feat(agv): 添加AGV控制系统相关模型和API接口

- 新增EdgeAgvBatteryStatusVO电池状态数据模型
- 新增EdgeAgvNavigationResultVO导航任务结果数据模型
- 新增EdgeAgvRobotLocationVO机器人位置数据模型
- 新增EdgeAgvStationVO站点信息数据模型
- 新增EdgeAgvTaskStatusVO任务状态数据模型
- 实现EdgeAgvController提供完整的AGV控制API接口
- 添加AGV状态信息、机器人位置、地图状态查询功能
- 实现地图下载上传、电池状态获取等核心功能
- 提供导航到指定站点、自由导航到坐标点等功能
- 实现导航任务的暂停、继续、取消操作接口
- 添加站点列表查询、地图切换等管理功能

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

@@ -0,0 +1,169 @@
+package com.cmvr.web.controller.api;
+
+import cmvr.api.AgvCommand;
+import com.cmvr.common.core.domain.AjaxResult;
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import com.cmvr.edge.client.model.agv.*;
+import com.cmvr.edge.client.service.EdgeAgvService;
+import io.swagger.annotations.Api;
+import io.swagger.annotations.ApiOperation;
+import io.swagger.annotations.ApiParam;
+import lombok.RequiredArgsConstructor;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 边缘系统AGV控制器
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Api(tags = "边缘--AGV")
+@RestController
+@RequestMapping("/api/agv")
+@RequiredArgsConstructor
+public class EdgeAgvController {
+
+    private final EdgeAgvService edgeAgvService;
+
+    @ApiOperation("获取AGV状态信息")
+    @GetMapping("/getStatusInfo")
+    public AjaxResult getStatusInfo(EdgeCommonVO vo) {
+        AgvCommand.AgvStatusInfo statusInfo = edgeAgvService.getStatusInfo(vo);
+        // 直接返回对象，Jackson会自动序列化
+        return AjaxResult.ok(statusInfo);
+    }
+
+    @ApiOperation("获取机器人位置")
+    @GetMapping("/getRobotLocation")
+    public AjaxResult getRobotLocation(EdgeCommonVO vo) {
+        AgvCommand.AgvRobotLocation location = edgeAgvService.getRobotLocation(vo);
+        return AjaxResult.ok(location);
+    }
+
+    @ApiOperation("获取地图状态")
+    @GetMapping("/getMapStatus")
+    public AjaxResult getMapStatus(EdgeCommonVO vo) {
+        AgvCommand.AgvMapStatus mapStatus = edgeAgvService.getMapStatus(vo);
+        return AjaxResult.ok(mapStatus);
+    }
+
+    @ApiOperation("下载地图")
+    @GetMapping("/downloadMap")
+    public AjaxResult downloadMap(EdgeCommonVO vo, 
+                                   @ApiParam("地图名称") String mapName) {
+        AgvCommand.AgvDownloadMapResult result = edgeAgvService.robotConfigDownloadMap(vo, mapName);
+        return AjaxResult.ok(result);
+    }
+
+    @ApiOperation("上传地图")
+    @PostMapping("/uploadMap")
+    public AjaxResult uploadMap(EdgeCommonVO vo, 
+                                 @ApiParam("地图内容") String mapContent) {
+        AgvCommand.AgvUploadMapResult result = edgeAgvService.robotConfigUploadMap(vo, mapContent);
+        java.util.Map<String, Object> resultMap = new java.util.HashMap<>();
+        resultMap.put("retCode", result.getRetCode());
+        resultMap.put("errMsg", result.getErrMsg());
+        return AjaxResult.ok(resultMap);
+    }
+
+    @ApiOperation("获取电池状态")
+    @GetMapping("/getBatteryStatus")
+    public AjaxResult getBatteryStatus(EdgeCommonVO vo) {
+        AgvCommand.AgvBatteryStatus batteryStatus = edgeAgvService.getBatteryStatus(vo);
+        return AjaxResult.ok(batteryStatus);
+    }
+
+    @ApiOperation("导航到指定站点")
+    @GetMapping("/goToStation")
+    public AjaxResult goToStation(EdgeCommonVO vo,
+                                   @ApiParam("起始站点ID") String sourceId,
+                                   @ApiParam("目标站点ID") String targetId,
+                                   @ApiParam("任务ID") String taskId,
+                                   @ApiParam("操作类型") String operation,
+                                   @ApiParam("顶升高度") Double jackHeight) {
+        AgvCommand.RobotGoTargetResData result = edgeAgvService.robotGoTarget(
+            vo, sourceId, targetId, taskId, operation, jackHeight
+        );
+        return AjaxResult.ok(result);
+    }
+
+    @ApiOperation("自由导航到坐标点")
+    @GetMapping("/freeGo")
+    public AjaxResult freeGo(EdgeCommonVO vo,
+                              @ApiParam("X坐标") double x,
+                              @ApiParam("Y坐标") double y,
+                              @ApiParam("角度") double theta,
+                              @ApiParam("任务ID") String taskId) {
+        // 构建自由导航点
+        AgvCommand.FreeGoPoint freeGoPoint = AgvCommand.FreeGoPoint.newBuilder()
+            .setX(x)
+            .setY(y)
+            .setTheta(theta)
+            .build();
+        
+        AgvCommand.RobotGoTargetResData result = edgeAgvService.robotGoTargetWithFreeGo(
+            vo, freeGoPoint, taskId
+        );
+        return AjaxResult.ok(result);
+    }
+
+    @ApiOperation("暂停导航任务")
+    @GetMapping("/pauseTask")
+    public AjaxResult pauseTask(EdgeCommonVO vo) {
+        edgeAgvService.robotTaskPause(vo);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("继续导航任务")
+    @GetMapping("/resumeTask")
+    public AjaxResult resumeTask(EdgeCommonVO vo) {
+        edgeAgvService.robotTaskResume(vo);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("取消导航任务")
+    @GetMapping("/cancelTask")
+    public AjaxResult cancelTask(EdgeCommonVO vo) {
+        edgeAgvService.robotTaskCancel(vo);
+        return AjaxResult.ok();
+    }
+
+    @ApiOperation("查询当前导航状态")
+    @GetMapping("/getTaskStatus")
+    public AjaxResult getTaskStatus(EdgeCommonVO vo,
+                                     @ApiParam("是否简化返回") boolean simple) {
+        AgvCommand.RobotStatusTaskResData taskData = edgeAgvService.getRobotStatusTaskCurrent(vo, simple);
+        return AjaxResult.ok(taskData);
+    }
+
+    @ApiOperation("查询站点列表")
+    @GetMapping("/getStationList")
+    public AjaxResult getStationList(EdgeCommonVO vo) {
+        AgvCommand.QueryStationListResult result = edgeAgvService.queryStationList(vo);
+        return AjaxResult.ok(result);
+    }
+
+    @ApiOperation("切换地图")
+    @GetMapping("/loadMap")
+    public AjaxResult loadMap(EdgeCommonVO vo,
+                               @ApiParam("地图名称") String mapName) {
+        AgvCommand.RobotLoadMapResult result = edgeAgvService.robotLoadMap(vo, mapName);
+        java.util.Map<String, Object> resultMap = new java.util.HashMap<>();
+        resultMap.put("retCode", result.getRetCode());
+        resultMap.put("errMsg", result.getErrMsg());
+        return AjaxResult.ok(resultMap);
+    }
+
+    @ApiOperation("查询地图加载状态")
+    @GetMapping("/getLoadMapStatus")
+    public AjaxResult getLoadMapStatus(EdgeCommonVO vo) {
+        AgvCommand.RobotQueryLoadMapStatusResult result = edgeAgvService.queryLoadMapStatus(vo);
+        return AjaxResult.ok(result);
+    }
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/agv/EdgeAgvBatteryStatusVO.java

@@ -0,0 +1,28 @@
+package com.cmvr.edge.client.model.agv;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * AGV电池状态VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@ApiModel("AGV电池状态")
+public class EdgeAgvBatteryStatusVO {
+
+    @ApiModelProperty("电池电量百分比（0-100）")
+    private double batteryPercent;
+
+    @ApiModelProperty("电池电压（单位：伏特）")
+    private double voltage;
+
+    @ApiModelProperty("电池电流（单位：安培）")
+    private double current;
+
+    @ApiModelProperty("充电状态（true=充电中，false=未充电）")
+    private boolean charging;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/agv/EdgeAgvNavigationResultVO.java

@@ -0,0 +1,25 @@
+package com.cmvr.edge.client.model.agv;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * AGV导航任务结果VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@ApiModel("AGV导航任务结果")
+public class EdgeAgvNavigationResultVO {
+
+    @ApiModelProperty("返回码（0=成功）")
+    private int retCode;
+
+    @ApiModelProperty("错误信息")
+    private String errMsg;
+
+    @ApiModelProperty("任务ID")
+    private String taskId;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/agv/EdgeAgvRobotLocationVO.java

@@ -0,0 +1,28 @@
+package com.cmvr.edge.client.model.agv;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * AGV机器人位置VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@ApiModel("AGV机器人位置")
+public class EdgeAgvRobotLocationVO {
+
+    @ApiModelProperty("X坐标（单位：米）")
+    private double x;
+
+    @ApiModelProperty("Y坐标（单位：米）")
+    private double y;
+
+    @ApiModelProperty("角度（单位：弧度）")
+    private double theta;
+
+    @ApiModelProperty("地图名称")
+    private String mapName;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/agv/EdgeAgvStationVO.java

@@ -0,0 +1,37 @@
+package com.cmvr.edge.client.model.agv;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * AGV站点信息VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@ApiModel("AGV站点信息")
+public class EdgeAgvStationVO {
+
+    @ApiModelProperty("站点ID")
+    private String stationId;
+
+    @ApiModelProperty("站点名称")
+    private String stationName;
+
+    @ApiModelProperty("X坐标（单位：米）")
+    private double x;
+
+    @ApiModelProperty("Y坐标（单位：米）")
+    private double y;
+
+    @ApiModelProperty("角度（单位：弧度）")
+    private double theta;
+
+    @ApiModelProperty("站点类型")
+    private String stationType;
+
+    @ApiModelProperty("站点描述")
+    private String description;
+}

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/agv/EdgeAgvTaskStatusVO.java

@@ -0,0 +1,31 @@
+package com.cmvr.edge.client.model.agv;
+
+import io.swagger.annotations.ApiModel;
+import io.swagger.annotations.ApiModelProperty;
+import lombok.Data;
+
+/**
+ * AGV任务状态VO
+ *
+ * @author cmvr-iot
+ * @since 2026-07-01
+ */
+@Data
+@ApiModel("AGV任务状态")
+public class EdgeAgvTaskStatusVO {
+
+    @ApiModelProperty("任务状态")
+    private int taskStatus;
+
+    @ApiModelProperty("当前站点ID")
+    private String currentStationId;
+
+    @ApiModelProperty("目标站点ID")
+    private String targetStationId;
+
+    @ApiModelProperty("已经过的站点数量")
+    private int passedStationCount;
+
+    @ApiModelProperty("剩余站点数量")
+    private int remainingStationCount;
+}