Merge branch 'cbs' of http://git.znkjfw.com/ak/zn-cloud-wcs into aikai

# Conflicts:
#	yudao-module-grpc/yudao-module-grpc-biz/src/main/java/cn/iocoder/yudao/module/grpc/service/geometry/GeometryServiceImpl.java

pom.xml

@@ -46,6 +46,7 @@
         <spring.boot.version>2.7.18</spring.boot.version>
         <mapstruct.version>1.6.2</mapstruct.version>
         <project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
+        <mqtt.version>1.2.5</mqtt.version>
     </properties>
 
     <dependencyManagement>
@@ -69,6 +70,12 @@
                 <artifactId>grpc-client-spring-boot-starter</artifactId>
                 <version>${grpc.version}</version>
             </dependency>
+
+            <dependency>
+                <groupId>org.eclipse.paho</groupId>
+                <artifactId>org.eclipse.paho.client.mqttv3</artifactId>
+                <version>${mqtt.version}</version>
+            </dependency>
         </dependencies>
     </dependencyManagement>
 

yudao-module-grpc/yudao-module-grpc-biz/pom.xml

@@ -24,18 +24,46 @@
         </dependency>
 
         <!-- 依赖服务 -->
+        <dependency>
+            <groupId>cn.iocoder.cloud</groupId>
+            <artifactId>yudao-module-system-api</artifactId>
+            <version>${revision}</version>
+        </dependency>
+
         <dependency>
             <groupId>cn.iocoder.cloud</groupId>
             <artifactId>yudao-module-grpc-api</artifactId>
             <version>${revision}</version>
         </dependency>
 
+        <dependency>
+            <groupId>com.alibaba.cloud</groupId>
+            <artifactId>spring-cloud-starter-alibaba-nacos-discovery</artifactId>
+        </dependency>
+
+        <dependency>
+            <groupId>com.alibaba.cloud</groupId>
+            <artifactId>spring-cloud-starter-alibaba-nacos-config</artifactId>
+        </dependency>
+
+        <dependency>
+            <groupId>commons-collections</groupId>
+            <artifactId>commons-collections</artifactId>
+            <version>3.2.2</version>
+        </dependency>
+
         <dependency>
             <groupId>cn.iocoder.cloud</groupId>
             <artifactId>yudao-module-grpc-lib</artifactId>
             <version>${revision}</version>
         </dependency>
 
+        <dependency>
+            <groupId>com.alibaba.boot</groupId>
+            <artifactId>nacos-config-spring-boot-starter</artifactId>
+            <version>0.2.12</version>
+        </dependency>
+
         <dependency>
             <groupId>io.swagger.core.v3</groupId>
             <artifactId>swagger-annotations</artifactId>

yudao-module-grpc/yudao-module-grpc-biz/src/main/java/cn/iocoder/yudao/module/grpc/api/GrpcServiceImpl.java

@@ -1,6 +1,5 @@
-package cn.iocoder.yudao.module.grpc.service.api;
+package cn.iocoder.yudao.module.grpc.api;
 
-import cn.iocoder.yudao.module.grpc.api.GrpcServiceApi;
 import cn.iocoder.yudao.module.grpc.service.geometry.GeometryService;
 import org.springframework.validation.annotation.Validated;
 import org.springframework.web.bind.annotation.RestController;

yudao-module-grpc/yudao-module-grpc-biz/src/main/java/cn/iocoder/yudao/module/grpc/service/geometry/GeometryServiceImpl.java

@@ -1,16 +1,18 @@
 package cn.iocoder.yudao.module.grpc.service.geometry;
 
 import com.google.protobuf.DoubleValue;
-import device.proto.api.al.robotics.universal.nav.ChassisNavigationServiceGrpc;
 import device.proto.model.common.Geometry;
 import device.proto.model.common.Types;
+import device.proto.robotics.nav.ChassisNavigationControlService;
+import device.proto.robotics.nav.ChassisNavigationServiceGrpc;
 import io.grpc.Channel;
+import lombok.extern.slf4j.Slf4j;
 import net.devh.springboot.autoconfigure.grpc.client.GrpcClient;
 import org.springframework.stereotype.Service;
 
 import java.util.Iterator;
 
-
+@Slf4j
 @Service
 public class GeometryServiceImpl implements GeometryService{
 
@@ -19,18 +21,17 @@ public class GeometryServiceImpl implements GeometryService{
 
     @Override
     public String onVehiclePoseUpdated() {
+        log.info("测试GRPC连接");
 
         ChassisNavigationServiceGrpc.ChassisNavigationServiceBlockingStub myServiceStub
                 = ChassisNavigationServiceGrpc.newBlockingStub(this.serverChannel);
-        Iterator<Geometry.Pose2d> pose2dIterator = myServiceStub.onVehiclePoseUpdated(null);
+        Iterator<ChassisNavigationControlService.Response> responseIterator = myServiceStub.onVehiclePoseUpdated(null);
-        while (pose2dIterator.hasNext()) {
+        while (responseIterator.hasNext()) {
-            Geometry.Pose2d next = pose2dIterator.next();
+            log.info("机车推送的消息 :{}",responseIterator.next());
-            System.out.println("返回的 " + next);
         }
-
         DoubleValue build = DoubleValue.newBuilder().build();
-        Types.Nothing nothing = myServiceStub.forkControl(build);
+        ChassisNavigationControlService.Response response = myServiceStub.forkControl(build);
-        return nothing.toString();
+        return response.toString();
     }
 
 

yudao-module-grpc/yudao-module-grpc-biz/src/main/resources/application-local.yaml

@@ -1,7 +1,31 @@
+# grpc配置
+grpc:
+  # grpc clienT相关配置
+  client:
+    # 是服务端配置的名字，GrpcClient注解会用到
+    ChassisNavigationService:
+      #       gRPC服务端地址
+      host: 192.168.10.78
+      port: 6914
+      # 是否开启保持连接（长连接）
+      enableKeepAlive: true
+      # 保持连接时长（默认20s）
+      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)
+      defaultLoadBalancingPolicy: round_robin
+      # 通信类型
+      # plaintext | plaintext_upgrade | tls
+      # 明文通信且http/2 | 明文通信且升级http/1.1为http/2 | 使用TLS（ALPN/NPN）通信
+      negotiationType: plaintext
+
+
+
 spring:
   cloud:
     nacos:
-      server-addr: 127.0.0.1:8848 # Nacos 服务器地址
+      server-addr: localhost:8848 # Nacos 服务器地址
       username: # Nacos 账号
       password: # Nacos 密码
       discovery: # 【配置中心】配置项

yudao-module-grpc/yudao-module-grpc-biz/src/main/resources/application.yaml

@@ -1,26 +1,3 @@
-# grpc配置
-grpc:
-  # grpc clienT相关配置
-  client:
-    # 是服务端配置的名字，GrpcClient注解会用到
-    ChassisNavigationService:
-      #       gRPC服务端地址
-      host: 192.168.10.211
-      port: 6914
-      # 是否开启保持连接（长连接）
-      enableKeepAlive: true
-      # 保持连接时长（默认20s）
-      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)
-      defaultLoadBalancingPolicy: round_robin
-      # 通信类型
-      # plaintext | plaintext_upgrade | tls
-      # 明文通信且http/2 | 明文通信且升级http/1.1为http/2 | 使用TLS（ALPN/NPN）通信
-      negotiationType: plaintext
-
-
 
 spring:
   application:
@@ -45,7 +22,7 @@ spring:
       fail-on-empty-beans: false # 允许序列化无属性的 Bean
 
 server:
-  port: 48082
+  port: 48084
 
 
 debug: false

yudao-module-grpc/yudao-module-grpc-biz/src/main/resources/bootstrap.yaml

@@ -7,7 +7,7 @@ spring:
 #    active: prod
 
 server:
-  port: 48082
+  port: 48084
 
 # 日志文件配置。注意，如果 logging.file.name 不放在 bootstrap.yaml 配置文件，而是放在 application.yaml 中，会导致出现 LOG_FILE_IS_UNDEFINED 文件
 logging:

yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/svc/robotics/universal/chassis_navigation_control_service.proto

@@ -1,32 +1,69 @@
 syntax = "proto3";
 
-package device.proto.api.al.robotics.universal.nav;
+package device.proto.robotics.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
+//平面2d位姿
+message Pose2d {
+  double x = 1; //平移x
+  double y = 2; //平移y
+  double yaw = 3; //角度
+}
+
 message NavigateThroughPosesRequest {
-    //位姿数组
+    repeated Pose2d pose2ds = 1;
-    repeated device.proto.model.common.Pose2d pose2ds = 1;
+}
+
+//摇杆控制请求
+message JoyAgvRequest {
+    //x方向的速度
+    double vx = 1;
+    //y方向的速度
+    double vy = 2;
+    //角速度
+    double angle = 3;
+}
+
+message Response {
+    //响应的状态码
+    string status_code = 1;
+    //失败时的错误原因
+    string message = 2;
+    //附带的响应内容
+    google.protobuf.Struct data = 3;
 }
 
 service ChassisNavigationService {
     //订阅车体位姿更新
-    rpc OnVehiclePoseUpdated(google.protobuf.Empty) returns (stream device.proto.model.common.Pose2d) {}
+    rpc OnVehiclePoseUpdated(google.protobuf.Empty) returns (stream Response) {}
     //订阅跟踪的物体的位姿更新
-    rpc OnTrackingPoseUpdated(google.protobuf.Empty) returns (stream device.proto.model.common.Pose2d) {}
+    rpc OnTrackingPoseUpdated(google.protobuf.Empty) returns (stream Response) {}
     //导航到指定位姿
-    rpc NavigateToPose(device.proto.model.common.Pose2d) returns (device.proto.model.common.Nothing) {}
+    rpc NavigateToPose(Pose2d) returns (Response) {}
     //路径导航
-    rpc NavigateThroughPoses(NavigateThroughPosesRequest) returns (device.proto.model.common.Nothing) {}
+    rpc NavigateThroughPoses(NavigateThroughPosesRequest) returns (Response) {}
     //货叉纵向控制
-    rpc ForkControl(google.protobuf.DoubleValue) returns (device.proto.model.common.Nothing) {}
+    rpc ForkControl(google.protobuf.DoubleValue) returns (Response) {}
-
+    //订阅机器人状态更新
+    rpc OnRobotStateUpdated(google.protobuf.Empty) returns (stream Response) {}
+    //监听订阅底盘主IMU数据的更新
+    rpc OnChassesMainImuDataUpdated(google.protobuf.Empty) returns (stream Response) {}
+    //监听车体用于定位的里程计更新
+    rpc OnChassesOdometryUpdated(google.protobuf.Empty) returns (stream Response) {}
+    //监听雷达里程计更新
+    rpc OnPerceptionLaserOdometryUpdated(google.protobuf.Empty) returns (stream Response) {}
+    //监听轮式里程计更新
+    rpc OnWheelOdometryUpdated(google.protobuf.Empty) returns (stream Response) {}
+    //机器人故障状态
+    rpc OnRobotFaultStatusUpdated(google.protobuf.Empty) returns (stream Response) {}
+    //摇杆车体运动控制
+    rpc JoyAgvControl(JoyAgvRequest) returns (Response) {}
+    //摇杆货叉运动控制
+    rpc JoyForkControl(google.protobuf.Struct) returns (Response) {}
 }
 
 

yudao-module-mqtt/yudao-module-mqtt-biz/pom.xml

@@ -45,7 +45,6 @@
         <dependency>
             <groupId>org.eclipse.paho</groupId>
             <artifactId>org.eclipse.paho.client.mqttv3</artifactId>
-            <version>1.2.5</version>
         </dependency>
 
         <dependency>

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java

@@ -163,4 +163,8 @@ public interface ErrorCodeConstants {
     // ========== 站内信发送 1-002-028-000 ==========
     ErrorCode NOTIFY_SEND_TEMPLATE_PARAM_MISS = new ErrorCode(1_002_028_000, "模板参数({})缺失");
 
+    // ========== 设备信息 1-002-029-000 ==========
+    ErrorCode INFORMATION_NOT_EXISTS = new ErrorCode(1_002_029_001, "设备信息不存在");
+    ErrorCode INFORMATION_MAC_EXIST = new ErrorCode(1_002_029_002, "此Mac地址已经存在");
+    ErrorCode INFORMATION_MAC_INPUT = new ErrorCode(1_002_029_003, "请输入Mac地址");
 }

yudao-module-system/yudao-module-system-biz/pom.xml

@@ -35,6 +35,11 @@
             <artifactId>yudao-module-infra-api</artifactId>
             <version>${revision}</version>
         </dependency>
+        <dependency>
+            <groupId>cn.iocoder.cloud</groupId>
+            <artifactId>yudao-module-grpc-api</artifactId>
+            <version>${revision}</version>
+        </dependency>
 
         <!-- 业务组件 -->
         <dependency>

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/DeviceInformationController.java

@@ -0,0 +1,96 @@
+package cn.iocoder.yudao.module.system.controller.admin.information;
+
+import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationRespVO;
+import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
+import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
+import org.springframework.web.bind.annotation.*;
+import javax.annotation.Resource;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.security.access.prepost.PreAuthorize;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Operation;
+
+import javax.validation.*;
+import javax.servlet.http.*;
+import java.util.*;
+import java.io.IOException;
+
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.pojo.CommonResult;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
+
+import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils;
+
+import cn.iocoder.yudao.framework.apilog.core.annotation.ApiAccessLog;
+import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.*;
+
+
+@Tag(name = "管理后台 - 设备信息")
+@RestController
+@RequestMapping("/system/device/information")
+@Validated
+public class DeviceInformationController {
+
+    @Resource
+    private DeviceInformationService informationService;
+
+    @PostMapping("/create")
+    @Operation(summary = "创建设备信息")
+    @PreAuthorize("@ss.hasPermission('device:information:create')")
+    public CommonResult<Long> createInformation(@Valid @RequestBody DeviceInformationSaveReqVO createReqVO) {
+        return success(informationService.createInformation(createReqVO));
+    }
+
+    @PutMapping("/update")
+    @Operation(summary = "更新设备信息")
+    @PreAuthorize("@ss.hasPermission('device:information:update')")
+    public CommonResult<Boolean> updateInformation(@Valid @RequestBody DeviceInformationSaveReqVO updateReqVO) {
+        informationService.updateInformation(updateReqVO);
+        return success(true);
+    }
+
+    @DeleteMapping("/delete")
+    @Operation(summary = "删除设备信息")
+    @Parameter(name = "id", description = "编号", required = true)
+    @PreAuthorize("@ss.hasPermission('device:information:delete')")
+    public CommonResult<Boolean> deleteInformation(@RequestParam("id") Long id) {
+        informationService.deleteInformation(id);
+        return success(true);
+    }
+
+    @GetMapping("/get")
+    @Operation(summary = "获得设备信息")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('device:information:query')")
+    public CommonResult<DeviceInformationRespVO> getInformation(@RequestParam("id") Long id) {
+        DeviceInformationDO information = informationService.getInformation(id);
+        return success(BeanUtils.toBean(information, DeviceInformationRespVO.class));
+    }
+
+    @GetMapping("/page")
+    @Operation(summary = "获得设备信息分页")
+    @PreAuthorize("@ss.hasPermission('device:information:query')")
+    public CommonResult<PageResult<DeviceInformationRespVO>> getInformationPage(@Valid DeviceInformationPageReqVO pageReqVO) {
+        PageResult<DeviceInformationDO> pageResult = informationService.getInformationPage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, DeviceInformationRespVO.class));
+    }
+
+    @GetMapping("/export-excel")
+    @Operation(summary = "导出设备信息 Excel")
+    @PreAuthorize("@ss.hasPermission('device:information:export')")
+    @ApiAccessLog(operateType = EXPORT)
+    public void exportInformationExcel(@Valid DeviceInformationPageReqVO pageReqVO,
+              HttpServletResponse response) throws IOException {
+        pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
+        List<DeviceInformationDO> list = informationService.getInformationPage(pageReqVO).getList();
+        // 导出 Excel
+        ExcelUtils.write(response, "设备信息.xls", "数据", DeviceInformationRespVO.class,
+                        BeanUtils.toBean(list, DeviceInformationRespVO.class));
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java

@@ -0,0 +1,50 @@
+package cn.iocoder.yudao.module.system.controller.admin.information.vo;
+
+import lombok.*;
+import java.util.*;
+import io.swagger.v3.oas.annotations.media.Schema;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import org.springframework.format.annotation.DateTimeFormat;
+import java.time.LocalDateTime;
+
+import static cn.iocoder.yudao.framework.common.util.date.DateUtils.FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND;
+
+@Schema(description = "管理后台 - 设备信息分页 Request VO")
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+public class DeviceInformationPageReqVO extends PageParam {
+
+    @Schema(description = "设备类型（1：充电桩、2：输送线、 3：码垛机、4：拆垛机、5：自动门、6：提升机、7：信号灯、8：按钮盒）", example = "2")
+    private Integer deviceType;
+
+    @Schema(description = "设备编号")
+    private String deviceNo;
+
+    @Schema(description = "mac地址")
+    private String macAddress;
+
+    @Schema(description = "上传图片附件", example = "https://www.iocoder.cn")
+    private String url;
+
+    @Schema(description = "图片设置（1：默认图片、2：上传图片、 3：不显示图片）")
+    private Integer pictureConfig;
+
+    @Schema(description = "设备状态（1：在线、2：离线、 3：异常）", example = "1")
+    private Integer deviceStatus;
+
+    @Schema(description = "设备启用禁用（0：禁用、1：启用）")
+    private Integer deviceEnable;
+
+    @Schema(description = "设备协议")
+    private String deviceAgreement;
+
+    @Schema(description = "设备最后通讯时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
+    private LocalDateTime[] deviceLastTime;
+
+    @Schema(description = "创建时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
+    private LocalDateTime[] createTime;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java

@@ -0,0 +1,59 @@
+package cn.iocoder.yudao.module.system.controller.admin.information.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import org.springframework.format.annotation.DateTimeFormat;
+import java.time.LocalDateTime;
+import com.alibaba.excel.annotation.*;
+
+@Schema(description = "管理后台 - 设备信息 Response VO")
+@Data
+@ExcelIgnoreUnannotated
+public class DeviceInformationRespVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "14335")
+    @ExcelProperty("主键ID")
+    private Long id;
+
+    @Schema(description = "设备类型（1：充电桩、2：输送线、 3：码垛机、4：拆垛机、5：自动门、6：提升机、7：信号灯、8：按钮盒）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @ExcelProperty("设备类型（1：充电桩、2：输送线、 3：码垛机、4：拆垛机、5：自动门、6：提升机、7：信号灯、8：按钮盒）")
+    private Integer deviceType;
+
+    @Schema(description = "设备编号")
+    @ExcelProperty("设备编号")
+    private String deviceNo;
+
+    @Schema(description = "mac地址")
+    @ExcelProperty("mac地址")
+    private String macAddress;
+
+    @Schema(description = "上传图片附件", requiredMode = Schema.RequiredMode.REQUIRED, example = "https://www.iocoder.cn")
+    @ExcelProperty("上传图片附件")
+    private String url;
+
+    @Schema(description = "图片设置（1：默认图片、2：上传图片、 3：不显示图片）")
+    @ExcelProperty("图片设置（1：默认图片、2：上传图片、 3：不显示图片）")
+    private Integer pictureConfig;
+
+    @Schema(description = "设备状态（1：在线、2：离线、 3：异常）", example = "1")
+    @ExcelProperty("设备状态（1：在线、2：离线、 3：异常）")
+    private Integer deviceStatus;
+
+    @Schema(description = "设备启用禁用（0：禁用、1：启用）")
+    @ExcelProperty("设备启用禁用（0：禁用、1：启用）")
+    private Integer deviceEnable;
+
+    @Schema(description = "设备协议")
+    @ExcelProperty("设备协议")
+    private String deviceAgreement;
+
+    @Schema(description = "设备最后通讯时间")
+    @ExcelProperty("设备最后通讯时间")
+    private LocalDateTime deviceLastTime;
+
+    @Schema(description = "创建时间", requiredMode = Schema.RequiredMode.REQUIRED)
+    @ExcelProperty("创建时间")
+    private LocalDateTime createTime;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java

@@ -0,0 +1,45 @@
+package cn.iocoder.yudao.module.system.controller.admin.information.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import javax.validation.constraints.*;
+import org.springframework.format.annotation.DateTimeFormat;
+import java.time.LocalDateTime;
+
+@Schema(description = "管理后台 - 设备信息新增/修改 Request VO")
+@Data
+public class DeviceInformationSaveReqVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "14335")
+    private Long id;
+
+    @Schema(description = "设备类型（1：充电桩、2：输送线、 3：码垛机、4：拆垛机、5：自动门、6：提升机、7：信号灯、8：按钮盒）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @NotNull(message = "设备类型不能为空")
+    private Integer deviceType;
+
+    @Schema(description = "设备编号")
+    private String deviceNo;
+
+    @Schema(description = "mac地址")
+    private String macAddress;
+
+    @Schema(description = "上传图片附件", requiredMode = Schema.RequiredMode.REQUIRED, example = "https://www.iocoder.cn")
+    private String url;
+
+    @Schema(description = "图片设置（1：默认图片、2：上传图片、 3：不显示图片）")
+    private Integer pictureConfig;
+
+    @Schema(description = "设备状态（1：在线、2：离线、 3：异常）", example = "1")
+    private Integer deviceStatus;
+
+    @Schema(description = "设备启用禁用（0：禁用、1：启用）")
+    private Integer deviceEnable;
+
+    @Schema(description = "设备协议")
+    private String deviceAgreement;
+
+    @Schema(description = "设备最后通讯时间")
+    private LocalDateTime deviceLastTime;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java

@@ -0,0 +1,68 @@
+package cn.iocoder.yudao.module.system.dal.dataobject.information;
+
+import lombok.*;
+import java.util.*;
+import java.time.LocalDateTime;
+import java.time.LocalDateTime;
+import java.time.LocalDateTime;
+import com.baomidou.mybatisplus.annotation.*;
+import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
+
+/**
+ * 设备信息 DO
+ *
+ * @author 陈宾顺
+ */
+@TableName("device_information")
+@KeySequence("device_information_seq") // 用于 Oracle、PostgreSQL、Kingbase、DB2、H2 数据库的主键自增。如果是 MySQL 等数据库，可不写。
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class DeviceInformationDO extends BaseDO {
+
+    /**
+     * 主键ID
+     */
+    @TableId
+    private Long id;
+    /**
+     * 设备类型（1：充电桩、2：输送线、 3：码垛机、4：拆垛机、5：自动门、6：提升机、7：信号灯、8：按钮盒）
+     */
+    private Integer deviceType;
+    /**
+     * 设备编号
+     */
+    private String deviceNo;
+    /**
+     * mac地址
+     */
+    private String macAddress;
+    /**
+     * 上传图片附件
+     */
+    private String url;
+    /**
+     * 图片设置（1：默认图片、2：上传图片、 3：不显示图片）
+     */
+    private Integer pictureConfig;
+    /**
+     * 设备状态（1：在线、2：离线、 3：异常）
+     */
+    private Integer deviceStatus;
+    /**
+     * 设备启用禁用（0：禁用、1：启用）
+     */
+    private Integer deviceEnable;
+    /**
+     * 设备协议
+     */
+    private String deviceAgreement;
+    /**
+     * 设备最后通讯时间
+     */
+    private LocalDateTime deviceLastTime;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/information/DeviceInformationMapper.java

@@ -0,0 +1,34 @@
+package cn.iocoder.yudao.module.system.dal.mysql.information;
+
+
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
+import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationPageReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 设备信息 Mapper
+ *
+ * @author 陈宾顺
+ */
+@Mapper
+public interface DeviceInformationMapper extends BaseMapperX<DeviceInformationDO> {
+
+    default PageResult<DeviceInformationDO> selectPage(DeviceInformationPageReqVO reqVO) {
+        return selectPage(reqVO, new LambdaQueryWrapperX<DeviceInformationDO>()
+                .eqIfPresent(DeviceInformationDO::getDeviceType, reqVO.getDeviceType())
+                .eqIfPresent(DeviceInformationDO::getDeviceNo, reqVO.getDeviceNo())
+                .eqIfPresent(DeviceInformationDO::getMacAddress, reqVO.getMacAddress())
+                .eqIfPresent(DeviceInformationDO::getUrl, reqVO.getUrl())
+                .eqIfPresent(DeviceInformationDO::getPictureConfig, reqVO.getPictureConfig())
+                .eqIfPresent(DeviceInformationDO::getDeviceStatus, reqVO.getDeviceStatus())
+                .eqIfPresent(DeviceInformationDO::getDeviceEnable, reqVO.getDeviceEnable())
+                .eqIfPresent(DeviceInformationDO::getDeviceAgreement, reqVO.getDeviceAgreement())
+                .betweenIfPresent(DeviceInformationDO::getDeviceLastTime, reqVO.getDeviceLastTime())
+                .betweenIfPresent(DeviceInformationDO::getCreateTime, reqVO.getCreateTime())
+                .orderByDesc(DeviceInformationDO::getId));
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/DeviceInformationType.java

@@ -0,0 +1,27 @@
+package cn.iocoder.yudao.module.system.enums;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum DeviceInformationType {
+
+    CHARGING_STATION(1, "充电桩"),
+    Conveyor_line(2, "输送线"),
+    PALLETIZER(3, "码垛机"),
+    DISMANTLING_MACHINE(4, "拆垛机"),
+    AUTOMATIC_DOOR(5, "自动门"),
+    HOIST(6, "提升机"),
+    SIGNAL_LIGHT(7, "信号灯"),
+    BUTTON_BOX(8, "按钮盒");
+
+    /**
+     * 类型
+     */
+    private final Integer type;
+    /**
+     * 说明
+     */
+    private final String source;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/framework/grpc/config/GrpcConfiguration.java

@@ -0,0 +1,10 @@
+package cn.iocoder.yudao.module.system.framework.grpc.config;
+
+import cn.iocoder.yudao.module.grpc.api.GrpcServiceApi;
+import org.springframework.cloud.openfeign.EnableFeignClients;
+import org.springframework.context.annotation.Configuration;
+
+@Configuration(proxyBeanMethods = false)
+@EnableFeignClients(clients = {GrpcServiceApi.class})
+public class GrpcConfiguration {
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationService.java

@@ -0,0 +1,56 @@
+package cn.iocoder.yudao.module.system.service.information;
+
+import java.util.*;
+import javax.validation.*;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
+
+/**
+ * 设备信息 Service 接口
+ *
+ * @author 陈宾顺
+ */
+public interface DeviceInformationService {
+
+    /**
+     * 创建设备信息
+     *
+     * @param createReqVO 创建信息
+     * @return 编号
+     */
+    Long createInformation(@Valid DeviceInformationSaveReqVO createReqVO);
+
+    /**
+     * 更新设备信息
+     *
+     * @param updateReqVO 更新信息
+     */
+    void updateInformation(@Valid DeviceInformationSaveReqVO updateReqVO);
+
+    /**
+     * 删除设备信息
+     *
+     * @param id 编号
+     */
+    void deleteInformation(Long id);
+
+    /**
+     * 获得设备信息
+     *
+     * @param id 编号
+     * @return 设备信息
+     */
+    DeviceInformationDO getInformation(Long id);
+
+    /**
+     * 获得设备信息分页
+     *
+     * @param pageReqVO 分页查询
+     * @return 设备信息分页
+     */
+    PageResult<DeviceInformationDO> getInformationPage(DeviceInformationPageReqVO pageReqVO);
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java

@@ -0,0 +1,100 @@
+package cn.iocoder.yudao.module.system.service.information;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.module.grpc.api.GrpcServiceApi;
+import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
+import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
+import cn.iocoder.yudao.module.system.enums.DeviceInformationType;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+import javax.annotation.Resource;
+import org.springframework.validation.annotation.Validated;
+
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+
+
+import java.time.LocalDateTime;
+
+import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
+
+/**
+ * 设备信息 Service 实现类
+ *
+ * @author 陈宾顺
+ */
+@Service
+@Validated
+@Slf4j
+public class DeviceInformationServiceImpl implements DeviceInformationService {
+
+    @Resource
+    private DeviceInformationMapper informationMapper;
+
+    @Resource
+    private GrpcServiceApi grpcServiceApi;
+
+    @Override
+    public Long createInformation(DeviceInformationSaveReqVO createReqVO) {
+        DeviceInformationPageReqVO pageReqVO = new DeviceInformationPageReqVO();
+        pageReqVO.setMacAddress(createReqVO.getMacAddress());
+        PageResult<DeviceInformationDO> pageResult = informationMapper.selectPage(pageReqVO);
+        if(ObjectUtil.isNotEmpty(pageResult.getList())){
+            throw exception(INFORMATION_MAC_EXIST);
+        }
+        //AGV需要判断机车是否接收到此Mac地址
+        if(DeviceInformationType.PALLETIZER.getType().equals(createReqVO.getDeviceType())
+            && ObjectUtil.isEmpty(createReqVO.getMacAddress())){
+            throw exception(INFORMATION_MAC_INPUT);
+        }
+        if(DeviceInformationType.PALLETIZER.getType().equals(createReqVO.getDeviceType())){
+            String jiCheResponse = grpcServiceApi.onVehiclePoseUpdated();
+            log.info("调用GRPC查询机车信息返回 :{}",jiCheResponse);
+        }
+
+        // 插入
+        DeviceInformationDO information = BeanUtils.toBean(createReqVO, DeviceInformationDO.class);
+        information.setDeviceStatus(1);
+        information.setDeviceLastTime(LocalDateTime.now());
+        informationMapper.insert(information);
+        // 返回
+        return information.getId();
+    }
+
+    @Override
+    public void updateInformation(DeviceInformationSaveReqVO updateReqVO) {
+        // 校验存在
+        validateInformationExists(updateReqVO.getId());
+        // 更新
+        DeviceInformationDO updateObj = BeanUtils.toBean(updateReqVO, DeviceInformationDO.class);
+        informationMapper.updateById(updateObj);
+    }
+
+    @Override
+    public void deleteInformation(Long id) {
+        // 校验存在
+        validateInformationExists(id);
+        // 删除
+        informationMapper.deleteById(id);
+    }
+
+    private void validateInformationExists(Long id) {
+        if (informationMapper.selectById(id) == null) {
+            throw exception(INFORMATION_NOT_EXISTS);
+        }
+    }
+
+    @Override
+    public DeviceInformationDO getInformation(Long id) {
+        return informationMapper.selectById(id);
+    }
+
+    @Override
+    public PageResult<DeviceInformationDO> getInformationPage(DeviceInformationPageReqVO pageReqVO) {
+        return informationMapper.selectPage(pageReqVO);
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/information/DeviceInformationMapper.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper">
+
+    <!--
+        一般情况下，尽可能使用 Mapper 进行 CRUD 增删改查即可。
+        无法满足的场景，例如说多表关联查询，才使用 XML 编写 SQL。
+        代码生成器暂时只生成 Mapper XML 文件本身，更多推荐 MybatisX 快速开发插件来生成查询。
+        文档可见：https://www.iocoder.cn/MyBatis/x-plugins/
+     -->
+
+</mapper>