refactor(inspection): 优化巡检机器人控制器参数配置

- 移除不必要的MediaType导入
- 简化downloadMapFromRobot方法中的参数注解配置
- 保持机器人ID和地图名称参数的API文档注解
- 优化代码结构以提高可读性

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

@@ -3,19 +3,12 @@ package com.cmvr.web.controller.inspection;
 import java.util.List;
 import javax.servlet.http.HttpServletResponse;
 
+import cmvr.api.AgvCommand;
 import com.cmvr.inspection.domain.vo.InspectionRobotVo;
-import io.swagger.annotations.Api;
+import io.swagger.annotations.*;
-import io.swagger.annotations.ApiOperation;
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.*;
-import org.springframework.web.bind.annotation.PostMapping;
-import org.springframework.web.bind.annotation.PutMapping;
-import org.springframework.web.bind.annotation.DeleteMapping;
-import org.springframework.web.bind.annotation.PathVariable;
-import org.springframework.web.bind.annotation.RequestBody;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
 import com.cmvr.common.annotation.Log;
 import com.cmvr.common.core.controller.BaseController;
 import com.cmvr.common.core.domain.AjaxResult;
@@ -27,7 +20,7 @@ import com.cmvr.common.core.page.TableDataInfo;
 
 /**
  * 巡检机器人Controller
- * 
+ *
  * @author cmvr-iot
  * @since 2026-05-29
  */
@@ -107,9 +100,78 @@ public class InspectionRobotController extends BaseController
     @ApiOperation("删除巡检机器人")
     @PreAuthorize("@ss.hasPermi('inspection:robot:remove')")
     @Log(title = "巡检机器人", businessType = BusinessType.DELETE)
-	@DeleteMapping("/{ids}")
+    @DeleteMapping("/{ids}")
     public AjaxResult remove(@PathVariable String[] ids)
     {
         return toAjax(inspectionRobotService.deleteInspectionRobotByIds(ids));
     }
+
+    /**
+     * 获取机器人地图列表（从AGV获取）
+     */
+    @ApiOperation("获取机器人地图列表")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:query')")
+    @GetMapping("/{robotId}/maps")
+    public AjaxResult getRobotMapList(@PathVariable("robotId") String robotId)
+    {
+        AgvCommand.AgvMapStatus robotMapList = inspectionRobotService.getRobotMapList(robotId);
+        return success(robotMapList.getMapsList());
+    }
+
+    /**
+     * 绑定机器人地图
+     */
+    @ApiOperation("绑定机器人地图")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
+    @Log(title = "绑定机器人地图", businessType = BusinessType.UPDATE)
+    @PostMapping("/{robotId}/bind-map/{mapId}")
+    public AjaxResult bindRobotMap(@PathVariable("robotId") String robotId,
+                                   @PathVariable("mapId") String mapId)
+    {
+        return toAjax(inspectionRobotService.bindRobotMap(robotId, mapId));
+    }
+
+    /**
+     * 上传地图到机器人
+     */
+    @ApiOperation("上传地图到机器人")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
+    @Log(title = "上传地图到机器人", businessType = BusinessType.OTHER)
+    @PostMapping("/{robotId}/upload-map/{mapId}")
+    public AjaxResult uploadMapToRobot(@PathVariable("robotId") String robotId,
+                                       @PathVariable("mapId") String mapId)
+    {
+        String result = inspectionRobotService.uploadMapToRobot(robotId, mapId);
+        return success(result);
+    }
+
+    /**
+     * 从机器人下载地图
+     */
+    @ApiOperation("从机器人下载地图")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:add')")
+    @Log(title = "从机器人下载地图", businessType = BusinessType.INSERT)
+    @GetMapping("/{robotId}/download-map")
+    public AjaxResult downloadMapFromRobot(
+            @PathVariable(value = "robotId") @ApiParam("机器人ID") String robotId,
+            @RequestParam(value = "mapName") @ApiParam("地图名称") String mapName
+    )
+    {
+        Object mapId = inspectionRobotService.downloadMapFromRobot(robotId, mapName);
+        return success(mapId);
+    }
+
+    /**
+     * 同步机器人状态
+     */
+    @ApiOperation("同步机器人状态")
+    @PreAuthorize("@ss.hasPermi('inspection:robot:edit')")
+    @Log(title = "同步机器人状态", businessType = BusinessType.UPDATE)
+    @PostMapping("/{robotId}/sync-status")
+    public AjaxResult syncRobotStatus(@PathVariable("robotId") String robotId)
+    {
+        return success(inspectionRobotService.syncRobotStatus(robotId));
+    }
+
 }
+

cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java

@@ -57,6 +57,8 @@ public class GrpcServiceManager {
         // 注册机械臂服务的stub
         clientFactories.put(HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class, new GrpcClientFactory<>(HumanoidRobotServiceGrpc::newBlockingStub));
         clientFactories.put(HlcServiceGrpc.HlcServiceBlockingStub.class, new GrpcClientFactory<>(HlcServiceGrpc::newBlockingStub));
+        // 注册agv服务的stub
+        clientFactories.put(AgvServiceGrpc.AgvServiceBlockingStub.class, new GrpcClientFactory<>(AgvServiceGrpc::newBlockingStub));
     }
 
 

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

@@ -0,0 +1,56 @@
+package com.cmvr.edge.client.service;
+
+import cmvr.api.AgvCommand;
+import com.cmvr.edge.client.model.EdgeCommonVO;
+
+/**
+ * 边缘系统AGV服务
+ *
+ * @author cmvr-iot
+ * @since 2026-06-11
+ */
+public interface EdgeAgvService {
+
+    /**
+     * 获取AGV状态信息
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @return AGV状态信息
+     */
+    AgvCommand.AgvStatusInfo getStatusInfo(EdgeCommonVO edgeCommonVO);
+
+
+    /**
+     * 获取机器人位置
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @return 机器人位置
+     */
+    AgvCommand.AgvRobotLocation getRobotLocation(EdgeCommonVO edgeCommonVO);
+
+    /**
+     * 获取地图状态（地图列表）
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @return 地图状态
+     */
+    AgvCommand.AgvMapStatus getMapStatus(EdgeCommonVO edgeCommonVO);
+
+    /**
+     * 下载地图（从机器人下载地图到服务器）
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @param mapName 地图名称
+     * @return 下载结果（包含地图内容）
+     */
+    AgvCommand.AgvDownloadMapResult robotConfigDownloadMap(EdgeCommonVO edgeCommonVO, String mapName);
+
+
+    /**
+     * 获取电池状态
+     *
+     * @param edgeCommonVO 边缘通用参数
+     * @return 电池状态
+     */
+    AgvCommand.AgvBatteryStatus getBatteryStatus(EdgeCommonVO edgeCommonVO);
+}

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

@@ -0,0 +1,110 @@
+package com.cmvr.edge.client.service.impl;
+
+import cmvr.api.AgvCommand;
+import cmvr.api.AgvServiceGrpc;
+import cn.hutool.core.util.StrUtil;
+import com.cmvr.common.exception.GlobalException;
+import com.cmvr.edge.client.manage.GrpcServiceManager;
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import com.cmvr.edge.client.service.EdgeAgvService;
+import com.cmvr.edge.client.utils.EdgeCommonUtil;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+/**
+ * AGV服务实现类
+ * 
+ * @author cmvr-iot
+ * @since 2026-06-11
+ */
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class EdgeAgvServiceImpl implements EdgeAgvService {
+
+    private final GrpcServiceManager grpcServiceManager;
+
+    @Override
+    public AgvCommand.AgvStatusInfo getStatusInfo(EdgeCommonVO edgeCommonVO) {
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        AgvCommand.GetAgvStatusInfoCommand.Request request = AgvCommand.GetAgvStatusInfoCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .build();
+        return executeGrpcCall(() -> stub.getStatusInfo(request)).getStatus();
+    }
+
+
+    @Override
+    public AgvCommand.AgvRobotLocation getRobotLocation(EdgeCommonVO edgeCommonVO) {
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        AgvCommand.RobotStatusLocCommand.Request request = AgvCommand.RobotStatusLocCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .build();
+        return executeGrpcCall(() -> stub.getRobotLocation(request)).getStatus();
+    }
+
+    @Override
+    public AgvCommand.AgvMapStatus getMapStatus(EdgeCommonVO edgeCommonVO) {
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        AgvCommand.RobotStatusMapCommand.Request request = AgvCommand.RobotStatusMapCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .build();
+        return executeGrpcCall(() -> stub.getMapStatus(request)).getStatus();
+    }
+
+    @Override
+    public AgvCommand.AgvDownloadMapResult robotConfigDownloadMap(EdgeCommonVO edgeCommonVO, String mapName) {
+        if (StrUtil.isBlank(mapName)) {
+            throw new GlobalException("地图名称不能为空");
+        }
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        AgvCommand.RobotConfigDownloadMapRequestData requestData = AgvCommand.RobotConfigDownloadMapRequestData.newBuilder()
+            .setMapName(mapName)
+            .build();
+        AgvCommand.RobotConfigDownloadMapCommand.Request request = AgvCommand.RobotConfigDownloadMapCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+            .setData(requestData)
+            .build();
+        AgvCommand.AgvDownloadMapResult result = executeGrpcCall(() -> stub.robotConfigDownloadMap(request)).getStatus();
+        
+        if (result.getRetCode() != 0) {
+            throw new GlobalException("下载地图失败: " + result.getErrMsg());
+        }
+        return result;
+    }
+
+    @Override
+    public AgvCommand.AgvBatteryStatus getBatteryStatus(EdgeCommonVO edgeCommonVO) {
+        AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient(
+            edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class);
+        AgvCommand.RobotStatusBatteryRequestData requestData = AgvCommand.RobotStatusBatteryRequestData.newBuilder()
+                .setSimple(true)
+                .build();
+        AgvCommand.RobotStatusBatteryCommand.Request request = AgvCommand.RobotStatusBatteryCommand.Request.newBuilder()
+            .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId()))
+                .setData(requestData)
+            .build();
+        return executeGrpcCall(() -> stub.getBatteryStatus(request)).getStatus();
+    }
+
+    /**
+     * 执行gRPC调用并处理异常
+     *
+     * @param call gRPC调用
+     * @param <T> 返回类型
+     * @return 调用结果
+     */
+    private <T> T executeGrpcCall(java.util.function.Supplier<T> call) {
+        try {
+            return call.get();
+        } catch (Exception e) {
+            log.error("AGV gRPC调用失败", e);
+            throw new GlobalException("AGV通信失败: " + e.getMessage());
+        }
+    }
+}

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

@@ -0,0 +1,584 @@
+package cmvr.api;
+
+import static io.grpc.MethodDescriptor.generateFullMethodName;
+
+/**
+ */
+@javax.annotation.Generated(
+    value = "by gRPC proto compiler (version 1.52.0)",
+    comments = "Source: cmvr/api/agv_service.proto")
+@io.grpc.stub.annotations.GrpcGenerated
+public final class AgvServiceGrpc {
+
+  private AgvServiceGrpc() {}
+
+  public static final String SERVICE_NAME = "cmvr.api.AgvService";
+
+  // Static method descriptors that strictly reflect the proto.
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request,
+      cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback> getGetStatusInfoMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetStatusInfo",
+      requestType = cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request.class,
+      responseType = cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request,
+      cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback> getGetStatusInfoMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request, cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback> getGetStatusInfoMethod;
+    if ((getGetStatusInfoMethod = AgvServiceGrpc.getGetStatusInfoMethod) == null) {
+      synchronized (AgvServiceGrpc.class) {
+        if ((getGetStatusInfoMethod = AgvServiceGrpc.getGetStatusInfoMethod) == null) {
+          AgvServiceGrpc.getGetStatusInfoMethod = getGetStatusInfoMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request, cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetStatusInfo"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new AgvServiceMethodDescriptorSupplier("GetStatusInfo"))
+              .build();
+        }
+      }
+    }
+    return getGetStatusInfoMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request,
+      cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback> getGetBatteryStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetBatteryStatus",
+      requestType = cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request.class,
+      responseType = cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request,
+      cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback> getGetBatteryStatusMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request, cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback> getGetBatteryStatusMethod;
+    if ((getGetBatteryStatusMethod = AgvServiceGrpc.getGetBatteryStatusMethod) == null) {
+      synchronized (AgvServiceGrpc.class) {
+        if ((getGetBatteryStatusMethod = AgvServiceGrpc.getGetBatteryStatusMethod) == null) {
+          AgvServiceGrpc.getGetBatteryStatusMethod = getGetBatteryStatusMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request, cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetBatteryStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new AgvServiceMethodDescriptorSupplier("GetBatteryStatus"))
+              .build();
+        }
+      }
+    }
+    return getGetBatteryStatusMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotStatusLocCommand.Request,
+      cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback> getGetRobotLocationMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetRobotLocation",
+      requestType = cmvr.api.AgvCommand.RobotStatusLocCommand.Request.class,
+      responseType = cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotStatusLocCommand.Request,
+      cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback> getGetRobotLocationMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotStatusLocCommand.Request, cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback> getGetRobotLocationMethod;
+    if ((getGetRobotLocationMethod = AgvServiceGrpc.getGetRobotLocationMethod) == null) {
+      synchronized (AgvServiceGrpc.class) {
+        if ((getGetRobotLocationMethod = AgvServiceGrpc.getGetRobotLocationMethod) == null) {
+          AgvServiceGrpc.getGetRobotLocationMethod = getGetRobotLocationMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.AgvCommand.RobotStatusLocCommand.Request, cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetRobotLocation"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.RobotStatusLocCommand.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new AgvServiceMethodDescriptorSupplier("GetRobotLocation"))
+              .build();
+        }
+      }
+    }
+    return getGetRobotLocationMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request,
+      cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback> getRobotConfigDownloadMapMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "RobotConfigDownloadMap",
+      requestType = cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request.class,
+      responseType = cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request,
+      cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback> getRobotConfigDownloadMapMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request, cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback> getRobotConfigDownloadMapMethod;
+    if ((getRobotConfigDownloadMapMethod = AgvServiceGrpc.getRobotConfigDownloadMapMethod) == null) {
+      synchronized (AgvServiceGrpc.class) {
+        if ((getRobotConfigDownloadMapMethod = AgvServiceGrpc.getRobotConfigDownloadMapMethod) == null) {
+          AgvServiceGrpc.getRobotConfigDownloadMapMethod = getRobotConfigDownloadMapMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request, cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "RobotConfigDownloadMap"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new AgvServiceMethodDescriptorSupplier("RobotConfigDownloadMap"))
+              .build();
+        }
+      }
+    }
+    return getRobotConfigDownloadMapMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotStatusMapCommand.Request,
+      cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback> getGetMapStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "GetMapStatus",
+      requestType = cmvr.api.AgvCommand.RobotStatusMapCommand.Request.class,
+      responseType = cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotStatusMapCommand.Request,
+      cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback> getGetMapStatusMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.AgvCommand.RobotStatusMapCommand.Request, cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback> getGetMapStatusMethod;
+    if ((getGetMapStatusMethod = AgvServiceGrpc.getGetMapStatusMethod) == null) {
+      synchronized (AgvServiceGrpc.class) {
+        if ((getGetMapStatusMethod = AgvServiceGrpc.getGetMapStatusMethod) == null) {
+          AgvServiceGrpc.getGetMapStatusMethod = getGetMapStatusMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.AgvCommand.RobotStatusMapCommand.Request, cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "GetMapStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.RobotStatusMapCommand.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new AgvServiceMethodDescriptorSupplier("GetMapStatus"))
+              .build();
+        }
+      }
+    }
+    return getGetMapStatusMethod;
+  }
+
+  /**
+   * Creates a new async stub that supports all call types for the service
+   */
+  public static AgvServiceStub newStub(io.grpc.Channel channel) {
+    io.grpc.stub.AbstractStub.StubFactory<AgvServiceStub> factory =
+      new io.grpc.stub.AbstractStub.StubFactory<AgvServiceStub>() {
+        @java.lang.Override
+        public AgvServiceStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+          return new AgvServiceStub(channel, callOptions);
+        }
+      };
+    return AgvServiceStub.newStub(factory, channel);
+  }
+
+  /**
+   * Creates a new blocking-style stub that supports unary and streaming output calls on the service
+   */
+  public static AgvServiceBlockingStub newBlockingStub(
+      io.grpc.Channel channel) {
+    io.grpc.stub.AbstractStub.StubFactory<AgvServiceBlockingStub> factory =
+      new io.grpc.stub.AbstractStub.StubFactory<AgvServiceBlockingStub>() {
+        @java.lang.Override
+        public AgvServiceBlockingStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+          return new AgvServiceBlockingStub(channel, callOptions);
+        }
+      };
+    return AgvServiceBlockingStub.newStub(factory, channel);
+  }
+
+  /**
+   * Creates a new ListenableFuture-style stub that supports unary calls on the service
+   */
+  public static AgvServiceFutureStub newFutureStub(
+      io.grpc.Channel channel) {
+    io.grpc.stub.AbstractStub.StubFactory<AgvServiceFutureStub> factory =
+      new io.grpc.stub.AbstractStub.StubFactory<AgvServiceFutureStub>() {
+        @java.lang.Override
+        public AgvServiceFutureStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+          return new AgvServiceFutureStub(channel, callOptions);
+        }
+      };
+    return AgvServiceFutureStub.newStub(factory, channel);
+  }
+
+  /**
+   */
+  public static abstract class AgvServiceImplBase implements io.grpc.BindableService {
+
+    /**
+     * <pre>
+     * 基本控制
+     * </pre>
+     */
+    public void getStatusInfo(cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusInfoMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void getBatteryStatus(cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetBatteryStatusMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void getRobotLocation(cmvr.api.AgvCommand.RobotStatusLocCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetRobotLocationMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void robotConfigDownloadMap(cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getRobotConfigDownloadMapMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void getMapStatus(cmvr.api.AgvCommand.RobotStatusMapCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetMapStatusMethod(), responseObserver);
+    }
+
+    @java.lang.Override public final io.grpc.ServerServiceDefinition bindService() {
+      return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor())
+          .addMethod(
+            getGetStatusInfoMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request,
+                cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback>(
+                  this, METHODID_GET_STATUS_INFO)))
+          .addMethod(
+            getGetBatteryStatusMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request,
+                cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback>(
+                  this, METHODID_GET_BATTERY_STATUS)))
+          .addMethod(
+            getGetRobotLocationMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.AgvCommand.RobotStatusLocCommand.Request,
+                cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback>(
+                  this, METHODID_GET_ROBOT_LOCATION)))
+          .addMethod(
+            getRobotConfigDownloadMapMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request,
+                cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback>(
+                  this, METHODID_ROBOT_CONFIG_DOWNLOAD_MAP)))
+          .addMethod(
+            getGetMapStatusMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.AgvCommand.RobotStatusMapCommand.Request,
+                cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback>(
+                  this, METHODID_GET_MAP_STATUS)))
+          .build();
+    }
+  }
+
+  /**
+   */
+  public static final class AgvServiceStub extends io.grpc.stub.AbstractAsyncStub<AgvServiceStub> {
+    private AgvServiceStub(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      super(channel, callOptions);
+    }
+
+    @java.lang.Override
+    protected AgvServiceStub build(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      return new AgvServiceStub(channel, callOptions);
+    }
+
+    /**
+     * <pre>
+     * 基本控制
+     * </pre>
+     */
+    public void getStatusInfo(cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusInfoMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public void getBatteryStatus(cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetBatteryStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public void getRobotLocation(cmvr.api.AgvCommand.RobotStatusLocCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetRobotLocationMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public void robotConfigDownloadMap(cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getRobotConfigDownloadMapMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public void getMapStatus(cmvr.api.AgvCommand.RobotStatusMapCommand.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetMapStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+  }
+
+  /**
+   */
+  public static final class AgvServiceBlockingStub extends io.grpc.stub.AbstractBlockingStub<AgvServiceBlockingStub> {
+    private AgvServiceBlockingStub(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      super(channel, callOptions);
+    }
+
+    @java.lang.Override
+    protected AgvServiceBlockingStub build(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      return new AgvServiceBlockingStub(channel, callOptions);
+    }
+
+    /**
+     * <pre>
+     * 基本控制
+     * </pre>
+     */
+    public cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback getStatusInfo(cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusInfoMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback getBatteryStatus(cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetBatteryStatusMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback getRobotLocation(cmvr.api.AgvCommand.RobotStatusLocCommand.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetRobotLocationMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback robotConfigDownloadMap(cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getRobotConfigDownloadMapMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback getMapStatus(cmvr.api.AgvCommand.RobotStatusMapCommand.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetMapStatusMethod(), getCallOptions(), request);
+    }
+  }
+
+  /**
+   */
+  public static final class AgvServiceFutureStub extends io.grpc.stub.AbstractFutureStub<AgvServiceFutureStub> {
+    private AgvServiceFutureStub(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      super(channel, callOptions);
+    }
+
+    @java.lang.Override
+    protected AgvServiceFutureStub build(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      return new AgvServiceFutureStub(channel, callOptions);
+    }
+
+    /**
+     * <pre>
+     * 基本控制
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback> getStatusInfo(
+        cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusInfoMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback> getBatteryStatus(
+        cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetBatteryStatusMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback> getRobotLocation(
+        cmvr.api.AgvCommand.RobotStatusLocCommand.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetRobotLocationMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback> robotConfigDownloadMap(
+        cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getRobotConfigDownloadMapMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback> getMapStatus(
+        cmvr.api.AgvCommand.RobotStatusMapCommand.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetMapStatusMethod(), getCallOptions()), request);
+    }
+  }
+
+  private static final int METHODID_GET_STATUS_INFO = 0;
+  private static final int METHODID_GET_BATTERY_STATUS = 1;
+  private static final int METHODID_GET_ROBOT_LOCATION = 2;
+  private static final int METHODID_ROBOT_CONFIG_DOWNLOAD_MAP = 3;
+  private static final int METHODID_GET_MAP_STATUS = 4;
+
+  private static final class MethodHandlers<Req, Resp> implements
+      io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
+      io.grpc.stub.ServerCalls.ServerStreamingMethod<Req, Resp>,
+      io.grpc.stub.ServerCalls.ClientStreamingMethod<Req, Resp>,
+      io.grpc.stub.ServerCalls.BidiStreamingMethod<Req, Resp> {
+    private final AgvServiceImplBase serviceImpl;
+    private final int methodId;
+
+    MethodHandlers(AgvServiceImplBase serviceImpl, int methodId) {
+      this.serviceImpl = serviceImpl;
+      this.methodId = methodId;
+    }
+
+    @java.lang.Override
+    @java.lang.SuppressWarnings("unchecked")
+    public void invoke(Req request, io.grpc.stub.StreamObserver<Resp> responseObserver) {
+      switch (methodId) {
+        case METHODID_GET_STATUS_INFO:
+          serviceImpl.getStatusInfo((cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.GetAgvStatusInfoCommand.Feedback>) responseObserver);
+          break;
+        case METHODID_GET_BATTERY_STATUS:
+          serviceImpl.getBatteryStatus((cmvr.api.AgvCommand.RobotStatusBatteryCommand.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotStatusBatteryCommand.Feedback>) responseObserver);
+          break;
+        case METHODID_GET_ROBOT_LOCATION:
+          serviceImpl.getRobotLocation((cmvr.api.AgvCommand.RobotStatusLocCommand.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotStatusLocCommand.Feedback>) responseObserver);
+          break;
+        case METHODID_ROBOT_CONFIG_DOWNLOAD_MAP:
+          serviceImpl.robotConfigDownloadMap((cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotConfigDownloadMapCommand.Feedback>) responseObserver);
+          break;
+        case METHODID_GET_MAP_STATUS:
+          serviceImpl.getMapStatus((cmvr.api.AgvCommand.RobotStatusMapCommand.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.AgvCommand.RobotStatusMapCommand.Feedback>) responseObserver);
+          break;
+        default:
+          throw new AssertionError();
+      }
+    }
+
+    @java.lang.Override
+    @java.lang.SuppressWarnings("unchecked")
+    public io.grpc.stub.StreamObserver<Req> invoke(
+        io.grpc.stub.StreamObserver<Resp> responseObserver) {
+      switch (methodId) {
+        default:
+          throw new AssertionError();
+      }
+    }
+  }
+
+  private static abstract class AgvServiceBaseDescriptorSupplier
+      implements io.grpc.protobuf.ProtoFileDescriptorSupplier, io.grpc.protobuf.ProtoServiceDescriptorSupplier {
+    AgvServiceBaseDescriptorSupplier() {}
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.FileDescriptor getFileDescriptor() {
+      return cmvr.api.AgvServiceOuterClass.getDescriptor();
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.ServiceDescriptor getServiceDescriptor() {
+      return getFileDescriptor().findServiceByName("AgvService");
+    }
+  }
+
+  private static final class AgvServiceFileDescriptorSupplier
+      extends AgvServiceBaseDescriptorSupplier {
+    AgvServiceFileDescriptorSupplier() {}
+  }
+
+  private static final class AgvServiceMethodDescriptorSupplier
+      extends AgvServiceBaseDescriptorSupplier
+      implements io.grpc.protobuf.ProtoMethodDescriptorSupplier {
+    private final String methodName;
+
+    AgvServiceMethodDescriptorSupplier(String methodName) {
+      this.methodName = methodName;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.MethodDescriptor getMethodDescriptor() {
+      return getServiceDescriptor().findMethodByName(methodName);
+    }
+  }
+
+  private static volatile io.grpc.ServiceDescriptor serviceDescriptor;
+
+  public static io.grpc.ServiceDescriptor getServiceDescriptor() {
+    io.grpc.ServiceDescriptor result = serviceDescriptor;
+    if (result == null) {
+      synchronized (AgvServiceGrpc.class) {
+        result = serviceDescriptor;
+        if (result == null) {
+          serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
+              .setSchemaDescriptor(new AgvServiceFileDescriptorSupplier())
+              .addMethod(getGetStatusInfoMethod())
+              .addMethod(getGetBatteryStatusMethod())
+              .addMethod(getGetRobotLocationMethod())
+              .addMethod(getRobotConfigDownloadMapMethod())
+              .addMethod(getGetMapStatusMethod())
+              .build();
+        }
+      }
+    }
+    return result;
+  }
+}

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

@@ -0,0 +1,52 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/api/agv_service.proto
+
+package cmvr.api;
+
+public final class AgvServiceOuterClass {
+  private AgvServiceOuterClass() {}
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistryLite registry) {
+  }
+
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistry registry) {
+    registerAllExtensions(
+        (com.google.protobuf.ExtensionRegistryLite) registry);
+  }
+
+  public static com.google.protobuf.Descriptors.FileDescriptor
+      getDescriptor() {
+    return descriptor;
+  }
+  private static  com.google.protobuf.Descriptors.FileDescriptor
+      descriptor;
+  static {
+    java.lang.String[] descriptorData = {
+      "\n\032cmvr/api/agv_service.proto\022\010cmvr.api\032\032" +
+      "cmvr/api/agv_command.proto2\252\004\n\nAgvServic" +
+      "e\022f\n\rGetStatusInfo\022).cmvr.api.GetAgvStat" +
+      "usInfoCommand.Request\032*.cmvr.api.GetAgvS" +
+      "tatusInfoCommand.Feedback\022m\n\020GetBatteryS" +
+      "tatus\022+.cmvr.api.RobotStatusBatteryComma" +
+      "nd.Request\032,.cmvr.api.RobotStatusBattery" +
+      "Command.Feedback\022e\n\020GetRobotLocation\022\'.c" +
+      "mvr.api.RobotStatusLocCommand.Request\032(." +
+      "cmvr.api.RobotStatusLocCommand.Feedback\022" +
+      "{\n\026RobotConfigDownloadMap\022/.cmvr.api.Rob" +
+      "otConfigDownloadMapCommand.Request\0320.cmv" +
+      "r.api.RobotConfigDownloadMapCommand.Feed" +
+      "back\022a\n\014GetMapStatus\022\'.cmvr.api.RobotSta" +
+      "tusMapCommand.Request\032(.cmvr.api.RobotSt" +
+      "atusMapCommand.Feedbackb\006proto3"
+    };
+    descriptor = com.google.protobuf.Descriptors.FileDescriptor
+      .internalBuildGeneratedFileFrom(descriptorData,
+        new com.google.protobuf.Descriptors.FileDescriptor[] {
+          cmvr.api.AgvCommand.getDescriptor(),
+        });
+    cmvr.api.AgvCommand.getDescriptor();
+  }
+
+  // @@protoc_insertion_point(outer_class_scope)
+}

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

@@ -0,0 +1,147 @@
+syntax = "proto3";
+
+import "cmvr/api/common.proto";
+
+package cmvr.api;
+
+// AGV状态信息
+message AgvStatusInfo {
+  optional string id = 1;                      // AGV ID
+  optional string vehicle_id = 2;              // 车辆ID
+  optional string version = 3;                 // 软件版本
+  optional string model = 4;                   // 型号
+  optional string dsp_version = 5;             // DSP版本
+  optional string current_ip = 6;              // 当前IP地址
+  optional string mac = 7;                     // MAC地址
+  optional int32 rssi = 8;                     // 信号强度
+  optional int32 ret_code = 9;                 // 返回码
+  optional string err_msg = 10;                // 错误信息
+}
+
+// 获取AGV状态命令
+message GetAgvStatusInfoCommand {
+  message Request {
+    CommandHeader.Request header = 1;
+  }
+
+  message Feedback {
+    CommandHeader.Feedback header = 1;
+    AgvStatusInfo status = 2;
+  }
+}
+
+
+// ===================== 电池状态查询 =====================
+message AgvBatteryStatus {
+  optional double battery_level = 1;        // 电池电量 [0,1]
+  optional double battery_temp = 2;         // 电池温度 ℃
+  optional bool charging = 3;               // 是否正在充电
+  optional double voltage = 4;              // 电压 V
+  optional double current = 5;               // 电流 A
+  optional double max_charge_voltage = 6;   // 最大充电电压，-1=不支持
+  optional double max_charge_current = 7;   // 最大充电电流，-1=不支持
+  optional bool manual_charge = 8;          // 手动充电状态
+  optional bool auto_charge = 9;            // 自动充电状态
+  optional int32 battery_cycle = 10;        // 电池循环次数
+  optional string battery_user_data = 11;   // 电池自定义数据
+  optional string extra = 12;               // 客户自定义数据
+  optional int32 ret_code = 13;             // 错误码
+  optional string create_on = 14;           // 时间戳
+  optional string err_msg = 15;             // 错误信息
+}
+
+message RobotStatusBatteryRequestData {
+  optional bool simple = 1;  // true:仅简单数据 false:全量数据，默认false
+}
+
+message RobotStatusBatteryCommand {
+  message Request {
+    CommandHeader.Request header = 1;
+    RobotStatusBatteryRequestData data = 2;
+  }
+  message Feedback {
+    CommandHeader.Feedback header = 1;
+    AgvBatteryStatus status = 2;
+  }
+}
+
+
+
+// ===================== 机器人位置查询 =====================
+message AgvRobotLocation {
+  optional double x = 1;                // X坐标(m)
+  optional double y = 2;                // Y坐标(m)
+  optional double angle = 3;            // 姿态角(rad)
+  optional double confidence = 4;       // 定位置信度[0,1]
+  optional string current_station = 5;  // 当前最近站点ID
+  optional string last_station = 6;     // 上一站点ID
+  optional int32 loc_method = 7;        // 定位方式
+  optional int32 ret_code = 8;          // 错误码
+  optional string create_on = 9;        // 时间戳
+  optional string err_msg = 10;         // 错误信息
+}
+
+message RobotStatusLocCommand {
+  message Request {
+    CommandHeader.Request header = 1;
+  }
+  message Feedback {
+    CommandHeader.Feedback header = 1;
+    AgvRobotLocation status = 2;
+  }
+}
+
+
+// ===================== 地图下载 =====================
+message RobotConfigDownloadMapRequestData {
+  optional string map_name = 1;  // 地图名称
+}
+
+message AgvDownloadMapResult {
+  optional int32 ret_code = 1;
+  optional string create_on = 2;
+  optional string err_msg = 3;
+  optional string map_content = 4; // 完整地图JSON文本
+}
+
+message RobotConfigDownloadMapCommand {
+  message Request {
+    CommandHeader.Request header = 1;
+    RobotConfigDownloadMapRequestData data = 2;
+  }
+  message Feedback {
+    CommandHeader.Feedback header = 1;
+    AgvDownloadMapResult status = 2;
+  }
+}
+
+
+
+// 单条地图文件信息
+message MapFileInfo {
+  optional string name = 1;
+  optional string modified = 2;
+  optional int64 size = 3;
+}
+
+// 地图查询响应
+message AgvMapStatus {
+  optional string current_map = 1;
+  optional string current_map_md5 = 2;
+  repeated string maps = 3;
+  repeated MapFileInfo map_files_info = 4;
+  optional int32 ret_code = 5;
+  optional string create_on = 6;
+  optional string err_msg = 7;
+}
+
+// 查询地图状态命令
+message RobotStatusMapCommand {
+  message Request {
+    CommandHeader.Request header = 1;
+  }
+  message Feedback {
+    CommandHeader.Feedback header = 1;
+    AgvMapStatus status = 2;
+  }
+}

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

@@ -0,0 +1,19 @@
+syntax = "proto3";
+
+import "cmvr/api/agv_command.proto";
+
+package cmvr.api;
+
+service AgvService {
+  // 基本控制
+  rpc GetStatusInfo(GetAgvStatusInfoCommand.Request) returns (GetAgvStatusInfoCommand.Feedback);
+
+  rpc GetBatteryStatus(RobotStatusBatteryCommand.Request) returns (RobotStatusBatteryCommand.Feedback);
+
+  rpc GetRobotLocation(RobotStatusLocCommand.Request) returns (RobotStatusLocCommand.Feedback);
+
+  rpc RobotConfigDownloadMap(RobotConfigDownloadMapCommand.Request) returns (RobotConfigDownloadMapCommand.Feedback);
+
+  rpc GetMapStatus(RobotStatusMapCommand.Request) returns (RobotStatusMapCommand.Feedback);
+
+}

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/InspectionRobot.java

@@ -59,7 +59,7 @@ public class InspectionRobot extends BaseEntity
     /** 端口号 */
     @Excel(name = "端口号")
     @ApiModelProperty("端口号")
-    private Integer port;
+    private Long port;
 
     /** 当前地图 */
     @Excel(name = "当前地图")
@@ -81,4 +81,9 @@ 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;
+
 }

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/domain/vo/InspectionRobotVo.java

@@ -68,6 +68,11 @@ public class InspectionRobotVo extends BaseEntity
     @ApiModelProperty("当前地图名称")
     private String currentMapName;
 
+    /** 机器人中地图名称 */
+    @Excel(name = "机器人中地图名称")
+    @ApiModelProperty("机器人中地图名称")
+    private String robotMapName;
+
     /** 当前状态 */
     @Excel(name = "当前状态")
     @ApiModelProperty("当前状态(0在线 1离线 2充电中 3巡检中)")
@@ -93,4 +98,9 @@ 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;
+
 }

cmvr-iot-inspection/src/main/java/com/cmvr/inspection/mapper/InspectionMapMapper.java

@@ -4,17 +4,18 @@ import java.util.List;
 import com.cmvr.inspection.domain.InspectionMap;
 import com.cmvr.inspection.domain.vo.InspectionMapVo;
 import com.github.yulichang.base.MPJBaseMapper;
+import org.apache.ibatis.annotations.Param;
 
 /**
  * 巡检地图Mapper接口
- * 
+ *
  * @author cmvr-iot
  */
 public interface InspectionMapMapper  extends MPJBaseMapper<InspectionMap>
 {
     /**
      * 查询巡检地图
-     * 
+     *
      * @param id 巡检地图主键
      * @return 巡检地图
      */
@@ -22,7 +23,7 @@ public interface InspectionMapMapper  extends MPJBaseMapper<InspectionMap>
 
     /**
      * 新增巡检地图
-     * 
+     *
      * @param inspectionMap 巡检地图
      * @return 结果
      */
@@ -30,7 +31,7 @@ public interface InspectionMapMapper  extends MPJBaseMapper<InspectionMap>
 
     /**
      * 修改巡检地图
-     * 
+     *
      * @param inspectionMap 巡检地图
      * @return 结果
      */
@@ -38,7 +39,7 @@ public interface InspectionMapMapper  extends MPJBaseMapper<InspectionMap>
 
     /**
      * 批量删除巡检地图
-     * 
+     *
      * @param ids 需要删除的数据主键集合
      * @return 结果
      */
@@ -46,9 +47,18 @@ public interface InspectionMapMapper  extends MPJBaseMapper<InspectionMap>
 
     /**
      * 查询巡检地图视图列表（包含关联信息）
-     * 
+     *
      * @param inspectionMap 巡检地图
      * @return 巡检地图视图集合
      */
     List<InspectionMapVo> selectInspectionMapVoList(InspectionMap inspectionMap);
+
+    /**
+     * 根据机器人ID查询地图列表
+     *
+     * @param robotId 机器人ID
+     * @return 地图列表
+     */
+    List<InspectionMapVo> selectMapsByRobotId(@Param("robotId") String robotId);
 }
+

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

@@ -8,7 +8,7 @@ import com.cmvr.inspection.domain.vo.InspectionMapVo;
 
 /**
  * 巡检地图Service接口
- * 
+ *
  * @author cmvr-iot
  * @since 2026-05-29
  */
@@ -16,7 +16,7 @@ public interface IInspectionMapService extends IService<InspectionMap>
 {
     /**
      * 查询巡检地图
-     * 
+     *
      * @param id 巡检地图主键
      * @return 巡检地图
      */
@@ -24,7 +24,7 @@ public interface IInspectionMapService extends IService<InspectionMap>
 
     /**
      * 查询巡检地图列表
-     * 
+     *
      * @param inspectionMap 巡检地图
      * @return 巡检地图集合
      */
@@ -32,7 +32,7 @@ public interface IInspectionMapService extends IService<InspectionMap>
 
     /**
      * 新增巡检地图
-     * 
+     *
      * @param inspectionMap 巡检地图
      * @return 结果
      */
@@ -40,7 +40,7 @@ public interface IInspectionMapService extends IService<InspectionMap>
 
     /**
      * 修改巡检地图
-     * 
+     *
      * @param inspectionMap 巡检地图
      * @return 结果
      */
@@ -48,10 +48,19 @@ public interface IInspectionMapService extends IService<InspectionMap>
 
     /**
      * 批量删除巡检地图
-     * 
+     *
      * @param ids 需要删除的巡检地图主键集合
      * @return 结果
      */
     int deleteInspectionMapByIds(String[] ids);
 
+    /**
+     * 根据机器人ID查询地图列表
+     *
+     * @param robotId 机器人ID
+     * @return 地图列表
+     */
+    List<InspectionMapVo> getMapsByRobotId(String robotId);
+
 }
+

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

@@ -1,3 +1,4 @@
+
 package com.cmvr.inspection.service;
 
 import java.util.List;
@@ -5,10 +6,11 @@ import java.util.List;
 import com.baomidou.mybatisplus.extension.service.IService;
 import com.cmvr.inspection.domain.InspectionRobot;
 import com.cmvr.inspection.domain.vo.InspectionRobotVo;
+import cmvr.api.AgvCommand;
 
 /**
  * 巡检机器人Service接口
- * 
+ *
  * @author cmvr-iot
  * @since 2026-05-29
  */
@@ -16,7 +18,7 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
 {
     /**
      * 查询巡检机器人
-     * 
+     *
      * @param id 巡检机器人主键
      * @return 巡检机器人
      */
@@ -24,7 +26,7 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
 
     /**
      * 查询巡检机器人列表
-     * 
+     *
      * @param inspectionRobot 巡检机器人
      * @return 巡检机器人集合
      */
@@ -32,7 +34,7 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
 
     /**
      * 新增巡检机器人
-     * 
+     *
      * @param inspectionRobot 巡检机器人
      * @return 结果
      */
@@ -40,7 +42,7 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
 
     /**
      * 修改巡检机器人
-     * 
+     *
      * @param inspectionRobot 巡检机器人
      * @return 结果
      */
@@ -48,10 +50,53 @@ public interface IInspectionRobotService extends IService<InspectionRobot>
 
     /**
      * 批量删除巡检机器人
-     * 
+     *
      * @param ids 需要删除的巡检机器人主键集合
      * @return 结果
      */
     int deleteInspectionRobotByIds(String[] ids);
 
-}
+    /**
+     * 获取机器人地图列表（从AGV获取）
+     *
+     * @param robotId 机器人ID
+     * @return 地图状态信息
+     */
+    AgvCommand.AgvMapStatus getRobotMapList(String robotId);
+
+    /**
+     * 绑定机器人地图
+     *
+     * @param robotId 机器人ID
+     * @param mapId 地图ID
+     * @return 结果
+     */
+    int bindRobotMap(String robotId, String mapId);
+
+    /**
+     * 上传地图到机器人
+     *
+     * @param robotId 机器人ID
+     * @param mapId 地图ID
+     * @return 结果
+     */
+    String uploadMapToRobot(String robotId, String mapId);
+
+    /**
+     * 从机器人下载地图
+     *
+     * @param robotId 机器人ID
+     * @param mapName 地图名称
+     * @return 地图ID
+     */
+    String downloadMapFromRobot(String robotId, String mapName);
+
+    /**
+     * 同步机器人状态（电量、位置等）
+     *
+     * @param robotId 机器人ID
+     * @return 更新后的机器人信息
+     */
+    InspectionRobot syncRobotStatus(String robotId);
+
+}

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

@@ -1,3 +1,4 @@
+
 package com.cmvr.inspection.service.impl;
 
 import java.util.List;
@@ -15,7 +16,7 @@ import com.cmvr.inspection.service.IInspectionMapService;
 
 /**
  * 巡检地图Service业务层处理
- * 
+ *
  * @author cmvr-iot
  * @since 2026-05-29
  */
@@ -27,7 +28,7 @@ public class InspectionMapServiceImpl extends ServiceImpl<InspectionMapMapper, I
 
     /**
      * 查询巡检地图
-     * 
+     *
      * @param id 巡检地图主键
      * @return 巡检地图
      */
@@ -39,7 +40,7 @@ public class InspectionMapServiceImpl extends ServiceImpl<InspectionMapMapper, I
 
     /**
      * 查询巡检地图列表
-     * 
+     *
      * @param inspectionMap 巡检地图
      * @return 巡检地图
      */
@@ -51,7 +52,7 @@ public class InspectionMapServiceImpl extends ServiceImpl<InspectionMapMapper, I
 
     /**
      * 新增巡检地图
-     * 
+     *
      * @param inspectionMap 巡检地图
      * @return 结果
      */
@@ -69,7 +70,7 @@ public class InspectionMapServiceImpl extends ServiceImpl<InspectionMapMapper, I
 
     /**
      * 修改巡检地图
-     * 
+     *
      * @param inspectionMap 巡检地图
      * @return 结果
      */
@@ -83,7 +84,7 @@ public class InspectionMapServiceImpl extends ServiceImpl<InspectionMapMapper, I
 
     /**
      * 批量删除巡检地图
-     * 
+     *
      * @param ids 需要删除的巡检地图主键
      * @return 结果
      */
@@ -92,4 +93,17 @@ public class InspectionMapServiceImpl extends ServiceImpl<InspectionMapMapper, I
     {
         return inspectionMapMapper.deleteInspectionMapByIds(ids);
     }
-}
+
+    /**
+     * 根据机器人ID查询地图列表
+     *
+     * @param robotId 机器人ID
+     * @return 地图列表
+     */
+    @Override
+    public List<InspectionMapVo> getMapsByRobotId(String robotId)
+    {
+        return inspectionMapMapper.selectMapsByRobotId(robotId);
+    }
+
+}

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

@@ -1,21 +1,32 @@
+
 package com.cmvr.inspection.service.impl;
 
+import java.util.Arrays;
 import java.util.List;
 import java.util.UUID;
 
+import cmvr.api.AgvCommand;
 import com.baomidou.mybatisplus.extension.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.vo.InspectionRobotVo;
+import com.cmvr.inspection.mapper.InspectionMapMapper;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import com.cmvr.common.utils.DateUtils;
 import com.cmvr.inspection.mapper.InspectionRobotMapper;
 import com.cmvr.inspection.domain.InspectionRobot;
 import com.cmvr.inspection.service.IInspectionRobotService;
+import cn.hutool.core.util.StrUtil;
+import com.cmvr.common.exception.GlobalException;
 
 /**
  * 巡检机器人Service业务层处理
- * 
+ *
  * @author cmvr-iot
  * @since 2026-05-29
  */
@@ -25,9 +36,18 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
     @Autowired
     private InspectionRobotMapper inspectionRobotMapper;
 
+    @Autowired
+    private InspectionMapMapper inspectionMapMapper;
+
+    @Autowired
+    private EdgeAgvService edgeAgvService;
+
+    @Autowired
+    private IDeDeviceTerminalConfigService deDeviceTerminalConfigService;
+
     /**
      * 查询巡检机器人
-     * 
+     *
      * @param id 巡检机器人主键
      * @return 巡检机器人
      */
@@ -39,7 +59,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
 
     /**
      * 查询巡检机器人列表
-     * 
+     *
      * @param inspectionRobot 巡检机器人
      * @return 巡检机器人
      */
@@ -51,13 +71,22 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
 
     /**
      * 新增巡检机器人
-     * 
+     *
      * @param inspectionRobot 巡检机器人
      * @return 结果
      */
     @Override
     public int insertInspectionRobot(InspectionRobot inspectionRobot)
     {
+        DeDeviceTerminalConfig deDeviceTerminalConfig = new DeDeviceTerminalConfig();
+        deDeviceTerminalConfig.setName(inspectionRobot.getRobotName());
+        deDeviceTerminalConfig.setDescription("机器人终端");
+        deDeviceTerminalConfig.setStatus("1");
+        deDeviceTerminalConfig.setHost(inspectionRobot.getIpAddress());
+        deDeviceTerminalConfig.setPort(inspectionRobot.getPort());
+        // 自动创建设备管理模块的终端并将终端id保存机器人中
+        deDeviceTerminalConfigService.insertDeDeviceTerminalConfig(deDeviceTerminalConfig);
+        inspectionRobot.setTerminalId(deDeviceTerminalConfig.getId());
         // 生成UUID作为主键
         if (inspectionRobot.getId() == null || inspectionRobot.getId().isEmpty()) {
             inspectionRobot.setId(UUID.randomUUID().toString().replace("-", ""));
@@ -69,7 +98,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
 
     /**
      * 修改巡检机器人
-     * 
+     *
      * @param inspectionRobot 巡检机器人
      * @return 结果
      */
@@ -78,19 +107,215 @@ public class InspectionRobotServiceImpl extends ServiceImpl<InspectionRobotMappe
     {
         inspectionRobot.setUpdateTime(DateUtils.getNowDate());
         inspectionRobot.setUpdateBy(SecurityUtils.getUsername());
+        DeDeviceTerminalConfig deDeviceTerminalConfig = deDeviceTerminalConfigService.selectDeDeviceTerminalConfigById(inspectionRobot.getTerminalId());
+        deDeviceTerminalConfig.setName(inspectionRobot.getRobotName());
+        deDeviceTerminalConfig.setHost(inspectionRobot.getIpAddress());
+        deDeviceTerminalConfig.setPort(inspectionRobot.getPort());
+        deDeviceTerminalConfigService.updateDeDeviceTerminalConfig(deDeviceTerminalConfig);
         return inspectionRobotMapper.updateInspectionRobot(inspectionRobot);
     }
 
     /**
      * 批量删除巡检机器人
-     * 
+     *
      * @param ids 需要删除的巡检机器人主键
      * @return 结果
      */
     @Override
     public int deleteInspectionRobotByIds(String[] ids)
     {
+        List<InspectionRobot> inspectionRobots = inspectionRobotMapper.selectBatchIds(Arrays.asList(ids));
+        deDeviceTerminalConfigService.deleteDeDeviceTerminalConfigByIds(inspectionRobots.stream().map(InspectionRobot::getTerminalId).toArray(String[]::new));
         return inspectionRobotMapper.deleteInspectionRobotByIds(ids);
     }
 
-}
+    /**
+     * 获取机器人地图列表（从AGV获取）
+     *
+     * @param robotId 机器人ID
+     * @return 地图状态信息
+     */
+    @Override
+    public AgvCommand.AgvMapStatus getRobotMapList(String robotId)
+    {
+        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
+        if (robot == null) {
+            throw new GlobalException("机器人不存在");
+        }
+        if (StrUtil.isBlank(robot.getIpAddress())) {
+            throw new GlobalException("机器人IP地址未配置");
+        }
+
+        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setDeviceId(robot.getRobotCode());
+
+        return edgeAgvService.getMapStatus(edgeCommonVO);
+    }
+
+    /**
+     * 绑定机器人地图
+     *
+     * @param robotId 机器人ID
+     * @param mapId 地图ID
+     * @return 结果
+     */
+    @Override
+    public int bindRobotMap(String robotId, String mapId)
+    {
+        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
+        if (robot == null) {
+            throw new GlobalException("机器人不存在");
+        }
+
+        InspectionMap map = inspectionMapMapper.selectInspectionMapById(mapId);
+        if (map == null) {
+            throw new GlobalException("地图不存在");
+        }
+
+        robot.setCurrentMapId(mapId);
+        robot.setUpdateTime(DateUtils.getNowDate());
+        robot.setUpdateBy(SecurityUtils.getUsername());
+
+        return inspectionRobotMapper.updateInspectionRobot(robot);
+    }
+
+    /**
+     * 上传地图到机器人
+     *
+     * @param robotId 机器人ID
+     * @param mapId 地图ID
+     * @return 结果
+     */
+    @Override
+    public String uploadMapToRobot(String robotId, String mapId)
+    {
+        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
+        if (robot == null) {
+            throw new GlobalException("机器人不存在");
+        }
+
+        InspectionMap map = inspectionMapMapper.selectInspectionMapById(mapId);
+        if (map == null) {
+            throw new GlobalException("地图不存在");
+        }
+
+        if (StrUtil.isBlank(map.getMapFilePath())) {
+            throw new GlobalException("地图文件路径不存在");
+        }
+
+        // TODO: 从文件路径读取地图内容
+        // 这里需要根据实际存储方式实现
+        String mapContent = readMapFile(map.getMapFilePath());
+
+        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setDeviceId(robot.getRobotCode());
+
+//        cmvr.api.AgvCommand.AgvUploadMapResult result = edgeAgvService.robotConfigUploadMap(edgeCommonVO, mapContent);
+//
+//        if (result.getRetCode() != 0) {
+//            throw new GlobalException("上传地图失败: " + result.getErrMsg());
+//        }
+
+        return "上传成功";
+    }
+
+    /**
+     * 从机器人下载地图
+     *
+     * @param robotId 机器人ID
+     * @param mapName 地图名称
+     * @return 地图ID
+     */
+    @Override
+    public String downloadMapFromRobot(String robotId, String mapName)
+    {
+        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
+        if (robot == null) {
+            throw new GlobalException("机器人不存在");
+        }
+
+        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setDeviceId(robot.getRobotCode());
+
+        cmvr.api.AgvCommand.AgvDownloadMapResult result = edgeAgvService.robotConfigDownloadMap(edgeCommonVO, mapName);
+
+        // 保存地图到数据库
+//        InspectionMap inspectionMap = new InspectionMap();
+//        inspectionMap.setId(UUID.randomUUID().toString().replace("-", ""));
+//        inspectionMap.setMapName(mapName);
+//        inspectionMap.setMapSourceRobotId(robotId);
+//        inspectionMap.setMapSourceName(mapName);
+//
+//        // TODO: 将地图内容保存到文件系统，并返回文件路径
+//        // String filePath = saveMapToFile(result.getMapContent(), mapName);
+//        // inspectionMap.setMapFilePath(filePath);
+//
+//        inspectionMap.setStatus("0");
+//        inspectionMap.setCreateTime(DateUtils.getNowDate());
+//        inspectionMap.setCreateBy(SecurityUtils.getUsername());
+//
+//        inspectionMapMapper.insertInspectionMap(inspectionMap);
+
+
+
+
+        return result.getMapContent();
+    }
+
+    /**
+     * 同步机器人状态（电量、位置等）
+     *
+     * @param robotId 机器人ID
+     * @return 更新后的机器人信息
+     */
+    @Override
+    public InspectionRobot syncRobotStatus(String robotId)
+    {
+        InspectionRobot robot = inspectionRobotMapper.selectInspectionRobotById(robotId);
+        if (robot == null) {
+            throw new GlobalException("机器人不存在");
+        }
+
+        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+        edgeCommonVO.setTerminalId(robot.getTerminalId());
+        edgeCommonVO.setDeviceId(robot.getRobotCode());
+
+        try {
+            // 获取电池状态
+            cmvr.api.AgvCommand.AgvBatteryStatus batteryStatus = edgeAgvService.getBatteryStatus(edgeCommonVO);
+            robot.setBatteryLevel((int)(batteryStatus.getBatteryLevel() * 100));
+
+            // 获取位置信息
+            cmvr.api.AgvCommand.AgvRobotLocation location = edgeAgvService.getRobotLocation(edgeCommonVO);
+            robot.setCurrentPosition(location.getX() + "," + location.getY() + "," + location.getAngle());
+
+            // 获取状态信息
+            cmvr.api.AgvCommand.AgvStatusInfo statusInfo = edgeAgvService.getStatusInfo(edgeCommonVO);
+
+            robot.setUpdateTime(DateUtils.getNowDate());
+            inspectionRobotMapper.updateInspectionRobot(robot);
+
+        } catch (Exception e) {
+            // 记录日志但不抛出异常，允许部分失败
+            e.printStackTrace();
+        }
+
+        return robot;
+    }
+
+    /**
+     * 读取地图文件内容
+     *
+     * @param filePath 文件路径
+     * @return 文件内容
+     */
+    private String readMapFile(String filePath)
+    {
+        // TODO: 实现文件读取逻辑
+        return "";
+    }
+
+}

cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionMapMapper.xml

@@ -130,4 +130,33 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="status != null and status != ''"> and m.status = #{status}</if>
         </where>
     </select>
+
+    <select id="selectInspectionMapVoList" parameterType="InspectionMap" resultMap="InspectionMapVoResult">
+        select m.id, m.create_by, m.create_time, m.update_by, m.update_time, m.remark,
+        m.map_name, m.map_source_robot_id, r.robot_name as map_source_robot_name,
+        m.map_source_name, m.map_file_path, m.status, m.map_desc,
+        u1.nick_name as create_by_name, u2.nick_name as update_by_name
+        from inspection_map m
+        left join inspection_robot r on m.map_source_robot_id = r.id
+        left join sys_user u1 on m.create_by = u1.user_name  <!-- 创建人关联用户 -->
+        left join sys_user u2 on m.update_by = u2.user_name <!-- 更新人关联用户 -->
+        <where>
+            <if test="mapName != null and mapName != ''"> and m.map_name like concat('%', #{mapName}, '%')</if>
+            <if test="mapDesc != null and mapDesc != ''"> and m.map_desc like concat('%', #{mapDesc}, '%')</if>
+            <if test="status != null and status != ''"> and m.status = #{status}</if>
+        </where>
+    </select>
+
+    <select id="selectMapsByRobotId" resultMap="InspectionMapVoResult">
+        select m.id, m.create_by, m.create_time, m.update_by, m.update_time, m.remark,
+               m.map_name, m.map_source_robot_id, r.robot_name as map_source_robot_name,
+               m.map_source_name, m.map_file_path, m.status, m.map_desc,
+               u1.nick_name as create_by_name, u2.nick_name as update_by_name
+        from inspection_map m
+                 left join inspection_robot r on m.map_source_robot_id = r.id
+                 left join sys_user u1 on m.create_by = u1.user_name
+                 left join sys_user u2 on m.update_by = u2.user_name
+        where m.map_source_robot_id = #{robotId}
+        order by m.create_time desc
+    </select>
 </mapper>

cmvr-iot-inspection/src/main/resources/mapper/inspection/InspectionRobotMapper.xml

@@ -21,6 +21,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <result property="status"    column="status"    />
         <result property="batteryLevel"    column="battery_level"    />
         <result property="currentPosition"    column="current_position"    />
+        <result property="terminalId"    column="terminal_id"    />
     </resultMap>
 
     <resultMap type="com.cmvr.inspection.domain.vo.InspectionRobotVo" id="InspectionRobotVoResult">
@@ -43,10 +44,11 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
         <result property="currentPosition"    column="current_position"    />
         <result property="createByName"    column="create_by_name"    />
         <result property="updateByName"    column="update_by_name"    />
+        <result property="terminalId"    column="terminal_id"    />
     </resultMap>
 
     <sql id="selectInspectionRobotVo">
-        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 from inspection_robot
+        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
     </sql>
 
     <select id="selectInspectionRobotList" parameterType="InspectionRobot" resultMap="InspectionRobotResult">
@@ -85,6 +87,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="status != null">status,</if>
             <if test="batteryLevel != null">battery_level,</if>
             <if test="currentPosition != null">current_position,</if>
+            <if test="terminalId != null">terminal_id,</if>
          </trim>
         <trim prefix="values (" suffix=")" suffixOverrides=",">
             <if test="id != null">#{id},</if>
@@ -103,6 +106,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="status != null">#{status},</if>
             <if test="batteryLevel != null">#{batteryLevel},</if>
             <if test="currentPosition != null">#{currentPosition},</if>
+            <if test="terminalId != null">#{terminalId},</if>
          </trim>
     </insert>
 
@@ -124,6 +128,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
             <if test="status != null">status = #{status},</if>
             <if test="batteryLevel != null">battery_level = #{batteryLevel},</if>
             <if test="currentPosition != null">current_position = #{currentPosition},</if>
+            <if test="terminalId != null">terminal_id = #{terminalId},</if>
         </trim>
         where id = #{id}
     </update>
@@ -144,7 +149,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
                r.robot_code, r.robot_name, r.robot_model, r.robot_type,
                r.ip_address, r.port, r.current_map_id,
                m.map_name as current_map_name,
-               r.status, r.battery_level, r.current_position,
+               r.status, r.battery_level, r.current_position, r.terminal_id,
                u1.nick_name as create_by_name, u2.nick_name as update_by_name
         from inspection_robot r
         left join inspection_map m on r.current_map_id = m.id

sql/inspection_module.sql

@@ -21,6 +21,7 @@ CREATE TABLE `inspection_robot` (
   `status` char(1) DEFAULT '0' COMMENT '状态(0在线 1离线 2充电中 3巡检中)',
   `battery_level` int(3) DEFAULT NULL COMMENT '电量百分比',
   `current_position` varchar(200) DEFAULT NULL COMMENT '当前位置',
+  `terminal_id` varchar(64) DEFAULT NULL COMMENT '终端ID',
   PRIMARY KEY (`id`),
   UNIQUE KEY `uk_robot_code` (`robot_code`)
 ) ENGINE=InnoDB DEFAULT CHARSET=utf8mb4 COLLATE=utf8mb4_unicode_ci COMMENT='巡检机器人表';