From 9889059f538d65c61799aab8777f578db515ada1 Mon Sep 17 00:00:00 2001
From: cbs <18617195505@163.com>
Date: Thu, 26 Dec 2024 17:50:50 +0800
Subject: [PATCH] =?UTF-8?q?grpc=E6=A8=A1=E5=9D=97=E8=B0=83=E8=AF=95?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../yudao-module-grpc-biz/pom.xml             |  11 +-
 .../grpc/controller/GeometryController.java   |   2 +-
 .../service/geometry/GeometryServiceImpl.java |  62 ++++++--
 .../src/main/resources/application.yaml       |   6 +-
 .../yudao-module-grpc-lib/pom.xml             |  12 ++
 .../src/main/proto/Greeter.proto              |  24 ---
 .../main/proto/model/common/geometry.proto    |  67 +++++++++
 .../src/main/proto/model/common/schema.proto  | 138 ++++++++++++++++++
 .../src/main/proto/model/common/types.proto   |  45 ++++++
 .../chassis_navigation_control_service.proto  |  34 +++++
 10 files changed, 361 insertions(+), 40 deletions(-)
 delete mode 100644 yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/Greeter.proto
 create mode 100644 yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/model/common/geometry.proto
 create mode 100644 yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/model/common/schema.proto
 create mode 100644 yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/model/common/types.proto
 create mode 100644 yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/svc/robotics/universal/chassis_navigation_control_service.proto

diff --git a/yudao-module-grpc/yudao-module-grpc-biz/pom.xml b/yudao-module-grpc/yudao-module-grpc-biz/pom.xml
index 026a7d4c9..9744213fc 100644
--- a/yudao-module-grpc/yudao-module-grpc-biz/pom.xml
+++ b/yudao-module-grpc/yudao-module-grpc-biz/pom.xml
@@ -40,6 +40,13 @@
             <version>${revision}</version>
         </dependency>
 
+        <dependency>
+            <groupId>commons-collections</groupId>
+            <artifactId>commons-collections</artifactId>
+            <version>3.2.1</version>
+        </dependency>
+
+
         <!-- 业务组件 -->
         <!--<dependency>
             <groupId>cn.iocoder.cloud</groupId>
@@ -144,10 +151,10 @@
         </dependency>
 
         <!-- 监控相关 -->
-        <dependency>
+        <!--<dependency>
             <groupId>cn.iocoder.cloud</groupId>
             <artifactId>yudao-spring-boot-starter-monitor</artifactId>
-        </dependency>
+        </dependency>-->
 
         <!-- 三方云服务相关 -->
         <!--<dependency>
diff --git a/yudao-module-grpc/yudao-module-grpc-biz/src/main/java/cn/iocoder/yudao/module/grpc/controller/GeometryController.java b/yudao-module-grpc/yudao-module-grpc-biz/src/main/java/cn/iocoder/yudao/module/grpc/controller/GeometryController.java
index f8c05b260..4df48e81a 100644
--- a/yudao-module-grpc/yudao-module-grpc-biz/src/main/java/cn/iocoder/yudao/module/grpc/controller/GeometryController.java
+++ b/yudao-module-grpc/yudao-module-grpc-biz/src/main/java/cn/iocoder/yudao/module/grpc/controller/GeometryController.java
@@ -24,7 +24,7 @@ public class GeometryController {
     private GeometryService geometryService;
 
     @PostMapping("/onVehiclePoseUpdated")
-    //@Operation(summary = "测试GRPC调用")
+    @Operation(summary = "测试GRPC调用")
 //    @PermitAll
     public CommonResult<String> onVehiclePoseUpdated() {
         return success(geometryService.onVehiclePoseUpdated());
diff --git a/yudao-module-grpc/yudao-module-grpc-biz/src/main/java/cn/iocoder/yudao/module/grpc/service/geometry/GeometryServiceImpl.java b/yudao-module-grpc/yudao-module-grpc-biz/src/main/java/cn/iocoder/yudao/module/grpc/service/geometry/GeometryServiceImpl.java
index 76a8153f8..4910fc97a 100644
--- a/yudao-module-grpc/yudao-module-grpc-biz/src/main/java/cn/iocoder/yudao/module/grpc/service/geometry/GeometryServiceImpl.java
+++ b/yudao-module-grpc/yudao-module-grpc-biz/src/main/java/cn/iocoder/yudao/module/grpc/service/geometry/GeometryServiceImpl.java
@@ -1,28 +1,68 @@
 package cn.iocoder.yudao.module.grpc.service.geometry;
 
+import com.alibaba.fastjson.JSON;
+import com.google.protobuf.DoubleValue;
+import device.proto.model.common.Geometry;
+import device.proto.model.common.Types;
 import io.grpc.Channel;
-import net.devh.boot.grpc.examples.lib.HelloRequest;
-import net.devh.boot.grpc.examples.lib.MyServiceGrpc;
+import io.grpc.ManagedChannel;
+import io.grpc.ManagedChannelBuilder;
+import device.proto.api.al.robotics.universal.nav.ChassisNavigationServiceGrpc;
 import net.devh.springboot.autoconfigure.grpc.client.GrpcClient;
 import org.springframework.stereotype.Service;
 
+import java.util.Iterator;
+
+import static sun.audio.AudioDevice.device;
+
 @Service
 public class GeometryServiceImpl implements GeometryService{
 
-    @GrpcClient("zn-robot")
+    @GrpcClient("ChassisNavigationService")
     private Channel serverChannel;
 
+    /*@GrpcClient("global")
+    private ChassisNavigationServiceGrpc.ChassisNavigationServiceBlockingStub blockingStub;*/
+
     @Override
     public String onVehiclePoseUpdated() {
-        return receiveGreeting("test");
+
+
+        /*ChassisNavigationServiceGrpc.ChassisNavigationServiceBlockingStub myServiceStub = ChassisNavigationServiceGrpc.newBlockingStub(this.serverChannel);
+        HelloRequest request = HelloRequest.newBuilder()
+                .build();
+        Iterator<HelloReply> helloReplyIterator = myServiceStub.onVehiclePoseUpdated(null);
+        while (helloReplyIterator.hasNext()) {
+            HelloReply helloReply = helloReplyIterator.next();
+            System.out.println("返回的 " + JSON.toJSONString(helloReply));
+        }*/
+
+        /*ChassisNavigationServiceGrpc.ChassisNavigationServiceBlockingStub myServiceStub = ChassisNavigationServiceGrpc.newBlockingStub(this.serverChannel);
+        NavigateThroughPosesRequest request = NavigateThroughPosesRequest.newBuilder()
+                .build();
+        HelloReply helloReply1 = myServiceStub.navigateThroughPoses(request);*/
+
+        ChassisNavigationServiceGrpc.ChassisNavigationServiceBlockingStub myServiceStub = null;
+        try {
+            myServiceStub = ChassisNavigationServiceGrpc.newBlockingStub(this.serverChannel);
+            Iterator<Geometry.Pose2d> pose2dIterator = myServiceStub.onVehiclePoseUpdated(null);
+            while (pose2dIterator.hasNext()) {
+                Geometry.Pose2d next = pose2dIterator.next();
+                System.out.println("返回的 " + JSON.toJSONString(next));
+            }
+        } catch (Exception e) {
+        }
+
+        System.out.println("--------1111--------------");
+
+        DoubleValue build = DoubleValue.newBuilder().build();
+        Types.Nothing nothing = myServiceStub.forkControl(build);
+        System.out.println("返回的222 " + JSON.toJSONString(nothing));
+
+//        return  JSON.toJSONString(helloReplyIterator);
+        return null;
     }
 
-    public String receiveGreeting(String name) {
-        MyServiceGrpc.MyServiceBlockingStub myServiceStub = MyServiceGrpc.newBlockingStub(this.serverChannel);
-        HelloRequest request = HelloRequest.newBuilder()
-                .setName(name)
-                .build();
-        return myServiceStub.sayHello(request).getMessage();
-    }
+
 
 }
diff --git a/yudao-module-grpc/yudao-module-grpc-biz/src/main/resources/application.yaml b/yudao-module-grpc/yudao-module-grpc-biz/src/main/resources/application.yaml
index e1ee0334b..5b68490bc 100644
--- a/yudao-module-grpc/yudao-module-grpc-biz/src/main/resources/application.yaml
+++ b/yudao-module-grpc/yudao-module-grpc-biz/src/main/resources/application.yaml
@@ -4,14 +4,16 @@ grpc:
   client:
     # 服务名（不同服务名可对应不同配置）
     # zn-zeu是服务端配置的名字，GrpcClient注解会用到
-    zn-robot:
+    ChassisNavigationService:
       #       gRPC服务端地址
       #      address: 'dns://127.0.0.1:19898'
+#      host: 192.168.10.211
+#      port: 6914
       address: 'static://192.168.10.211:6914'
       # 是否开启保持连接（长连接）
       enableKeepAlive: true
       # 保持连接时长（默认20s）
-      keepAliveTimeout: 10
+      keepAliveTimeout: 20
       # 没有RPC调用时是否保持连接（默认false，可禁用避免额外消耗CPU）
       keepAliveWithoutCalls: false
       # 客户端负载均衡策略(round_robin（默认）, pick_first)
diff --git a/yudao-module-grpc/yudao-module-grpc-lib/pom.xml b/yudao-module-grpc/yudao-module-grpc-lib/pom.xml
index c489da83b..2bf7be3c1 100644
--- a/yudao-module-grpc/yudao-module-grpc-lib/pom.xml
+++ b/yudao-module-grpc/yudao-module-grpc-lib/pom.xml
@@ -41,6 +41,18 @@
             <version>1.3.2</version>
         </dependency>
 
+        <dependency>
+            <groupId>commons-collections</groupId>
+            <artifactId>commons-collections</artifactId>
+            <version>3.2.1</version>
+        </dependency>
+
+        <dependency>
+            <groupId>com.google.protobuf</groupId>
+            <artifactId>protobuf-java</artifactId>
+            <version>3.13.0</version>
+        </dependency>
+
     </dependencies>
 
     <build>
diff --git a/yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/Greeter.proto b/yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/Greeter.proto
deleted file mode 100644
index 8798cb9f2..000000000
--- a/yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/Greeter.proto
+++ /dev/null
@@ -1,24 +0,0 @@
-syntax = "proto3";
-
-package net.devh.boot.grpc.example;
-
-option java_multiple_files = true;
-option java_package = "net.devh.boot.grpc.examples.lib";
-option java_outer_classname = "HelloWorldProto";
-
-// The greeting service definition.
-service MyService {
-  // Sends a greeting
-  rpc SayHello (HelloRequest) returns (HelloReply) {
-  }
-}
-
-// The request message containing the user's name.
-message HelloRequest {
-  string name = 1;
-}
-
-// The response message containing the greetings
-message HelloReply {
-  string message = 1;
-}
\ No newline at end of file
diff --git a/yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/model/common/geometry.proto b/yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/model/common/geometry.proto
new file mode 100644
index 000000000..0feec2100
--- /dev/null
+++ b/yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/model/common/geometry.proto
@@ -0,0 +1,67 @@
+syntax = "proto3";
+
+package device.proto.model.common;
+option csharp_namespace = "Al.Proto.Model.Common";
+
+//import "google/protobuf/struct.proto";
+
+//平面2d点
+message Point2d {
+  double x = 1;
+  double y = 2;
+}
+
+//平面2d位姿
+message Pose2d {
+  double x = 1;//平移x
+  double y = 2;//平移y
+  double yaw = 3;//角度
+}
+
+//平面2d直线
+message Line2d {
+  repeated Point2d points = 1;
+}
+
+//平面多边形
+message Polygon2d {
+  repeated Point2d vertex = 1;
+}
+
+message Quaternion {
+  double x = 1;
+  double y = 2;
+  double z = 3;
+  double w = 4;
+}
+
+message Rotation {
+  double roll = 1;
+  double pitch = 2;
+  double yaw = 3;
+}
+
+message EulerPose {
+  option deprecated = true;
+  double x = 1;
+  double y = 2;
+  double z = 3;
+  double roll = 4;
+  double pitch = 5;
+  double yaw = 6;
+}
+
+message Vector3d {
+  double x = 1;
+  double y = 2;
+  double z = 3;
+}
+
+message Pose {
+  double x = 1;
+  double y = 2;
+  double z = 3;
+  double roll = 4;
+  double pitch = 5;
+  double yaw = 6;
+}
\ No newline at end of file
diff --git a/yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/model/common/schema.proto b/yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/model/common/schema.proto
new file mode 100644
index 000000000..66b2cb182
--- /dev/null
+++ b/yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/model/common/schema.proto
@@ -0,0 +1,138 @@
+syntax = "proto3";
+
+package device.proto.model.common.schema;
+option csharp_namespace = "Al.Proto.Model.Common.Schema";
+
+//枚举值
+message EnumValue {
+    //枚举值
+    int64 value = 1;
+    //对应的串字面值
+    string text = 2;
+    //备注信息
+    string remark = 3;
+}
+
+//类型元描述
+message TypeAttribute {
+    //类型分类
+    enum Category {
+        //类型分类：未知
+        UNKNOWN = 0;
+        //类型分类：布尔
+        BOOLEAN = 1;
+        //类型分类：有符号8位整数
+        INT8 = 2;
+        //类型分类：无符号8位整数
+        UINT8 = 3;
+        //类型分类：有符号16位整数
+        INT16 = 4;
+        //类型分类：无符号16位整数
+        UINT16 = 5;
+        //类型分类：有符号32位整数
+        INT32 = 6;
+        //类型分类：无符号32位整数
+        UINT32 = 7;
+        //类型分类：有符号64位整数
+        INT64 = 8;
+        //类型分类：无符号64位整数
+        UINT64 = 9;
+        //类型分类：小数
+        FLOAT = 10;
+        //类型分类：字符串
+        STRING = 15;
+        //类型分类：枚举值
+        ENUM = 20;
+        //类型分类：数组/集合
+        ARRAY = 25;
+        //类型分类：键值对
+        MAP = 26;
+        //类型分类：变体
+        VARIANT = 29;
+        //类型分类：对象
+        OBJECT = 30;
+    }
+
+    //初始值
+    message InitialValue {
+        oneof kind_of_initial {
+            //浮点小数值
+            double floating = 1;
+            //整数值
+            uint64 integer = 2;
+            //文本值
+            string text = 3;
+            //枚举值
+            EnumValue enum_value = 4;
+            //布尔值
+            bool boolean = 5;
+        }
+    }
+
+    //可选值
+    message OptionValue {
+        oneof kind_of_value {
+            //浮点小数值
+            double floating = 1;
+            //整数值
+            uint64 integer = 2;
+            //文本值
+            string text = 3;
+            //枚举值
+            EnumValue enum_value = 4;
+        }
+    }
+
+    //类型定义
+    string definition = 1;
+    //类型分类
+    Category category = 2;
+    //概要备注信息
+    string remark = 3;
+
+    //默认初始值
+    InitialValue initial = 4;
+
+    //依赖的类型定义
+    repeated string dependencies = 5;
+
+    //详细备注信息
+    string note = 6;
+
+    //是否必要/必填
+    bool necessary = 11;
+    //是否只读
+    bool readonly = 13;
+    //匹配信息
+    string pattern = 15;
+
+    oneof kind_of_range_min {
+        //最小整数
+        int64 min_integer_value = 17;
+        //最小浮点数
+        double min_float_value = 18;
+    }
+    oneof kind_of_range_max {
+        //最大整数
+        uint64 max_integer_value = 19;
+        //最大浮点数
+        double max_float_value = 20;
+    }
+
+    //是否可扩展，仅针对枚举类型
+    bool extendable = 21;
+
+    //可选值
+    repeated OptionValue options = 22;
+
+    //装饰属性信息
+    map<string, string> decorators = 23;
+}
+
+//类型信息
+message TypeSchema {
+    //类型属性
+    TypeAttribute attr = 1;
+    //字段集合
+    map<string, TypeAttribute> fields = 4;
+}
diff --git a/yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/model/common/types.proto b/yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/model/common/types.proto
new file mode 100644
index 000000000..743c55471
--- /dev/null
+++ b/yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/model/common/types.proto
@@ -0,0 +1,45 @@
+syntax = "proto3";
+
+package device.proto.model.common;
+option csharp_namespace = "Al.Proto.Model.Common";
+
+//import "google/protobuf/struct.proto";
+import "model/common/geometry.proto";
+
+//异常错误
+message Exception {
+  //运行时类型信息
+  string rtti = 1;
+  //错误提示
+  string message = 2;
+  //可选的错误码
+  int32 code = 3;
+  //可选的错误分类
+  string category = 4;
+}
+
+message Nothing {
+}
+
+//字符串列表
+message Strings {
+  repeated string values = 1;
+}
+
+//索引列表
+message Indexes {
+  repeated int32 values = 1;
+}
+
+//数字
+message Number {
+  oneof variant {
+    int32 i32 = 1;
+    uint32 u32 = 2;
+    int64 i64 = 3;
+    int64 u64 = 4;
+    double floating = 5;
+  }
+}
+
+
diff --git a/yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/svc/robotics/universal/chassis_navigation_control_service.proto b/yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/svc/robotics/universal/chassis_navigation_control_service.proto
new file mode 100644
index 000000000..3b1148168
--- /dev/null
+++ b/yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/svc/robotics/universal/chassis_navigation_control_service.proto
@@ -0,0 +1,34 @@
+syntax = "proto3";
+
+package device.proto.api.al.robotics.universal.nav;
+option csharp_namespace = "Al.Proto.Api.Robotics.Nav";
+
+import "google/protobuf/empty.proto";
+import "google/protobuf/wrappers.proto";
+import "model/common/geometry.proto";
+import "model/common/types.proto";
+import "google/protobuf/struct.proto";
+
+//位姿数组运动请求
+message NavigateThroughPosesRequest {
+    //位姿数组
+    repeated device.proto.model.common.Pose2d pose2ds = 1;
+}
+
+service ChassisNavigationService {
+    //订阅车体位姿更新
+    rpc OnVehiclePoseUpdated(google.protobuf.Empty) returns (stream device.proto.model.common.Pose2d) {}
+    //订阅跟踪的物体的位姿更新
+    rpc OnTrackingPoseUpdated(google.protobuf.Empty) returns (stream device.proto.model.common.Pose2d) {}
+    //导航到指定位姿
+    rpc NavigateToPose(device.proto.model.common.Pose2d) returns (device.proto.model.common.Nothing) {}
+    //路径导航
+    rpc NavigateThroughPoses(NavigateThroughPosesRequest) returns (device.proto.model.common.Nothing) {}
+    //货叉纵向控制
+    rpc ForkControl(google.protobuf.DoubleValue) returns (device.proto.model.common.Nothing) {}
+
+}
+
+
+
+