry entry : synchronizedTerminals.entrySet()) { - try { - terminalConfigService.updateQuicRuntimeState(entry.getValue(), null, null, - null, null, null, null, "0", new Date()); - grpcServiceManager.invalidateTerminal(entry.getValue()); - } catch (RuntimeException error) { - log.error("标记 QUIC 终端离线失败，nodeId={}，terminalId={}", - entry.getKey(), entry.getValue(), error); - } - } - synchronizedTerminals.clear(); - lastPersistedAt.clear(); - } - - private static String emptyToNull(String value) { - return value == null || value.trim().isEmpty() ? null : value.trim(); - } - - @PreDestroy - public void stop() { - if (!stopping.compareAndSet(false, true)) { - return; - } - QuicEventBus.Subscription currentSubscription = subscription; - if (currentSubscription != null) { - currentSubscription.close(); - } - ExecutorService executor = eventExecutor; - if (executor != null) { - executor.shutdown(); - try { - if (!executor.awaitTermination(5, TimeUnit.SECONDS)) { - executor.shutdownNow(); - } - } catch (InterruptedException interrupted) { - executor.shutdownNow(); - Thread.currentThread().interrupt(); - } - } - markSynchronizedTerminalsOffline(); - } -} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/AudioService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/AudioService.java index c2cbe20..d9ff396 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/AudioService.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/AudioService.java @@ -176,7 +176,7 @@ public class AudioService implements RobotAudioStreamListener { } private void handleJoin(WebSocketSession webSocketSession, JsonNode jsonNode) { - String terminalId = getText(jsonNode, "terminalId"); + String robotId = getText(jsonNode, "robotId"); String deviceId = getText(jsonNode, "deviceId"); String speakerDeviceId = getText(jsonNode, "speakerDeviceId"); String micDeviceId = getText(jsonNode, "micDeviceId"); @@ -190,8 +190,8 @@ public class AudioService implements RobotAudioStreamListener { micDeviceId = deviceId; } - if (terminalId == null || speakerDeviceId == null || micDeviceId == null) { - sendError(webSocketSession, sessionId, "terminalId、speakerDeviceId、micDeviceId不能为空"); + if (robotId == null || speakerDeviceId == null || micDeviceId == null) { + sendError(webSocketSession, sessionId, "robotId、speakerDeviceId、micDeviceId不能为空"); return; } if (deviceId == null) { @@ -213,7 +213,7 @@ public class AudioService implements RobotAudioStreamListener { AudioSession session = new AudioSession(); session.sessionId = sessionId; - session.terminalId = terminalId; + session.robotId = robotId; session.deviceId = deviceId; session.speakerDeviceId = speakerDeviceId; session.micDeviceId = micDeviceId; @@ -228,7 +228,7 @@ public class AudioService implements RobotAudioStreamListener { sessionMap.put(sessionId, session); webSocketSessionMap.put(webSocketSession.getId(), sessionId); try { - session.robotStream = robotAudioGrpcAdapter.openStream(terminalId, speakerDeviceId, micDeviceId, sessionId, operatorId, this); + session.robotStream = robotAudioGrpcAdapter.openStream(robotId, speakerDeviceId, micDeviceId, sessionId, operatorId, this); } catch (Exception e) { sessionMap.remove(sessionId); webSocketSessionMap.remove(webSocketSession.getId()); @@ -236,7 +236,7 @@ public class AudioService implements RobotAudioStreamListener { throw e; } sendState(session, "joined"); - log.info("实时语音会话创建成功，sessionId={}，terminalId={}，speakerDeviceId={}，micDeviceId={}", sessionId, terminalId, speakerDeviceId, micDeviceId); + log.info("实时语音会话创建成功，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}", sessionId, robotId, speakerDeviceId, micDeviceId); } catch (Exception e) { log.error("创建实时语音会话失败，sessionId={}", sessionId, e); sendError(webSocketSession, sessionId, "创建实时语音会话失败：" + e.getMessage()); @@ -347,8 +347,8 @@ public class AudioService implements RobotAudioStreamListener { continue; } if (now - session.lastRobotHeartbeatAt > ROBOT_HEARTBEAT_TIMEOUT_MS) { - log.warn("机器人心跳超时，sessionId={}，terminalId={}，speakerDeviceId={}，micDeviceId={}", - session.sessionId, session.terminalId, session.speakerDeviceId, session.micDeviceId); + log.warn("机器人心跳超时，sessionId={}，robotId={}，speakerDeviceId={}，micDeviceId={}", + session.sessionId, session.robotId, session.speakerDeviceId, session.micDeviceId); // 先从业务会话表摘除，避免 cancel/close 触发的异步回调再次进入同一个会话并重复关闭 native 对象。 iterator.remove(); session.state = AudioSessionState.ROBOT_OFFLINE; @@ -466,7 +466,7 @@ public class AudioService implements RobotAudioStreamListener { private void sendState(AudioSession session, String type) { ObjectNode event = baseMessage(type, session.sessionId); - event.put("terminalId", session.terminalId); + event.put("robotId", session.robotId); event.put("deviceId", session.deviceId); event.put("speakerDeviceId", session.speakerDeviceId); event.put("micDeviceId", session.micDeviceId); @@ -705,7 +705,7 @@ public class AudioService implements RobotAudioStreamListener { */ private static class AudioSession { private String sessionId; - private String terminalId; + private String robotId; private String deviceId; private String speakerDeviceId; private String micDeviceId; diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeArmService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeArmService.java index 0ff6581..bba3760 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeArmService.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeArmService.java @@ -33,7 +33,7 @@ public interface EdgeArmService { /** * 清除机械臂故障状态。 * - * @param edgeCommonVO 边缘设备通用参数，包含 terminalId 和 deviceId + * @param edgeCommonVO 边缘设备通用参数，包含 robotId 和 deviceId * @return 机器人终端返回的通用反馈 */ Common.CommandHeader.Feedback clearFault(EdgeCommonVO edgeCommonVO); diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeBioHeadService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeBioHeadService.java index 2c5adac..d226a81 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeBioHeadService.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeBioHeadService.java @@ -37,6 +37,6 @@ public interface EdgeBioHeadService { /** * 表情 */ - public String specialExpression(String terminalId,String deviceId,Integer expressKey); + public String specialExpression(String robotId,String deviceId,Integer expressKey); } diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeCameraService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeCameraService.java index 7628997..c0a91ea 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeCameraService.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeCameraService.java @@ -58,9 +58,9 @@ public interface EdgeCameraService { StreamObserver getRGBImageStream(EdgeCommonVO edgeCommonVO); - StreamObserver getRGBImageStream(String terminalId, String deviceId); + StreamObserver getRGBImageStream(String robotId, String deviceId); - void writeRGBVideoStream(String terminalId, String deviceId, OutputStream outputStream); + void writeRGBVideoStream(String robotId, String deviceId, OutputStream outputStream); void getDepthImageStream(EdgeCommonVO edgeCommonVO); void getRGBDImagesStream(EdgeCommonVO edgeCommonVO); diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeDexHandService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeDexHandService.java index 08fa7e4..b5c29c8 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeDexHandService.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeDexHandService.java @@ -8,12 +8,12 @@ import io.grpc.stub.StreamObserver; */ public interface EdgeDexHandService { // 基本控制 - DexhandCommand.DexHandState getStatus(String terminalId, String deviceId); - void setDexHandPos(String terminalId, String deviceId); - void setDexHandAngle(String terminalId, String deviceId, int id, float value) ; - void setDexHandForce(String terminalId, String deviceId) ; - void setDexHandSpeed(String terminalId, String deviceId) ; - void setDexHandPresetAct(String terminalId, String deviceId); - String getSensorData(String terminalId, String deviceId) ; - StreamObserver getSensorDataStream(String terminalId, String deviceId) ; + DexhandCommand.DexHandState getStatus(String robotId, String deviceId); + void setDexHandPos(String robotId, String deviceId); + void setDexHandAngle(String robotId, String deviceId, int id, float value) ; + void setDexHandForce(String robotId, String deviceId) ; + void setDexHandSpeed(String robotId, String deviceId) ; + void setDexHandPresetAct(String robotId, String deviceId); + String getSensorData(String robotId, String deviceId) ; + StreamObserver getSensorDataStream(String robotId, String deviceId) ; } diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeHlcService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeHlcService.java index dac8ac5..26fc98d 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeHlcService.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeHlcService.java @@ -9,7 +9,7 @@ public interface EdgeHlcService { /** * 触控 */ - public String touch(File image, String terminalId, String deviceId, int x, int y, double maxForce); + public String touch(File image, String robotId, String deviceId, int x, int y, double maxForce); /** * 图片标注 diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeSpeakerService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeSpeakerService.java index 485d8c3..80fdc4b 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeSpeakerService.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeSpeakerService.java @@ -14,75 +14,75 @@ public interface EdgeSpeakerService { * 获取扬声器当前状态 * 通过gRPC调用获取扬声器的运行状态，包括是否正在播放、音量等信息 * - * @param terminalId 终端设备ID + * @param robotId 机器人永久唯一ID * @param deviceId 设备ID * @return SpeakerState 返回扬声器的当前状态 * @throws RuntimeException 当gRPC调用失败时抛出异常 */ - SpeakerCommand.GetSpeakerStateCommand.Feedback getStatus(String terminalId, String deviceId); + SpeakerCommand.GetSpeakerStateCommand.Feedback getStatus(String robotId, String deviceId); /** * 播放音频文件 * 通过gRPC调用播放指定路径的音频文件 * - * @param terminalId 终端设备ID + * @param robotId 机器人永久唯一ID * @param deviceId 设备ID * @param audioPath 音频文件的路径 * @throws RuntimeException 当gRPC调用失败时抛出异常 */ - String playAudio(String terminalId, String deviceId, String audioPath); + String playAudio(String robotId, String deviceId, String audioPath); /** * 停止当前播放 * 通过gRPC调用停止扬声器的当前播放 * - * @param terminalId 终端设备ID + * @param robotId 机器人永久唯一ID * @param deviceId 设备ID * @throws RuntimeException 当gRPC调用失败时抛出异常 */ - void stopPlayback(String terminalId, String deviceId); + void stopPlayback(String robotId, String deviceId); /** * 暂停当前播放 * 通过gRPC调用暂停扬声器的当前播放 * - * @param terminalId 终端设备ID + * @param robotId 机器人永久唯一ID * @param deviceId 设备ID * @throws RuntimeException 当gRPC调用失败时抛出异常 */ - void pausePlayback(String terminalId, String deviceId); + void pausePlayback(String robotId, String deviceId); /** * 恢复暂停的播放 * 通过gRPC调用恢复扬声器之前暂停的播放 * - * @param terminalId 终端设备ID + * @param robotId 机器人永久唯一ID * @param deviceId 设备ID * @throws RuntimeException 当gRPC调用失败时抛出异常 */ - void resumePlayback(String terminalId, String deviceId); + void resumePlayback(String robotId, String deviceId); /** * 设置扬声器音量 * 通过gRPC调用设置扬声器的音量大小 * - * @param terminalId 终端设备ID + * @param robotId 机器人永久唯一ID * @param deviceId 设备ID * @param volume 音量大小（0-100） * @throws RuntimeException 当gRPC调用失败时抛出异常 */ - void setVolume(String terminalId, String deviceId, int volume); + void setVolume(String robotId, String deviceId, int volume); /** * 获取当前音量 * 通过gRPC调用获取扬声器的当前音量大小 * - * @param terminalId 终端设备ID + * @param robotId 机器人永久唯一ID * @param deviceId 设备ID * @return int 返回当前音量大小（0-100） * @throws RuntimeException 当gRPC调用失败时抛出异常 */ - int getVolume(String terminalId, String deviceId); + int getVolume(String robotId, String deviceId); /** * 获取所有音频文件 diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeSystemService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeSystemService.java index 261aea1..6042306 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeSystemService.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeSystemService.java @@ -12,20 +12,20 @@ import java.util.List; * 边缘系统服务接口 */ public interface EdgeSystemService { - SystemCommand.GetSystemInfoCommand.Feedback getSystemInfo(String terminalId); + SystemCommand.GetSystemInfoCommand.Feedback getSystemInfo(String robotId); /** * 获取系统状态 * @return 系统状态信息，包含CPU使用率、内存使用情况、磁盘使用情况和设备列表 */ - SystemCommand.GetSystemStatusCommand.Feedback getSystemStatus(String terminalId); + SystemCommand.GetSystemStatusCommand.Feedback getSystemStatus(String robotId); Common.CommandHeader.Feedback updateParams(EdgeSystemUpdateParamsVO request); Common.JsonDeviceCommand.Feedback executeJsonCommand(EdgeSystemJsonCommandVO request); - public List deviceList(String terminalId); + public List deviceList(String robotId); - public String stopAll(String terminalId); + public String stopAll(String robotId); } diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java index 2bb3364..20dc611 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java @@ -32,7 +32,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { @Override public AgvUtils.AgvRuntimeState getRuntimeState(EdgeCommonVO edgeCommonVO) { AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); AgvCommand.AgvRuntimeStateCommand.Request request = AgvCommand.AgvRuntimeStateCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .build(); @@ -42,7 +42,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { @Override public AgvUtils.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO) { AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); AgvCommand.AgvNavigationStatusCommand.Request request = AgvCommand.AgvNavigationStatusCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .build(); @@ -52,7 +52,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { @Override public void emergencyStop(EdgeCommonVO edgeCommonVO) { AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()); executeGrpcCall(() -> stub.emergencyStop(request)); } @@ -60,7 +60,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { @Override public void clearFault(EdgeCommonVO edgeCommonVO) { AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()); executeGrpcCall(() -> stub.clearFault(request)); } @@ -72,7 +72,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { } AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); AgvCommand.AgvNavigateToPoseCommand.Request request = AgvCommand.AgvNavigateToPoseCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .setPose(pose) @@ -87,7 +87,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { } AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); AgvCommand.AgvNavigateToStationCommand.Request request = AgvCommand.AgvNavigateToStationCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .setStationId(stationId) @@ -102,7 +102,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { } AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); AgvCommand.AgvFollowPathCommand.Request request = AgvCommand.AgvFollowPathCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .addAllPath(pathSegments) @@ -113,7 +113,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { @Override public void pauseNavigation(EdgeCommonVO edgeCommonVO) { AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()); executeGrpcCall(() -> stub.pauseNavigation(request)); } @@ -121,7 +121,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { @Override public void resumeNavigation(EdgeCommonVO edgeCommonVO) { AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()); executeGrpcCall(() -> stub.resumeNavigation(request)); } @@ -129,7 +129,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { @Override public void cancelNavigation(EdgeCommonVO edgeCommonVO) { AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()); executeGrpcCall(() -> stub.cancelNavigation(request)); } @@ -141,7 +141,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { } AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); AgvCommand.AgvSetVelocityCommand.Request request = AgvCommand.AgvSetVelocityCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .setVelocity(velocity) @@ -152,7 +152,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { @Override public void stopVelocityControl(EdgeCommonVO edgeCommonVO) { AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()); executeGrpcCall(() -> stub.stopVelocityControl(request)); } @@ -160,7 +160,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { @Override public List listMaps(EdgeCommonVO edgeCommonVO) { AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); AgvCommand.AgvListMapsCommand.Request request = AgvCommand.AgvListMapsCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .build(); @@ -170,7 +170,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { @Override public List listStations(EdgeCommonVO edgeCommonVO) { AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); AgvCommand.AgvListStationsCommand.Request request = AgvCommand.AgvListStationsCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .build(); @@ -184,7 +184,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { } AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); AgvCommand.AgvMapCommand.Request request = AgvCommand.AgvMapCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .setMapName(mapName) @@ -202,7 +202,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { } AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); AgvCommand.AgvMapCommand.Request request = AgvCommand.AgvMapCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .setMapName(mapName) @@ -218,7 +218,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { } AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); AgvCommand.AgvMapCommand.Request request = AgvCommand.AgvMapCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .setMapName(mapName) @@ -229,7 +229,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { @Override public String startMapping(EdgeCommonVO edgeCommonVO, AgvUtils.AgvMapDimension dimension, String mapName, boolean realTime) { AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); AgvCommand.AgvStartMappingCommand.Request.Builder requestBuilder = AgvCommand.AgvStartMappingCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .setDimension(dimension != null ? dimension : AgvUtils.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED) @@ -246,7 +246,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { @Override public void stopMapping(EdgeCommonVO edgeCommonVO) { AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); + edgeCommonVO.getRobotId(), AgvServiceGrpc.AgvServiceBlockingStub.class); Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()); executeGrpcCall(() -> stub.stopMapping(request)); } diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmServiceImpl.java index b030600..8f2b75d 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmServiceImpl.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmServiceImpl.java @@ -31,7 +31,7 @@ public class EdgeArmServiceImpl implements EdgeArmService { @Override public Common.CommandHeader.Feedback torqueOff(EdgeCommonVO edgeCommonVO) { ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class); Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()); return executeGrpcCall(() -> stub.torqueOff(request)); } @@ -39,7 +39,7 @@ public class EdgeArmServiceImpl implements EdgeArmService { @Override public Common.CommandHeader.Feedback torqueOn(EdgeCommonVO edgeCommonVO) { ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class); Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()); return executeGrpcCall(() -> stub.torqueOn(request)); } @@ -47,7 +47,7 @@ public class EdgeArmServiceImpl implements EdgeArmService { @Override public Common.CommandHeader.Feedback clearFault(EdgeCommonVO edgeCommonVO) { ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class); Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()); return executeGrpcCall(() -> stub.clearFault(request)); } @@ -61,7 +61,7 @@ public class EdgeArmServiceImpl implements EdgeArmService { } ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class); // 构建关节位置命令 ArmCommand.JointPositionCommand targetCommand = ArmCommand.JointPositionCommand.newBuilder() @@ -104,7 +104,7 @@ public class EdgeArmServiceImpl implements EdgeArmService { double rx, double ry, double rz, String frame, Double velocity, Double acceleration, Double blendRadius) { ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class); // 构建笛卡尔位姿 ArmCommand.CartesianPose targetPose = ArmCommand.CartesianPose.newBuilder() @@ -149,7 +149,7 @@ public class EdgeArmServiceImpl implements EdgeArmService { } ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class); // 构建关节速度命令 ArmCommand.JointVelocityCommand velocityCommand = ArmCommand.JointVelocityCommand.newBuilder() @@ -177,7 +177,7 @@ public class EdgeArmServiceImpl implements EdgeArmService { double wx, double wy, double wz, String frame, Double acceleration, Double duration) { ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class); // 构建笛卡尔速度 ArmCommand.CartesianVelocity velocity = ArmCommand.CartesianVelocity.newBuilder() @@ -214,7 +214,7 @@ public class EdgeArmServiceImpl implements EdgeArmService { } ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class); // 构建关节位置命令 ArmCommand.JointPositionCommand targetCommand = ArmCommand.JointPositionCommand.newBuilder() @@ -234,7 +234,7 @@ public class EdgeArmServiceImpl implements EdgeArmService { @Override public Common.CommandHeader.Feedback stopMotion(EdgeCommonVO edgeCommonVO) { ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class); Common.CommandHeader.Request request = EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()); return executeGrpcCall(() -> stub.stopMotion(request)); } @@ -242,7 +242,7 @@ public class EdgeArmServiceImpl implements EdgeArmService { @Override public ArmCommand.JointResponse getJointState(EdgeCommonVO edgeCommonVO) { ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class); ArmCommand.JointRequest request = ArmCommand.JointRequest.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .build(); @@ -252,7 +252,7 @@ public class EdgeArmServiceImpl implements EdgeArmService { @Override public ArmCommand.GetPose.Response getPose(EdgeCommonVO edgeCommonVO, String baseLink, String eeLink) { ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class); ArmCommand.GetPose.Request.Builder requestBuilder = ArmCommand.GetPose.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())); @@ -270,7 +270,7 @@ public class EdgeArmServiceImpl implements EdgeArmService { @Override public ArmCommand.CalibrateZeroQ.Response calibrateZeroQ(EdgeCommonVO edgeCommonVO, String jointName) { ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class); ArmCommand.CalibrateZeroQ.Request.Builder requestBuilder = ArmCommand.CalibrateZeroQ.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())); @@ -285,7 +285,7 @@ public class EdgeArmServiceImpl implements EdgeArmService { @Override public ArmCommand.GetPoseMatrix.Response getPoseMatrix(EdgeCommonVO edgeCommonVO, String baseLink, String eeLink) { ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class); ArmCommand.GetPoseMatrix.Request.Builder requestBuilder = ArmCommand.GetPoseMatrix.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())); @@ -310,7 +310,7 @@ public class EdgeArmServiceImpl implements EdgeArmService { } ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + edgeCommonVO.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class); // 构建关节位置命令 ArmCommand.JointPositionCommand jointsCommand = ArmCommand.JointPositionCommand.newBuilder() diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmTeleopServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmTeleopServiceImpl.java index 6c72276..8125176 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmTeleopServiceImpl.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmTeleopServiceImpl.java @@ -23,8 +23,8 @@ public class EdgeArmTeleopServiceImpl implements EdgeArmTeleopService { @Override public String open(EdgeArmTeleopOpenVO request) { - if (request.getTerminalId() == null || request.getTerminalId().trim().isEmpty()) { - throw new GlobalException("terminalId cannot be empty"); + if (request.getRobotId() == null || request.getRobotId().trim().isEmpty()) { + throw new GlobalException("robotId cannot be empty"); } ArmTeleopV1.RobotManifest.Builder manifest = ArmTeleopV1.RobotManifest.newBuilder(); if (request.getRobotId() != null) manifest.setRobotId(request.getRobotId()); @@ -49,7 +49,7 @@ public class EdgeArmTeleopServiceImpl implements EdgeArmTeleopService { if (request.getLeaseMs() != null) open.setRequestedLeaseMs(request.getLeaseMs()); ArmTeleopServiceGrpc.ArmTeleopServiceStub stub = grpcServiceManager.getGrpcClient( - request.getTerminalId(), ArmTeleopServiceGrpc.ArmTeleopServiceStub.class); + request.getRobotId(), ArmTeleopServiceGrpc.ArmTeleopServiceStub.class); return sessions.open(stub::teleoperate, ArmTeleopV1.ClientFrame.newBuilder().setOpen(open).build()); } diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeBioHeadServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeBioHeadServiceImpl.java index 2f51f18..c9b258b 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeBioHeadServiceImpl.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeBioHeadServiceImpl.java @@ -23,9 +23,9 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService { @Override public String setExpression(EdgeFacialExpressionVO facialExpressionVo) { - String terminalId = facialExpressionVo.getTerminalId(); + String robotId = facialExpressionVo.getRobotId(); String deviceId = facialExpressionVo.getDeviceId(); - BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class); + BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class); // 请求头 Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId); @@ -110,9 +110,9 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService { @Override public String getSystemStatus(EdgeCommonVO edgeCommonVO) { - String terminalId = edgeCommonVO.getTerminalId(); + String robotId = edgeCommonVO.getRobotId(); String deviceId = edgeCommonVO.getDeviceId(); - BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class); + BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class); // 请求头 Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId); @@ -126,9 +126,9 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService { @Override public String emergencyStop(EdgeCommonVO edgeCommonVO) { - String terminalId = edgeCommonVO.getTerminalId(); + String robotId = edgeCommonVO.getRobotId(); String deviceId = edgeCommonVO.getDeviceId(); - BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class); + BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class); // 请求头 Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId); @@ -142,9 +142,9 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService { @Override public String speakStart(EdgeCommonVO edgeCommonVO) { - String terminalId = edgeCommonVO.getTerminalId(); + String robotId = edgeCommonVO.getRobotId(); String deviceId = edgeCommonVO.getDeviceId(); - BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class); + BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class); // 请求头 Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId); @@ -155,9 +155,9 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService { @Override public String speakStop(EdgeCommonVO edgeCommonVO) { - String terminalId = edgeCommonVO.getTerminalId(); + String robotId = edgeCommonVO.getRobotId(); String deviceId = edgeCommonVO.getDeviceId(); - BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class); + BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class); // 请求头 Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId); @@ -167,8 +167,8 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService { } @Override - public String specialExpression(String terminalId, String deviceId, Integer expressKey) { - BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class); + public String specialExpression(String robotId, String deviceId, Integer expressKey) { + BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class); // 请求头 Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId); diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeCameraServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeCameraServiceImpl.java index a784bb1..c79c994 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeCameraServiceImpl.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeCameraServiceImpl.java @@ -71,7 +71,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi @Override public CameraCommand.CameraState status(EdgeCommonVO edgeCommonVO) { - CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class); + CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class); CameraCommand.GetCameraStateCommand.Request request = CameraCommand.GetCameraStateCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .build(); @@ -89,7 +89,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi @Override public String start(EdgeCommonVO edgeCommonVO) { - CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class); + CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class); CameraCommand.StartCameraCommand.Request request = CameraCommand.StartCameraCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .build(); @@ -99,7 +99,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi @Override public String stop(EdgeCommonVO edgeCommonVO) { - CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class); + CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class); CameraCommand.StopCameraCommand.Request request = CameraCommand.StopCameraCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .build(); @@ -113,7 +113,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi if (!checkStatus(edgeCommonVO)) { start(edgeCommonVO); } - CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class); + CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class); CameraCommand.GetRGBImageCommand.Request request = CameraCommand.GetRGBImageCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .build(); @@ -131,7 +131,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi } finally { deleteTempFile(filePath); // todo 暂时不关闭摄像头 -// stop(terminalId, deviceId); +// stop(robotId, deviceId); } } @@ -141,7 +141,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi start(edgeCommonVO); } CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class); + edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class); CameraCommand.GetDepthImageCommand.Request request = CameraCommand.GetDepthImageCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .build(); @@ -165,7 +165,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi if (!checkStatus(edgeCommonVO)) { start(edgeCommonVO); } - CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class); + CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class); String videoPath = StrUtil.format("{}/{}_{}.mp4", "/home/share/assets/video", edgeCommonVO.getDeviceId(), System.currentTimeMillis()); CameraCommand.StartCameraRecordingCommand.Request request = CameraCommand.StartCameraRecordingCommand.Request.newBuilder() @@ -178,7 +178,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi @Override public String stopRecording(EdgeCommonVO edgeCommonVO) { - CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class); + CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class); CameraCommand.StopCameraRecordingCommand.Request request = CameraCommand.StopCameraRecordingCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .build(); @@ -192,7 +192,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi start(edgeCommonVO); } - CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class); + CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class); CameraCommand.GetRGBDImagesCommand.Request request = CameraCommand.GetRGBDImagesCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .build(); @@ -221,7 +221,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi // deleteTempFile(filePath); // deleteTempFile(deepFilePath); // todo 暂时不关闭摄像头 -// stop(terminalId, deviceId); +// stop(robotId, deviceId); } // return JSON.toJSONString(result); } @@ -237,7 +237,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi throw new GlobalException("Invalid PTZ command or action"); } CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - ptzVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class); + ptzVO.getRobotId(), CameraServiceGrpc.CameraServiceBlockingStub.class); CameraCommand.ControlPtzCommand.Request request = CameraCommand.ControlPtzCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(ptzVO.getDeviceId())) .setCommand(command) @@ -249,13 +249,13 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi @Override public StreamObserver getRGBImageStream(EdgeCommonVO edgeCommonVO) { - return getRGBImageStream(edgeCommonVO.getTerminalId(), edgeCommonVO.getDeviceId()); + return getRGBImageStream(edgeCommonVO.getRobotId(), edgeCommonVO.getDeviceId()); } @Override - public StreamObserver getRGBImageStream(String terminalId, String deviceId) { + public StreamObserver getRGBImageStream(String robotId, String deviceId) { EdgeCommonVO edgeCommonVO = new EdgeCommonVO(); - edgeCommonVO.setTerminalId(terminalId); + edgeCommonVO.setRobotId(robotId); edgeCommonVO.setDeviceId(deviceId); CameraCommand.CameraState cameraState = status(edgeCommonVO); if (cameraState.getIsError()) { @@ -266,8 +266,8 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi cameraState = status(edgeCommonVO); } int frameRate = cameraState.getFps(); - String channel = "edgeCameraServiceImpl/getRGBImageStream/" + terminalId + "/" + deviceId; - String streamKey = terminalId + deviceId + "edgeCameraServiceImpl" + "getRGBImageStream"; + String channel = "edgeCameraServiceImpl/getRGBImageStream/" + robotId + "/" + deviceId; + String streamKey = robotId + deviceId + "edgeCameraServiceImpl" + "getRGBImageStream"; AtomicInteger sequence = new AtomicInteger(); AtomicBoolean firstMediaChunk = new AtomicBoolean(true); AtomicReference> requestObserverRef = new AtomicReference<>(); @@ -275,18 +275,18 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi H265Fmp4Transcoder transcoder; try { transcoder = new H265Fmp4Transcoder( - terminalId + "-" + deviceId, + robotId + "-" + deviceId, frameRate, chunk -> { int currentSequence = sequence.incrementAndGet(); if (firstMediaChunk.compareAndSet(true, false)) { - log.info("摄像头流已输出首个fMP4片段, terminalId: {}, deviceId: {}, bytes: {}", - terminalId, deviceId, chunk.length); + log.info("摄像头流已输出首个fMP4片段, robotId: {}, deviceId: {}, bytes: {}", + robotId, deviceId, chunk.length); } messagePushService.pushH264Fmp4ToChannel(channel, chunk, currentSequence); }, throwable -> { - log.error("摄像头媒体转码失败, terminalId: {}, deviceId: {}", terminalId, deviceId, throwable); + log.error("摄像头媒体转码失败, robotId: {}, deviceId: {}", robotId, deviceId, throwable); messagePushService.pushToChannel(channel, "500"); StreamObserver observer = requestObserverRef.get(); if (observer != null) { @@ -299,7 +299,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi throw new GlobalException("摄像头媒体转码器初始化失败: " + exception.getMessage()); } - CameraServiceGrpc.CameraServiceStub stub = grpcServiceManager.getGrpcClient(terminalId, CameraServiceGrpc.CameraServiceStub.class); + CameraServiceGrpc.CameraServiceStub stub = grpcServiceManager.getGrpcClient(robotId, CameraServiceGrpc.CameraServiceStub.class); StreamObserver responseObserver = new StreamObserver() { @Override public void onNext(CameraCommand.GetRGBImageStreamCommand.Feedback value) { @@ -307,7 +307,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi CameraCommand.FrameData frame = value.getColorFrame(); transcoder.write(frame.getData().toByteArray(), frame.getIsKeyFrame(), frame.getCodec()); } catch (IOException exception) { - log.error("写入摄像头媒体流失败, terminalId: {}, deviceId: {}", terminalId, deviceId, exception); + log.error("写入摄像头媒体流失败, robotId: {}, deviceId: {}", robotId, deviceId, exception); transcoder.close(); messagePushService.pushToChannel(channel, "500"); } @@ -319,7 +319,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi GrpcStreamManager.removeStream(streamKey); Status status = Status.fromThrowable(t); if (status.getCode() != Status.Code.CANCELLED) { - log.error("摄像头gRPC流异常, terminalId: {}, deviceId: {}", terminalId, deviceId, t); + log.error("摄像头gRPC流异常, robotId: {}, deviceId: {}", robotId, deviceId, t); messagePushService.pushToChannel(channel, "500"); } } @@ -328,7 +328,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi public void onCompleted() { transcoder.close(); GrpcStreamManager.removeStream(streamKey); - log.info("摄像头gRPC流结束, terminalId: {}, deviceId: {}", terminalId, deviceId); + log.info("摄像头gRPC流结束, robotId: {}, deviceId: {}", robotId, deviceId); } }; StreamObserver grpcRequestObserver; @@ -368,9 +368,9 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi } @Override - public void writeRGBVideoStream(String terminalId, String deviceId, OutputStream outputStream) { + public void writeRGBVideoStream(String robotId, String deviceId, OutputStream outputStream) { EdgeCommonVO edgeCommonVO = new EdgeCommonVO(); - edgeCommonVO.setTerminalId(terminalId); + edgeCommonVO.setRobotId(robotId); edgeCommonVO.setDeviceId(deviceId); CameraCommand.CameraState cameraState = status(edgeCommonVO); if (cameraState.getIsError()) { @@ -394,7 +394,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi H265Fmp4Transcoder transcoder; try { transcoder = new H265Fmp4Transcoder( - "http-" + terminalId + "-" + deviceId, + "http-" + robotId + "-" + deviceId, cameraState.getFps(), chunk -> { try { @@ -406,8 +406,8 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi }, throwable -> { if (!(throwable instanceof CameraStreamWriteException)) { - log.error("HTTP camera media transcoding failed, terminalId: {}, deviceId: {}", - terminalId, deviceId, throwable); + log.error("HTTP camera media transcoding failed, robotId: {}, deviceId: {}", + robotId, deviceId, throwable); } finishStream.run(); } @@ -418,7 +418,7 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi } CameraServiceGrpc.CameraServiceStub stub = grpcServiceManager.getGrpcClient( - terminalId, CameraServiceGrpc.CameraServiceStub.class); + robotId, CameraServiceGrpc.CameraServiceStub.class); StreamObserver responseObserver = new StreamObserver() { @Override @@ -427,8 +427,8 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi try { transcoder.write(frame.getData().toByteArray(), frame.getIsKeyFrame(), frame.getCodec()); } catch (IOException exception) { - log.error("Failed to write HTTP camera frame, terminalId: {}, deviceId: {}, codec: {}", - terminalId, deviceId, frame.getCodec(), exception); + log.error("Failed to write HTTP camera frame, robotId: {}, deviceId: {}, codec: {}", + robotId, deviceId, frame.getCodec(), exception); finishStream.run(); } } @@ -437,8 +437,8 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi public void onError(Throwable throwable) { Status status = Status.fromThrowable(throwable); if (status.getCode() != Status.Code.CANCELLED && !streamFinished.get()) { - log.warn("HTTP camera gRPC stream ended, terminalId: {}, deviceId: {}, status: {}", - terminalId, deviceId, status); + log.warn("HTTP camera gRPC stream ended, robotId: {}, deviceId: {}, status: {}", + robotId, deviceId, status); } finishStream.run(); } diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeDexHandServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeDexHandServiceImpl.java index 8fae70a..1484a9d 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeDexHandServiceImpl.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeDexHandServiceImpl.java @@ -24,8 +24,8 @@ public class EdgeDexHandServiceImpl implements EdgeDexHandService, EdgeStreamSer private final MessagePushService messagePushService; @Override - public DexhandCommand.DexHandState getStatus(String terminalId, String deviceId) { - DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, DexHandServiceGrpc.DexHandServiceBlockingStub.class); + public DexhandCommand.DexHandState getStatus(String robotId, String deviceId) { + DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, DexHandServiceGrpc.DexHandServiceBlockingStub.class); DexhandCommand.GetDexHandStateCommand.Request request = DexhandCommand.GetDexHandStateCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(deviceId)) .build(); @@ -33,13 +33,13 @@ public class EdgeDexHandServiceImpl implements EdgeDexHandService, EdgeStreamSer } @Override - public void setDexHandPos(String terminalId, String deviceId) { + public void setDexHandPos(String robotId, String deviceId) { } @Override - public void setDexHandAngle(String terminalId, String deviceId, int id, float value) { - DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, DexHandServiceGrpc.DexHandServiceBlockingStub.class); + public void setDexHandAngle(String robotId, String deviceId, int id, float value) { + DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, DexHandServiceGrpc.DexHandServiceBlockingStub.class); DexhandCommand.FreedomValue.Builder builder = DexhandCommand.FreedomValue.newBuilder(); builder.setId(id); builder.setValue(value); @@ -51,23 +51,23 @@ public class EdgeDexHandServiceImpl implements EdgeDexHandService, EdgeStreamSer } @Override - public void setDexHandForce(String terminalId, String deviceId) { + public void setDexHandForce(String robotId, String deviceId) { } @Override - public void setDexHandSpeed(String terminalId, String deviceId) { + public void setDexHandSpeed(String robotId, String deviceId) { } @Override - public void setDexHandPresetAct(String terminalId, String deviceId) { + public void setDexHandPresetAct(String robotId, String deviceId) { } @Override - public String getSensorData(String terminalId, String deviceId) { - DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, DexHandServiceGrpc.DexHandServiceBlockingStub.class); + public String getSensorData(String robotId, String deviceId) { + DexHandServiceGrpc.DexHandServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, DexHandServiceGrpc.DexHandServiceBlockingStub.class); DexhandCommand.GetSensorDataCommand.Request request = DexhandCommand.GetSensorDataCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(deviceId)) .build(); @@ -76,14 +76,14 @@ public class EdgeDexHandServiceImpl implements EdgeDexHandService, EdgeStreamSer } @Override - public StreamObserver getSensorDataStream(String terminalId, String deviceId) { - DexHandServiceGrpc.DexHandServiceStub stub = grpcServiceManager.getGrpcClient(terminalId, DexHandServiceGrpc.DexHandServiceStub.class); + public StreamObserver getSensorDataStream(String robotId, String deviceId) { + DexHandServiceGrpc.DexHandServiceStub stub = grpcServiceManager.getGrpcClient(robotId, DexHandServiceGrpc.DexHandServiceStub.class); StreamObserver responseObserver = new StreamObserver() { @Override public void onNext(DexhandCommand.GetSensorDataStreamCommand.Feedback value) { // 例如，将传感器数据转换为JSON字符串 String playLoad = JSON.toJSONString(value.getSensorList()); - messagePushService.pushToChannel("edgeDexHandServiceImpl/getSensorDataStream/" + terminalId + "/" + deviceId, playLoad); + messagePushService.pushToChannel("edgeDexHandServiceImpl/getSensorDataStream/" + robotId + "/" + deviceId, playLoad); } @Override diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHlcServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHlcServiceImpl.java index ff9dbe7..b20d6e1 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHlcServiceImpl.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHlcServiceImpl.java @@ -26,8 +26,8 @@ public class EdgeHlcServiceImpl implements EdgeHlcService { private final GrpcServiceManager grpcServiceManager; @Override - public String touch(File image, String terminalId, String deviceId, int x, int y, double maxForce) { - HlcServiceGrpc.HlcServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, HlcServiceGrpc.HlcServiceBlockingStub.class); + public String touch(File image, String robotId, String deviceId, int x, int y, double maxForce) { + HlcServiceGrpc.HlcServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, HlcServiceGrpc.HlcServiceBlockingStub.class); HlcCommand.Touch.Request request = HlcCommand.Touch.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(deviceId)) .setU(x) @@ -89,7 +89,7 @@ public class EdgeHlcServiceImpl implements EdgeHlcService { if (edgeTouchVO.getX() == edgeTouchVO.getY() && edgeTouchVO.getX() == 0) { throw new GlobalException("触控坐标不能为0"); } - HlcServiceGrpc.HlcServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeTouchVO.getTerminalId(), HlcServiceGrpc.HlcServiceBlockingStub.class); + HlcServiceGrpc.HlcServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeTouchVO.getRobotId(), HlcServiceGrpc.HlcServiceBlockingStub.class); HlcCommand.Touch.Request request = HlcCommand.Touch.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeTouchVO.getDeviceId())) .setU(edgeTouchVO.getX()) diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeMicrophoneServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeMicrophoneServiceImpl.java index 57eeb79..0f33e15 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeMicrophoneServiceImpl.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeMicrophoneServiceImpl.java @@ -41,7 +41,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService { @Override public String getStatus(EdgeCommonVO edgeCommonVO) { try { - MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class); + MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class); MicrophoneCommand.GetMicStateCommand.Request request = MicrophoneCommand.GetMicStateCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) .build(); @@ -63,7 +63,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService { String deviceId = edgeCommonVO.getDeviceId(); try { // 获取gRPC客户端存根 - MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class); + MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class); String filePath = StrUtil.format("{}/{}_{}.wav", "/home/share/assets/video", deviceId, System.currentTimeMillis()); // 构建请求消息 @@ -89,7 +89,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService { public String stopRecord(EdgeCommonVO edgeCommonVO) { try { // 获取gRPC客户端存根 - MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class); + MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class); // 构建请求消息 MicrophoneCommand.StopMicRecordingCommand.Request request = MicrophoneCommand.StopMicRecordingCommand.Request.newBuilder() @@ -113,7 +113,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService { public void pauseRecord(EdgeCommonVO edgeCommonVO) { try { // 获取gRPC客户端存根 - MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class); + MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class); // 构建请求消息 MicrophoneCommand.PauseMicRecordingCommand.Request request = MicrophoneCommand.PauseMicRecordingCommand.Request.newBuilder() @@ -136,7 +136,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService { public void resumeRecord(EdgeCommonVO edgeCommonVO) { try { // 获取gRPC客户端存根 - MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class); + MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class); // 构建请求消息 MicrophoneCommand.ResumeMicRecordingCommand.Request request = MicrophoneCommand.ResumeMicRecordingCommand.Request.newBuilder() @@ -159,7 +159,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService { public void setVolume(EdgeMicrophoneVolumeVO edgeMicrophoneVolumeVO) { try { // 获取gRPC客户端存根 - MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeMicrophoneVolumeVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class); + MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeMicrophoneVolumeVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class); // 构建请求消息 MicrophoneCommand.SetMicPhoneVolumeCommand.Request request = MicrophoneCommand.SetMicPhoneVolumeCommand.Request.newBuilder() @@ -183,7 +183,7 @@ public class EdgeMicrophoneServiceImpl implements EdgeMicrophoneService { public int getVolume(EdgeCommonVO edgeCommonVO) { try { // 获取gRPC客户端存根 - MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getTerminalId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class); + MicPhoneServiceGrpc.MicPhoneServiceBlockingStub stub = grpcServiceManager.getGrpcClient(edgeCommonVO.getRobotId(), MicPhoneServiceGrpc.MicPhoneServiceBlockingStub.class); // 构建请求消息 MicrophoneCommand.GetMicPhoneVolumeCommand.Request request = MicrophoneCommand.GetMicPhoneVolumeCommand.Request.newBuilder() diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeMotorServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeMotorServiceImpl.java index 7066877..a06d8ce 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeMotorServiceImpl.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeMotorServiceImpl.java @@ -31,7 +31,7 @@ public class EdgeMotorServiceImpl implements EdgeMotorService { @Override public MotorCommand.MotorCommandResponse setZero(EdgeMotorTargetVO request) { - return blockingStub(request.getTerminalId()).setZero(MotorCommand.SetMotorZeroRequest.newBuilder() + return blockingStub(request.getRobotId()).setZero(MotorCommand.SetMotorZeroRequest.newBuilder() .setTarget(buildTarget(request)).build()); } @@ -41,7 +41,7 @@ public class EdgeMotorServiceImpl implements EdgeMotorService { .setTarget(buildTarget(request)).setWait(buildWait(request)); if (request.getMaxVelocityRadS() != null) builder.setMaxVelocityRadS(request.getMaxVelocityRadS()); if (request.getAccelerationRadS2() != null) builder.setAccelerationRadS2(request.getAccelerationRadS2()); - return blockingStub(request.getTerminalId()).moveToZero(builder.build()); + return blockingStub(request.getRobotId()).moveToZero(builder.build()); } @Override @@ -55,7 +55,7 @@ public class EdgeMotorServiceImpl implements EdgeMotorService { .setWait(buildWait(request)); if (request.getMaxVelocityRadS() != null) builder.setMaxVelocityRadS(request.getMaxVelocityRadS()); if (request.getAccelerationRadS2() != null) builder.setAccelerationRadS2(request.getAccelerationRadS2()); - return blockingStub(request.getTerminalId()).profilePosition(builder.build()); + return blockingStub(request.getRobotId()).profilePosition(builder.build()); } @Override @@ -68,30 +68,30 @@ public class EdgeMotorServiceImpl implements EdgeMotorService { .setTargetVelocityRadS(request.getTargetVelocityRadS()) .setWait(buildWait(request)); if (request.getAccelerationRadS2() != null) builder.setAccelerationRadS2(request.getAccelerationRadS2()); - return blockingStub(request.getTerminalId()).profileVelocity(builder.build()); + return blockingStub(request.getRobotId()).profileVelocity(builder.build()); } @Override public MotorCommand.MotorCommandResponse emergencyStop(EdgeMotorTargetVO request) { - return blockingStub(request.getTerminalId()).emergencyStop(MotorCommand.EmergencyStopRequest.newBuilder() + return blockingStub(request.getRobotId()).emergencyStop(MotorCommand.EmergencyStopRequest.newBuilder() .setTarget(buildTarget(request)).build()); } @Override public MotorCommand.GetMotorStatusResponse getStatus(EdgeMotorTargetVO request) { - return blockingStub(request.getTerminalId()).getStatus(MotorCommand.GetMotorStatusRequest.newBuilder() + return blockingStub(request.getRobotId()).getStatus(MotorCommand.GetMotorStatusRequest.newBuilder() .setTarget(buildTarget(request)).build()); } @Override public MotorCommand.MotorCommandResponse setEnabled(EdgeMotorEnabledVO request) { - return blockingStub(request.getTerminalId()).setEnabled(MotorCommand.SetMotorEnabledRequest.newBuilder() + return blockingStub(request.getRobotId()).setEnabled(MotorCommand.SetMotorEnabledRequest.newBuilder() .setTarget(buildTarget(request)).setEnabled(request.isEnabled()).build()); } @Override public String openCyclicPosition(EdgeMotorCyclicOpenVO request) { - MotorServiceGrpc.MotorServiceStub stub = asyncStub(request.getTerminalId()); + MotorServiceGrpc.MotorServiceStub stub = asyncStub(request.getRobotId()); MotorCommand.CyclicPositionRequest open = MotorCommand.CyclicPositionRequest.newBuilder() .setOpen(buildOpen(request)).build(); String sessionId = positionStreams.open(stub::streamCyclicPosition, open); @@ -115,7 +115,7 @@ public class EdgeMotorServiceImpl implements EdgeMotorService { @Override public String openCyclicVelocity(EdgeMotorCyclicOpenVO request) { - MotorServiceGrpc.MotorServiceStub stub = asyncStub(request.getTerminalId()); + MotorServiceGrpc.MotorServiceStub stub = asyncStub(request.getRobotId()); MotorCommand.CyclicVelocityRequest open = MotorCommand.CyclicVelocityRequest.newBuilder() .setOpen(buildOpen(request)).build(); String sessionId = velocityStreams.open(stub::streamCyclicVelocity, open); @@ -179,11 +179,11 @@ public class EdgeMotorServiceImpl implements EdgeMotorService { return builder.build(); } - private MotorServiceGrpc.MotorServiceBlockingStub blockingStub(String terminalId) { - return grpcServiceManager.getGrpcClient(terminalId, MotorServiceGrpc.MotorServiceBlockingStub.class); + private MotorServiceGrpc.MotorServiceBlockingStub blockingStub(String robotId) { + return grpcServiceManager.getGrpcClient(robotId, MotorServiceGrpc.MotorServiceBlockingStub.class); } - private MotorServiceGrpc.MotorServiceStub asyncStub(String terminalId) { - return grpcServiceManager.getGrpcClient(terminalId, MotorServiceGrpc.MotorServiceStub.class); + private MotorServiceGrpc.MotorServiceStub asyncStub(String robotId) { + return grpcServiceManager.getGrpcClient(robotId, MotorServiceGrpc.MotorServiceStub.class); } } diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSpeakerServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSpeakerServiceImpl.java index 958a323..46ed902 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSpeakerServiceImpl.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSpeakerServiceImpl.java @@ -40,15 +40,15 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService { * 获取扬声器当前状态 * 通过gRPC调用获取扬声器的运行状态，包括是否正在播放、音量等信息 * - * @param terminalId 终端设备ID + * @param robotId 机器人永久唯一ID * @param deviceId 设备ID * @return SpeakerState 返回扬声器的当前状态 * @throws RuntimeException 当gRPC调用失败时抛出异常 */ @Override - public SpeakerCommand.GetSpeakerStateCommand.Feedback getStatus(String terminalId, String deviceId) { + public SpeakerCommand.GetSpeakerStateCommand.Feedback getStatus(String robotId, String deviceId) { try { - SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class); + SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class); SpeakerCommand.GetSpeakerStateCommand.Request request = SpeakerCommand.GetSpeakerStateCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(deviceId)) .build(); @@ -64,16 +64,16 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService { * 播放音频文件 * 通过gRPC调用播放指定路径的音频文件 * - * @param terminalId 终端设备ID + * @param robotId 机器人永久唯一ID * @param deviceId 设备ID * @param audioPath 音频文件的路径 * @throws RuntimeException 当gRPC调用失败时抛出异常 */ @Override - public String playAudio(String terminalId, String deviceId, String audioPath) { + public String playAudio(String robotId, String deviceId, String audioPath) { try { // 获取gRPC客户端存根 - SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class); + SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class); // 构建请求消息 SpeakerCommand.PlayAudioCommand.Request request = SpeakerCommand.PlayAudioCommand.Request.newBuilder() @@ -97,15 +97,15 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService { * 停止当前播放 * 通过gRPC调用停止扬声器的当前播放 * - * @param terminalId 终端设备ID + * @param robotId 机器人永久唯一ID * @param deviceId 设备ID * @throws RuntimeException 当gRPC调用失败时抛出异常 */ @Override - public void stopPlayback(String terminalId, String deviceId) { + public void stopPlayback(String robotId, String deviceId) { try { // 获取gRPC客户端存根 - SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class); + SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class); // 构建请求消息 SpeakerCommand.StopSpeakerCommand.Request request = SpeakerCommand.StopSpeakerCommand.Request.newBuilder() @@ -124,15 +124,15 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService { * 暂停当前播放 * 通过gRPC调用暂停扬声器的当前播放 * - * @param terminalId 终端设备ID + * @param robotId 机器人永久唯一ID * @param deviceId 设备ID * @throws RuntimeException 当gRPC调用失败时抛出异常 */ @Override - public void pausePlayback(String terminalId, String deviceId) { + public void pausePlayback(String robotId, String deviceId) { try { // 获取gRPC客户端存根 - SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class); + SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class); // 构建请求消息 SpeakerCommand.PauseSpeakerCommand.Request request = SpeakerCommand.PauseSpeakerCommand.Request.newBuilder() @@ -151,15 +151,15 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService { * 恢复暂停的播放 * 通过gRPC调用恢复扬声器之前暂停的播放 * - * @param terminalId 终端设备ID + * @param robotId 机器人永久唯一ID * @param deviceId 设备ID * @throws RuntimeException 当gRPC调用失败时抛出异常 */ @Override - public void resumePlayback(String terminalId, String deviceId) { + public void resumePlayback(String robotId, String deviceId) { try { // 获取gRPC客户端存根 - SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class); + SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class); // 构建请求消息 SpeakerCommand.ResumeSpeakerCommand.Request request = SpeakerCommand.ResumeSpeakerCommand.Request.newBuilder() @@ -178,16 +178,16 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService { * 设置扬声器音量 * 通过gRPC调用设置扬声器的音量大小 * - * @param terminalId 终端设备ID + * @param robotId 机器人永久唯一ID * @param deviceId 设备ID * @param volume 音量大小（0-100） * @throws RuntimeException 当gRPC调用失败时抛出异常 */ @Override - public void setVolume(String terminalId, String deviceId, int volume) { + public void setVolume(String robotId, String deviceId, int volume) { try { // 获取gRPC客户端存根 - SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class); + SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class); // 构建请求消息 SpeakerCommand.SetSpeakerVolumeCommand.Request request = SpeakerCommand.SetSpeakerVolumeCommand.Request.newBuilder() @@ -207,16 +207,16 @@ public class EdgeSpeakerServiceImpl implements EdgeSpeakerService { * 获取当前音量 * 通过gRPC调用获取扬声器的当前音量大小 * - * @param terminalId 终端设备ID + * @param robotId 机器人永久唯一ID * @param deviceId 设备ID * @return int 返回当前音量大小（0-100） * @throws RuntimeException 当gRPC调用失败时抛出异常 */ @Override - public int getVolume(String terminalId, String deviceId) { + public int getVolume(String robotId, String deviceId) { try { // 获取gRPC客户端存根 - SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class); + SpeakerServiceGrpc.SpeakerServiceBlockingStub stub = grpcServiceManager.getGrpcClient(robotId, SpeakerServiceGrpc.SpeakerServiceBlockingStub.class); // 构建请求消息 SpeakerCommand.GetSpeakerVolumeCommand.Request request = SpeakerCommand.GetSpeakerVolumeCommand.Request.newBuilder() diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSystemServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSystemServiceImpl.java index 1551fce..96734fb 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSystemServiceImpl.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSystemServiceImpl.java @@ -37,9 +37,9 @@ public class EdgeSystemServiceImpl implements EdgeSystemService { private final GrpcServiceManager grpcServiceManager; @Override - public SystemCommand.GetSystemInfoCommand.Feedback getSystemInfo(String terminalId) { + public SystemCommand.GetSystemInfoCommand.Feedback getSystemInfo(String robotId) { SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - terminalId, SystemServiceGrpc.SystemServiceBlockingStub.class); + robotId, SystemServiceGrpc.SystemServiceBlockingStub.class); return stub.getSystemInfo(SystemCommand.GetSystemInfoCommand.Request.newBuilder().build()); } @@ -54,7 +54,7 @@ public class EdgeSystemServiceImpl implements EdgeSystemService { } } SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - request.getTerminalId(), SystemServiceGrpc.SystemServiceBlockingStub.class); + request.getRobotId(), SystemServiceGrpc.SystemServiceBlockingStub.class); return stub.updateParams(requestBuilder.build()).getHeader(); } @@ -65,7 +65,7 @@ public class EdgeSystemServiceImpl implements EdgeSystemService { .setRequestJson(request.getRequestJson() == null ? "" : request.getRequestJson()) .build(); ArmServiceGrpc.ArmServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - request.getTerminalId(), ArmServiceGrpc.ArmServiceBlockingStub.class); + request.getRobotId(), ArmServiceGrpc.ArmServiceBlockingStub.class); return stub.executeJsonCommand(grpcRequest); } @@ -107,10 +107,10 @@ public class EdgeSystemServiceImpl implements EdgeSystemService { @Override - public List deviceList(String terminalId) { + public List deviceList(String robotId) { try { SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - terminalId, SystemServiceGrpc.SystemServiceBlockingStub.class); + robotId, SystemServiceGrpc.SystemServiceBlockingStub.class); SystemCommand.GetDeviceListCommand.Feedback response = stub.getDeviceList( SystemCommand.GetDeviceListCommand.Request.newBuilder().build()); @@ -120,7 +120,7 @@ public class EdgeSystemServiceImpl implements EdgeSystemService { DeDeviceRegistration registration = new DeDeviceRegistration(); registration.setDeviceCode(device.getDeviceId()); registration.setDeviceModel(toDeviceModel(device)); - registration.setIdDeDeviceTerminalConfig(terminalId); + registration.setIdDeDeviceTerminalConfig(robotId); devices.add(registration); } @@ -173,9 +173,9 @@ public class EdgeSystemServiceImpl implements EdgeSystemService { } @Override - public String stopAll(String terminalId) { + public String stopAll(String robotId) { SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - terminalId, + robotId, SystemServiceGrpc.SystemServiceBlockingStub.class); SystemCommand.StopAllCommand.Request build = SystemCommand.StopAllCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest("")) @@ -192,11 +192,11 @@ public class EdgeSystemServiceImpl implements EdgeSystemService { * @return 系统状态信息，如果获取失败则返回null */ @Override - public SystemCommand.GetSystemStatusCommand.Feedback getSystemStatus(String terminalId) { + public SystemCommand.GetSystemStatusCommand.Feedback getSystemStatus(String robotId) { try { // 创建gRPC阻塞式存根，用于调用服务端方法 SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient( - terminalId, + robotId, SystemServiceGrpc.SystemServiceBlockingStub.class); // 构建请求对象，由于是获取系统状态，请求参数为空 diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/GrpcClientServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/GrpcClientServiceImpl.java index 379c8a0..6252f51 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/GrpcClientServiceImpl.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/GrpcClientServiceImpl.java @@ -39,7 +39,7 @@ public class GrpcClientServiceImpl implements GrpcClientService { } @Override - public void send(boolean isStart, String terminalId, String deviceId, String service, String method) { + public void send(boolean isStart, String robotId, String deviceId, String service, String method) { try { // 从 Map 中获取服务实例 EdgeStreamService serviceInstance = serviceMap.get(service); @@ -48,8 +48,8 @@ public class GrpcClientServiceImpl implements GrpcClientService { } // 构造流键 - String key = terminalId + deviceId + service + method; - String channel = service + "/" + method + "/" + terminalId + "/" + deviceId; + String key = robotId + deviceId + service + method; + String channel = service + "/" + method + "/" + robotId + "/" + deviceId; Object streamLock = streamLocks.computeIfAbsent(key, ignored -> new Object()); synchronized (streamLock) { @@ -58,7 +58,7 @@ public class GrpcClientServiceImpl implements GrpcClientService { return; } Method streamMethod = serviceInstance.getClass().getMethod(method, String.class, String.class); - StreamObserver streamObserver = (StreamObserver) streamMethod.invoke(serviceInstance, terminalId, deviceId); + StreamObserver streamObserver = (StreamObserver) streamMethod.invoke(serviceInstance, robotId, deviceId); if (streamObserver != null) { GrpcStreamManager.addStream(key, streamObserver); } diff --git a/cmvr-iot-common/src/main/java/com/cmvr/common/robot/RobotEndpoint.java b/cmvr-iot-common/src/main/java/com/cmvr/common/robot/RobotEndpoint.java new file mode 100644 index 0000000..014c54b --- /dev/null +++ b/cmvr-iot-common/src/main/java/com/cmvr/common/robot/RobotEndpoint.java @@ -0,0 +1,5 @@ +package com.cmvr.common.robot; + +/** Resolved gRPC endpoint for a permanently identified robot. */ +public record RobotEndpoint(String host, int port) { +} diff --git a/cmvr-iot-common/src/main/java/com/cmvr/common/robot/RobotEndpointResolver.java b/cmvr-iot-common/src/main/java/com/cmvr/common/robot/RobotEndpointResolver.java new file mode 100644 index 0000000..2652a17 --- /dev/null +++ b/cmvr-iot-common/src/main/java/com/cmvr/common/robot/RobotEndpointResolver.java @@ -0,0 +1,6 @@ +package com.cmvr.common.robot; + +public interface RobotEndpointResolver { + + RobotEndpoint resolve(String robotId); +} diff --git a/cmvr-iot-device/src/main/java/com/cmvr/device/domain/DeRobotConfig.java b/cmvr-iot-device/src/main/java/com/cmvr/device/domain/DeRobotConfig.java index b459f0d..1c76a2f 100644 --- a/cmvr-iot-device/src/main/java/com/cmvr/device/domain/DeRobotConfig.java +++ b/cmvr-iot-device/src/main/java/com/cmvr/device/domain/DeRobotConfig.java @@ -29,9 +29,9 @@ public class DeRobotConfig extends BaseEntity @TableId(value = "id" , type = IdType.ASSIGN_UUID) private String id; - /** 配置ID，32位的UUID，可以是设备ID或终端ID。 */ - @Excel(name = "配置ID，32位的UUID，可以是设备ID或终端ID。") - @ApiModelProperty("配置ID，32位的UUID，可以是设备ID或终端ID。") + /** 配置ID，32位的UUID，可以是设备ID或机器人ID。 */ + @Excel(name = "配置ID，32位的UUID，可以是设备ID或机器人ID。") + @ApiModelProperty("配置ID，32位的UUID，可以是设备ID或机器人ID。") private String configId; /** 配置类型，区分是设备还是终端 */ diff --git a/cmvr-iot-device/src/main/java/com/cmvr/device/service/InspectionAlertListenService.java b/cmvr-iot-device/src/main/java/com/cmvr/device/service/InspectionAlertListenService.java index df6f72a..164d78a 100644 --- a/cmvr-iot-device/src/main/java/com/cmvr/device/service/InspectionAlertListenService.java +++ b/cmvr-iot-device/src/main/java/com/cmvr/device/service/InspectionAlertListenService.java @@ -1,7 +1,8 @@ package com.cmvr.device.service; import com.cmvr.common.exception.GlobalException; -import com.cmvr.device.domain.DeDeviceTerminalConfig; +import com.cmvr.common.robot.RobotEndpoint; +import com.cmvr.common.robot.RobotEndpointResolver; import lombok.Data; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; @@ -38,23 +39,23 @@ public class InspectionAlertListenService SUPPORTED_EVENT_TYPES = Collections.unmodifiableSet(values); } - private final IDeDeviceTerminalConfigService terminalConfigService; + private final RobotEndpointResolver robotEndpointResolver; /** key=grpcIp，value=当前IP下的工作流监听订阅。 */ private final ConcurrentMap> subscriptions = new ConcurrentHashMap<>(); /** 兼容原有调用方式，创建一个不绑定工作流的监听。 */ - public ListenState startListen(String terminalId, Collection eventTypes) + public ListenState startListen(String robotId, Collection eventTypes) { - return startListen(terminalId, eventTypes, null, null, null, null, null); + return startListen(robotId, eventTypes, null, null, null, null, null); } - public ListenState startListen(String terminalId, Collection eventTypes, + public ListenState startListen(String robotId, Collection eventTypes, String flowInstanceId, String taskId, String itemId, String nodeId, String listenerKey) { - String grpcIp = resolveTerminalIp(terminalId); + String grpcIp = resolveRobotIp(robotId); Set normalizedTypes = normalizeEventTypes(eventTypes, true); ConcurrentMap target = subscriptions.computeIfAbsent(grpcIp, key -> new ConcurrentHashMap<>()); @@ -63,7 +64,7 @@ public class InspectionAlertListenService { ListenSubscription subscription = new ListenSubscription(); subscription.setSubscriptionId(buildSubscriptionId(flowInstanceId, itemId, listenerKey, eventType)); - subscription.setTerminalId(terminalId); + subscription.setRobotId(robotId); subscription.setGrpcIp(grpcIp); subscription.setEventType(eventType); subscription.setFlowInstanceId(flowInstanceId); @@ -75,28 +76,28 @@ public class InspectionAlertListenService target.put(subscription.getSubscriptionId(), subscription); } - log.info("开始监听巡检报警，terminalId={}，grpcIp={}，flowInstanceId={}，itemId={}，eventTypes={}", - terminalId, grpcIp, flowInstanceId, itemId, normalizedTypes); - return new ListenState(terminalId, grpcIp, currentTypes(target)); + log.info("开始监听巡检报警，robotId={}，grpcIp={}，flowInstanceId={}，itemId={}，eventTypes={}", + robotId, grpcIp, flowInstanceId, itemId, normalizedTypes); + return new ListenState(robotId, grpcIp, currentTypes(target)); } /** 兼容原有调用方式，移除该IP下指定类型的全部监听。 */ - public ListenState stopListen(String terminalId, Collection eventTypes) + public ListenState stopListen(String robotId, Collection eventTypes) { - return stopListen(terminalId, eventTypes, null, null, null); + return stopListen(robotId, eventTypes, null, null, null); } - public ListenState stopListen(String terminalId, Collection eventTypes, + public ListenState stopListen(String robotId, Collection eventTypes, String flowInstanceId, String itemId, String listenerKey) { - String grpcIp = resolveTerminalIp(terminalId); + String grpcIp = resolveRobotIp(robotId); Set normalizedTypes = normalizeEventTypes(eventTypes, true); ConcurrentMap current = subscriptions.get(grpcIp); if (current == null || current.isEmpty()) { - log.warn("结束监听巡检报警时未找到IP监听状态，terminalId={}，grpcIp={}，eventTypes={}", - terminalId, grpcIp, normalizedTypes); - return new ListenState(terminalId, grpcIp, Collections.emptyList()); + log.warn("结束监听巡检报警时未找到IP监听状态，robotId={}，grpcIp={}，eventTypes={}", + robotId, grpcIp, normalizedTypes); + return new ListenState(robotId, grpcIp, Collections.emptyList()); } for (String eventType : normalizedTypes) @@ -104,8 +105,8 @@ public class InspectionAlertListenService int removed = removeMatching(current, eventType, flowInstanceId, itemId, listenerKey); if (removed == 0) { - log.warn("结束监听巡检报警时未找到匹配订阅，terminalId={}，grpcIp={}，flowInstanceId={}，itemId={}，eventType={}", - terminalId, grpcIp, flowInstanceId, itemId, eventType); + log.warn("结束监听巡检报警时未找到匹配订阅，robotId={}，grpcIp={}，flowInstanceId={}，itemId={}，eventType={}", + robotId, grpcIp, flowInstanceId, itemId, eventType); } } if (current.isEmpty()) @@ -114,9 +115,9 @@ public class InspectionAlertListenService } List remainingTypes = currentTypes(current); - log.info("结束监听巡检报警，terminalId={}，grpcIp={}，flowInstanceId={}，itemId={}，remainingTypes={}", - terminalId, grpcIp, flowInstanceId, itemId, remainingTypes); - return new ListenState(terminalId, grpcIp, remainingTypes); + log.info("结束监听巡检报警，robotId={}，grpcIp={}，flowInstanceId={}，itemId={}，remainingTypes={}", + robotId, grpcIp, flowInstanceId, itemId, remainingTypes); + return new ListenState(robotId, grpcIp, remainingTypes); } /** 返回命中IP和任一标签的全部活动订阅。 */ @@ -187,10 +188,10 @@ public class InspectionAlertListenService } } - public ListenState getListenState(String terminalId) + public ListenState getListenState(String robotId) { - String grpcIp = resolveTerminalIp(terminalId); - return new ListenState(terminalId, grpcIp, currentTypes(subscriptions.get(grpcIp))); + String grpcIp = resolveRobotIp(robotId); + return new ListenState(robotId, grpcIp, currentTypes(subscriptions.get(grpcIp))); } private int removeMatching(ConcurrentMap current, String eventType, @@ -221,23 +222,18 @@ public class InspectionAlertListenService return flow + "|" + item + "|" + key + "|" + eventType; } - private String resolveTerminalIp(String terminalId) + private String resolveRobotIp(String robotId) { - String normalizedTerminalId = StringUtils.trimToNull(terminalId); - if (normalizedTerminalId == null) + String normalizedRobotId = StringUtils.trimToNull(robotId); + if (normalizedRobotId == null) { - throw new GlobalException("terminalId不能为空"); + throw new GlobalException("机器人ID不能为空"); } - DeDeviceTerminalConfig terminalConfig = - terminalConfigService.selectDeDeviceTerminalConfigById(normalizedTerminalId); - if (terminalConfig == null) - { - throw new GlobalException("未找到终端配置，terminalId=" + normalizedTerminalId); - } - String grpcIp = StringUtils.trimToNull(terminalConfig.getHost()); + RobotEndpoint endpoint = robotEndpointResolver.resolve(normalizedRobotId); + String grpcIp = StringUtils.trimToNull(endpoint.host()); if (grpcIp == null) { - throw new GlobalException("终端配置host不能为空，terminalId=" + normalizedTerminalId); + throw new GlobalException("机器人连接地址不能为空，robotId=" + normalizedRobotId); } return grpcIp; } @@ -298,7 +294,7 @@ public class InspectionAlertListenService @Data public static class ListenState { - private final String terminalId; + private final String robotId; private final String grpcIp; private final List eventTypes; } @@ -308,9 +304,9 @@ public class InspectionAlertListenService { /** flowInstanceId、itemId、listenerKey、eventType组成的订阅唯一标识。 */ private String subscriptionId; - /** 工作流节点配置的终端ID。 */ - private String terminalId; - /** 由终端配置解析出的gRPC IP，也是PPE事件匹配IP。 */ + /** 工作流节点配置的机器人永久唯一 ID。 */ + private String robotId; + /** 由机器人在线信息解析出的 gRPC IP，也是 PPE 事件匹配 IP。 */ private String grpcIp; /** 当前订阅监听的PPE事件类型。 */ private String eventType; @@ -331,7 +327,7 @@ public class InspectionAlertListenService { ListenSubscription copy = new ListenSubscription(); copy.subscriptionId = subscriptionId; - copy.terminalId = terminalId; + copy.robotId = robotId; copy.grpcIp = grpcIp; copy.eventType = eventType; copy.flowInstanceId = flowInstanceId; diff --git a/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/handler/BaseChannelSubscribeHandler.java b/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/handler/BaseChannelSubscribeHandler.java index 533d73a..8a984f3 100644 --- a/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/handler/BaseChannelSubscribeHandler.java +++ b/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/handler/BaseChannelSubscribeHandler.java @@ -21,13 +21,13 @@ public abstract class BaseChannelSubscribeHandler implements WSMessageHandler { try { - grpcClientService.send(true, terminalId, deviceId, service, method); + grpcClientService.send(true, robotId, deviceId, service, method); } catch (Exception e) { log.error("频道{} grpc订阅异常", channel, e); } @@ -92,11 +92,11 @@ public abstract class BaseChannelSubscribeHandler implements WSMessageHandler { try { - grpcClientService.send(false, terminalId, deviceId, service, method); + grpcClientService.send(false, robotId, deviceId, service, method); } catch (Exception e) { log.error("频道{} grpc取消订阅异常", channel, e); } finally { diff --git a/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/service/GrpcClientService.java b/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/service/GrpcClientService.java index 01ea461..68f6339 100644 --- a/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/service/GrpcClientService.java +++ b/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/service/GrpcClientService.java @@ -7,9 +7,9 @@ public interface GrpcClientService { /** * 发送 gRPC 请求 * @param isStart 是否开始 - * @param terminalId 终端ID + * @param robotId 机器人永久唯一 ID * @param deviceId 设备ID * @param method 方法 */ - void send(boolean isStart, String terminalId, String deviceId, String service,String method); + void send(boolean isStart, String robotId, String deviceId, String service,String method); } diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/InspectionRobot.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/InspectionRobot.java index 9132a58..29bbb18 100644 --- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/InspectionRobot.java +++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/InspectionRobot.java @@ -11,6 +11,8 @@ import lombok.NoArgsConstructor; import com.cmvr.common.annotation.Excel; import com.cmvr.common.core.domain.BaseEntity; +import java.util.Date; + /** * 巡检机器人对象 inspection_robot * @@ -31,6 +33,11 @@ public class InspectionRobot extends BaseEntity @TableId(value = "id", type = IdType.ASSIGN_UUID) private String id; + /** Permanent robot identity reported by QUIC. */ + @Excel(name = "机器人ID") + @ApiModelProperty("机器人永久唯一ID") + private String robotId; + /** 机器人编码 */ @Excel(name = "机器人编码") @ApiModelProperty("机器人编码") @@ -81,9 +88,29 @@ public class InspectionRobot extends BaseEntity @ApiModelProperty("当前位置") private String currentPosition; - /** 终端id */ - @Excel(name = "终端id") - @ApiModelProperty("终端id") - private String terminalId; + /** QUIC runtime state, independent from the robot business status. */ + @ApiModelProperty("连接状态：0离线，1在线") + private String connectStatus; + + @ApiModelProperty("当前QUIC节点ID") + private String quicNodeId; + + @ApiModelProperty("当前QUIC会话ID") + private String quicSessionId; + + @ApiModelProperty("边缘端启动ID") + private String quicBootId; + + @ApiModelProperty("QUIC连接来源IP") + private String observedIp; + + @ApiModelProperty("边缘端软件版本") + private String softwareVersion; + + @ApiModelProperty("最后心跳时间") + private Date lastHeartbeatTime; + + @ApiModelProperty("归档状态：0正常，1归档") + private String archivedStatus; } diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/InspectionRobotDevice.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/InspectionRobotDevice.java new file mode 100644 index 0000000..2a922bd --- /dev/null +++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/InspectionRobotDevice.java @@ -0,0 +1,41 @@ +package com.cmvr.inspection.domain; + +import com.baomidou.mybatisplus.annotation.IdType; +import com.baomidou.mybatisplus.annotation.TableId; +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.util.Date; + +@Data +@EqualsAndHashCode(callSuper = true) +@ApiModel("机器人设备") +public class InspectionRobotDevice extends BaseEntity { + + private static final long serialVersionUID = 1L; + + @TableId(value = "id", type = IdType.ASSIGN_UUID) + private String id; + + @ApiModelProperty("机器人永久唯一ID") + private String robotId; + + @ApiModelProperty("边缘端设备ID") + private String deviceId; + + private String deviceName; + private Integer deviceKind; + private String typeName; + private String enabled; + private Integer managerState; + private Integer healthStatus; + private String onlineStatus; + private String hasError; + private String errorMessage; + private Date statusUpdatedTime; + private Date lastSeenTime; + private Date offlineTime; +} diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/vo/InspectionRobotVo.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/vo/InspectionRobotVo.java index 3a16e04..6af1ec4 100644 --- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/vo/InspectionRobotVo.java +++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/vo/InspectionRobotVo.java @@ -9,6 +9,8 @@ import lombok.Data; import lombok.EqualsAndHashCode; import lombok.NoArgsConstructor; +import java.util.Date; + /** * 巡检机器人视图对象（包含关联信息） * @@ -28,6 +30,10 @@ public class InspectionRobotVo extends BaseEntity @ApiModelProperty("id") private String id; + @Excel(name = "机器人ID") + @ApiModelProperty("机器人永久唯一ID") + private String robotId; + /** 机器人编码 */ @Excel(name = "机器人编码") @ApiModelProperty("机器人编码") @@ -98,9 +104,34 @@ public class InspectionRobotVo extends BaseEntity @ApiModelProperty("修改人昵称") private String updateByName; - /** 终端id */ - @Excel(name = "终端id") - @ApiModelProperty("终端id") - private String terminalId; + @ApiModelProperty("连接状态：0离线，1在线") + private String connectStatus; + + @ApiModelProperty("当前QUIC节点ID") + private String quicNodeId; + + @ApiModelProperty("当前QUIC会话ID") + private String quicSessionId; + + @ApiModelProperty("边缘端启动ID") + private String quicBootId; + + @ApiModelProperty("QUIC连接来源IP") + private String observedIp; + + @ApiModelProperty("边缘端软件版本") + private String softwareVersion; + + @ApiModelProperty("最后心跳时间") + private Date lastHeartbeatTime; + + @ApiModelProperty("设备总数") + private Integer deviceTotal; + + @ApiModelProperty("在线设备数") + private Integer onlineDeviceCount; + + @ApiModelProperty("故障设备数") + private Integer faultDeviceCount; } diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/mapper/InspectionRobotDeviceMapper.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/mapper/InspectionRobotDeviceMapper.java new file mode 100644 index 0000000..81b859d --- /dev/null +++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/mapper/InspectionRobotDeviceMapper.java @@ -0,0 +1,29 @@ +package com.cmvr.inspection.mapper; + +import com.baomidou.mybatisplus.core.mapper.BaseMapper; +import com.cmvr.inspection.domain.InspectionRobotDevice; +import org.apache.ibatis.annotations.Param; + +import java.util.Date; +import java.util.List; + +public interface InspectionRobotDeviceMapper extends BaseMapper { + + List selectByRobotId(@Param("robotId") String robotId); + + List selectByRobotIdAndKind(@Param("robotId") String robotId, + @Param("deviceKind") Integer deviceKind, + @Param("onlineOnly") boolean onlineOnly); + + List selectByIdentity(@Param("robotId") String robotId, + @Param("deviceId") String deviceId); + + int updateRuntimeState(InspectionRobotDevice device); + + int markMissingOffline(@Param("robotId") String robotId, + @Param("deviceIds") List deviceIds, + @Param("offlineTime") Date offlineTime); + + int markAllOffline(@Param("robotId") String robotId, + @Param("offlineTime") Date offlineTime); +} diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/mapper/InspectionRobotMapper.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/mapper/InspectionRobotMapper.java index 07e9953..f284fd3 100644 --- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/mapper/InspectionRobotMapper.java +++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/mapper/InspectionRobotMapper.java @@ -1,9 +1,11 @@ package com.cmvr.inspection.mapper; import java.util.List; +import java.util.Date; import com.cmvr.inspection.domain.InspectionRobot; import com.cmvr.inspection.domain.vo.InspectionRobotVo; import com.github.yulichang.base.MPJBaseMapper; +import org.apache.ibatis.annotations.Param; /** * 巡检机器人Mapper接口 @@ -21,6 +23,12 @@ public interface InspectionRobotMapper extends MPJBaseMapper */ InspectionRobot selectInspectionRobotById(String id); + List selectByRobotId(String robotId); + + int updateQuicRuntimeState(InspectionRobot robot); + + int archiveInspectionRobotByIds(@Param("ids") String[] ids, @Param("updateBy") String updateBy); + /** * 新增巡检机器人 * diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java index 0754970..75c09ca 100644 --- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java +++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java @@ -6,6 +6,7 @@ import java.util.List; import cmvr.msgs.AgvUtils; import com.baomidou.mybatisplus.spring.service.IService; import com.cmvr.inspection.domain.InspectionRobot; +import com.cmvr.inspection.domain.InspectionRobotDevice; import com.cmvr.inspection.domain.vo.InspectionRobotVo; /** @@ -56,6 +57,11 @@ public interface IInspectionRobotService extends IService */ int deleteInspectionRobotByIds(String[] ids); + List selectRobotDevices(String id); + + List selectRobotDevicesByRobotId(String robotId, Integer deviceKind, + boolean onlineOnly); + /** * 获取机器人地图列表（从AGV获取） * diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/InspectionRobotEndpointResolver.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/InspectionRobotEndpointResolver.java new file mode 100644 index 0000000..37270d9 --- /dev/null +++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/InspectionRobotEndpointResolver.java @@ -0,0 +1,45 @@ +package com.cmvr.inspection.service; + +import com.cmvr.common.exception.GlobalException; +import com.cmvr.common.robot.RobotEndpoint; +import com.cmvr.common.robot.RobotEndpointResolver; +import com.cmvr.inspection.domain.InspectionRobot; +import com.cmvr.inspection.mapper.InspectionRobotMapper; +import lombok.RequiredArgsConstructor; +import org.apache.commons.lang3.StringUtils; +import org.springframework.stereotype.Service; + +import java.util.List; + +@Service +@RequiredArgsConstructor +public class InspectionRobotEndpointResolver implements RobotEndpointResolver { + + private final InspectionRobotMapper robotMapper; + + @Override + public RobotEndpoint resolve(String robotId) { + String normalized = StringUtils.trimToNull(robotId); + if (normalized == null) { + throw new GlobalException("机器人ID不能为空"); + } + List robots = robotMapper.selectByRobotId(normalized); + if (robots.isEmpty()) { + throw new GlobalException("机器人不存在：" + normalized); + } + if (robots.size() > 1) { + throw new GlobalException("机器人ID存在重复数据：" + normalized); + } + InspectionRobot robot = robots.get(0); + if ("1".equals(robot.getArchivedStatus())) { + throw new GlobalException("机器人已归档：" + normalized); + } + if (!"1".equals(robot.getConnectStatus())) { + throw new GlobalException("机器人当前离线：" + normalized); + } + if (StringUtils.isBlank(robot.getIpAddress()) || robot.getPort() == null) { + throw new GlobalException("机器人尚未上报gRPC地址：" + normalized); + } + return new RobotEndpoint(robot.getIpAddress(), robot.getPort().intValue()); + } +} diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/InspectionRobotExecutionTargetResolver.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/InspectionRobotExecutionTargetResolver.java new file mode 100644 index 0000000..76b37e9 --- /dev/null +++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/InspectionRobotExecutionTargetResolver.java @@ -0,0 +1,21 @@ +package com.cmvr.inspection.service; + +import com.cmvr.test.flow.runtime.engine.RobotExecutionTarget; +import com.cmvr.test.flow.runtime.engine.RobotExecutionTargetResolver; +import lombok.RequiredArgsConstructor; +import org.apache.commons.lang3.StringUtils; +import org.springframework.stereotype.Service; + +@Service +@RequiredArgsConstructor +public class InspectionRobotExecutionTargetResolver implements RobotExecutionTargetResolver { + + private final InspectionRobotEndpointResolver endpointResolver; + + @Override + public RobotExecutionTarget resolve(String robotId) { + String normalized = StringUtils.trimToNull(robotId); + endpointResolver.resolve(normalized); + return new RobotExecutionTarget(normalized); + } +} diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/RobotQuicEventSubscriber.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/RobotQuicEventSubscriber.java new file mode 100644 index 0000000..05e8d48 --- /dev/null +++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/RobotQuicEventSubscriber.java @@ -0,0 +1,80 @@ +package com.cmvr.inspection.service; + +import com.cmvr.quic.contract.QuicEventBus; +import com.cmvr.quic.gateway.v1.NodeEvent; +import jakarta.annotation.PostConstruct; +import jakarta.annotation.PreDestroy; +import lombok.RequiredArgsConstructor; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; +import org.springframework.beans.factory.annotation.Value; +import org.springframework.stereotype.Service; + +import java.util.concurrent.ExecutorService; +import java.util.concurrent.Executors; +import java.util.concurrent.RejectedExecutionException; +import java.util.concurrent.TimeUnit; + +@Service +@RequiredArgsConstructor +public class RobotQuicEventSubscriber { + + private static final Logger log = LoggerFactory.getLogger(RobotQuicEventSubscriber.class); + + private final QuicEventBus eventBus; + private final RobotQuicStateService stateService; + + @Value("${cmvr.quic.enabled:false}") + private boolean enabled; + + private ExecutorService executor; + private QuicEventBus.Subscription subscription; + + @PostConstruct + public void start() { + if (!enabled) { + return; + } + executor = Executors.newSingleThreadExecutor(runnable -> { + Thread thread = new Thread(runnable, "quic-robot-sync"); + thread.setDaemon(true); + return thread; + }); + subscription = eventBus.watchNodes(true, this::enqueue); + log.info("已启动QUIC机器人身份和设备同步"); + } + + private void enqueue(NodeEvent event) { + try { + executor.execute(() -> { + try { + stateService.synchronize(event); + } catch (RuntimeException error) { + log.error("同步QUIC机器人失败，robotId={}，nodeId={}，eventType={}", + event.getNode().getRobotId(), event.getNode().getNodeId(), + event.getType(), error); + } + }); + } catch (RejectedExecutionException ignored) { + log.debug("QUIC机器人同步线程已停止"); + } + } + + @PreDestroy + public void stop() { + if (subscription != null) { + subscription.close(); + } + if (executor != null) { + executor.shutdown(); + try { + if (!executor.awaitTermination(5, TimeUnit.SECONDS)) { + executor.shutdownNow(); + } + } catch (InterruptedException error) { + executor.shutdownNow(); + Thread.currentThread().interrupt(); + } + } + } +} diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/RobotQuicStateService.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/RobotQuicStateService.java new file mode 100644 index 0000000..11c15a9 --- /dev/null +++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/RobotQuicStateService.java @@ -0,0 +1,173 @@ +package com.cmvr.inspection.service; + +import com.cmvr.common.utils.DateUtils; +import com.cmvr.edge.client.manage.GrpcServiceManager; +import com.cmvr.inspection.domain.InspectionRobot; +import com.cmvr.inspection.domain.InspectionRobotDevice; +import com.cmvr.inspection.mapper.InspectionRobotDeviceMapper; +import com.cmvr.inspection.mapper.InspectionRobotMapper; +import com.cmvr.quic.gateway.v1.ManagedDeviceStatus; +import com.cmvr.quic.gateway.v1.NodeEvent; +import com.cmvr.quic.gateway.v1.NodeEventType; +import com.cmvr.quic.gateway.v1.NodeSnapshot; +import lombok.RequiredArgsConstructor; +import org.apache.commons.lang3.StringUtils; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; +import org.springframework.beans.factory.annotation.Value; +import org.springframework.stereotype.Service; +import org.springframework.transaction.annotation.Transactional; + +import java.util.ArrayList; +import java.util.Date; +import java.util.List; +import java.util.Objects; + +@Service +@RequiredArgsConstructor +public class RobotQuicStateService { + + private static final Logger log = LoggerFactory.getLogger(RobotQuicStateService.class); + + private final InspectionRobotMapper robotMapper; + private final InspectionRobotDeviceMapper deviceMapper; + private final GrpcServiceManager grpcServiceManager; + + @Value("${cmvr.quic.grpc-host-source:observed-source}") + private String grpcHostSource; + + @Transactional(rollbackFor = Exception.class) + public void synchronize(NodeEvent event) { + NodeSnapshot node = event.getNode(); + String robotId = StringUtils.trimToNull(node.getRobotId()); + if (robotId == null) { + log.warn("忽略未携带机器人ID的QUIC事件，nodeId={}，eventType={}", + node.getNodeId(), event.getType()); + return; + } + + List matches = robotMapper.selectByRobotId(robotId); + if (matches.isEmpty()) { + log.warn("QUIC机器人尚未在平台登记，robotId={}，nodeId={}", robotId, node.getNodeId()); + return; + } + if (matches.size() != 1) { + log.error("机器人ID存在{}条重复记录，拒绝同步，robotId={}", matches.size(), robotId); + return; + } + + InspectionRobot robot = matches.get(0); + if ("1".equals(robot.getArchivedStatus())) { + log.warn("已归档机器人尝试连接，拒绝同步，robotId={}", robotId); + return; + } + + boolean offline = event.getType() == NodeEventType.NODE_EVENT_TYPE_OFFLINE || !node.getOnline(); + if (offline && StringUtils.isNotBlank(robot.getQuicSessionId()) + && !robot.getQuicSessionId().equals(node.getSessionId())) { + log.info("忽略旧QUIC会话的离线事件，robotId={}，activeSession={}，eventSession={}", + robotId, robot.getQuicSessionId(), node.getSessionId()); + return; + } + + Date eventTime = new Date(event.getEventTimeUnixMs() == 0 + ? System.currentTimeMillis() : event.getEventTimeUnixMs()); + String oldHost = robot.getIpAddress(); + Long oldPort = robot.getPort(); + if (!offline) { + String host = resolveGrpcHost(node); + Long port = node.getGrpcEndpoint().getPort() == 0 + ? null : Long.valueOf(node.getGrpcEndpoint().getPort()); + robot.setIpAddress(host); + robot.setPort(port); + } + + robot.setConnectStatus(offline ? "0" : "1"); + robot.setQuicNodeId(node.getNodeId()); + robot.setQuicSessionId(node.getSessionId()); + robot.setQuicBootId(node.getBootId()); + robot.setObservedIp(node.getObservedSourceIp()); + robot.setSoftwareVersion(node.getSoftwareVersion()); + robot.setLastHeartbeatTime(eventTime); + robot.setUpdateTime(DateUtils.getNowDate()); + robotMapper.updateQuicRuntimeState(robot); + + if (offline) { + deviceMapper.markAllOffline(robotId, eventTime); + } else { + synchronizeDevices(robotId, node, eventTime); + } + + if (offline || !Objects.equals(oldHost, robot.getIpAddress()) + || !Objects.equals(oldPort, robot.getPort())) { + grpcServiceManager.invalidateRobot(robotId); + } + if (event.getType() == NodeEventType.NODE_EVENT_TYPE_HEARTBEAT) { + log.debug("QUIC机器人心跳已同步，robotId={}，nodeId={}，grpc={}:{}，devices={}", + robotId, node.getNodeId(), robot.getIpAddress(), robot.getPort(), + node.getDeviceManager().getDevicesCount()); + } else { + log.info("QUIC机器人状态已同步，robotId={}，nodeId={}，online={}，grpc={}:{}，devices={}", + robotId, node.getNodeId(), !offline, robot.getIpAddress(), robot.getPort(), + node.getDeviceManager().getDevicesCount()); + } + } + + private void synchronizeDevices(String robotId, NodeSnapshot node, Date eventTime) { + List reportedIds = new ArrayList<>(); + for (ManagedDeviceStatus status : node.getDeviceManager().getDevicesList()) { + String deviceId = StringUtils.trimToNull(status.getDeviceId()); + if (deviceId == null) { + continue; + } + reportedIds.add(deviceId); + List matches = deviceMapper.selectByIdentity(robotId, deviceId); + if (matches.size() > 1) { + log.error("机器人设备存在重复记录，跳过更新，robotId={}，deviceId={}，count={}", + robotId, deviceId, matches.size()); + continue; + } + InspectionRobotDevice device = matches.isEmpty() + ? createDevice(robotId, deviceId, eventTime) : matches.get(0); + device.setDeviceKind(status.getKind()); + device.setTypeName(status.getTypeName()); + device.setEnabled(status.getEnabled() ? "1" : "0"); + device.setManagerState(status.getManagerState()); + device.setHealthStatus(status.getHealth()); + device.setOnlineStatus("1"); + device.setHasError(status.getHasError() ? "1" : "0"); + device.setErrorMessage(status.getErrorMessage()); + device.setStatusUpdatedTime(status.getStatusUpdatedAtUnixMs() == 0 + ? null : new Date(status.getStatusUpdatedAtUnixMs())); + device.setLastSeenTime(eventTime); + device.setOfflineTime(null); + device.setUpdateBy("quic"); + device.setUpdateTime(eventTime); + if (matches.isEmpty()) { + deviceMapper.insert(device); + } else { + deviceMapper.updateRuntimeState(device); + } + } + deviceMapper.markMissingOffline(robotId, reportedIds, eventTime); + } + + private InspectionRobotDevice createDevice(String robotId, String deviceId, Date now) { + InspectionRobotDevice device = new InspectionRobotDevice(); + device.setRobotId(robotId); + device.setDeviceId(deviceId); + device.setDeviceName(deviceId); + device.setCreateBy("quic"); + device.setCreateTime(now); + return device; + } + + private String resolveGrpcHost(NodeSnapshot node) { + String advertised = StringUtils.trimToNull(node.getGrpcEndpoint().getHost()); + String observed = StringUtils.trimToNull(node.getObservedSourceIp()); + if ("advertised".equalsIgnoreCase(grpcHostSource)) { + return advertised != null ? advertised : observed; + } + return observed != null ? observed : advertised; + } +} diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java index 5aeeaf7..9830ea1 100644 --- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java +++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java @@ -1,20 +1,19 @@ package com.cmvr.inspection.service.impl; -import java.util.Arrays; import java.util.List; import java.util.UUID; import cmvr.msgs.AgvUtils; import com.baomidou.mybatisplus.spring.service.impl.ServiceImpl; import com.cmvr.common.utils.SecurityUtils; -import com.cmvr.device.domain.DeDeviceTerminalConfig; -import com.cmvr.device.service.IDeDeviceTerminalConfigService; import com.cmvr.edge.client.model.EdgeCommonVO; import com.cmvr.edge.client.service.EdgeAgvService; import com.cmvr.inspection.domain.InspectionMap; +import com.cmvr.inspection.domain.InspectionRobotDevice; import com.cmvr.inspection.domain.vo.InspectionRobotVo; import com.cmvr.inspection.mapper.InspectionMapMapper; +import com.cmvr.inspection.mapper.InspectionRobotDeviceMapper; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import com.cmvr.common.utils.DateUtils; @@ -43,7 +42,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl inspectionRobots = inspectionRobotMapper.selectBatchIds(Arrays.asList(ids)); - deDeviceTerminalConfigService.deleteDeDeviceTerminalConfigByIds(inspectionRobots.stream().map(InspectionRobot::getTerminalId).toArray(String[]::new)); - return inspectionRobotMapper.deleteInspectionRobotByIds(ids); + return inspectionRobotMapper.archiveInspectionRobotByIds(ids, SecurityUtils.getUsername()); + } + + @Override + public List selectRobotDevices(String id) + { + InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(id); + if (robot == null) { + throw new GlobalException("机器人不存在"); + } + if (StrUtil.isBlank(robot.getRobotId())) { + return java.util.Collections.emptyList(); + } + return inspectionRobotDeviceMapper.selectByRobotId(robot.getRobotId()); + } + + @Override + public List selectRobotDevicesByRobotId(String robotId, Integer deviceKind, + boolean onlineOnly) + { + String normalizedRobotId = normalizeRobotId(robotId); + if (StrUtil.isBlank(normalizedRobotId)) { + throw new GlobalException("机器人ID不能为空"); + } + if (inspectionRobotMapper.selectByRobotId(normalizedRobotId).isEmpty()) { + throw new GlobalException("机器人不存在：" + normalizedRobotId); + } + return inspectionRobotDeviceMapper.selectByRobotIdAndKind( + normalizedRobotId, deviceKind, onlineOnly); + } + + private static String normalizeRobotId(String robotId) + { + return robotId == null ? null : robotId.trim(); } /** @@ -147,7 +185,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl runParams.put(item.getItemId(), new JSONObject())); // 调用真正的执行 String insId = flowTaskRuntimeService.executeTask(TeTaskExecuteNormalVO.builder() .taskId(inspectionTask.getTaskConfigId()) + .robotId(robot.getRobotId()) + .robotId(robot.getRobotId()) .moduleCode(FlowExecutionModuleCodes.INSPECTION) .runParams(runParams) .build()); diff --git a/cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionRobotDeviceMapper.xml b/cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionRobotDeviceMapper.xml new file mode 100644 index 0000000..161f58f --- /dev/null +++ b/cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionRobotDeviceMapper.xml @@ -0,0 +1,85 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + id, robot_id, device_id, device_name, device_kind, type_name, enabled, + manager_state, health_status, online_status, has_error, error_message, + status_updated_time, last_seen_time, offline_time, create_by, create_time, + update_by, update_time, remark + + + + + + + + + update inspection_robot_device + set device_kind = #{deviceKind}, type_name = #{typeName}, enabled = #{enabled}, + manager_state = #{managerState}, health_status = #{healthStatus}, + online_status = #{onlineStatus}, has_error = #{hasError}, + error_message = #{errorMessage}, status_updated_time = #{statusUpdatedTime}, + last_seen_time = #{lastSeenTime}, offline_time = #{offlineTime}, + update_by = #{updateBy}, update_time = #{updateTime} + where id = #{id} + + + + update inspection_robot_device + set online_status = '0', offline_time = #{offlineTime}, + update_by = 'quic', update_time = #{offlineTime} + where robot_id = #{robotId} and online_status != '0' + + and device_id not in + + #{deviceId} + + + + + + update inspection_robot_device + set online_status = '0', offline_time = #{offlineTime}, + update_by = 'quic', update_time = #{offlineTime} + where robot_id = #{robotId} and online_status != '0' + + diff --git a/cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionRobotMapper.xml b/cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionRobotMapper.xml index 552a937..904f637 100644 --- a/cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionRobotMapper.xml +++ b/cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionRobotMapper.xml @@ -6,6 +6,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" + @@ -21,11 +22,19 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" - + + + + + + + + + @@ -45,17 +54,32 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" - + + + + + + + + + + - select id, create_by, create_time, update_by, update_time, remark, robot_code, robot_name, robot_model, robot_type, ip_address, port, current_map_id, status, battery_level, current_position, terminal_id from inspection_robot + select id, robot_id, create_by, create_time, update_by, update_time, remark, + robot_code, robot_name, robot_model, robot_type, ip_address, port, + current_map_id, status, battery_level, current_position, + connect_status, quic_node_id, quic_session_id, quic_boot_id, + observed_ip, software_version, last_heartbeat_time, archived_status + from inspection_robot + + insert into inspection_robot id, + robot_id, create_by, create_time, update_by, @@ -88,10 +118,12 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" status, battery_level, current_position, - terminal_id, + connect_status, + archived_status, #{id}, + #{robotId}, #{createBy}, #{createTime}, #{updateBy}, @@ -107,7 +139,8 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" #{status}, #{batteryLevel}, #{currentPosition}, - #{terminalId}, + #{connectStatus}, + #{archivedStatus}, @@ -129,11 +162,29 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" status = #{status}, battery_level = #{batteryLevel}, current_position = #{currentPosition}, - terminal_id = #{terminalId}, where id = #{id} + + update inspection_robot + set ip_address = #{ipAddress}, port = #{port}, connect_status = #{connectStatus}, + quic_node_id = #{quicNodeId}, quic_session_id = #{quicSessionId}, + quic_boot_id = #{quicBootId}, observed_ip = #{observedIp}, + software_version = #{softwareVersion}, last_heartbeat_time = #{lastHeartbeatTime}, + update_by = 'quic', update_time = #{updateTime} + where id = #{id} + + + + update inspection_robot set archived_status = '1', connect_status = '0', + update_time = sysdate(), update_by = #{updateBy} + where id in + + #{id} + + + delete from inspection_robot where id = #{id} @@ -147,20 +198,28 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"