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

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

pom.xml

@@ -14,7 +14,9 @@
         <!--  各种 module 拓展 -->
         <module>yudao-module-system</module>
         <module>yudao-module-infra</module>
-<!--        <module>yudao-module-member</module>-->
+        <module>yudao-module-grpc</module>
+        <module>yudao-module-mqtt</module>
+        <!--        <module>yudao-module-member</module>-->
 <!--        <module>yudao-module-bpm</module>-->
 <!--        <module>yudao-module-pay</module>-->
 <!--        <module>yudao-module-report</module>-->
@@ -32,6 +34,8 @@
         <revision>2.3.0-jdk8-SNAPSHOT</revision>
         <!-- Maven 相关 -->
         <java.version>1.8</java.version>
+        <swagger.version>2.2.9</swagger.version>
+        <grpc.version>2.12.0.RELEASE</grpc.version>
         <maven.compiler.source>${java.version}</maven.compiler.source>
         <maven.compiler.target>${java.version}</maven.compiler.target>
         <maven-surefire-plugin.version>3.0.0-M5</maven-surefire-plugin.version>
@@ -42,6 +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>
@@ -53,6 +58,24 @@
                 <type>pom</type>
                 <scope>import</scope>
             </dependency>
+
+            <dependency>
+                <groupId>io.swagger.core.v3</groupId>
+                <artifactId>swagger-annotations</artifactId>
+                <version>${swagger.version}</version>
+            </dependency>
+
+            <dependency>
+                <groupId>net.devh</groupId>
+                <artifactId>grpc-client-spring-boot-starter</artifactId>
+                <version>${grpc.version}</version>
+            </dependency>
+
+            <dependency>
+                <groupId>org.eclipse.paho</groupId>
+                <artifactId>org.eclipse.paho.client.mqttv3</artifactId>
+                <version>${mqtt.version}</version>
+            </dependency>
         </dependencies>
     </dependencyManagement>
 

src/main/resources/mapper/WareHouseLocationDao.xml

@@ -0,0 +1,425 @@
+<?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=".dao.WareHouseLocationDao">
+
+    <resultMap id="BaseResultMap" type=".entity.WareHouseLocation">
+        <!--@Table ware_house_location-->
+        <result property="id" column="id" jdbcType="INTEGER"/>
+        <result property="laneId" column="lane_id" jdbcType="INTEGER"/>
+        <result property="laneName" column="lane_name" jdbcType="VARCHAR"/>
+        <result property="areaId" column="area_id" jdbcType="INTEGER"/>
+        <result property="areaName" column="area_name" jdbcType="VARCHAR"/>
+        <result property="locationNo" column="location_no" jdbcType="VARCHAR"/>
+        <result property="locationYaw" column="location_yaw" jdbcType="VARCHAR"/>
+        <result property="groupName" column="group_name" jdbcType="VARCHAR"/>
+        <result property="skuInfo" column="sku_info" jdbcType="VARCHAR"/>
+        <result property="skuBatch" column="sku_batch" jdbcType="VARCHAR"/>
+        <result property="skuNumber" column="sku_number" jdbcType="INTEGER"/>
+        <result property="trayInfo" column="tray_info" jdbcType="VARCHAR"/>
+        <result property="locationEnable" column="location_enable" jdbcType="INTEGER"/>
+        <result property="locationLock" column="location_lock" jdbcType="INTEGER"/>
+        <result property="locationUseStatus" column="location_use_status" jdbcType="INTEGER"/>
+        <result property="locationX" column="location_x" jdbcType="VARCHAR"/>
+        <result property="locationY" column="location_y" jdbcType="VARCHAR"/>
+        <result property="locationWide" column="location_wide" jdbcType="NUMERIC"/>
+        <result property="locationDeep" column="location_deep" jdbcType="NUMERIC"/>
+        <result property="locationHeight" column="location_height" jdbcType="NUMERIC"/>
+        <result property="locationDefaultHeight" column="location_default_height" jdbcType="NUMERIC"/>
+        <result property="locationTotalHeight" column="location_total_height" jdbcType="NUMERIC"/>
+        <result property="locationTrayHeight" column="location_tray_height" jdbcType="NUMERIC"/>
+        <result property="locationStorey" column="location_storey" jdbcType="INTEGER"/>
+        <result property="locationType" column="location_type" jdbcType="INTEGER"/>
+        <result property="locationNumber" column="location_number" jdbcType="INTEGER"/>
+        <result property="creator" column="creator" jdbcType="VARCHAR"/>
+        <result property="createTime" column="create_time" jdbcType="TIMESTAMP"/>
+        <result property="updater" column="updater" jdbcType="VARCHAR"/>
+        <result property="updateTime" column="update_time" jdbcType="TIMESTAMP"/>
+        <result property="deleted" column="deleted" jdbcType="INTEGER"/>
+        <result property="tenantId" column="tenant_id" jdbcType="INTEGER"/>
+    </resultMap>
+
+    <!--查询单个-->
+    <select id="queryById" resultMap="BaseResultMap">
+        select
+id, lane_id, lane_name, area_id, area_name, location_no, location_yaw, group_name, sku_info, sku_batch, sku_number, tray_info, location_enable, location_lock, location_use_status, location_x, location_y, location_wide, location_deep, location_height, location_default_height, location_total_height, location_tray_height, location_storey, location_type, location_number, creator, create_time, updater, update_time, deleted, tenant_id
+        from ware_house_location
+        where id = #{id}
+    </select>
+
+    <!--查询指定行数据-->
+    <select id="queryAllByLimit" resultMap="BaseResultMap">
+        select
+id, lane_id, lane_name, area_id, area_name, location_no, location_yaw, group_name, sku_info, sku_batch, sku_number, tray_info, location_enable, location_lock, location_use_status, location_x, location_y, location_wide, location_deep, location_height, location_default_height, location_total_height, location_tray_height, location_storey, location_type, location_number, creator, create_time, updater, update_time, deleted, tenant_id
+        from ware_house_location
+        <where>
+            <if test="id != null">
+                and id = #{id}
+            </if>
+            <if test="laneId != null">
+                and lane_id = #{laneId}
+            </if>
+            <if test="laneName != null and laneName != ''">
+                and lane_name = #{laneName}
+            </if>
+            <if test="areaId != null">
+                and area_id = #{areaId}
+            </if>
+            <if test="areaName != null and areaName != ''">
+                and area_name = #{areaName}
+            </if>
+            <if test="locationNo != null and locationNo != ''">
+                and location_no = #{locationNo}
+            </if>
+            <if test="locationYaw != null and locationYaw != ''">
+                and location_yaw = #{locationYaw}
+            </if>
+            <if test="groupName != null and groupName != ''">
+                and group_name = #{groupName}
+            </if>
+            <if test="skuInfo != null and skuInfo != ''">
+                and sku_info = #{skuInfo}
+            </if>
+            <if test="skuBatch != null and skuBatch != ''">
+                and sku_batch = #{skuBatch}
+            </if>
+            <if test="skuNumber != null">
+                and sku_number = #{skuNumber}
+            </if>
+            <if test="trayInfo != null and trayInfo != ''">
+                and tray_info = #{trayInfo}
+            </if>
+            <if test="locationEnable != null">
+                and location_enable = #{locationEnable}
+            </if>
+            <if test="locationLock != null">
+                and location_lock = #{locationLock}
+            </if>
+            <if test="locationUseStatus != null">
+                and location_use_status = #{locationUseStatus}
+            </if>
+            <if test="locationX != null and locationX != ''">
+                and location_x = #{locationX}
+            </if>
+            <if test="locationY != null and locationY != ''">
+                and location_y = #{locationY}
+            </if>
+            <if test="locationWide != null">
+                and location_wide = #{locationWide}
+            </if>
+            <if test="locationDeep != null">
+                and location_deep = #{locationDeep}
+            </if>
+            <if test="locationHeight != null">
+                and location_height = #{locationHeight}
+            </if>
+            <if test="locationDefaultHeight != null">
+                and location_default_height = #{locationDefaultHeight}
+            </if>
+            <if test="locationTotalHeight != null">
+                and location_total_height = #{locationTotalHeight}
+            </if>
+            <if test="locationTrayHeight != null">
+                and location_tray_height = #{locationTrayHeight}
+            </if>
+            <if test="locationStorey != null">
+                and location_storey = #{locationStorey}
+            </if>
+            <if test="locationType != null">
+                and location_type = #{locationType}
+            </if>
+            <if test="locationNumber != null">
+                and location_number = #{locationNumber}
+            </if>
+            <if test="creator != null and creator != ''">
+                and creator = #{creator}
+            </if>
+            <if test="createTime != null">
+                and create_time = #{createTime}
+            </if>
+            <if test="updater != null and updater != ''">
+                and updater = #{updater}
+            </if>
+            <if test="updateTime != null">
+                and update_time = #{updateTime}
+            </if>
+            <if test="deleted != null">
+                and deleted = #{deleted}
+            </if>
+            <if test="tenantId != null">
+                and tenant_id = #{tenantId}
+            </if>
+        </where>
+        limit #{pageable.offset}, #{pageable.pageSize}
+    </select>
+
+    <!--通过实体作为筛选条件查询-->
+    <select id="queryAll" resultMap="BaseResultMap">
+        select
+id, lane_id, lane_name, area_id, area_name, location_no, location_yaw, group_name, sku_info, sku_batch, sku_number, tray_info, location_enable, location_lock, location_use_status, location_x, location_y, location_wide, location_deep, location_height, location_default_height, location_total_height, location_tray_height, location_storey, location_type, location_number, creator, create_time, updater, update_time, deleted, tenant_id
+        from zn_wcs.ware_house_location
+    <!--统计总行数-->
+    <select id="count" resultType="java.lang.Long">
+        select count(1)
+        from ware_house_location
+        <where>
+            <if test="id != null">
+                and id = #{id}
+            </if>
+            <if test="laneId != null">
+                and lane_id = #{laneId}
+            </if>
+            <if test="laneName != null and laneName != ''">
+                and lane_name = #{laneName}
+            </if>
+            <if test="areaId != null">
+                and area_id = #{areaId}
+            </if>
+            <if test="areaName != null and areaName != ''">
+                and area_name = #{areaName}
+            </if>
+            <if test="locationNo != null and locationNo != ''">
+                and location_no = #{locationNo}
+            </if>
+            <if test="locationYaw != null and locationYaw != ''">
+                and location_yaw = #{locationYaw}
+            </if>
+            <if test="groupName != null and groupName != ''">
+                and group_name = #{groupName}
+            </if>
+            <if test="skuInfo != null and skuInfo != ''">
+                and sku_info = #{skuInfo}
+            </if>
+            <if test="skuBatch != null and skuBatch != ''">
+                and sku_batch = #{skuBatch}
+            </if>
+            <if test="skuNumber != null">
+                and sku_number = #{skuNumber}
+            </if>
+            <if test="trayInfo != null and trayInfo != ''">
+                and tray_info = #{trayInfo}
+            </if>
+            <if test="locationEnable != null">
+                and location_enable = #{locationEnable}
+            </if>
+            <if test="locationLock != null">
+                and location_lock = #{locationLock}
+            </if>
+            <if test="locationUseStatus != null">
+                and location_use_status = #{locationUseStatus}
+            </if>
+            <if test="locationX != null and locationX != ''">
+                and location_x = #{locationX}
+            </if>
+            <if test="locationY != null and locationY != ''">
+                and location_y = #{locationY}
+            </if>
+            <if test="locationWide != null">
+                and location_wide = #{locationWide}
+            </if>
+            <if test="locationDeep != null">
+                and location_deep = #{locationDeep}
+            </if>
+            <if test="locationHeight != null">
+                and location_height = #{locationHeight}
+            </if>
+            <if test="locationDefaultHeight != null">
+                and location_default_height = #{locationDefaultHeight}
+            </if>
+            <if test="locationTotalHeight != null">
+                and location_total_height = #{locationTotalHeight}
+            </if>
+            <if test="locationTrayHeight != null">
+                and location_tray_height = #{locationTrayHeight}
+            </if>
+            <if test="locationStorey != null">
+                and location_storey = #{locationStorey}
+            </if>
+            <if test="locationType != null">
+                and location_type = #{locationType}
+            </if>
+            <if test="locationNumber != null">
+                and location_number = #{locationNumber}
+            </if>
+            <if test="creator != null and creator != ''">
+                and creator = #{creator}
+            </if>
+            <if test="createTime != null">
+                and create_time = #{createTime}
+            </if>
+            <if test="updater != null and updater != ''">
+                and updater = #{updater}
+            </if>
+            <if test="updateTime != null">
+                and update_time = #{updateTime}
+            </if>
+            <if test="deleted != null">
+                and deleted = #{deleted}
+            </if>
+            <if test="tenantId != null">
+                and tenant_id = #{tenantId}
+            </if>
+        </where>
+    </select>
+
+    <!--新增所有列-->
+    <insert id="insert" keyProperty="id" useGeneratedKeys="true">
+        insert into ware_house_location(lane_id, lane_name, area_id, area_name, location_no, location_yaw, group_name, sku_info, sku_batch, sku_number, tray_info, location_enable, location_lock, location_use_status, location_x, location_y, location_wide, location_deep, location_height, location_default_height, location_total_height, location_tray_height, location_storey, location_type, location_number, creator, create_time, updater, update_time, deleted, tenant_id)
+        values (#{laneId}, #{laneName}, #{areaId}, #{areaName}, #{locationNo}, #{locationYaw}, #{groupName}, #{skuInfo}, #{skuBatch}, #{skuNumber}, #{trayInfo}, #{locationEnable}, #{locationLock}, #{locationUseStatus}, #{locationX}, #{locationY}, #{locationWide}, #{locationDeep}, #{locationHeight}, #{locationDefaultHeight}, #{locationTotalHeight}, #{locationTrayHeight}, #{locationStorey}, #{locationType}, #{locationNumber}, #{creator}, #{createTime}, #{updater}, #{updateTime}, #{deleted}, #{tenantId})
+    </insert>
+
+    <insert id="insertBatch" keyProperty="id" useGeneratedKeys="true">
+        insert into ware_house_location(lane_id, lane_name, area_id, area_name, location_no, location_yaw, group_name, sku_info, sku_batch, sku_number, tray_info, location_enable, location_lock, location_use_status, location_x, location_y, location_wide, location_deep, location_height, location_default_height, location_total_height, location_tray_height, location_storey, location_type, location_number, creator, create_time, updater, update_time, deleted, tenant_id)
+        values
+        <foreach collection="entities" item="entity" separator=",">
+        (#{entity.laneId}, #{entity.laneName}, #{entity.areaId}, #{entity.areaName}, #{entity.locationNo}, #{entity.locationYaw}, #{entity.groupName}, #{entity.skuInfo}, #{entity.skuBatch}, #{entity.skuNumber}, #{entity.trayInfo}, #{entity.locationEnable}, #{entity.locationLock}, #{entity.locationUseStatus}, #{entity.locationX}, #{entity.locationY}, #{entity.locationWide}, #{entity.locationDeep}, #{entity.locationHeight}, #{entity.locationDefaultHeight}, #{entity.locationTotalHeight}, #{entity.locationTrayHeight}, #{entity.locationStorey}, #{entity.locationType}, #{entity.locationNumber}, #{entity.creator}, #{entity.createTime}, #{entity.updater}, #{entity.updateTime}, #{entity.deleted}, #{entity.tenantId})
+        </foreach>
+    </insert>
+
+    <insert id="insertOrUpdateBatch" keyProperty="id" useGeneratedKeys="true">
+        insert into ware_house_location(lane_id, lane_name, area_id, area_name, location_no, location_yaw, group_name, sku_info, sku_batch, sku_number, tray_info, location_enable, location_lock, location_use_status, location_x, location_y, location_wide, location_deep, location_height, location_default_height, location_total_height, location_tray_height, location_storey, location_type, location_number, creator, create_time, updater, update_time, deleted, tenant_id)
+        values
+        <foreach collection="entities" item="entity" separator=",">
+            (#{entity.laneId}, #{entity.laneName}, #{entity.areaId}, #{entity.areaName}, #{entity.locationNo}, #{entity.locationYaw}, #{entity.groupName}, #{entity.skuInfo}, #{entity.skuBatch}, #{entity.skuNumber}, #{entity.trayInfo}, #{entity.locationEnable}, #{entity.locationLock}, #{entity.locationUseStatus}, #{entity.locationX}, #{entity.locationY}, #{entity.locationWide}, #{entity.locationDeep}, #{entity.locationHeight}, #{entity.locationDefaultHeight}, #{entity.locationTotalHeight}, #{entity.locationTrayHeight}, #{entity.locationStorey}, #{entity.locationType}, #{entity.locationNumber}, #{entity.creator}, #{entity.createTime}, #{entity.updater}, #{entity.updateTime}, #{entity.deleted}, #{entity.tenantId})
+        </foreach>
+        on duplicate key update
+lane_id = values(lane_id),
+lane_name = values(lane_name),
+area_id = values(area_id),
+area_name = values(area_name),
+location_no = values(location_no),
+location_yaw = values(location_yaw),
+group_name = values(group_name),
+sku_info = values(sku_info),
+sku_batch = values(sku_batch),
+sku_number = values(sku_number),
+tray_info = values(tray_info),
+location_enable = values(location_enable),
+location_lock = values(location_lock),
+location_use_status = values(location_use_status),
+location_x = values(location_x),
+location_y = values(location_y),
+location_wide = values(location_wide),
+location_deep = values(location_deep),
+location_height = values(location_height),
+location_default_height = values(location_default_height),
+location_total_height = values(location_total_height),
+location_tray_height = values(location_tray_height),
+location_storey = values(location_storey),
+location_type = values(location_type),
+location_number = values(location_number),
+creator = values(creator),
+create_time = values(create_time),
+updater = values(updater),
+update_time = values(update_time),
+deleted = values(deleted),
+tenant_id = values(tenant_id)
+    </insert>
+
+    <!--通过主键修改数据-->
+    <update id="update">
+        update ware_house_location
+        <set>
+            <if test="laneId != null">
+                lane_id = #{laneId},
+            </if>
+            <if test="laneName != null and laneName != ''">
+                lane_name = #{laneName},
+            </if>
+            <if test="areaId != null">
+                area_id = #{areaId},
+            </if>
+            <if test="areaName != null and areaName != ''">
+                area_name = #{areaName},
+            </if>
+            <if test="locationNo != null and locationNo != ''">
+                location_no = #{locationNo},
+            </if>
+            <if test="locationYaw != null and locationYaw != ''">
+                location_yaw = #{locationYaw},
+            </if>
+            <if test="groupName != null and groupName != ''">
+                group_name = #{groupName},
+            </if>
+            <if test="skuInfo != null and skuInfo != ''">
+                sku_info = #{skuInfo},
+            </if>
+            <if test="skuBatch != null and skuBatch != ''">
+                sku_batch = #{skuBatch},
+            </if>
+            <if test="skuNumber != null">
+                sku_number = #{skuNumber},
+            </if>
+            <if test="trayInfo != null and trayInfo != ''">
+                tray_info = #{trayInfo},
+            </if>
+            <if test="locationEnable != null">
+                location_enable = #{locationEnable},
+            </if>
+            <if test="locationLock != null">
+                location_lock = #{locationLock},
+            </if>
+            <if test="locationUseStatus != null">
+                location_use_status = #{locationUseStatus},
+            </if>
+            <if test="locationX != null and locationX != ''">
+                location_x = #{locationX},
+            </if>
+            <if test="locationY != null and locationY != ''">
+                location_y = #{locationY},
+            </if>
+            <if test="locationWide != null">
+                location_wide = #{locationWide},
+            </if>
+            <if test="locationDeep != null">
+                location_deep = #{locationDeep},
+            </if>
+            <if test="locationHeight != null">
+                location_height = #{locationHeight},
+            </if>
+            <if test="locationDefaultHeight != null">
+                location_default_height = #{locationDefaultHeight},
+            </if>
+            <if test="locationTotalHeight != null">
+                location_total_height = #{locationTotalHeight},
+            </if>
+            <if test="locationTrayHeight != null">
+                location_tray_height = #{locationTrayHeight},
+            </if>
+            <if test="locationStorey != null">
+                location_storey = #{locationStorey},
+            </if>
+            <if test="locationType != null">
+                location_type = #{locationType},
+            </if>
+            <if test="locationNumber != null">
+                location_number = #{locationNumber},
+            </if>
+            <if test="creator != null and creator != ''">
+                creator = #{creator},
+            </if>
+            <if test="createTime != null">
+                create_time = #{createTime},
+            </if>
+            <if test="updater != null and updater != ''">
+                updater = #{updater},
+            </if>
+            <if test="updateTime != null">
+                update_time = #{updateTime},
+            </if>
+            <if test="deleted != null">
+                deleted = #{deleted},
+            </if>
+            <if test="tenantId != null">
+                tenant_id = #{tenantId},
+            </if>
+        </set>
+        where id = #{id}
+    </update>
+
+    <!--通过主键删除-->
+    <delete id="deleteById">
+        delete from ware_house_location where id = #{id}
+    </delete>
+
+</mapper>
+

yudao-framework/yudao-common/src/main/java/cn/iocoder/yudao/framework/common/util/date/DateUtils.java

@@ -3,6 +3,7 @@ package cn.iocoder.yudao.framework.common.util.date;
 import cn.hutool.core.date.LocalDateTimeUtil;
 
 import java.time.*;
+import java.time.format.DateTimeFormatter;
 import java.util.Calendar;
 import java.util.Date;
 
@@ -27,6 +28,11 @@ public class DateUtils {
 
     public static final String FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND = "yyyy-MM-dd HH:mm:ss";
 
+    public static String getYearMonthDay() {
+        LocalDate currentDate = LocalDate.now();
+        DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyyMMdd");
+        return currentDate.format(formatter);
+    }
     /**
      * 将 LocalDateTime 转换成 Date
      *

yudao-module-grpc/pom.xml

@@ -0,0 +1,25 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0"
+         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+    <parent>
+        <groupId>cn.iocoder.cloud</groupId>
+        <artifactId>yudao</artifactId>
+        <version>${revision}</version>
+    </parent>
+    <modelVersion>4.0.0</modelVersion>
+    <modules>
+        <module>yudao-module-grpc-api</module>
+        <module>yudao-module-grpc-biz</module>
+        <module>yudao-module-grpc-lib</module>
+    </modules>
+
+    <artifactId>yudao-module-grpc</artifactId>
+    <packaging>pom</packaging>
+
+    <name>${project.artifactId}</name>
+    <description>
+        grpc 模块下，与机器人接口调用。
+    </description>
+
+</project>

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

@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0"
+         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+    <parent>
+        <groupId>cn.iocoder.cloud</groupId>
+        <artifactId>yudao-module-grpc</artifactId>
+        <version>${revision}</version>
+    </parent>
+    <modelVersion>4.0.0</modelVersion>
+    <artifactId>yudao-module-grpc-api</artifactId>
+    <packaging>jar</packaging>
+
+    <name>${project.artifactId}</name>
+    <description>
+        grpc 模块 API，暴露给其它模块调用
+    </description>
+
+    <dependencies>
+        <!--<dependency>
+            <groupId>cn.iocoder.cloud</groupId>
+            <artifactId>yudao-common</artifactId>
+        </dependency>-->
+        <!-- Web 相关 -->
+        <dependency>
+            <groupId>org.springdoc</groupId>
+            <artifactId>springdoc-openapi-ui</artifactId>
+            <scope>provided</scope> <!-- 设置为 provided，主要是 PageParam 使用到 -->
+        </dependency>
+
+        <!-- 参数校验 -->
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-validation</artifactId>
+            <optional>true</optional>
+        </dependency>
+
+        <!-- RPC 远程调用相关 -->
+        <dependency>
+            <groupId>org.springframework.cloud</groupId>
+            <artifactId>spring-cloud-starter-openfeign</artifactId>
+            <optional>true</optional>
+        </dependency>
+
+    </dependencies>
+
+</project>

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

@@ -0,0 +1,17 @@
+package cn.iocoder.yudao.module.grpc.api;
+
+import cn.iocoder.yudao.module.grpc.enums.ApiConstants;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import org.springframework.cloud.openfeign.FeignClient;
+import org.springframework.web.bind.annotation.PostMapping;
+
+@FeignClient(name = ApiConstants.NAME) // TODO 芋艿：fallbackFactory =
+@Tag(name = "GRPC 服务 - 调用机器人")
+public interface GrpcServiceApi {
+
+    @PostMapping("/grpc/robot/onVehiclePoseUpdatedG")
+    @Operation(summary = "订阅车体位姿更新")
+    String onVehiclePoseUpdated();
+
+}

yudao-module-grpc/yudao-module-grpc-api/src/main/java/cn/iocoder/yudao/module/grpc/enums/ApiConstants.java

@@ -0,0 +1,17 @@
+package cn.iocoder.yudao.module.grpc.enums;
+
+
+public class ApiConstants {
+
+    /**
+     * 服务名
+     *
+     * 注意，需要保证和 spring.application.name 保持一致
+     */
+    public static final String NAME = "grpc-server";
+
+    public static final String PREFIX =  "/rpc-api/grpc";
+
+    public static final String VERSION = "1.0.0";
+
+}

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

@@ -0,0 +1,121 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0"
+         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+    <parent>
+        <groupId>cn.iocoder.cloud</groupId>
+        <artifactId>yudao-module-grpc</artifactId>
+        <version>${revision}</version>
+    </parent>
+    <modelVersion>4.0.0</modelVersion>
+    <artifactId>yudao-module-grpc-biz</artifactId>
+    <packaging>jar</packaging>
+
+    <name>${project.artifactId}</name>
+    <description>
+        grpc 模块下，与机器人通信。
+    </description>
+
+    <dependencies>
+        <!-- Spring Cloud 基础 -->
+        <dependency>
+            <groupId>org.springframework.cloud</groupId>
+            <artifactId>spring-cloud-starter-bootstrap</artifactId>
+        </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>${revision}</version>
+        </dependency>
+
+        <dependency>
+            <groupId>com.alibaba.boot</groupId>
+            <artifactId>nacos-config-spring-boot-starter</artifactId>
+            <version>0.2.12</version>
+        </dependency>
+
+        <dependency>
+            <groupId>io.swagger.core.v3</groupId>
+            <artifactId>swagger-annotations</artifactId>
+        </dependency>
+
+        <dependency>
+            <groupId>org.apache.skywalking</groupId>
+            <artifactId>apm-toolkit-logback-1.x</artifactId>
+        </dependency>
+
+        <dependency>
+            <groupId>net.devh</groupId>
+            <artifactId>grpc-client-spring-boot-starter</artifactId>
+        </dependency>
+
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-web</artifactId>
+        </dependency>
+
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-test</artifactId>
+            <scope>test</scope>
+            <exclusions>
+                <exclusion>
+                    <groupId>org.junit.vintage</groupId>
+                    <artifactId>junit-vintage-engine</artifactId>
+                </exclusion>
+            </exclusions>
+        </dependency>
+
+    </dependencies>
+
+    <build>
+        <!-- 设置构建的 jar 包名 -->
+        <finalName>${project.artifactId}</finalName>
+        <plugins>
+            <!-- 打包 -->
+            <plugin>
+                <groupId>org.springframework.boot</groupId>
+                <artifactId>spring-boot-maven-plugin</artifactId>
+                <version>${spring.boot.version}</version>
+                <executions>
+                    <execution>
+                        <goals>
+                            <goal>repackage</goal> <!-- 将引入的 jar 打入其中 -->
+                        </goals>
+                    </execution>
+                </executions>
+            </plugin><plugin><groupId>org.apache.maven.plugins</groupId><artifactId>maven-compiler-plugin</artifactId><configuration><source>8</source><target>8</target></configuration></plugin>
+        </plugins>
+    </build>
+
+</project>

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

@@ -0,0 +1,13 @@
+package cn.iocoder.yudao.module.grpc;
+
+import org.springframework.boot.SpringApplication;
+import org.springframework.boot.autoconfigure.SpringBootApplication;
+import org.springframework.cloud.client.discovery.EnableDiscoveryClient;
+
+@SpringBootApplication
+@EnableDiscoveryClient
+public class GrpcServerApplication {
+    public static void main(String[] args) {
+        SpringApplication.run(GrpcServerApplication.class, args);
+    }
+}

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

@@ -0,0 +1,21 @@
+package cn.iocoder.yudao.module.grpc.api;
+
+import cn.iocoder.yudao.module.grpc.service.geometry.GeometryService;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.web.bind.annotation.RestController;
+
+import javax.annotation.Resource;
+
+
+@RestController // 提供 RESTful API 接口，给 Feign 调用
+@Validated
+public class GrpcServiceImpl implements GrpcServiceApi {
+
+    @Resource
+    private GeometryService geometryService;
+
+    @Override
+    public String onVehiclePoseUpdated() {
+        return geometryService.onVehiclePoseUpdated();
+    }
+}

yudao-module-grpc/yudao-module-grpc-biz/src/main/java/cn/iocoder/yudao/module/grpc/controller/GeometryController.java

@@ -0,0 +1,30 @@
+package cn.iocoder.yudao.module.grpc.controller;
+
+
+import cn.iocoder.yudao.module.grpc.service.geometry.GeometryService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import javax.annotation.Resource;
+import javax.annotation.security.PermitAll;
+
+
+@Tag(name = "测试demo")
+@RestController
+@RequestMapping("/grpc/robot")
+//@Validated
+public class GeometryController {
+
+    @Resource
+    private GeometryService geometryService;
+
+    @PostMapping("/onVehiclePoseUpdated")
+    @Operation(summary = "测试GRPC调用")
+    @PermitAll
+    public String onVehiclePoseUpdated() {
+        return geometryService.onVehiclePoseUpdated();
+    }
+}

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

@@ -0,0 +1,5 @@
+package cn.iocoder.yudao.module.grpc.service.geometry;
+
+public interface GeometryService {
+    String onVehiclePoseUpdated();
+}

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

@@ -0,0 +1,39 @@
+package cn.iocoder.yudao.module.grpc.service.geometry;
+
+import com.google.protobuf.DoubleValue;
+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 net.devh.boot.grpc.client.inject.GrpcClient;
+import org.springframework.stereotype.Service;
+
+import java.util.Iterator;
+
+@Slf4j
+@Service
+public class GeometryServiceImpl implements GeometryService{
+
+    @GrpcClient("ChassisNavigationService")
+    private Channel serverChannel;
+
+    @Override
+    public String onVehiclePoseUpdated() {
+        log.info("测试GRPC连接");
+
+        ChassisNavigationServiceGrpc.ChassisNavigationServiceBlockingStub myServiceStub
+                = ChassisNavigationServiceGrpc.newBlockingStub(this.serverChannel);
+        Iterator<ChassisNavigationControlService.Response> responseIterator = myServiceStub.onVehiclePoseUpdated(null);
+        while (responseIterator.hasNext()) {
+            log.info("机车推送的消息 :{}",responseIterator.next());
+        }
+        DoubleValue build = DoubleValue.newBuilder().build();
+        ChassisNavigationControlService.Response response = myServiceStub.forkControl(build);
+        return response.toString();
+    }
+
+
+
+}

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

@@ -0,0 +1,57 @@
+# 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:
+      address: 'static://192.168.10.78:6914'
+      #       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: 100
+      # 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: localhost:8848 # Nacos 服务器地址
+      username: # Nacos 账号
+      password: # Nacos 密码
+      discovery: # 【配置中心】配置项
+        namespace: dev # 命名空间。这里使用 dev 开发环境
+        group: DEFAULT_GROUP # 使用的 Nacos 配置分组，默认为 DEFAULT_GROUP
+        metadata:
+          version: 1.0.0 # 服务实例的版本号，可用于灰度发布
+      config: # 【注册中心】配置项
+        namespace: dev # 命名空间。这里使用 dev 开发环境
+        group: DEFAULT_GROUP # 使用的 Nacos 配置分组，默认为 DEFAULT_GROUP
+
+# Lock4j 配置项
+lock4j:
+  acquire-timeout: 3000 # 获取分布式锁超时时间，默认为 3000 毫秒
+  expire: 30000 # 分布式锁的超时时间，默认为 30 毫秒
+
+--- #################### 监控相关配置 ####################
+
+# Actuator 监控端点的配置项
+management:
+  endpoints:
+    web:
+      base-path: /actuator # Actuator 提供的 API 接口的根目录。默认为 /actuator
+      exposure:
+        include: '*' # 需要开放的端点。默认值只打开 health 和 info 两个端点。通过设置 * ，可以开放所有端点。
+
+
+

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

@@ -0,0 +1,30 @@
+
+spring:
+  application:
+    name: grpc-server
+  main:
+    allow-circular-references: true # 允许循环依赖，因为项目是三层架构，无法避免这个情况。
+    allow-bean-definition-overriding: true # 允许 Bean 覆盖，例如说 Feign 等会存在重复定义的服务
+
+  profiles:
+    active: local
+
+  mvc:
+    pathmatch:
+      matching-strategy: ANT_PATH_MATCHER # 解决 SpringFox 与 SpringBoot 2.6.x 不兼容的问题，参见 SpringFoxHandlerProviderBeanPostProcessor 类
+
+  # Jackson 配置项
+  jackson:
+    serialization:
+      write-dates-as-timestamps: true # 设置 LocalDateTime 的格式，使用时间戳
+      write-date-timestamps-as-nanoseconds: false # 设置不使用 nanoseconds 的格式。例如说 1611460870.401，而是直接 1611460870401
+      write-durations-as-timestamps: true # 设置 Duration 的格式，使用时间戳
+      fail-on-empty-beans: false # 允许序列化无属性的 Bean
+
+server:
+  port: 48084
+
+
+debug: false
+
+

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

@@ -0,0 +1,23 @@
+--- #################### 注册中心相关配置 ####################
+
+spring:
+  cloud:
+    nacos:
+      server-addr: 127.0.0.1:8848
+      discovery:
+        namespace: dev # 命名空间。这里使用 dev 开发环境
+        metadata:
+          version: 1.0.0 # 服务实例的版本号，可用于灰度发布
+
+--- #################### 配置中心相关配置 ####################
+
+spring:
+  cloud:
+    nacos:
+      # Nacos Config 配置项，对应 NacosConfigProperties 配置属性类
+      config:
+        server-addr: 127.0.0.1:8848 # Nacos 服务器地址
+        namespace: dev # 命名空间 dev 的ID，不能直接使用 dev 名称。创建命名空间的时候需要指定ID为 dev，这里使用 dev 开发环境
+        group: DEFAULT_GROUP # 使用的 Nacos 配置分组，默认为 DEFAULT_GROUP
+        name: ${spring.application.name} # 使用的 Nacos 配置集的 dataId，默认为 spring.application.name
+        file-extension: yaml # 使用的 Nacos 配置集的 dataId 的文件拓展名，同时也是 Nacos 配置集的配置格式，默认为 properties

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

@@ -0,0 +1,23 @@
+--- #################### 注册中心相关配置 ####################
+
+spring:
+  cloud:
+    nacos:
+      server-addr: 127.0.0.1:8848
+      discovery:
+        namespace: dev # 命名空间。这里使用 dev 开发环境
+        metadata:
+          version: 1.0.0 # 服务实例的版本号，可用于灰度发布
+
+--- #################### 配置中心相关配置 ####################
+
+spring:
+  cloud:
+    nacos:
+      # Nacos Config 配置项，对应 NacosConfigProperties 配置属性类
+      config:
+        server-addr: 127.0.0.1:8848 # Nacos 服务器地址
+        namespace: dev # 命名空间 dev 的ID，不能直接使用 dev 名称。创建命名空间的时候需要指定ID为 dev，这里使用 dev 开发环境
+        group: DEFAULT_GROUP # 使用的 Nacos 配置分组，默认为 DEFAULT_GROUP
+        name: ${spring.application.name} # 使用的 Nacos 配置集的 dataId，默认为 spring.application.name
+        file-extension: yaml # 使用的 Nacos 配置集的 dataId 的文件拓展名，同时也是 Nacos 配置集的配置格式，默认为 properties

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

@@ -0,0 +1,23 @@
+--- #################### 注册中心相关配置 ####################
+
+spring:
+  cloud:
+    nacos:
+      server-addr: 127.0.0.1:8848
+      discovery:
+        namespace: prod # 命名空间。这里使用 dev 开发环境
+        metadata:
+          version: 1.0.0 # 服务实例的版本号，可用于灰度发布
+
+--- #################### 配置中心相关配置 ####################
+
+spring:
+  cloud:
+    nacos:
+      # Nacos Config 配置项，对应 NacosConfigProperties 配置属性类
+      config:
+        server-addr: 127.0.0.1:8848 # Nacos 服务器地址
+        namespace: prod # 命名空间 dev 的ID，不能直接使用 dev 名称。创建命名空间的时候需要指定ID为 dev，这里使用 dev 开发环境
+        group: DEFAULT_GROUP # 使用的 Nacos 配置分组，默认为 DEFAULT_GROUP
+        name: ${spring.application.name} # 使用的 Nacos 配置集的 dataId，默认为 spring.application.name
+        file-extension: yaml # 使用的 Nacos 配置集的 dataId 的文件拓展名，同时也是 Nacos 配置集的配置格式，默认为 properties

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

@@ -0,0 +1,15 @@
+spring:
+  application:
+    name: grpc-server
+
+  profiles:
+    active: local  #local
+#    active: prod
+
+server:
+  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:
+  file:
+    name: ${user.home}/logs/${spring.application.name}.log # 日志文件名，全路径

yudao-module-grpc/yudao-module-grpc-biz/src/main/resources/logback-spring.xml

@@ -0,0 +1,76 @@
+<configuration>
+    <!-- 引用 Spring Boot 的 logback 基础配置 -->
+    <include resource="org/springframework/boot/logging/logback/defaults.xml" />
+    <!-- 变量 yudao.info.base-package，基础业务包 -->
+    <springProperty scope="context" name="yudao.info.base-package" source="yudao.info.base-package"/>
+    <!-- 格式化输出：%d 表示日期，%X{tid} SkWalking 链路追踪编号，%thread 表示线程名，%-5level：级别从左显示 5 个字符宽度，%msg：日志消息，%n是换行符 -->
+    <property name="PATTERN_DEFAULT" value="%d{${LOG_DATEFORMAT_PATTERN:-yyyy-MM-dd HH:mm:ss.SSS}} | %highlight(${LOG_LEVEL_PATTERN:-%5p} ${PID:- }) | %boldYellow(%thread [%tid]) %boldGreen(%-40.40logger{39}) | %m%n${LOG_EXCEPTION_CONVERSION_WORD:-%wEx}"/>
+
+    <!-- 控制台 Appender -->
+    <appender name="STDOUT" class="ch.qos.logback.core.ConsoleAppender">　　　　　
+        <encoder class="ch.qos.logback.core.encoder.LayoutWrappingEncoder">
+            <layout class="org.apache.skywalking.apm.toolkit.log.logback.v1.x.TraceIdPatternLogbackLayout">
+                <pattern>${PATTERN_DEFAULT}</pattern>
+            </layout>
+        </encoder>
+    </appender>
+
+    <!-- 文件 Appender -->
+    <!-- 参考 Spring Boot 的 file-appender.xml 编写 -->
+    <appender name="FILE"  class="ch.qos.logback.core.rolling.RollingFileAppender">
+        <encoder class="ch.qos.logback.core.encoder.LayoutWrappingEncoder">
+            <layout class="org.apache.skywalking.apm.toolkit.log.logback.v1.x.TraceIdPatternLogbackLayout">
+                <pattern>${PATTERN_DEFAULT}</pattern>
+            </layout>
+        </encoder>
+        <!-- 日志文件名 -->
+        <file>${LOG_FILE}</file>
+        <rollingPolicy class="ch.qos.logback.core.rolling.SizeAndTimeBasedRollingPolicy">
+            <!-- 滚动后的日志文件名 -->
+            <fileNamePattern>${LOGBACK_ROLLINGPOLICY_FILE_NAME_PATTERN:-${LOG_FILE}.%d{yyyy-MM-dd}.%i.gz}</fileNamePattern>
+            <!-- 启动服务时，是否清理历史日志，一般不建议清理 -->
+            <cleanHistoryOnStart>${LOGBACK_ROLLINGPOLICY_CLEAN_HISTORY_ON_START:-false}</cleanHistoryOnStart>
+            <!-- 日志文件，到达多少容量，进行滚动 -->
+            <maxFileSize>${LOGBACK_ROLLINGPOLICY_MAX_FILE_SIZE:-10MB}</maxFileSize>
+            <!-- 日志文件的总大小，0 表示不限制 -->
+            <totalSizeCap>${LOGBACK_ROLLINGPOLICY_TOTAL_SIZE_CAP:-0}</totalSizeCap>
+            <!-- 日志文件的保留天数 -->
+            <maxHistory>${LOGBACK_ROLLINGPOLICY_MAX_HISTORY:-30}</maxHistory>
+        </rollingPolicy>
+    </appender>
+    <!-- 异步写入日志，提升性能 -->
+    <appender name="ASYNC" class="ch.qos.logback.classic.AsyncAppender">
+        <!-- 不丢失日志。默认的，如果队列的 80% 已满,则会丢弃 TRACT、DEBUG、INFO 级别的日志 -->
+        <discardingThreshold>0</discardingThreshold>
+        <!-- 更改默认的队列的深度，该值会影响性能。默认值为 256 -->
+        <queueSize>256</queueSize>
+        <appender-ref ref="FILE"/>
+    </appender>
+
+    <!-- SkyWalking GRPC 日志收集，实现日志中心。注意：SkyWalking 8.4.0 版本开始支持 -->
+    <appender name="GRPC" class="org.apache.skywalking.apm.toolkit.log.logback.v1.x.log.GRPCLogClientAppender">
+        <encoder class="ch.qos.logback.core.encoder.LayoutWrappingEncoder">
+            <layout class="org.apache.skywalking.apm.toolkit.log.logback.v1.x.TraceIdPatternLogbackLayout">
+                <pattern>${PATTERN_DEFAULT}</pattern>
+            </layout>
+        </encoder>
+    </appender>
+
+    <!-- 本地环境 -->
+    <springProfile name="local">
+        <root level="INFO">
+            <appender-ref ref="STDOUT"/>
+            <appender-ref ref="GRPC"/> <!-- 本地环境下，如果不想接入 SkyWalking 日志服务，可以注释掉本行 -->
+            <appender-ref ref="ASYNC"/>  <!-- 本地环境下，如果不想打印日志，可以注释掉本行 -->
+        </root>
+    </springProfile>
+    <!-- 其它环境 -->
+    <springProfile name="dev,test,stage,prod,default">
+        <root level="INFO">
+            <appender-ref ref="STDOUT"/>
+            <appender-ref ref="ASYNC"/>
+            <appender-ref ref="GRPC"/>
+        </root>
+    </springProfile>
+
+</configuration>

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

@@ -0,0 +1,90 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0"
+         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+    <parent>
+        <groupId>cn.iocoder.cloud</groupId>
+        <artifactId>yudao-module-grpc</artifactId>
+        <version>${revision}</version>
+    </parent>
+    <modelVersion>4.0.0</modelVersion>
+    <artifactId>yudao-module-grpc-lib</artifactId>
+    <packaging>jar</packaging>
+
+    <name>${project.artifactId}</name>
+    <description>
+        grpc 模块 LIB，生成GRPC的proto文件
+    </description>
+
+    <properties>
+        <!--grpc版本号-->
+        <grpc.version>1.64.0</grpc.version>
+        <!--protobuf 版本号-->
+        <protobuf.version>3.25.3</protobuf.version>
+    </properties>
+
+    <dependencies>
+        <dependency>
+            <groupId>io.grpc</groupId>
+            <artifactId>grpc-stub</artifactId>
+            <version>${grpc.version}</version>
+        </dependency>
+
+        <dependency>
+            <groupId>io.grpc</groupId>
+            <artifactId>grpc-protobuf</artifactId>
+            <version>${grpc.version}</version>
+        </dependency>
+        <dependency>
+            <groupId>io.grpc</groupId>
+            <artifactId>grpc-core</artifactId>
+            <version>1.64.0</version> <!-- 确保版本一致 -->
+        </dependency>
+        <dependency>
+            <groupId>io.grpc</groupId>
+            <artifactId>grpc-netty-shaded</artifactId>
+            <version>1.64.0</version> <!-- 确保版本一致 -->
+        </dependency>
+
+        <dependency>
+            <groupId>javax.annotation</groupId>
+            <artifactId>javax.annotation-api</artifactId>
+            <version>1.3.2</version>
+        </dependency>
+
+    </dependencies>
+
+    <build>
+        <extensions>
+            <extension>
+                <groupId>kr.motd.maven</groupId>
+                <artifactId>os-maven-plugin</artifactId>
+                <version>1.5.0.Final</version>
+            </extension>
+        </extensions>
+
+        <plugins>
+            <plugin>
+                <groupId>org.xolstice.maven.plugins</groupId>
+                <artifactId>protobuf-maven-plugin</artifactId>
+                <version>0.5.1</version>
+                <configuration>
+                    <protocArtifact>com.google.protobuf:protoc:${protobuf.version}:exe:${os.detected.classifier}
+                    </protocArtifact>
+                    <pluginId>grpc-java</pluginId>
+                    <pluginArtifact>io.grpc:protoc-gen-grpc-java:${grpc.version}:exe:${os.detected.classifier}
+                    </pluginArtifact>
+                </configuration>
+                <executions>
+                    <execution>
+                        <goals>
+                            <goal>compile</goal>
+                            <goal>compile-custom</goal>
+                        </goals>
+                    </execution>
+                </executions>
+            </plugin>
+        </plugins>
+    </build>
+
+</project>

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;
+}

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;
+}

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;
+  }
+}
+
+

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

@@ -0,0 +1,71 @@
+syntax = "proto3";
+
+package device.proto.robotics.nav;
+option csharp_namespace = "Al.Proto.Api.Robotics.Nav";
+
+import "google/protobuf/empty.proto";
+import "google/protobuf/wrappers.proto";
+import "google/protobuf/struct.proto";
+
+//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 {
+    repeated 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 Response) {}
+    //订阅跟踪的物体的位姿更新
+    rpc OnTrackingPoseUpdated(google.protobuf.Empty) returns (stream Response) {}
+    //导航到指定位姿
+    rpc NavigateToPose(Pose2d) returns (Response) {}
+    //路径导航
+    rpc NavigateThroughPoses(NavigateThroughPosesRequest) returns (Response) {}
+    //货叉纵向控制
+    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/pom.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0"
+         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+    <parent>
+        <groupId>cn.iocoder.cloud</groupId>
+        <artifactId>yudao</artifactId>
+        <version>${revision}</version>
+    </parent>
+    <modelVersion>4.0.0</modelVersion>
+    <modules>
+        <module>yudao-module-mqtt-api</module>
+        <module>yudao-module-mqtt-biz</module>
+    </modules>
+    <artifactId>yudao-module-mqtt</artifactId>
+    <packaging>pom</packaging>
+
+    <name>${project.artifactId}</name>
+    <description>
+        mqtt 模块，主要提供能力：
+        1. 与设备通信
+    </description>
+
+</project>

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

@@ -0,0 +1,47 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0"
+         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+    <parent>
+        <groupId>cn.iocoder.cloud</groupId>
+        <artifactId>yudao-module-mqtt</artifactId>
+        <version>${revision}</version>
+    </parent>
+    <modelVersion>4.0.0</modelVersion>
+    <artifactId>yudao-module-mqtt-api</artifactId>
+    <packaging>jar</packaging>
+
+    <name>${project.artifactId}</name>
+    <description>
+        mqtt 模块 API，暴露给其它模块调用
+    </description>
+
+    <dependencies>
+        <dependency>
+            <groupId>cn.iocoder.cloud</groupId>
+            <artifactId>yudao-common</artifactId>
+        </dependency>
+
+        <!-- Web 相关 -->
+        <dependency>
+            <groupId>org.springdoc</groupId>
+            <artifactId>springdoc-openapi-ui</artifactId>
+            <scope>provided</scope>
+        </dependency>
+
+        <!-- 参数校验 -->
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-validation</artifactId>
+            <optional>true</optional>
+        </dependency>
+
+        <!-- RPC 远程调用相关 -->
+        <dependency>
+            <groupId>org.springframework.cloud</groupId>
+            <artifactId>spring-cloud-starter-openfeign</artifactId>
+            <optional>true</optional>
+        </dependency>
+    </dependencies>
+
+</project>

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/RobotTaskApi.java

@@ -0,0 +1,24 @@
+package cn.iocoder.yudao.module.mqtt.api.task;
+
+import cn.iocoder.yudao.framework.common.pojo.CommonResult;
+import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO;
+import cn.iocoder.yudao.module.mqtt.enums.ApiConstants;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import org.springframework.cloud.openfeign.FeignClient;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+
+import javax.validation.Valid;
+import java.util.List;
+
+@FeignClient(name = ApiConstants.NAME) // TODO 芋艿：fallbackFactory =
+@Tag(name = "MQTT 服务 - 参数配置")
+public interface RobotTaskApi {
+
+    String PREFIX = ApiConstants.PREFIX + "/config";
+
+    @PostMapping(PREFIX + "/distribute/tasks")
+    @Operation(summary = "下发任务给车机")
+    CommonResult<String> sendTaskToRobot(@Valid @RequestBody List<RobotAcceptTaskDTO> robotTaskDOS );
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/dto/Pose2ds.java

@@ -0,0 +1,10 @@
+package cn.iocoder.yudao.module.mqtt.api.task.dto;
+
+import lombok.Data;
+
+@Data
+public class Pose2ds {
+    private String x;
+    private String y;
+    private String yaw;
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/dto/RobotAcceptTaskDTO.java

@@ -0,0 +1,17 @@
+package cn.iocoder.yudao.module.mqtt.api.task.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class RobotAcceptTaskDTO {
+    /**
+     * 订单id
+     */
+    private String order_id;
+    private String order_type = "";
+    private String topic;
+
+    private List<RobotAcceptTaskData> data;
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/dto/RobotAcceptTaskData.java

@@ -0,0 +1,15 @@
+package cn.iocoder.yudao.module.mqtt.api.task.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class RobotAcceptTaskData {
+    private String serial;
+    private String command_id;
+    private String command_type;
+    private List<Pose2ds> pose2ds;
+    private String target_height;
+    private String parm;
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/enums/ApiConstants.java

@@ -0,0 +1,16 @@
+package cn.iocoder.yudao.module.mqtt.enums;
+
+import cn.iocoder.yudao.framework.common.enums.RpcConstants;
+
+public class ApiConstants {
+    /**
+     * 服务名
+     *
+     * 注意，需要保证和 spring.application.name 保持一致
+     */
+    public static final String NAME = "mqtt-server";
+
+    public static final String PREFIX = RpcConstants.RPC_API_PREFIX + "/mqtt";
+
+    public static final String VERSION = "1.0.0";
+}

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

@@ -0,0 +1,104 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<project xmlns="http://maven.apache.org/POM/4.0.0"
+         xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance"
+         xsi:schemaLocation="http://maven.apache.org/POM/4.0.0 http://maven.apache.org/xsd/maven-4.0.0.xsd">
+    <parent>
+        <groupId>cn.iocoder.cloud</groupId>
+        <artifactId>yudao-module-mqtt</artifactId>
+        <version>${revision}</version>
+    </parent>
+    <modelVersion>4.0.0</modelVersion>
+    <artifactId>yudao-module-mqtt-biz</artifactId>
+    <packaging>jar</packaging>
+
+    <name>${project.artifactId}</name>
+    <description>
+        mqtt 模块，主要提供能力：
+        1. 与设备通信
+    </description>
+
+
+    <dependencies>
+        <!-- Spring Cloud 基础 -->
+        <dependency>
+            <groupId>cn.iocoder.cloud</groupId>
+            <artifactId>yudao-spring-boot-starter-env</artifactId>
+        </dependency>
+
+        <!-- 依赖服务 -->
+        <dependency>
+            <groupId>cn.iocoder.cloud</groupId>
+            <artifactId>yudao-module-system-api</artifactId>
+            <version>${revision}</version>
+        </dependency>
+
+        <dependency>
+            <groupId>cn.iocoder.cloud</groupId>
+            <artifactId>yudao-module-mqtt-api</artifactId>
+            <version>${revision}</version>
+        </dependency>
+
+        <dependency>
+            <groupId>org.springframework.integration</groupId>
+            <artifactId>spring-integration-mqtt</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>org.eclipse.paho</groupId>
+            <artifactId>org.eclipse.paho.client.mqttv3</artifactId>
+        </dependency>
+
+        <dependency>
+            <groupId>io.swagger.core.v3</groupId>
+            <artifactId>swagger-annotations</artifactId>
+        </dependency>
+
+        <dependency>
+            <groupId>org.apache.skywalking</groupId>
+            <artifactId>apm-toolkit-logback-1.x</artifactId>
+        </dependency>
+
+        <dependency>
+            <groupId>org.springframework.cloud</groupId>
+            <artifactId>spring-cloud-starter-openfeign</artifactId>
+        </dependency>
+
+
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-web</artifactId>
+        </dependency>
+
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-test</artifactId>
+            <scope>test</scope>
+            <exclusions>
+                <exclusion>
+                    <groupId>org.junit.vintage</groupId>
+                    <artifactId>junit-vintage-engine</artifactId>
+                </exclusion>
+            </exclusions>
+        </dependency>
+
+    </dependencies>
+    <build>
+        <!-- 设置构建的 jar 包名 -->
+        <finalName>${project.artifactId}</finalName>
+        <plugins>
+            <!-- 打包 -->
+            <plugin>
+                <groupId>org.springframework.boot</groupId>
+                <artifactId>spring-boot-maven-plugin</artifactId>
+                <version>${spring.boot.version}</version>
+                <executions>
+                    <execution>
+                        <goals>
+                            <goal>repackage</goal> <!-- 将引入的 jar 打入其中 -->
+                        </goals>
+                    </execution>
+                </executions>
+            </plugin>
+        </plugins>
+    </build>
+
+</project>

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/MqttServerApplication.java

@@ -0,0 +1,14 @@
+package cn.iododer.yudao.module.mqtt;
+
+import org.springframework.boot.SpringApplication;
+import org.springframework.boot.autoconfigure.SpringBootApplication;
+
+@SpringBootApplication
+public class MqttServerApplication {
+    public static void main(String[] args) {
+        SpringApplication.run(MqttServerApplication.class, args);
+//        1、在DefineSubTopicEnum添加自己的topic；
+//        2、MqttFactory的getMqttFactory对应topic编写实现的策略实现类
+//        3、编写对应的impl实现类
+    }
+}

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/task/RobotTaskApiImpl.java

@@ -0,0 +1,41 @@
+package cn.iododer.yudao.module.mqtt.api.task;
+
+import cn.iocoder.yudao.framework.common.pojo.CommonResult;
+import cn.iocoder.yudao.module.mqtt.api.task.RobotTaskApi;
+import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO;
+import cn.iododer.yudao.module.mqtt.util.MqttUtils;
+import com.alibaba.fastjson.JSON;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttException;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.web.bind.annotation.RestController;
+
+import java.util.List;
+
+import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
+
+@RestController // 提供 RESTful API 接口，给 Feign 调用
+@Validated
+@Slf4j
+public class RobotTaskApiImpl implements RobotTaskApi {
+
+    @Autowired
+    private MqttUtils mqttUtils;
+
+    @Override
+    public CommonResult<String> sendTaskToRobot(List<RobotAcceptTaskDTO> robotTaskDOS) {
+        String str ="SUCCESS";
+        for (RobotAcceptTaskDTO robotTaskDO : robotTaskDOS) {
+            log.info("发送MQTT消息 :{}",JSON.toJSONString(robotTaskDO));
+            try {
+                mqttUtils.pub( robotTaskDO.getTopic(), JSON.toJSONString(robotTaskDO));
+            } catch (Exception e) {
+                log.info("消息发送异常 :{}",e.getMessage());
+                str ="FAIL";
+            }
+        }
+
+        return success(str);
+    }
+}

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttBeforePoint.java

@@ -0,0 +1,30 @@
+package cn.iododer.yudao.module.mqtt.config;
+
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttException;
+import org.springframework.boot.ApplicationArguments;
+import org.springframework.boot.ApplicationRunner;
+import org.springframework.core.annotation.Order;
+import org.springframework.stereotype.Component;
+
+/**
+ * 初始化执行
+ */
+@Slf4j
+@Order(1)
+@Component
+public class MqttBeforePoint implements ApplicationRunner {
+
+    @Override
+    public void run(ApplicationArguments args) throws Exception {
+        // 初始化Mqtt连接
+        try {
+            MqttFactory.getInstance();
+            log.info("[MQTT]初始化成功");
+        } catch (MqttException e) {
+            log.info("[MQTT]初始化失败。考虑是否服务端掉线");
+            MqttFactory.reconnect();
+        }
+    }
+
+}

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttCallBack.java

@@ -0,0 +1,56 @@
+package cn.iododer.yudao.module.mqtt.config;
+
+import cn.iododer.yudao.module.mqtt.service.MqttService;
+import cn.iododer.yudao.module.mqtt.service.RobotTaskStatusServiceImpl;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.IMqttAsyncClient;
+import org.eclipse.paho.client.mqttv3.IMqttDeliveryToken;
+import org.eclipse.paho.client.mqttv3.MqttCallback;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.context.annotation.Configuration;
+
+/**
+ * MQTT回调
+ */
+@Slf4j
+@Configuration
+public class MqttCallBack implements MqttCallback {
+
+    /**
+     * 与服务器断开的回调
+     */
+    @Override
+    public void connectionLost(Throwable throwable) {
+        log.info("[MQTT]断开了与服务端的连接。考虑是否服务端掉线 or 回调参数解析报错 or 无默认sub");
+        // 执行自动重连
+        MqttFactory.reconnect();
+    }
+
+    /**
+     * 消息到达的回调
+     *
+     * @param topic 话题
+     * @param mqttMessage 消息内容
+     */
+    @Override
+    public void messageArrived(String topic, MqttMessage mqttMessage) throws Exception {
+        String msg = new String(mqttMessage.getPayload());
+        log.info("[MQTT]接收当前消息为 :{}", msg);
+
+        MqttService mqttService = MqttFactory.getMqttFactory(topic);
+        mqttService.analysisMessage(msg);
+    }
+
+    /**
+     * 消息发布成功的回调
+     *
+     * @param token token
+     */
+    @Override
+    public void deliveryComplete(IMqttDeliveryToken token) {
+        IMqttAsyncClient client = token.getClient();
+//        log.info("[MQTT]{}：消息发布成功！", client.getClientId());
+    }
+
+}

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttFactory.java

@@ -0,0 +1,147 @@
+package cn.iododer.yudao.module.mqtt.config;
+
+//import cn.iododer.yudao.module.mqtt.customer.MqttMessageListener;
+import cn.iododer.yudao.module.mqtt.enums.DefineSubTopicEnum;
+import cn.iododer.yudao.module.mqtt.service.MqttService;
+import cn.iododer.yudao.module.mqtt.service.RobotGenericsStatusServiceImpl;
+import cn.iododer.yudao.module.mqtt.service.RobotTaskStatusServiceImpl;
+import cn.iododer.yudao.module.mqtt.service.RobotStatusServiceImpl;
+import cn.iododer.yudao.module.mqtt.util.BeanUtils;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.eclipse.paho.client.mqttv3.MqttConnectOptions;
+import org.eclipse.paho.client.mqttv3.MqttException;
+import org.eclipse.paho.client.mqttv3.persist.MemoryPersistence;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.PostConstruct;
+import java.util.concurrent.TimeUnit;
+
+/**
+ * Mqtt 工厂类
+ */
+@Slf4j
+@Component
+public class MqttFactory {
+
+    @Autowired
+    private MqttProperties config;
+
+    private static MqttFactory factory;
+
+    private static MqttClient client;
+
+
+    @PostConstruct
+    public void init() {
+        factory = this;
+        factory.config = this.config;
+    }
+
+
+    /**
+     * 获取客户端实例
+     *      单例模式：存在即返回，不存在则初始化
+     *
+     * @return client
+     * @throws MqttException 此处刻意抛出异常，否则无法执行断线重连
+     */
+    public static MqttClient getInstance() throws MqttException {
+        if (client == null) {
+            connect();
+        }
+        return client;
+    }
+
+
+    /**
+     * 清空客户端实例
+     *      当 mqtt 断开连接时，需清空 clientId，再执行断线重连
+     */
+    public static void clear() {
+        client = null;
+    }
+
+
+    /**
+     * 断线重连方法
+     */
+    public static void reconnect() {
+        int count = 0;
+        while (true) {
+            clear();
+            ++ count;
+
+            try {
+                log.info("----------------[MQTT]即将执行自动重连----------------");
+                getInstance();
+                log.info("----------------[MQTT]自动重连成功----------------");
+                break;
+            } catch (MqttException e) {
+                log.error("----------------[MQTT]自动重连失败，当前为第 {} 次尝试----------------", count);
+                try {
+                    TimeUnit.SECONDS.sleep(5);
+                } catch (InterruptedException ex) {
+                    log.error("----------------[MQTT]自动重连，休眠失败！----------------", e);
+                }
+            }
+        }
+    }
+
+    /**
+     * 客户端连接服务端
+     *
+     * @throws MqttException 此处刻意抛出异常，否则无法执行断线重连
+     */
+    private static void connect() throws MqttException {
+        // 创建MQTT客户端对象
+        client = new MqttClient(factory.config.getHostUrl(), factory.config.getClientId(), new MemoryPersistence());
+        // 连接设置
+        MqttConnectOptions options = new MqttConnectOptions();
+        // 是否清空session，设置false表示服务器会保留客户端的连接记录（订阅主题，qos）,客户端重连之后能获取到服务器在客户端断开连接期间推送的消息
+        // 设置为true表示每次连接服务器都是以新的身份
+        options.setCleanSession(true);
+        // 设置连接用户名
+        options.setUserName(factory.config.getUsername());
+        // 设置连接密码
+        options.setPassword(factory.config.getPassword().toCharArray());
+        // 设置超时时间，单位为秒
+        options.setConnectionTimeout(100);
+        // 设置心跳时间 单位为秒，表示服务器每隔 20 秒的时间向客户端发送心跳判断客户端是否在线
+        options.setKeepAliveInterval(20);
+        // 设置遗嘱消息的话题，若客户端和服务器之间的连接意外断开，服务器将发布客户端的遗嘱信息
+        options.setWill("willTopic", (factory.config.getClientId() + "MQTT客户端与服务器断开连接").getBytes(), 0, false);
+        // 设置回调
+        client.setCallback(new MqttCallBack());
+        client.connect(options);
+
+        // 设置默认订阅主题
+        // 消息等级，与主题数组一一对应
+        int[] qos = DefineSubTopicEnum.queryAllQos();
+        // 主题
+        String[] topics = DefineSubTopicEnum.queryAllTopic();
+        // 订阅主题
+        client.subscribe(topics, qos);
+    }
+
+
+    /**
+     * 根据topic去实现自己的业务
+     * @param topic
+     * @return
+     */
+    public static MqttService getMqttFactory(String topic){
+        DefineSubTopicEnum defineSubTopicEnum = DefineSubTopicEnum.getDefineSubTopicEnumByTopic(topic);
+        switch (defineSubTopicEnum){
+            case ROBOT_GENERICS_STATUS:
+                return BeanUtils.getBean(RobotGenericsStatusServiceImpl.class);
+            case ROBOT_STATUS:
+                return BeanUtils.getBean(RobotStatusServiceImpl.class);
+            default :
+//            case ROBOT_TASK_STATUS:
+                return BeanUtils.getBean(RobotTaskStatusServiceImpl.class);
+        }
+    }
+
+}

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttProperties.java

@@ -0,0 +1,40 @@
+package cn.iododer.yudao.module.mqtt.config;
+
+import cn.hutool.core.util.IdUtil;
+import lombok.Getter;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.context.annotation.Configuration;
+
+/**
+ * Mqtt Config
+ *  *     备注：以下刻意将 defaultClientId、clientId 区分使用。
+ *  *          防止断线重连的时候，clientId 被重复拼接时间戳
+ */
+@Getter
+@Configuration
+public class MqttProperties {
+
+    @Value("${mqtt.host}")
+    private String hostUrl;
+
+    @Value("${mqtt.username}")
+    private String username;
+
+    @Value("${mqtt.password}")
+    private String password;
+
+    @Value("${mqtt.clientId}")
+    private String clientId;
+
+    @Value("${mqtt.qos}")
+    private int qos;
+
+    private String clientUUId;
+
+    public String getClientId() {
+        if (clientUUId == null) {
+            clientUUId = clientId + IdUtil.fastSimpleUUID();
+        }
+        return clientUUId;
+    }
+}

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/controller/MqttController.java

@@ -0,0 +1,33 @@
+package cn.iododer.yudao.module.mqtt.controller;
+
+import cn.iododer.yudao.module.mqtt.util.MqttUtils;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.web.bind.annotation.*;
+
+@Tag(name = "MQTT通讯")
+@RestController
+@RequestMapping("/mqtt")
+@Validated
+@Slf4j
+public class MqttController {
+
+    @Autowired
+    private MqttUtils mqttUtils;
+
+
+    @PostMapping("/pub")
+    public String pub(String topic, String msg) {
+        try {
+            mqttUtils.pub( topic, msg);
+            return "发送成功！";
+        } catch (Exception e) {
+            log.error("消息发送失败！", e);
+        }
+        return "发送成功！";
+    }
+
+
+}

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java

@@ -0,0 +1,71 @@
+package cn.iododer.yudao.module.mqtt.enums;
+
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.Getter;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 默认订阅的话题 -- 枚举类
+ */
+@Getter
+@AllArgsConstructor
+public enum DefineSubTopicEnum {
+
+    //qos 0-至多1次、1-至少1次、2-正好一次
+    ROBOT_STATUS("ROBOT_STATUS", 0,"点位"),
+    ROBOT_TASK_STATUS("ROBOT_TASK_STATUS", 0,"机器人任务完成上报"),
+    ROBOT_GENERICS_STATUS("ROBOT_GENERICS_STATUS", 0,"机器人异常");
+
+
+    private final String topic;
+
+    private final int qos;
+
+    private final String msg;
+
+    /**
+     * 获取所有话题名
+     *
+     * @return topicArr
+     */
+    public static String[] queryAllTopic() {
+        List<String> topicList = new ArrayList<>();
+        for (DefineSubTopicEnum item : DefineSubTopicEnum.values()) {
+            topicList.add(item.getTopic());
+        }
+        String[] topicArr = new String[topicList.size()];
+        topicArr = topicList.toArray(topicArr);
+        return topicArr;
+    }
+
+
+    /**
+     * 获取所有qos
+     *
+     * @return qosArr
+     */
+    public static int[] queryAllQos() {
+        List<Integer> qosList = new ArrayList<>();
+        for (DefineSubTopicEnum item : DefineSubTopicEnum.values()) {
+            qosList.add(item.getQos());
+        }
+
+        int[] qosArr = new int[qosList.size()];
+        qosArr = qosList.stream().mapToInt(Integer::intValue).toArray();
+
+        return qosArr;
+    }
+
+    public static DefineSubTopicEnum getDefineSubTopicEnumByTopic(String topic) {
+        for (DefineSubTopicEnum item : DefineSubTopicEnum.values()) {
+            if (item.getTopic().equals(topic)) {
+                return item;
+            }
+        }
+        return null;
+    }
+
+}

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/framework/system/SystemConfiguration.java

@@ -0,0 +1,12 @@
+package cn.iododer.yudao.module.mqtt.framework.system;
+
+import cn.iocoder.yudao.module.system.api.robot.RobotGenericsStatusApi;
+import cn.iocoder.yudao.module.system.api.robot.RobotStatusApi;
+import cn.iocoder.yudao.module.system.api.robot.RobotTaskStatusApi;
+import org.springframework.cloud.openfeign.EnableFeignClients;
+import org.springframework.context.annotation.Configuration;
+
+@Configuration(proxyBeanMethods = false)
+@EnableFeignClients(clients = {RobotGenericsStatusApi.class, RobotTaskStatusApi.class, RobotStatusApi.class})
+public class SystemConfiguration {
+}

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/MqttService.java

@@ -0,0 +1,5 @@
+package cn.iododer.yudao.module.mqtt.service;
+
+public interface MqttService {
+    void analysisMessage(String message);
+}

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotGenericsStatusServiceImpl.java

@@ -0,0 +1,15 @@
+package cn.iododer.yudao.module.mqtt.service;
+
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+import org.springframework.stereotype.Service;
+
+@Service
+@Slf4j
+public class RobotGenericsStatusServiceImpl implements MqttService{
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("处理RobotGenericsStatusServiceImpl的消息 :{}",message);
+    }
+}

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java

@@ -0,0 +1,23 @@
+package cn.iododer.yudao.module.mqtt.service;
+
+import cn.iocoder.yudao.module.system.api.robot.RobotStatusApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+@Slf4j
+@Service
+public class RobotStatusServiceImpl implements MqttService{
+    @Resource
+    private RobotStatusApi robotStatusApi;
+
+    /**
+     * 机器人点位
+     * @param message
+     */
+    @Override
+    public void analysisMessage(String message) {
+        log.info("处理RobotStatusServiceImpl的消息 :{}",message);
+    }
+}

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotTaskStatusServiceImpl.java

@@ -0,0 +1,23 @@
+package cn.iododer.yudao.module.mqtt.service;
+
+import cn.iocoder.yudao.module.system.api.robot.RobotTaskStatusApi;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotCompleteTaskDTO;
+import com.alibaba.fastjson.JSON;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+
+@Service
+@Slf4j
+public class RobotTaskStatusServiceImpl implements MqttService {
+    @Autowired
+    private RobotTaskStatusApi robotTaskStatusApi;
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("处理RobotTaskStatusServiceImpl的消息 :{}",message);
+        RobotCompleteTaskDTO robotCompleteTask = JSON.parseObject(message , RobotCompleteTaskDTO.class);
+        robotTaskStatusApi.robotDoneTask(robotCompleteTask);
+    }
+}

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/util/BeanUtils.java

@@ -0,0 +1,31 @@
+package cn.iododer.yudao.module.mqtt.util;
+
+import org.springframework.beans.BeansException;
+import org.springframework.context.ApplicationContext;
+import org.springframework.context.ApplicationContextAware;
+import org.springframework.stereotype.Component;
+
+@Component
+public class BeanUtils implements ApplicationContextAware  {
+    protected static ApplicationContext applicationContext ;
+
+    @Override
+    public void setApplicationContext(ApplicationContext arg0) throws BeansException {
+        if (applicationContext == null) {
+            applicationContext = arg0;
+        }
+
+    }
+    public static Object getBean(String name) {
+        //name表示其他要注入的注解name名
+        return applicationContext.getBean(name);
+    }
+
+    /**
+     * 拿到ApplicationContext对象实例后就可以手动获取Bean的注入实例对象
+     */
+    public static <T> T getBean(Class<T> clazz) {
+        return applicationContext.getBean(clazz);
+    }
+}
+

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/util/MqttUtils.java

@@ -0,0 +1,61 @@
+package cn.iododer.yudao.module.mqtt.util;
+
+import cn.iododer.yudao.module.mqtt.config.MqttFactory;
+import cn.iododer.yudao.module.mqtt.config.MqttProperties;
+import org.eclipse.paho.client.mqttv3.*;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+import java.nio.charset.StandardCharsets;
+
+@Component
+public class MqttUtils {
+
+    @Autowired
+    private MqttProperties config;
+
+    /**
+     * 发布消息
+     *
+     * @param qos 0-至多1次、1-至少1次、2-一次
+     * @param retained 是否保留：true-sub重新连接mqtt服务端时，总能拿到该主题的最新消息、false-sub重新连接mqtt服务端时，只能拿到连接后发布的消息
+     * @param topic 话题
+     * @param message 消息内容
+     */
+    public void pub(String topic, String message) throws MqttException {
+        // 获取客户端实例
+        MqttClient client = MqttFactory.getInstance();
+        MqttMessage mqttMessage = new MqttMessage();
+        mqttMessage.setQos(config.getQos());
+        mqttMessage.setRetained(false);
+        // 此处必须指明编码方式，否则会出现订阅端中文乱码的情况
+        mqttMessage.setPayload(message.getBytes(StandardCharsets.UTF_8));
+        // 主题的目的地，用于发布/订阅信息
+        MqttTopic mqttTopic = client.getTopic(topic);
+        // 提供一种机制来跟踪消息的传递进度
+        // 用于在以非阻塞方式（在后台运行）执行发布是跟踪消息的传递进度
+        MqttDeliveryToken token;
+        try {
+            // 将指定消息发布到主题，但不等待消息传递完成，返回的token可用于跟踪消息的传递状态
+            // 一旦此方法干净地返回，消息就已被客户端接受发布，当连接可用，将在后台完成消息传递。
+            token = mqttTopic.publish(mqttMessage);
+            token.waitForCompletion();
+        } catch (MqttException e) {
+            e.printStackTrace();
+        }
+    }
+
+
+    /**
+     * 断开连接
+     */
+    public static void disConnect() {
+        try {
+            // 获取客户端实例
+            MqttClient client = MqttFactory.getInstance();
+            client.disconnect();
+        } catch (MqttException e) {
+            e.printStackTrace();
+        }
+    }
+}

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

@@ -0,0 +1,42 @@
+spring:
+  cloud:
+    nacos:
+      server-addr: 127.0.0.1:8848 # Nacos 服务器地址
+      username: # Nacos 账号
+      password: # Nacos 密码
+      discovery: # 【配置中心】配置项
+        namespace: dev # 命名空间。这里使用 dev 开发环境
+        group: DEFAULT_GROUP # 使用的 Nacos 配置分组，默认为 DEFAULT_GROUP
+        metadata:
+          version: 1.0.0 # 服务实例的版本号，可用于灰度发布
+      config: # 【注册中心】配置项
+        namespace: dev # 命名空间。这里使用 dev 开发环境
+        group: DEFAULT_GROUP # 使用的 Nacos 配置分组，默认为 DEFAULT_GROUP
+
+# Lock4j 配置项
+lock4j:
+  acquire-timeout: 3000 # 获取分布式锁超时时间，默认为 3000 毫秒
+  expire: 30000 # 分布式锁的超时时间，默认为 30 毫秒
+
+--- #################### 监控相关配置 ####################
+
+# Actuator 监控端点的配置项
+management:
+  endpoints:
+    web:
+      base-path: /actuator # Actuator 提供的 API 接口的根目录。默认为 /actuator
+      exposure:
+        include: '*' # 需要开放的端点。默认值只打开 health 和 info 两个端点。通过设置 * ，可以开放所有端点。
+
+
+# MQTT
+mqtt:
+  host: tcp://127.0.0.1:1883
+  username: adminuser
+  password: adminuser
+  qos: 1
+  clientId: mqttx_b82345a52
+  timeout: 10
+  keepalive: 20
+
+

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

@@ -0,0 +1,30 @@
+
+spring:
+  application:
+    name: mqtt-server
+  main:
+    allow-circular-references: true # 允许循环依赖，因为项目是三层架构，无法避免这个情况。
+    allow-bean-definition-overriding: true # 允许 Bean 覆盖，例如说 Feign 等会存在重复定义的服务
+
+  profiles:
+    active: local
+
+  mvc:
+    pathmatch:
+      matching-strategy: ANT_PATH_MATCHER # 解决 SpringFox 与 SpringBoot 2.6.x 不兼容的问题，参见 SpringFoxHandlerProviderBeanPostProcessor 类
+
+  # Jackson 配置项
+  jackson:
+    serialization:
+      write-dates-as-timestamps: true # 设置 LocalDateTime 的格式，使用时间戳
+      write-date-timestamps-as-nanoseconds: false # 设置不使用 nanoseconds 的格式。例如说 1611460870.401，而是直接 1611460870401
+      write-durations-as-timestamps: true # 设置 Duration 的格式，使用时间戳
+      fail-on-empty-beans: false # 允许序列化无属性的 Bean
+
+server:
+  port: 48083
+
+
+debug: false
+
+

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/bootstrap-dev.yaml

@@ -0,0 +1,23 @@
+--- #################### 注册中心相关配置 ####################
+
+spring:
+  cloud:
+    nacos:
+      server-addr: 127.0.0.1:8848
+      discovery:
+        namespace: dev # 命名空间。这里使用 dev 开发环境
+        metadata:
+          version: 1.0.0 # 服务实例的版本号，可用于灰度发布
+
+--- #################### 配置中心相关配置 ####################
+
+spring:
+  cloud:
+    nacos:
+      # Nacos Config 配置项，对应 NacosConfigProperties 配置属性类
+      config:
+        server-addr: 127.0.0.1:8848 # Nacos 服务器地址
+        namespace: dev # 命名空间 dev 的ID，不能直接使用 dev 名称。创建命名空间的时候需要指定ID为 dev，这里使用 dev 开发环境
+        group: DEFAULT_GROUP # 使用的 Nacos 配置分组，默认为 DEFAULT_GROUP
+        name: ${spring.application.name} # 使用的 Nacos 配置集的 dataId，默认为 spring.application.name
+        file-extension: yaml # 使用的 Nacos 配置集的 dataId 的文件拓展名，同时也是 Nacos 配置集的配置格式，默认为 properties

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/bootstrap-local.yaml

@@ -0,0 +1,23 @@
+--- #################### 注册中心相关配置 ####################
+
+spring:
+  cloud:
+    nacos:
+      server-addr: 127.0.0.1:8848
+      discovery:
+        namespace: dev # 命名空间。这里使用 dev 开发环境
+        metadata:
+          version: 1.0.0 # 服务实例的版本号，可用于灰度发布
+
+--- #################### 配置中心相关配置 ####################
+
+spring:
+  cloud:
+    nacos:
+      # Nacos Config 配置项，对应 NacosConfigProperties 配置属性类
+      config:
+        server-addr: 127.0.0.1:8848 # Nacos 服务器地址
+        namespace: dev # 命名空间 dev 的ID，不能直接使用 dev 名称。创建命名空间的时候需要指定ID为 dev，这里使用 dev 开发环境
+        group: DEFAULT_GROUP # 使用的 Nacos 配置分组，默认为 DEFAULT_GROUP
+        name: ${spring.application.name} # 使用的 Nacos 配置集的 dataId，默认为 spring.application.name
+        file-extension: yaml # 使用的 Nacos 配置集的 dataId 的文件拓展名，同时也是 Nacos 配置集的配置格式，默认为 properties

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/bootstrap-prod.yaml

@@ -0,0 +1,23 @@
+--- #################### 注册中心相关配置 ####################
+
+spring:
+  cloud:
+    nacos:
+      server-addr: 127.0.0.1:8848
+      discovery:
+        namespace: prod # 命名空间。这里使用 dev 开发环境
+        metadata:
+          version: 1.0.0 # 服务实例的版本号，可用于灰度发布
+
+--- #################### 配置中心相关配置 ####################
+
+spring:
+  cloud:
+    nacos:
+      # Nacos Config 配置项，对应 NacosConfigProperties 配置属性类
+      config:
+        server-addr: 127.0.0.1:8848 # Nacos 服务器地址
+        namespace: prod # 命名空间 dev 的ID，不能直接使用 dev 名称。创建命名空间的时候需要指定ID为 dev，这里使用 dev 开发环境
+        group: DEFAULT_GROUP # 使用的 Nacos 配置分组，默认为 DEFAULT_GROUP
+        name: ${spring.application.name} # 使用的 Nacos 配置集的 dataId，默认为 spring.application.name
+        file-extension: yaml # 使用的 Nacos 配置集的 dataId 的文件拓展名，同时也是 Nacos 配置集的配置格式，默认为 properties

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

@@ -0,0 +1,15 @@
+spring:
+  application:
+    name: mqtt-server
+
+  profiles:
+    active: local  #local
+#    active: prod
+
+server:
+  port: 48083
+
+# 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:
+  file:
+    name: ${user.home}/logs/${spring.application.name}.log # 日志文件名，全路径

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/logback-spring.xml

@@ -0,0 +1,76 @@
+<configuration>
+    <!-- 引用 Spring Boot 的 logback 基础配置 -->
+    <include resource="org/springframework/boot/logging/logback/defaults.xml" />
+    <!-- 变量 yudao.info.base-package，基础业务包 -->
+    <springProperty scope="context" name="yudao.info.base-package" source="yudao.info.base-package"/>
+    <!-- 格式化输出：%d 表示日期，%X{tid} SkWalking 链路追踪编号，%thread 表示线程名，%-5level：级别从左显示 5 个字符宽度，%msg：日志消息，%n是换行符 -->
+    <property name="PATTERN_DEFAULT" value="%d{${LOG_DATEFORMAT_PATTERN:-yyyy-MM-dd HH:mm:ss.SSS}} | %highlight(${LOG_LEVEL_PATTERN:-%5p} ${PID:- }) | %boldYellow(%thread [%tid]) %boldGreen(%-40.40logger{39}) | %m%n${LOG_EXCEPTION_CONVERSION_WORD:-%wEx}"/>
+
+    <!-- 控制台 Appender -->
+    <appender name="STDOUT" class="ch.qos.logback.core.ConsoleAppender">　　　　　
+        <encoder class="ch.qos.logback.core.encoder.LayoutWrappingEncoder">
+            <layout class="org.apache.skywalking.apm.toolkit.log.logback.v1.x.TraceIdPatternLogbackLayout">
+                <pattern>${PATTERN_DEFAULT}</pattern>
+            </layout>
+        </encoder>
+    </appender>
+
+    <!-- 文件 Appender -->
+    <!-- 参考 Spring Boot 的 file-appender.xml 编写 -->
+    <appender name="FILE"  class="ch.qos.logback.core.rolling.RollingFileAppender">
+        <encoder class="ch.qos.logback.core.encoder.LayoutWrappingEncoder">
+            <layout class="org.apache.skywalking.apm.toolkit.log.logback.v1.x.TraceIdPatternLogbackLayout">
+                <pattern>${PATTERN_DEFAULT}</pattern>
+            </layout>
+        </encoder>
+        <!-- 日志文件名 -->
+        <file>${LOG_FILE}</file>
+        <rollingPolicy class="ch.qos.logback.core.rolling.SizeAndTimeBasedRollingPolicy">
+            <!-- 滚动后的日志文件名 -->
+            <fileNamePattern>${LOGBACK_ROLLINGPOLICY_FILE_NAME_PATTERN:-${LOG_FILE}.%d{yyyy-MM-dd}.%i.gz}</fileNamePattern>
+            <!-- 启动服务时，是否清理历史日志，一般不建议清理 -->
+            <cleanHistoryOnStart>${LOGBACK_ROLLINGPOLICY_CLEAN_HISTORY_ON_START:-false}</cleanHistoryOnStart>
+            <!-- 日志文件，到达多少容量，进行滚动 -->
+            <maxFileSize>${LOGBACK_ROLLINGPOLICY_MAX_FILE_SIZE:-10MB}</maxFileSize>
+            <!-- 日志文件的总大小，0 表示不限制 -->
+            <totalSizeCap>${LOGBACK_ROLLINGPOLICY_TOTAL_SIZE_CAP:-0}</totalSizeCap>
+            <!-- 日志文件的保留天数 -->
+            <maxHistory>${LOGBACK_ROLLINGPOLICY_MAX_HISTORY:-30}</maxHistory>
+        </rollingPolicy>
+    </appender>
+    <!-- 异步写入日志，提升性能 -->
+    <appender name="ASYNC" class="ch.qos.logback.classic.AsyncAppender">
+        <!-- 不丢失日志。默认的，如果队列的 80% 已满,则会丢弃 TRACT、DEBUG、INFO 级别的日志 -->
+        <discardingThreshold>0</discardingThreshold>
+        <!-- 更改默认的队列的深度，该值会影响性能。默认值为 256 -->
+        <queueSize>256</queueSize>
+        <appender-ref ref="FILE"/>
+    </appender>
+
+    <!-- SkyWalking GRPC 日志收集，实现日志中心。注意：SkyWalking 8.4.0 版本开始支持 -->
+    <appender name="GRPC" class="org.apache.skywalking.apm.toolkit.log.logback.v1.x.log.GRPCLogClientAppender">
+        <encoder class="ch.qos.logback.core.encoder.LayoutWrappingEncoder">
+            <layout class="org.apache.skywalking.apm.toolkit.log.logback.v1.x.TraceIdPatternLogbackLayout">
+                <pattern>${PATTERN_DEFAULT}</pattern>
+            </layout>
+        </encoder>
+    </appender>
+
+    <!-- 本地环境 -->
+    <springProfile name="local">
+        <root level="INFO">
+            <appender-ref ref="STDOUT"/>
+            <appender-ref ref="GRPC"/> <!-- 本地环境下，如果不想接入 SkyWalking 日志服务，可以注释掉本行 -->
+            <appender-ref ref="ASYNC"/>  <!-- 本地环境下，如果不想打印日志，可以注释掉本行 -->
+        </root>
+    </springProfile>
+    <!-- 其它环境 -->
+    <springProfile name="dev,test,stage,prod,default">
+        <root level="INFO">
+            <appender-ref ref="STDOUT"/>
+            <appender-ref ref="ASYNC"/>
+            <appender-ref ref="GRPC"/>
+        </root>
+    </springProfile>
+
+</configuration>

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApi.java

@@ -0,0 +1,11 @@
+package cn.iocoder.yudao.module.system.api.robot;
+
+import cn.iocoder.yudao.module.system.enums.ApiConstants;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import org.springframework.cloud.openfeign.FeignClient;
+
+@FeignClient(name = ApiConstants.NAME) // TODO 芋艿：fallbackFactory =
+@Tag(name = "RPC 服务 - 机器人异常上报")
+public interface RobotGenericsStatusApi {
+
+}

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApi.java

@@ -0,0 +1,11 @@
+package cn.iocoder.yudao.module.system.api.robot;
+
+import cn.iocoder.yudao.module.system.enums.ApiConstants;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import org.springframework.cloud.openfeign.FeignClient;
+
+@FeignClient(name = ApiConstants.NAME) // TODO 芋艿：fallbackFactory =
+@Tag(name = "RPC 服务 - 机器人点位上报")
+public interface RobotStatusApi {
+
+}

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApi.java

@@ -0,0 +1,22 @@
+package cn.iocoder.yudao.module.system.api.robot;
+
+import cn.iocoder.yudao.framework.common.pojo.CommonResult;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotCompleteTaskDTO;
+import cn.iocoder.yudao.module.system.enums.ApiConstants;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import org.springframework.cloud.openfeign.FeignClient;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+
+
+@FeignClient(name = ApiConstants.NAME) // TODO 芋艿：fallbackFactory =
+@Tag(name = "RPC 服务 - 机器人完成任务状态上报")
+public interface RobotTaskStatusApi {
+
+    String PREFIX = ApiConstants.PREFIX + "/task";
+
+    @PostMapping(PREFIX + "/updateStatus")
+    @Operation(summary = "机器人完成任务上报")
+    CommonResult<Boolean> robotDoneTask(@RequestBody RobotCompleteTaskDTO robotCompleteTaskDTO);
+}

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotCommandStateDTO.java

@@ -0,0 +1,31 @@
+package cn.iocoder.yudao.module.system.api.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class RobotCommandStateDTO {
+    /**
+     * 命令id
+     */
+    private String command_id;
+    /**
+     * 命令类型
+     */
+    private String command_type;
+    /**
+     * 执行状态
+     */
+    private String execution_state;
+    /**
+     * 响应的状态码
+     */
+    private String status_code;
+    /**
+     * 失败时的错误原因
+     */
+    private String message;
+    /**
+     * 解决方法
+     */
+    private String solution;
+}

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotCompleteTaskDTO.java

@@ -0,0 +1,41 @@
+package cn.iocoder.yudao.module.system.api.robot.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class RobotCompleteTaskDTO {
+    /**
+     * mac地址
+     */
+    private String mac;
+    /**
+     * robot_task_detail 表id
+     */
+    private Long order_id;
+    /**
+     * 任务类型，暂时未定义
+     */
+    private String order_type;
+    /**
+     * 执行状态
+     */
+    private Integer execution_state;
+    /**
+     * 响应的状态码
+     */
+    private String status_code;
+    /**
+     * 失败时的错误原因
+     */
+    private String message;
+    /**
+     * 解决方法
+     */
+    private String solution;
+    /**
+     * 子任务
+     */
+    private List<RobotCommandStateDTO> command_state;
+}

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

@@ -163,4 +163,36 @@ 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");
+
+    // ========== 线库/巷道 1-002-030-000 ==========
+    ErrorCode HOUSE_LANE_NOT_EXISTS = new ErrorCode(1-002-030-001, "线库不存在");
+
+    // ========== 库区 1-002-031-000 ==========
+    ErrorCode HOUSE_AREA_NOT_EXISTS = new ErrorCode(1-002-031-001, "库区不存在");
+
+    // ========== 库位 1-002-032-000 ==========
+    ErrorCode HOUSE_LOCATION_NOT_EXISTS = new ErrorCode(1-002-032-001, "库位不存在");
+
+    // ========== 车辆类型 1-002-033-000==========
+    ErrorCode MODEL_NOT_EXISTS = new ErrorCode(1-002-033-001, "车辆类型不存在");
+
+    // ========== 车辆信息 1-002-034-000 ==========
+    ErrorCode ROBOT_INFORMATION_NOT_EXISTS = new ErrorCode(1-002-034-001, "车辆信息不存在");
+
+    // ========== 机器人任务主表 1-002-035-000 ==========
+    ErrorCode TASK_NOT_EXISTS = new ErrorCode(1-002-035-001, "机器人任务主表不存在");
+    ErrorCode TASK_DATA_NOT_FULL = new ErrorCode(1-002-035-002, "任务数据不完整");
+    ErrorCode TASK_CYCLE_NOT_OPEN = new ErrorCode(1-002-035-003, "循环任务的配置未开启!");
+    ErrorCode TASK_ONLY_CHOOSE_LOCATION = new ErrorCode(1-002-035-004, "搬空任务只能选择线库或者区域");
+    ErrorCode TASK_CHECK_EXCEPTION = new ErrorCode(1-002-035-005, "任务下发失败");
+
+    // ========== 机器人任务明细 1-002-036-000 ==========
+    ErrorCode TASK_DETAIL_NOT_EXISTS = new ErrorCode(1-002-036-001, "机器人任务明细不存在");
+
+    // ========== 机器人任务明细 1-002-037-000 ==========
+    ErrorCode REDISSON_NOT_OBTAIN_LOCK = new ErrorCode(1-002-037-001, "有正在下发中的任务请稍后重试!");
 }

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

@@ -35,6 +35,16 @@
             <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>
+        <dependency>
+            <groupId>cn.iocoder.cloud</groupId>
+            <artifactId>yudao-module-mqtt-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/api/robot/RobotTaskStatusApiImpl.java

@@ -0,0 +1,53 @@
+package cn.iocoder.yudao.module.system.api.robot;
+
+import cn.iocoder.yudao.framework.common.pojo.CommonResult;
+import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotCompleteTaskDTO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
+import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
+import cn.iocoder.yudao.module.system.enums.robot.RobotTaskDetailStatusEnum;
+import com.alibaba.fastjson.JSON;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.transaction.annotation.Transactional;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.web.bind.annotation.RestController;
+
+import java.util.List;
+
+@Slf4j
+@RestController // 提供 RESTful API 接口，给 Feign 调用
+@Validated
+public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
+
+    @Autowired
+    private RobotTaskDetailMapper robotTaskDetailMapper;
+
+    @Autowired
+    private RobotTaskMapper robotTaskMapper;
+
+    /**
+     * 机器人完成任务上报
+     * @param robotCompleteTaskDTO
+     * @return
+     */
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public CommonResult<Boolean> robotDoneTask(RobotCompleteTaskDTO robotCompleteTaskDTO) {
+        log.info("机器人完成任务上报 :{}", JSON.toJSONString(robotCompleteTaskDTO));
+        TenantContextHolder.setTenantId(1L);
+        robotTaskDetailMapper.updateRobotDetailStatus(robotCompleteTaskDTO.getOrder_id(),
+                robotCompleteTaskDTO.getExecution_state());
+        RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrder_id());
+        List<RobotTaskDetailDO> taskDetails = robotTaskDetailMapper.queryByTaskId(robotTaskDetailDO.getRobotTaskId());
+        boolean b =
+                taskDetails.stream().allMatch(v -> (v.getTaskStatus().equals(RobotTaskDetailStatusEnum.DONE.getType())
+                    || v.getTaskStatus().equals(RobotTaskDetailStatusEnum.CLOSE.getType()) ));
+        if(b) {
+            robotTaskMapper.updateRobotStatus(taskDetails.get(0).getRobotTaskId(), RobotTaskDetailStatusEnum.DONE.getType());
+        }
+
+        return CommonResult.success(true);
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/XxlJobConfig.java

@@ -0,0 +1,65 @@
+package cn.iocoder.yudao.module.system.config;
+
+import com.xxl.job.core.context.XxlJobHelper;
+import com.xxl.job.core.executor.impl.XxlJobSpringExecutor;
+import lombok.Data;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+
+/**
+ * @ClassName： XxlJobConfig
+ * @Description: xxl-job依赖配置
+ * @author：
+ * @date： 2022年12月07日 08:37
+ * @version： 1.0
+ */
+@Configuration  //是否开启xxl-job定时任务，注释掉 //@Configuration 则不开启定时任务
+@Data
+@Slf4j
+public class XxlJobConfig {
+
+    @Value("${xxl.job.admin.addresses}")
+    private String adminAddresses;
+
+    @Value("${xxl.job.accessToken}")
+    private String accessToken;
+
+    @Value("${xxl.job.executor.appname}")
+    private String appname;
+
+    @Value("${xxl.job.executor.address}")
+    private String address;
+
+    @Value("${xxl.job.executor.ip}")
+    private String ip;
+
+    @Value("${xxl.job.executor.port}")
+    private int port;
+
+    @Value("${xxl.job.executor.logpath}")
+    private String logPath;
+
+    @Value("${xxl.job.executor.logretentiondays}")
+    private int logRetentionDays;
+
+
+    @Bean
+    public XxlJobSpringExecutor xxlJobExecutor() {
+        XxlJobHelper.log(">>>>>>>>>>> xxl-job config init.>>>>>>>>>>>");
+        System.out.println("=============== xxl-job config init.===============");
+
+        XxlJobSpringExecutor xxlJobSpringExecutor = new XxlJobSpringExecutor();
+        xxlJobSpringExecutor.setAdminAddresses(adminAddresses);
+        xxlJobSpringExecutor.setAppname(appname);
+        xxlJobSpringExecutor.setAddress(address);
+        xxlJobSpringExecutor.setIp(ip);
+        xxlJobSpringExecutor.setPort(port);
+        xxlJobSpringExecutor.setAccessToken(accessToken);
+        xxlJobSpringExecutor.setLogPath(logPath);
+        xxlJobSpringExecutor.setLogRetentionDays(logRetentionDays);
+
+        return xxlJobSpringExecutor;
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/housearea/HouseAreaController.java

@@ -0,0 +1,97 @@
+package cn.iocoder.yudao.module.system.controller.admin.housearea;
+
+import cn.iocoder.yudao.module.system.controller.admin.housearea.vo.HouseAreaPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.housearea.vo.HouseAreaRespVO;
+import cn.iocoder.yudao.module.system.controller.admin.housearea.vo.HouseAreaSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.housearea.HouseAreaDO;
+import cn.iocoder.yudao.module.system.service.housearea.HouseAreaService;
+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.constraints.*;
+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 - 库区")
+@RestController
+@RequestMapping("/system/ware/house-area")
+@Validated
+public class HouseAreaController {
+
+    @Resource
+    private HouseAreaService houseAreaService;
+
+    @PostMapping("/create")
+    @Operation(summary = "创建库区")
+    @PreAuthorize("@ss.hasPermission('ware:house-area:create')")
+    public CommonResult<Long> createHouseArea(@Valid @RequestBody HouseAreaSaveReqVO createReqVO) {
+        return success(houseAreaService.createHouseArea(createReqVO));
+    }
+
+    @PutMapping("/update")
+    @Operation(summary = "更新库区")
+    @PreAuthorize("@ss.hasPermission('ware:house-area:update')")
+    public CommonResult<Boolean> updateHouseArea(@Valid @RequestBody HouseAreaSaveReqVO updateReqVO) {
+        houseAreaService.updateHouseArea(updateReqVO);
+        return success(true);
+    }
+
+    @DeleteMapping("/delete")
+    @Operation(summary = "删除库区")
+    @Parameter(name = "id", description = "编号", required = true)
+    @PreAuthorize("@ss.hasPermission('ware:house-area:delete')")
+    public CommonResult<Boolean> deleteHouseArea(@RequestParam("id") Long id) {
+        houseAreaService.deleteHouseArea(id);
+        return success(true);
+    }
+
+    @GetMapping("/get")
+    @Operation(summary = "获得库区")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('ware:house-area:query')")
+    public CommonResult<HouseAreaRespVO> getHouseArea(@RequestParam("id") Long id) {
+        HouseAreaDO houseArea = houseAreaService.getHouseArea(id);
+        return success(BeanUtils.toBean(houseArea, HouseAreaRespVO.class));
+    }
+
+    @GetMapping("/page")
+    @Operation(summary = "获得库区分页")
+    @PreAuthorize("@ss.hasPermission('ware:house-area:query')")
+    public CommonResult<PageResult<HouseAreaRespVO>> getHouseAreaPage(@Valid HouseAreaPageReqVO pageReqVO) {
+        PageResult<HouseAreaDO> pageResult = houseAreaService.getHouseAreaPage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, HouseAreaRespVO.class));
+    }
+
+    @GetMapping("/export-excel")
+    @Operation(summary = "导出库区 Excel")
+    @PreAuthorize("@ss.hasPermission('ware:house-area:export')")
+    @ApiAccessLog(operateType = EXPORT)
+    public void exportHouseAreaExcel(@Valid HouseAreaPageReqVO pageReqVO,
+              HttpServletResponse response) throws IOException {
+        pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
+        List<HouseAreaDO> list = houseAreaService.getHouseAreaPage(pageReqVO).getList();
+        // 导出 Excel
+        ExcelUtils.write(response, "库区.xls", "数据", HouseAreaRespVO.class,
+                        BeanUtils.toBean(list, HouseAreaRespVO.class));
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/housearea/vo/HouseAreaPageReqVO.java

@@ -0,0 +1,31 @@
+package cn.iocoder.yudao.module.system.controller.admin.housearea.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 - 库区分页 Request VO")
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+public class HouseAreaPageReqVO extends PageParam {
+
+    @Schema(description = "库区id(自定义)", example = "24710")
+    private Long areaId;
+
+    @Schema(description = "库区名称", example = "李四")
+    private String areaName;
+
+    @Schema(description = "库区说明")
+    private String areaMsg;
+
+    @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/housearea/vo/HouseAreaRespVO.java

@@ -0,0 +1,35 @@
+package cn.iocoder.yudao.module.system.controller.admin.housearea.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 - 库区 Response VO")
+@Data
+@ExcelIgnoreUnannotated
+public class HouseAreaRespVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "2922")
+    @ExcelProperty("主键ID")
+    private Long id;
+
+    @Schema(description = "库区id(自定义)", requiredMode = Schema.RequiredMode.REQUIRED, example = "24710")
+    @ExcelProperty("库区id(自定义)")
+    private Long areaId;
+
+    @Schema(description = "库区名称", example = "李四")
+    @ExcelProperty("库区名称")
+    private String areaName;
+
+    @Schema(description = "库区说明")
+    @ExcelProperty("库区说明")
+    private String areaMsg;
+
+    @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/housearea/vo/HouseAreaSaveReqVO.java

@@ -0,0 +1,25 @@
+package cn.iocoder.yudao.module.system.controller.admin.housearea.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import javax.validation.constraints.*;
+
+@Schema(description = "管理后台 - 库区新增/修改 Request VO")
+@Data
+public class HouseAreaSaveReqVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "2922")
+    private Long id;
+
+    @Schema(description = "库区id(自定义)", requiredMode = Schema.RequiredMode.REQUIRED, example = "24710")
+    @NotNull(message = "库区id(自定义)不能为空")
+    private Long areaId;
+
+    @Schema(description = "库区名称", example = "李四")
+    private String areaName;
+
+    @Schema(description = "库区说明")
+    private String areaMsg;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselane/WareHouseLaneController.java

@@ -0,0 +1,97 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselane;
+
+import cn.iocoder.yudao.module.system.controller.admin.houselane.vo.WareHouseLanePageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselane.vo.WareHouseLaneRespVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselane.vo.WareHouseLaneSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselane.WareHouseLaneDO;
+import cn.iocoder.yudao.module.system.service.houselane.WareHouseLaneService;
+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.constraints.*;
+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 - 线库/巷道")
+@RestController
+@RequestMapping("/system/ware/house-lane")
+@Validated
+public class WareHouseLaneController {
+
+    @Resource
+    private WareHouseLaneService houseLaneService;
+
+    @PostMapping("/create")
+    @Operation(summary = "创建线库/巷道")
+    @PreAuthorize("@ss.hasPermission('ware:house-lane:create')")
+    public CommonResult<Long> createHouseLane(@Valid @RequestBody WareHouseLaneSaveReqVO createReqVO) {
+        return success(houseLaneService.createHouseLane(createReqVO));
+    }
+
+    @PutMapping("/update")
+    @Operation(summary = "更新线库/巷道")
+    @PreAuthorize("@ss.hasPermission('ware:house-lane:update')")
+    public CommonResult<Boolean> updateHouseLane(@Valid @RequestBody WareHouseLaneSaveReqVO updateReqVO) {
+        houseLaneService.updateHouseLane(updateReqVO);
+        return success(true);
+    }
+
+    @DeleteMapping("/delete")
+    @Operation(summary = "删除线库/巷道")
+    @Parameter(name = "id", description = "编号", required = true)
+    @PreAuthorize("@ss.hasPermission('ware:house-lane:delete')")
+    public CommonResult<Boolean> deleteHouseLane(@RequestParam("id") Long id) {
+        houseLaneService.deleteHouseLane(id);
+        return success(true);
+    }
+
+    @GetMapping("/get")
+    @Operation(summary = "获得线库/巷道")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('ware:house-lane:query')")
+    public CommonResult<WareHouseLaneRespVO> getHouseLane(@RequestParam("id") Long id) {
+        WareHouseLaneDO houseLane = houseLaneService.getHouseLane(id);
+        return success(BeanUtils.toBean(houseLane, WareHouseLaneRespVO.class));
+    }
+
+    @GetMapping("/page")
+    @Operation(summary = "获得线库/巷道分页")
+    @PreAuthorize("@ss.hasPermission('ware:house-lane:query')")
+    public CommonResult<PageResult<WareHouseLaneRespVO>> getHouseLanePage(@Valid WareHouseLanePageReqVO pageReqVO) {
+        PageResult<WareHouseLaneDO> pageResult = houseLaneService.getHouseLanePage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, WareHouseLaneRespVO.class));
+    }
+
+    @GetMapping("/export-excel")
+    @Operation(summary = "导出线库/巷道 Excel")
+    @PreAuthorize("@ss.hasPermission('ware:house-lane:export')")
+    @ApiAccessLog(operateType = EXPORT)
+    public void exportHouseLaneExcel(@Valid WareHouseLanePageReqVO pageReqVO,
+              HttpServletResponse response) throws IOException {
+        pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
+        List<WareHouseLaneDO> list = houseLaneService.getHouseLanePage(pageReqVO).getList();
+        // 导出 Excel
+        ExcelUtils.write(response, "线库/巷道.xls", "数据", WareHouseLaneRespVO.class,
+                        BeanUtils.toBean(list, WareHouseLaneRespVO.class));
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselane/vo/WareHouseLanePageReqVO.java

@@ -0,0 +1,31 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselane.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 - 线库/巷道分页 Request VO")
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+public class WareHouseLanePageReqVO extends PageParam {
+
+    @Schema(description = "巷道id(自定义)", example = "276")
+    private Long laneId;
+
+    @Schema(description = "巷道名称", example = "芋艿")
+    private String laneName;
+
+    @Schema(description = "巷道说明(可以拓展为区域说明)")
+    private String laneMsg;
+
+    @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/houselane/vo/WareHouseLaneRespVO.java

@@ -0,0 +1,35 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselane.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 - 线库/巷道 Response VO")
+@Data
+@ExcelIgnoreUnannotated
+public class WareHouseLaneRespVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "4293")
+    @ExcelProperty("主键ID")
+    private Long id;
+
+    @Schema(description = "巷道id(自定义)", requiredMode = Schema.RequiredMode.REQUIRED, example = "276")
+    @ExcelProperty("巷道id(自定义)")
+    private Long laneId;
+
+    @Schema(description = "巷道名称", example = "芋艿")
+    @ExcelProperty("巷道名称")
+    private String laneName;
+
+    @Schema(description = "巷道说明(可以拓展为区域说明)")
+    @ExcelProperty("巷道说明(可以拓展为区域说明)")
+    private String laneMsg;
+
+    @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/houselane/vo/WareHouseLaneSaveReqVO.java

@@ -0,0 +1,25 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselane.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import javax.validation.constraints.*;
+
+@Schema(description = "管理后台 - 线库/巷道新增/修改 Request VO")
+@Data
+public class WareHouseLaneSaveReqVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "4293")
+    private Long id;
+
+    @Schema(description = "巷道id(自定义)", requiredMode = Schema.RequiredMode.REQUIRED, example = "276")
+    @NotNull(message = "巷道id(自定义)不能为空")
+    private Long laneId;
+
+    @Schema(description = "巷道名称", example = "芋艿")
+    private String laneName;
+
+    @Schema(description = "巷道说明(可以拓展为区域说明)")
+    private String laneMsg;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseLocationController.java

@@ -0,0 +1,96 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselocation;
+
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationRespVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
+import cn.iocoder.yudao.module.system.service.houselocation.HouseLocationService;
+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 - 库位")
+@RestController
+@RequestMapping("/system/ware/house-location")
+@Validated
+public class WareHouseLocationController {
+
+    @Resource
+    private HouseLocationService houseLocationService;
+
+    @PostMapping("/create")
+    @Operation(summary = "创建库位")
+    @PreAuthorize("@ss.hasPermission('ware:house-location:create')")
+    public CommonResult<Long> createHouseLocation(@Valid @RequestBody WareHouseLocationSaveReqVO createReqVO) {
+        return success(houseLocationService.createHouseLocation(createReqVO));
+    }
+
+    @PutMapping("/update")
+    @Operation(summary = "更新库位")
+    @PreAuthorize("@ss.hasPermission('ware:house-location:update')")
+    public CommonResult<Boolean> updateHouseLocation(@Valid @RequestBody WareHouseLocationSaveReqVO updateReqVO) {
+        houseLocationService.updateHouseLocation(updateReqVO);
+        return success(true);
+    }
+
+    @DeleteMapping("/delete")
+    @Operation(summary = "删除库位")
+    @Parameter(name = "id", description = "编号", required = true)
+    @PreAuthorize("@ss.hasPermission('ware:house-location:delete')")
+    public CommonResult<Boolean> deleteHouseLocation(@RequestParam("id") Long id) {
+        houseLocationService.deleteHouseLocation(id);
+        return success(true);
+    }
+
+    @GetMapping("/get")
+    @Operation(summary = "获得库位")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('ware:house-location:query')")
+    public CommonResult<WareHouseLocationRespVO> getHouseLocation(@RequestParam("id") Long id) {
+        WareHouseLocationDO houseLocation = houseLocationService.getHouseLocation(id);
+        return success(BeanUtils.toBean(houseLocation, WareHouseLocationRespVO.class));
+    }
+
+    @GetMapping("/page")
+    @Operation(summary = "获得库位分页")
+    @PreAuthorize("@ss.hasPermission('ware:house-location:query')")
+    public CommonResult<PageResult<WareHouseLocationRespVO>> getHouseLocationPage(@Valid WareHouseLocationPageReqVO pageReqVO) {
+        PageResult<WareHouseLocationDO> pageResult = houseLocationService.getHouseLocationPage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, WareHouseLocationRespVO.class));
+    }
+
+    @GetMapping("/export-excel")
+    @Operation(summary = "导出库位 Excel")
+    @PreAuthorize("@ss.hasPermission('ware:house-location:export')")
+    @ApiAccessLog(operateType = EXPORT)
+    public void exportHouseLocationExcel(@Valid WareHouseLocationPageReqVO pageReqVO,
+              HttpServletResponse response) throws IOException {
+        pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
+        List<WareHouseLocationDO> list = houseLocationService.getHouseLocationPage(pageReqVO).getList();
+        // 导出 Excel
+        ExcelUtils.write(response, "库位.xls", "数据", WareHouseLocationRespVO.class,
+                        BeanUtils.toBean(list, WareHouseLocationRespVO.class));
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationPageReqVO.java

@@ -0,0 +1,102 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
+
+
+import lombok.*;
+import java.util.*;
+import io.swagger.v3.oas.annotations.media.Schema;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import java.math.BigDecimal;
+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 - 库位分页 Request VO")
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+public class WareHouseLocationPageReqVO extends PageParam {
+
+    @Schema(description = "巷道/线库id", example = "24770")
+    private Long laneId;
+
+    @Schema(description = "巷道/线库名称", example = "赵六")
+    private String laneName;
+
+    @Schema(description = "库区id(自定义)", example = "11770")
+    private Long areaId;
+
+    @Schema(description = "库区名称", example = "张三")
+    private String areaName;
+
+    @Schema(description = "库位编号")
+    private String locationNo;
+
+    @Schema(description = "分组名称", example = "李四")
+    private String groupName;
+
+    @Schema(description = "弧度")
+    private String locationYaw;
+
+    @Schema(description = "物料信息")
+    private String skuInfo;
+
+    @Schema(description = "物料批次号")
+    private String skuBatch;
+
+    @Schema(description = "物料数量")
+    private Long skuNumber;
+
+    @Schema(description = "托盘消息")
+    private String trayInfo;
+
+    @Schema(description = "启用/禁用（0：禁用、1：启用）")
+    private Integer locationEnable;
+
+    @Schema(description = "锁定/正常（0：锁定、1：正常）")
+    private Integer locationLock;
+
+    @Schema(description = "状态（0：空闲、1：占用）", example = "2")
+    private Integer locationUseStatus;
+
+    @Schema(description = "库位坐标x轴")
+    private String locationX;
+
+    @Schema(description = "库位坐标y轴")
+    private String locationY;
+
+    @Schema(description = "宽(库位上目前所放物品的宽)")
+    private BigDecimal locationWide;
+
+    @Schema(description = "深(库位上目前所放物品的深)")
+    private BigDecimal locationDeep;
+
+    @Schema(description = "高(库位上目前所放物品的高)")
+    private BigDecimal locationHeight;
+
+    @Schema(description = "库位默认高度(现场有水泥高出地面的高度)")
+    private BigDecimal locationDefaultHeight;
+
+    @Schema(description = "机车上报的高度/总高(如果两个箱子叠加，就是叠加后的总高度)")
+    private BigDecimal locationTotalHeight;
+
+    @Schema(description = "机车上报的托盘高度")
+    private BigDecimal locationTrayHeight;
+
+    @Schema(description = "层数")
+    private Integer locationStorey;
+
+    @Schema(description = "点位类型（0：库位、1：等待点、2：输送线取托盘点、3：出库放托盘点）", example = "1")
+    private Integer locationType;
+
+    @Schema(description = "排序的位置,越大越优先堆放")
+    private Long locationNumber;
+
+    @Schema(description = "最后一次执行任务robot_task的id", example = "23816")
+    private Long taskId;
+
+    @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/houselocation/vo/WareHouseLocationRespVO.java

@@ -0,0 +1,128 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import java.math.BigDecimal;
+import org.springframework.format.annotation.DateTimeFormat;
+import java.time.LocalDateTime;
+import com.alibaba.excel.annotation.*;
+
+@Schema(description = "管理后台 - 库位 Response VO")
+@Data
+@ExcelIgnoreUnannotated
+public class WareHouseLocationRespVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "31866")
+    @ExcelProperty("主键ID")
+    private Long id;
+
+    @Schema(description = "巷道/线库id", example = "24770")
+    @ExcelProperty("巷道/线库id")
+    private Long laneId;
+
+    @Schema(description = "巷道/线库名称", example = "赵六")
+    @ExcelProperty("巷道/线库名称")
+    private String laneName;
+
+    @Schema(description = "库区id(自定义)", example = "11770")
+    @ExcelProperty("库区id(自定义)")
+    private Long areaId;
+
+    @Schema(description = "库区名称", example = "张三")
+    @ExcelProperty("库区名称")
+    private String areaName;
+
+    @Schema(description = "库位编号")
+    @ExcelProperty("库位编号")
+    private String locationNo;
+
+    @Schema(description = "分组名称", example = "李四")
+    @ExcelProperty("分组名称")
+    private String groupName;
+
+    @Schema(description = "弧度")
+    @ExcelProperty("弧度")
+    private String locationYaw;
+
+    @Schema(description = "物料信息")
+    @ExcelProperty("物料信息")
+    private String skuInfo;
+
+    @Schema(description = "物料批次号")
+    @ExcelProperty("物料批次号")
+    private String skuBatch;
+
+    @Schema(description = "物料数量")
+    @ExcelProperty("物料数量")
+    private Long skuNumber;
+
+    @Schema(description = "托盘消息")
+    @ExcelProperty("托盘消息")
+    private String trayInfo;
+
+    @Schema(description = "启用/禁用（0：禁用、1：启用）")
+    @ExcelProperty("启用/禁用（0：禁用、1：启用）")
+    private Integer locationEnable;
+
+    @Schema(description = "锁定/正常（0：锁定、1：正常）")
+    @ExcelProperty("锁定/正常（0：锁定、1：正常）")
+    private Integer locationLock;
+
+    @Schema(description = "状态（0：空闲、1：占用）", example = "2")
+    @ExcelProperty("状态（0：空闲、1：占用）")
+    private Integer locationUseStatus;
+
+    @Schema(description = "库位坐标x轴")
+    @ExcelProperty("库位坐标x轴")
+    private String locationX;
+
+    @Schema(description = "库位坐标y轴")
+    @ExcelProperty("库位坐标y轴")
+    private String locationY;
+
+    @Schema(description = "宽(库位上目前所放物品的宽)")
+    @ExcelProperty("宽(库位上目前所放物品的宽)")
+    private BigDecimal locationWide;
+
+    @Schema(description = "深(库位上目前所放物品的深)")
+    @ExcelProperty("深(库位上目前所放物品的深)")
+    private BigDecimal locationDeep;
+
+    @Schema(description = "高(库位上目前所放物品的高)")
+    @ExcelProperty("高(库位上目前所放物品的高)")
+    private BigDecimal locationHeight;
+
+    @Schema(description = "库位默认高度(现场有水泥高出地面的高度)")
+    @ExcelProperty("库位默认高度(现场有水泥高出地面的高度)")
+    private BigDecimal locationDefaultHeight;
+
+    @Schema(description = "机车上报的高度/总高(如果两个箱子叠加，就是叠加后的总高度)")
+    @ExcelProperty("机车上报的高度/总高(如果两个箱子叠加，就是叠加后的总高度)")
+    private BigDecimal locationTotalHeight;
+
+    @Schema(description = "机车上报的托盘高度")
+    @ExcelProperty("机车上报的托盘高度")
+    private BigDecimal locationTrayHeight;
+
+    @Schema(description = "层数")
+    @ExcelProperty("层数")
+    private Integer locationStorey;
+
+    @Schema(description = "点位类型（0：库位、1：等待点、2：输送线取托盘点、3：出库放托盘点）", example = "1")
+    @ExcelProperty("点位类型（0：库位、1：等待点、2：输送线取托盘点、3：出库放托盘点）")
+    private Integer locationType;
+
+    @Schema(description = "排序的位置,越大越优先堆放")
+    @ExcelProperty("排序的位置,越大越优先堆放")
+    private Long locationNumber;
+
+    @Schema(description = "最后一次执行任务robot_task的id", example = "23816")
+    @ExcelProperty("最后一次执行任务robot_task的id")
+    private Long taskId;
+
+    @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/houselocation/vo/WareHouseLocationSaveReqVO.java

@@ -0,0 +1,94 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import javax.validation.constraints.*;
+import java.math.BigDecimal;
+
+@Schema(description = "管理后台 - 库位新增/修改 Request VO")
+@Data
+public class WareHouseLocationSaveReqVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "31866")
+    private Long id;
+
+    @Schema(description = "巷道/线库id", example = "24770")
+    private Long laneId;
+
+    @Schema(description = "巷道/线库名称", example = "赵六")
+    private String laneName;
+
+    @Schema(description = "库区id(自定义)", example = "11770")
+    private Long areaId;
+
+    @Schema(description = "库区名称", example = "张三")
+    private String areaName;
+
+    @Schema(description = "库位编号")
+    private String locationNo;
+
+    @Schema(description = "分组名称", example = "李四")
+    private String groupName;
+
+    @Schema(description = "弧度")
+    private String locationYaw;
+
+    @Schema(description = "物料信息")
+    private String skuInfo;
+
+    @Schema(description = "物料批次号")
+    private String skuBatch;
+
+    @Schema(description = "物料数量")
+    private Long skuNumber;
+
+    @Schema(description = "托盘消息")
+    private String trayInfo;
+
+    @Schema(description = "启用/禁用（0：禁用、1：启用）")
+    private Integer locationEnable;
+
+    @Schema(description = "锁定/正常（0：锁定、1：正常）")
+    private Integer locationLock;
+
+    @Schema(description = "状态（0：空闲、1：占用）", example = "2")
+    private Integer locationUseStatus;
+
+    @Schema(description = "库位坐标x轴")
+    private String locationX;
+
+    @Schema(description = "库位坐标y轴")
+    private String locationY;
+
+    @Schema(description = "宽(库位上目前所放物品的宽)")
+    private BigDecimal locationWide;
+
+    @Schema(description = "深(库位上目前所放物品的深)")
+    private BigDecimal locationDeep;
+
+    @Schema(description = "高(库位上目前所放物品的高)")
+    private BigDecimal locationHeight;
+
+    @Schema(description = "库位默认高度(现场有水泥高出地面的高度)")
+    private BigDecimal locationDefaultHeight;
+
+    @Schema(description = "机车上报的高度/总高(如果两个箱子叠加，就是叠加后的总高度)")
+    private BigDecimal locationTotalHeight;
+
+    @Schema(description = "机车上报的托盘高度")
+    private BigDecimal locationTrayHeight;
+
+    @Schema(description = "层数")
+    private Integer locationStorey;
+
+    @Schema(description = "点位类型（0：库位、1：等待点、2：输送线取托盘点、3：出库放托盘点）", example = "1")
+    private Integer locationType;
+
+    @Schema(description = "排序的位置,越大越优先堆放")
+    private Long locationNumber;
+
+    @Schema(description = "最后一次执行任务robot_task的id", example = "23816")
+    private Long taskId;
+
+}

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/controller/admin/robot/RobotInformationController.java

@@ -0,0 +1,96 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot;
+
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationRespVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
+import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
+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 - 车辆信息")
+@RestController
+@RequestMapping("/system/robot/information")
+@Validated
+public class RobotInformationController {
+
+    @Resource
+    private RobotInformationService informationService;
+
+    @PostMapping("/create")
+    @Operation(summary = "创建车辆信息")
+    @PreAuthorize("@ss.hasPermission('robot:information:create')")
+    public CommonResult<Long> createInformation(@Valid @RequestBody RobotInformationSaveReqVO createReqVO) {
+        return success(informationService.createInformation(createReqVO));
+    }
+
+    @PutMapping("/update")
+    @Operation(summary = "更新车辆信息")
+    @PreAuthorize("@ss.hasPermission('robot:information:update')")
+    public CommonResult<Boolean> updateInformation(@Valid @RequestBody RobotInformationSaveReqVO updateReqVO) {
+        informationService.updateInformation(updateReqVO);
+        return success(true);
+    }
+
+    @DeleteMapping("/delete")
+    @Operation(summary = "删除车辆信息")
+    @Parameter(name = "id", description = "编号", required = true)
+    @PreAuthorize("@ss.hasPermission('robot:information:delete')")
+    public CommonResult<Boolean> deleteInformation(@RequestParam("id") Long id) {
+        informationService.deleteInformation(id);
+        return success(true);
+    }
+
+    @GetMapping("/get")
+    @Operation(summary = "获得车辆信息")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('robot:information:query')")
+    public CommonResult<RobotInformationRespVO> getInformation(@RequestParam("id") Long id) {
+        RobotInformationDO information = informationService.getInformation(id);
+        return success(BeanUtils.toBean(information, RobotInformationRespVO.class));
+    }
+
+    @GetMapping("/page")
+    @Operation(summary = "获得车辆信息分页")
+    @PreAuthorize("@ss.hasPermission('robot:information:query')")
+    public CommonResult<PageResult<RobotInformationRespVO>> getInformationPage(@Valid RobotInformationPageReqVO pageReqVO) {
+        PageResult<RobotInformationDO> pageResult = informationService.getInformationPage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, RobotInformationRespVO.class));
+    }
+
+    @GetMapping("/export-excel")
+    @Operation(summary = "导出车辆信息 Excel")
+    @PreAuthorize("@ss.hasPermission('robot:information:export')")
+    @ApiAccessLog(operateType = EXPORT)
+    public void exportInformationExcel(@Valid RobotInformationPageReqVO pageReqVO,
+              HttpServletResponse response) throws IOException {
+        pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
+        List<RobotInformationDO> list = informationService.getInformationPage(pageReqVO).getList();
+        // 导出 Excel
+        ExcelUtils.write(response, "车辆信息.xls", "数据", RobotInformationRespVO.class,
+                        BeanUtils.toBean(list, RobotInformationRespVO.class));
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotModelController.java

@@ -0,0 +1,94 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot;
+
+import cn.iocoder.yudao.framework.apilog.core.annotation.ApiAccessLog;
+import cn.iocoder.yudao.framework.common.pojo.CommonResult;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotModelPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotModelRespVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotModelSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotModelDO;
+import cn.iocoder.yudao.module.system.service.robot.RobotModelService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import org.springframework.security.access.prepost.PreAuthorize;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.web.bind.annotation.*;
+
+import javax.annotation.Resource;
+import javax.servlet.http.HttpServletResponse;
+import javax.validation.Valid;
+import java.io.IOException;
+import java.util.List;
+
+import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.EXPORT;
+import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
+
+
+@Tag(name = "管理后台 - 车辆类型")
+@RestController
+@RequestMapping("/system/robot/model")
+@Validated
+public class RobotModelController {
+
+    @Resource
+    private RobotModelService modelService;
+
+    @PostMapping("/create")
+    @Operation(summary = "创建车辆类型")
+    @PreAuthorize("@ss.hasPermission('robot:model:create')")
+    public CommonResult<Long> createModel(@Valid @RequestBody RobotModelSaveReqVO createReqVO) {
+        return success(modelService.createModel(createReqVO));
+    }
+
+    @PutMapping("/update")
+    @Operation(summary = "更新车辆类型")
+    @PreAuthorize("@ss.hasPermission('robot:model:update')")
+    public CommonResult<Boolean> updateModel(@Valid @RequestBody RobotModelSaveReqVO updateReqVO) {
+        modelService.updateModel(updateReqVO);
+        return success(true);
+    }
+
+    @DeleteMapping("/delete")
+    @Operation(summary = "删除车辆类型")
+    @Parameter(name = "id", description = "编号", required = true)
+    @PreAuthorize("@ss.hasPermission('robot:model:delete')")
+    public CommonResult<Boolean> deleteModel(@RequestParam("id") Long id) {
+        modelService.deleteModel(id);
+        return success(true);
+    }
+
+    @GetMapping("/get")
+    @Operation(summary = "获得车辆类型")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('robot:model:query')")
+    public CommonResult<RobotModelRespVO> getModel(@RequestParam("id") Long id) {
+        RobotModelDO model = modelService.getModel(id);
+        return success(BeanUtils.toBean(model, RobotModelRespVO.class));
+    }
+
+    @GetMapping("/page")
+    @Operation(summary = "获得车辆类型分页")
+    @PreAuthorize("@ss.hasPermission('robot:model:query')")
+    public CommonResult<PageResult<RobotModelRespVO>> getModelPage(@Valid RobotModelPageReqVO pageReqVO) {
+        PageResult<RobotModelDO> pageResult = modelService.getModelPage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, RobotModelRespVO.class));
+    }
+
+    @GetMapping("/export-excel")
+    @Operation(summary = "导出车辆类型 Excel")
+    @PreAuthorize("@ss.hasPermission('robot:model:export')")
+    @ApiAccessLog(operateType = EXPORT)
+    public void exportModelExcel(@Valid RobotModelPageReqVO pageReqVO,
+              HttpServletResponse response) throws IOException {
+        pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
+        List<RobotModelDO> list = modelService.getModelPage(pageReqVO).getList();
+        // 导出 Excel
+        ExcelUtils.write(response, "车辆类型.xls", "数据", RobotModelRespVO.class,
+                        BeanUtils.toBean(list, RobotModelRespVO.class));
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotTaskController.java

@@ -0,0 +1,98 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot;
+
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskRespVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
+import cn.iocoder.yudao.module.system.service.robot.RobotTaskService;
+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.constraints.*;
+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 - 机器人任务主表")
+@RestController
+@RequestMapping("/system/robot/task")
+@Validated
+public class RobotTaskController {
+
+    @Resource
+    private RobotTaskService taskService;
+
+
+    @PostMapping("/create")
+    @Operation(summary = "创建机器人任务主表")
+    @PreAuthorize("@ss.hasPermission('robot:task:create')")
+    public CommonResult<Long> createTask(@Valid @RequestBody RobotTaskSaveReqVO createReqVO) throws InterruptedException {
+        return success(taskService.createTask(createReqVO));
+    }
+
+    @PutMapping("/update")
+    @Operation(summary = "更新机器人任务主表")
+    @PreAuthorize("@ss.hasPermission('robot:task:update')")
+    public CommonResult<Boolean> updateTask(@Valid @RequestBody RobotTaskSaveReqVO updateReqVO) {
+        taskService.updateTask(updateReqVO);
+        return success(true);
+    }
+
+    @DeleteMapping("/delete")
+    @Operation(summary = "删除机器人任务主表")
+    @Parameter(name = "id", description = "编号", required = true)
+    @PreAuthorize("@ss.hasPermission('robot:task:delete')")
+    public CommonResult<Boolean> deleteTask(@RequestParam("id") Long id) {
+        taskService.deleteTask(id);
+        return success(true);
+    }
+
+    @GetMapping("/get")
+    @Operation(summary = "获得机器人任务主表")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('robot:task:query')")
+    public CommonResult<RobotTaskRespVO> getTask(@RequestParam("id") Long id) {
+        RobotTaskDO task = taskService.getTask(id);
+        return success(BeanUtils.toBean(task, RobotTaskRespVO.class));
+    }
+
+    @GetMapping("/page")
+    @Operation(summary = "获得机器人任务主表分页")
+    @PreAuthorize("@ss.hasPermission('robot:task:query')")
+    public CommonResult<PageResult<RobotTaskRespVO>> getTaskPage(@Valid RobotTaskPageReqVO pageReqVO) {
+        PageResult<RobotTaskDO> pageResult = taskService.getTaskPage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, RobotTaskRespVO.class));
+    }
+
+    @GetMapping("/export-excel")
+    @Operation(summary = "导出机器人任务主表 Excel")
+    @PreAuthorize("@ss.hasPermission('robot:task:export')")
+    @ApiAccessLog(operateType = EXPORT)
+    public void exportTaskExcel(@Valid RobotTaskPageReqVO pageReqVO,
+              HttpServletResponse response) throws IOException {
+        pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
+        List<RobotTaskDO> list = taskService.getTaskPage(pageReqVO).getList();
+        // 导出 Excel
+        ExcelUtils.write(response, "机器人任务主表.xls", "数据", RobotTaskRespVO.class,
+                        BeanUtils.toBean(list, RobotTaskRespVO.class));
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotTaskDetailController.java

@@ -0,0 +1,95 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot;
+
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailRespVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
+import cn.iocoder.yudao.module.system.service.robot.RobotTaskDetailService;
+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 - 机器人任务明细")
+@RestController
+@RequestMapping("/system/robot/task-detail")
+@Validated
+public class RobotTaskDetailController {
+
+    @Resource
+    private RobotTaskDetailService taskDetailService;
+
+    @PostMapping("/create")
+    @Operation(summary = "创建机器人任务明细")
+    @PreAuthorize("@ss.hasPermission('robot:task-detail:create')")
+    public CommonResult<Long> createTaskDetail(@Valid @RequestBody RobotTaskDetailSaveReqVO createReqVO) {
+        return success(taskDetailService.createTaskDetail(createReqVO));
+    }
+
+    @PutMapping("/update")
+    @Operation(summary = "更新机器人任务明细")
+    @PreAuthorize("@ss.hasPermission('robot:task-detail:update')")
+    public CommonResult<Boolean> updateTaskDetail(@Valid @RequestBody RobotTaskDetailSaveReqVO updateReqVO) {
+        taskDetailService.updateTaskDetail(updateReqVO);
+        return success(true);
+    }
+
+    @DeleteMapping("/delete")
+    @Operation(summary = "删除机器人任务明细")
+    @Parameter(name = "id", description = "编号", required = true)
+    @PreAuthorize("@ss.hasPermission('robot:task-detail:delete')")
+    public CommonResult<Boolean> deleteTaskDetail(@RequestParam("id") Long id) {
+        taskDetailService.deleteTaskDetail(id);
+        return success(true);
+    }
+
+    @GetMapping("/get")
+    @Operation(summary = "获得机器人任务明细")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('robot:task-detail:query')")
+    public CommonResult<RobotTaskDetailRespVO> getTaskDetail(@RequestParam("id") Long id) {
+        RobotTaskDetailDO taskDetail = taskDetailService.getTaskDetail(id);
+        return success(BeanUtils.toBean(taskDetail, RobotTaskDetailRespVO.class));
+    }
+
+    @GetMapping("/page")
+    @Operation(summary = "获得机器人任务明细分页")
+    @PreAuthorize("@ss.hasPermission('robot:task-detail:query')")
+    public CommonResult<PageResult<RobotTaskDetailRespVO>> getTaskDetailPage(@Valid RobotTaskDetailPageReqVO pageReqVO) {
+        PageResult<RobotTaskDetailDO> pageResult = taskDetailService.getTaskDetailPage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, RobotTaskDetailRespVO.class));
+    }
+
+    @GetMapping("/export-excel")
+    @Operation(summary = "导出机器人任务明细 Excel")
+    @PreAuthorize("@ss.hasPermission('robot:task-detail:export')")
+    @ApiAccessLog(operateType = EXPORT)
+    public void exportTaskDetailExcel(@Valid RobotTaskDetailPageReqVO pageReqVO,
+              HttpServletResponse response) throws IOException {
+        pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
+        List<RobotTaskDetailDO> list = taskDetailService.getTaskDetailPage(pageReqVO).getList();
+        // 导出 Excel
+        ExcelUtils.write(response, "机器人任务明细.xls", "数据", RobotTaskDetailRespVO.class,
+                        BeanUtils.toBean(list, RobotTaskDetailRespVO.class));
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationPageReqVO.java

@@ -0,0 +1,42 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
+
+import lombok.*;
+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 - 车辆信息分页 Request VO")
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+public class RobotInformationPageReqVO extends PageParam {
+
+    @Schema(description = "车辆类型表id", example = "26319")
+    private Long robotModelId;
+
+    @Schema(description = "车辆类型")
+    private String robotModelNumber;
+
+    @Schema(description = "AGV编号")
+    private String robotNo;
+
+    @Schema(description = "任务模式（0：拒收任务、1：正常）")
+    private Integer robotTaskModel;
+
+    @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 = "AGV状态（0：暂停且无任务、1：暂停(有处理中的任务)、2：任务中、3：待命）", example = "1")
+    private Integer robotStatus;
+
+    @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/robot/vo/RobotInformationRespVO.java

@@ -0,0 +1,50 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+
+import java.time.LocalDateTime;
+import com.alibaba.excel.annotation.*;
+
+@Schema(description = "管理后台 - 车辆信息 Response VO")
+@Data
+@ExcelIgnoreUnannotated
+public class RobotInformationRespVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "24068")
+    @ExcelProperty("主键ID")
+    private Long id;
+
+    @Schema(description = "车辆类型表id", example = "26319")
+    @ExcelProperty("车辆类型表id")
+    private Long robotModelId;
+
+    @Schema(description = "车辆类型")
+    @ExcelProperty("车辆类型")
+    private String robotModelNumber;
+
+    @Schema(description = "AGV编号")
+    @ExcelProperty("AGV编号")
+    private String robotNo;
+
+    @Schema(description = "任务模式（0：拒收任务、1：正常）", requiredMode = Schema.RequiredMode.REQUIRED)
+    @ExcelProperty("任务模式（0：拒收任务、1：正常）")
+    private Integer robotTaskModel;
+
+    @Schema(description = "mac地址")
+    @ExcelProperty("mac地址")
+    private String macAddress;
+
+    @Schema(description = "上传图片附件", example = "https://www.iocoder.cn")
+    @ExcelProperty("上传图片附件")
+    private String url;
+
+    @Schema(description = "AGV状态（0：暂停且无任务、1：暂停(有处理中的任务)、2：任务中、3：待命）", requiredMode = Schema.RequiredMode.REQUIRED, example = "1")
+    @ExcelProperty("AGV状态（0：暂停且无任务、1：暂停(有处理中的任务)、2：任务中、3：待命）")
+    private Integer robotStatus;
+
+    @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/robot/vo/RobotInformationSaveReqVO.java

@@ -0,0 +1,36 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+
+import javax.validation.constraints.*;
+
+@Schema(description = "管理后台 - 车辆信息新增/修改 Request VO")
+@Data
+public class RobotInformationSaveReqVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "24068")
+    private Long id;
+
+    @Schema(description = "车辆类型表id", example = "26319")
+    private Long robotModelId;
+
+    @Schema(description = "车辆类型")
+    private String robotModelNumber;
+
+    @Schema(description = "AGV编号")
+    private String robotNo;
+
+    @Schema(description = "任务模式（0：拒收任务、1：正常）", requiredMode = Schema.RequiredMode.REQUIRED)
+    private Integer robotTaskModel;
+
+    @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 = "AGV状态（0：暂停且无任务、1：暂停(有处理中的任务)、2：任务中、3：待命）", requiredMode = Schema.RequiredMode.REQUIRED, example = "1")
+    private Integer robotStatus;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotModelPageReqVO.java

@@ -0,0 +1,31 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
+
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import com.alibaba.excel.annotation.ExcelProperty;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+import lombok.ToString;
+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 - 车辆类型分页 Request VO")
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+public class RobotModelPageReqVO extends PageParam {
+
+    @Schema(description = "车辆类型")
+    private String robotModelNumber;
+
+    @Schema(description = "偏移量")
+    private String robotOffset;
+
+    @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/robot/vo/RobotModelRespVO.java

@@ -0,0 +1,31 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
+
+import com.alibaba.excel.annotation.ExcelIgnoreUnannotated;
+import com.alibaba.excel.annotation.ExcelProperty;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+import java.time.LocalDateTime;
+
+@Schema(description = "管理后台 - 车辆类型 Response VO")
+@Data
+@ExcelIgnoreUnannotated
+public class RobotModelRespVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "15571")
+    @ExcelProperty("主键ID")
+    private Long id;
+
+    @Schema(description = "车辆类型", requiredMode = Schema.RequiredMode.REQUIRED)
+    @ExcelProperty("车辆类型")
+    private String robotModelNumber;
+
+    @Schema(description = "偏移量")
+    @ExcelProperty("偏移量")
+    private String robotOffset;
+
+    @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/robot/vo/RobotModelSaveReqVO.java

@@ -0,0 +1,22 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+import javax.validation.constraints.NotEmpty;
+
+@Schema(description = "管理后台 - 车辆类型新增/修改 Request VO")
+@Data
+public class RobotModelSaveReqVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "15571")
+    private Long id;
+
+    @Schema(description = "车辆类型", requiredMode = Schema.RequiredMode.REQUIRED)
+    @NotEmpty(message = "车辆类型不能为空")
+    private String robotModelNumber;
+
+    @Schema(description = "偏移量")
+    private String robotOffset;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailAddVo.java

@@ -0,0 +1,57 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
+
+import cn.hutool.core.util.ObjectUtil;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+import javax.validation.constraints.NotNull;
+
+@Data
+public class RobotTaskDetailAddVo {
+    @Schema(description = "任务类型（1：取放货、2：停车、 3：充电、4：移动、5：仅取货、6：仅放货、7：扫描码、8：检测托盘类型）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @NotNull(message = "任务类型（1：取放货、2：停车、 3：充电、4：移动、5：仅取货、6：仅放货、7：扫描码、8：检测托盘类型）不能为空")
+    private Integer taskType;
+
+    @Schema(description = "放货类型（1：库位、2：线库、 3：区域）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @NotNull(message = "放货类型（1：库位、2：线库、 3：区域）不能为空")
+    private Integer releaseType;
+
+    @Schema(description = "取货类型（1：库位、2：线库、 3：区域）", requiredMode = Schema.RequiredMode.REQUIRED, example = "1")
+    @NotNull(message = "取货类型（1：库位、2：线库、 3：区域）不能为空")
+    private Integer takeType;
+
+    @Schema(description = "放货库位/线库/区域", requiredMode = Schema.RequiredMode.REQUIRED, example = "6223")
+    @NotNull(message = "放货库位/线库/区域不能为空")
+    private Long releaseId;
+
+    @Schema(description = "取货库位/线库/区域", requiredMode = Schema.RequiredMode.REQUIRED, example = "24801")
+    @NotNull(message = "取货库位/线库/区域不能为空")
+    private Long takeId;
+
+    @Schema(description = "AGV编号")
+    private String robotNo;
+
+    @Schema(description = "计算后的来源库位编号(前端不用传此字段)")
+    private String fromLocationNo;
+    @Schema(description = "计算后的来源库位id(前端不用传此字段)")
+    private Long fromLocationId;
+    @Schema(description = "计算后的目标库位编号(前端不用传此字段)")
+    private String toLocationNo;
+    @Schema(description = "计算后的目标库位id(前端不用传此字段)")
+    private Long toLocationId;
+    @Schema(description = "机器人任务主表id(前端不用传此字段)")
+    private Long robotTaskId;
+    @Schema(description = "取货层数(前端不用传此字段)")
+    private Integer fromLocationStorey;
+    @Schema(description = "放货层数(前端不用传此字段)")
+    private Integer toLocationStorey;
+    @Schema(description = "优先级(前端不用传此字段)")
+    private Long priority;
+
+    public Long getPriority() {
+        if (ObjectUtil.isEmpty(priority)) {
+            priority = 0l;
+        }
+        return priority;
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailPageReqVO.java

@@ -0,0 +1,74 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
+
+import lombok.*;
+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 - 机器人任务明细分页 Request VO")
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+public class RobotTaskDetailPageReqVO extends PageParam {
+
+    @Schema(description = "机器人任务主表id", example = "9241")
+    private Long robotTaskId;
+
+    @Schema(description = "任务类型（1：取放货、2：停车、 3：充电、4：移动、5：仅取货、6：仅放货、7：扫描码、8：检测托盘类型）", example = "2")
+    private Integer taskType;
+
+    @Schema(description = "放货类型（1：库位、2：线库、 3：区域）", example = "2")
+    private Integer releaseType;
+
+    @Schema(description = "取货类型（1：库位、2：线库、 3：区域）", example = "1")
+    private Integer takeType;
+
+    @Schema(description = "放货库位/线库/区域", example = "6223")
+    private Long releaseId;
+
+    @Schema(description = "取货库位/线库/区域", example = "24801")
+    private Long takeId;
+
+    @Schema(description = "计算后的来源库位编号")
+    private String fromLocationNo;
+    @Schema(description = "计算后的来源库位id")
+    private Long fromLocationId;
+    @Schema(description = "计算后的目标库位编号")
+    private String toLocationNo;
+    @Schema(description = "计算后的目标库位id")
+    private Long toLocationId;
+
+    @Schema(description = "AGV编号")
+    private String robotNo;
+
+    @Schema(description = "AGV动作")
+    private String robotAction;
+
+    @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消)", example = "1")
+    private Integer taskStatus;
+
+    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)")
+    private Long taskStage;
+
+    @Schema(description = "开始时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
+    private LocalDateTime[] startTime;
+
+    @Schema(description = "结束时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
+    private LocalDateTime[] endTime;
+
+    @Schema(description = "创建时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
+    private LocalDateTime[] createTime;
+
+    @Schema(description = "取货层数")
+    private Integer fromLocationStorey;
+    @Schema(description = "放货层数")
+    private Integer toLocationStorey;
+    @Schema(description = "优先级")
+    private Long priority;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailRespVO.java

@@ -0,0 +1,91 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+
+import java.time.LocalDateTime;
+import com.alibaba.excel.annotation.*;
+
+@Schema(description = "管理后台 - 机器人任务明细 Response VO")
+@Data
+@ExcelIgnoreUnannotated
+public class RobotTaskDetailRespVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "26224")
+    @ExcelProperty("主键ID")
+    private Long id;
+
+    @Schema(description = "机器人任务主表id", requiredMode = Schema.RequiredMode.REQUIRED, example = "9241")
+    @ExcelProperty("机器人任务主表id")
+    private Long robotTaskId;
+
+    @Schema(description = "任务类型（1：取放货、2：停车、 3：充电、4：移动、5：仅取货、6：仅放货、7：扫描码、8：检测托盘类型）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @ExcelProperty("任务类型（1：取放货、2：停车、 3：充电、4：移动、5：仅取货、6：仅放货、7：扫描码、8：检测托盘类型）")
+    private Integer taskType;
+
+    @Schema(description = "放货类型（1：库位、2：线库、 3：区域）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @ExcelProperty("放货类型（1：库位、2：线库、 3：区域）")
+    private Integer releaseType;
+
+    @Schema(description = "取货类型（1：库位、2：线库、 3：区域）", requiredMode = Schema.RequiredMode.REQUIRED, example = "1")
+    @ExcelProperty("取货类型（1：库位、2：线库、 3：区域）")
+    private Integer takeType;
+
+    @Schema(description = "放货库位/线库/区域", requiredMode = Schema.RequiredMode.REQUIRED, example = "6223")
+    @ExcelProperty("放货库位/线库/区域")
+    private Long releaseId;
+
+    @Schema(description = "取货库位/线库/区域", requiredMode = Schema.RequiredMode.REQUIRED, example = "24801")
+    @ExcelProperty("取货库位/线库/区域")
+    private Long takeId;
+
+    @Schema(description = "计算后的来源库位编号")
+    @ExcelProperty("计算后的来源库位编号")
+    private String fromLocationNo;
+    @Schema(description = "计算后的来源库位id")
+    private Long fromLocationId;
+    @Schema(description = "计算后的目标库位编号")
+    @ExcelProperty("计算后的目标库位编号")
+    private String toLocationNo;
+    @Schema(description = "计算后的目标库位id")
+    private Long toLocationId;
+
+    @Schema(description = "AGV编号")
+    @ExcelProperty("AGV编号")
+    private String robotNo;
+
+    @Schema(description = "AGV动作")
+    @ExcelProperty("AGV动作")
+    private String robotAction;
+
+    @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消)", example = "1")
+    @ExcelProperty("任务状态(0:未开始、1：执行中、2：已完成、3：已取消)")
+    private Integer taskStatus;
+
+    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)")
+    @ExcelProperty("任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)")
+    private Long taskStage;
+
+    @Schema(description = "开始时间")
+    @ExcelProperty("开始时间")
+    private LocalDateTime startTime;
+
+    @Schema(description = "结束时间")
+    @ExcelProperty("结束时间")
+    private LocalDateTime endTime;
+
+    @Schema(description = "创建时间", requiredMode = Schema.RequiredMode.REQUIRED)
+    @ExcelProperty("创建时间")
+    private LocalDateTime createTime;
+
+    @Schema(description = "取货层数")
+    @ExcelProperty("取货层数")
+    private Integer fromLocationStorey;
+    @Schema(description = "放货层数")
+    @ExcelProperty("放货层数")
+    private Integer toLocationStorey;
+    @Schema(description = "优先级")
+    @ExcelProperty("优先级")
+    private Long priority;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailSaveReqVO.java

@@ -0,0 +1,75 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
+
+import com.alibaba.excel.annotation.ExcelProperty;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+
+import javax.validation.constraints.*;
+import java.time.LocalDateTime;
+
+@Schema(description = "管理后台 - 机器人任务明细新增/修改 Request VO")
+@Data
+public class RobotTaskDetailSaveReqVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "26224")
+    private Long id;
+
+    @Schema(description = "机器人任务主表id", requiredMode = Schema.RequiredMode.REQUIRED, example = "9241")
+    @NotNull(message = "机器人任务主表id不能为空")
+    private Long robotTaskId;
+
+    @Schema(description = "任务类型（1：取放货、2：停车、 3：充电、4：移动、5：仅取货、6：仅放货、7：扫描码、8：检测托盘类型）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @NotNull(message = "任务类型（1：取放货、2：停车、 3：充电、4：移动、5：仅取货、6：仅放货、7：扫描码、8：检测托盘类型）不能为空")
+    private Integer taskType;
+
+    @Schema(description = "放货类型（1：库位、2：线库、 3：区域）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @NotNull(message = "放货类型（1：库位、2：线库、 3：区域）不能为空")
+    private Integer releaseType;
+
+    @Schema(description = "取货类型（1：库位、2：线库、 3：区域）", requiredMode = Schema.RequiredMode.REQUIRED, example = "1")
+    @NotNull(message = "取货类型（1：库位、2：线库、 3：区域）不能为空")
+    private Integer takeType;
+
+    @Schema(description = "放货库位/线库/区域", requiredMode = Schema.RequiredMode.REQUIRED, example = "6223")
+    @NotNull(message = "放货库位/线库/区域不能为空")
+    private Long releaseId;
+
+    @Schema(description = "取货库位/线库/区域", requiredMode = Schema.RequiredMode.REQUIRED, example = "24801")
+    @NotNull(message = "取货库位/线库/区域不能为空")
+    private Long takeId;
+
+    @Schema(description = "计算后的来源库位编号")
+    private String fromLocationNo;
+    @Schema(description = "计算后的来源库位id")
+    private Long fromLocationId;
+    @Schema(description = "计算后的目标库位编号")
+    private String toLocationNo;
+    @Schema(description = "计算后的目标库位id")
+    private Long toLocationId;
+
+    @Schema(description = "AGV编号")
+    private String robotNo;
+
+    @Schema(description = "AGV动作")
+    private String robotAction;
+
+    @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消)", example = "1")
+    private Integer taskStatus;
+
+    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)")
+    private Long taskStage;
+
+    @Schema(description = "开始时间")
+    private LocalDateTime startTime;
+
+    @Schema(description = "结束时间")
+    private LocalDateTime endTime;
+
+    @Schema(description = "取货层数")
+    private Integer fromLocationStorey;
+    @Schema(description = "放货层数")
+    private Integer toLocationStorey;
+    @Schema(description = "优先级")
+    private Long priority;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskPageReqVO.java

@@ -0,0 +1,72 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.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 - 机器人任务主表分页 Request VO")
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+public class RobotTaskPageReqVO extends PageParam {
+
+    @Schema(description = "是否拼接任务（0：不拼接、1：拼接）")
+    private Integer montageTask;
+
+    @Schema(description = "拼接任务数量")
+    private Integer montageNumber;
+
+    @Schema(description = "物料信息")
+    private String skuInfo;
+
+    @Schema(description = "物料批次号")
+    private String skuBatch;
+
+    @Schema(description = "物料数量")
+    private Long skuNumber;
+
+    @Schema(description = "优先级")
+    private Long priority;
+
+    @Schema(description = "其他信息")
+    private String otherMsg;
+
+    @Schema(description = "循环(0:不循环、1：循环)")
+    private Long doCycle;
+
+    @Schema(description = "是否搬空所选线库/区域(0:不搬空、1：搬空)")
+    private Long doMoveAll;
+
+    @Schema(description = "循环次数")
+    private Long cycleNumber;
+
+    @Schema(description = "剩余循环次数，默认1")
+    private Long remainingCycleNumber;
+
+    @Schema(description = "任务号")
+    private String taskNo;
+
+    @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消)", example = "2")
+    private Long taskStatus;
+
+    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)")
+    private Long taskStage;
+
+    @Schema(description = "开始时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
+    private LocalDateTime[] startTime;
+
+    @Schema(description = "结束时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
+    private LocalDateTime[] endTime;
+
+    @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/robot/vo/RobotTaskRespVO.java

@@ -0,0 +1,87 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.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 - 机器人任务主表 Response VO")
+@Data
+@ExcelIgnoreUnannotated
+public class RobotTaskRespVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "15306")
+    @ExcelProperty("主键ID")
+    private Long id;
+
+    @Schema(description = "是否拼接任务（0：不拼接、1：拼接）", requiredMode = Schema.RequiredMode.REQUIRED)
+    @ExcelProperty("是否拼接任务（0：不拼接、1：拼接）")
+    private Integer montageTask;
+
+    @Schema(description = "拼接任务数量", requiredMode = Schema.RequiredMode.REQUIRED)
+    @ExcelProperty("拼接任务数量")
+    private Integer montageNumber;
+
+    @Schema(description = "物料信息")
+    @ExcelProperty("物料信息")
+    private String skuInfo;
+
+    @Schema(description = "物料批次号")
+    @ExcelProperty("物料批次号")
+    private String skuBatch;
+
+    @Schema(description = "物料数量")
+    @ExcelProperty("物料数量")
+    private Long skuNumber;
+
+    @Schema(description = "优先级")
+    @ExcelProperty("优先级")
+    private Long priority;
+
+    @Schema(description = "其他信息")
+    @ExcelProperty("其他信息")
+    private String otherMsg;
+
+    @Schema(description = "循环(0:不循环、1：循环)")
+    @ExcelProperty("循环(0:不循环、1：循环)")
+    private Long doCycle;
+
+    @Schema(description = "是否搬空所选线库/区域(0:不搬空、1：搬空)")
+    @ExcelProperty("是否搬空所选线库/区域(0:不搬空、1：搬空)")
+    private Long doMoveAll;
+
+    @Schema(description = "循环次数")
+    @ExcelProperty("循环次数")
+    private Long cycleNumber;
+
+    @Schema(description = "剩余循环次数，默认1")
+    @ExcelProperty("剩余循环次数，默认1")
+    private Long remainingCycleNumber;
+
+    @Schema(description = "任务号")
+    @ExcelProperty("任务号")
+    private String taskNo;
+
+    @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消)", example = "2")
+    @ExcelProperty("任务状态(0:未开始、1：执行中、2：已完成、3：已取消)")
+    private Long taskStatus;
+
+    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)")
+    @ExcelProperty("任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)")
+    private Long taskStage;
+
+    @Schema(description = "开始时间")
+    @ExcelProperty("开始时间")
+    private LocalDateTime startTime;
+
+    @Schema(description = "结束时间")
+    @ExcelProperty("结束时间")
+    private LocalDateTime endTime;
+
+    @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/robot/vo/RobotTaskSaveReqVO.java

@@ -0,0 +1,71 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.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 - 机器人任务主表新增/修改 Request VO")
+@Data
+public class RobotTaskSaveReqVO {
+
+    @Schema(description = "是否拼接任务（0：不拼接、1：拼接）", requiredMode = Schema.RequiredMode.REQUIRED)
+    @NotNull(message = "是否拼接任务（0：不拼接、1：拼接）不能为空")
+    private Integer montageTask;
+
+    @Schema(description = "拼接任务数量", requiredMode = Schema.RequiredMode.REQUIRED)
+    @NotNull(message = "拼接任务数量不能为空")
+    private Integer montageNumber;
+
+    @Schema(description = "任务")
+    private List<RobotTaskDetailAddVo> taskDetailList;
+
+    @Schema(description = "物料信息")
+    private String skuInfo;
+
+    @Schema(description = "物料批次号")
+    private String skuBatch;
+
+    @Schema(description = "物料数量")
+    private Long skuNumber;
+
+    @Schema(description = "优先级")
+    private Long priority;
+
+    @Schema(description = "其他信息")
+    private String otherMsg;
+
+    @Schema(description = "循环(0:不循环、1：循环)")
+    private Long doCycle;
+
+    @Schema(description = "是否搬空所选线库/区域(0:不搬空、1：搬空)")
+    private Long doMoveAll;
+
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "15306")
+    private Long id;
+
+    @Schema(description = "循环次数")
+    private Long cycleNumber;
+
+    @Schema(description = "剩余循环次数，默认1")
+    private Long remainingCycleNumber;
+
+    @Schema(description = "任务号")
+    private String taskNo;
+
+    @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消)", example = "2")
+    private Long taskStatus;
+
+    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)")
+    private Long taskStage;
+
+    @Schema(description = "开始时间")
+    private LocalDateTime startTime;
+
+    @Schema(description = "结束时间")
+    private LocalDateTime endTime;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/housearea/HouseAreaDO.java

@@ -0,0 +1,40 @@
+package cn.iocoder.yudao.module.system.dal.dataobject.housearea;
+
+import lombok.*;
+import com.baomidou.mybatisplus.annotation.*;
+import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
+
+/**
+ * 库区 DO
+ *
+ * @author 陈宾顺
+ */
+@TableName("ware_house_area")
+@KeySequence("ware_house_area_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 HouseAreaDO extends BaseDO {
+
+    /**
+     * 主键ID
+     */
+    @TableId
+    private Long id;
+    /**
+     * 库区id(自定义)
+     */
+    private Long areaId;
+    /**
+     * 库区名称
+     */
+    private String areaName;
+    /**
+     * 库区说明
+     */
+    private String areaMsg;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselane/WareHouseLaneDO.java

@@ -0,0 +1,43 @@
+package cn.iocoder.yudao.module.system.dal.dataobject.houselane;
+
+import lombok.*;
+import java.util.*;
+import java.time.LocalDateTime;
+import java.time.LocalDateTime;
+import com.baomidou.mybatisplus.annotation.*;
+import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
+
+/**
+ * 线库/巷道 DO
+ *
+ * @author 陈宾顺
+ */
+@TableName("ware_house_lane")
+@KeySequence("ware_house_lane_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 WareHouseLaneDO extends BaseDO {
+
+    /**
+     * 主键ID
+     */
+    @TableId
+    private Long id;
+    /**
+     * 巷道id(自定义)
+     */
+    private Long laneId;
+    /**
+     * 巷道名称
+     */
+    private String laneName;
+    /**
+     * 巷道说明(可以拓展为区域说明)
+     */
+    private String laneMsg;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationDO.java

@@ -0,0 +1,141 @@
+package cn.iocoder.yudao.module.system.dal.dataobject.houselocation;
+
+import lombok.*;
+import java.util.*;
+import java.math.BigDecimal;
+import java.math.BigDecimal;
+import java.math.BigDecimal;
+import java.math.BigDecimal;
+import java.math.BigDecimal;
+import java.math.BigDecimal;
+import java.time.LocalDateTime;
+import java.time.LocalDateTime;
+import com.baomidou.mybatisplus.annotation.*;
+import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
+
+/**
+ * 库位 DO
+ *
+ * @author 陈宾顺
+ */
+@TableName("ware_house_location")
+@KeySequence("ware_house_location_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 WareHouseLocationDO extends BaseDO {
+
+    /**
+     * 主键ID
+     */
+    @TableId
+    private Long id;
+    /**
+     * 巷道/线库id
+     */
+    private Long laneId;
+    /**
+     * 巷道/线库名称
+     */
+    private String laneName;
+    /**
+     * 库区id(自定义)
+     */
+    private Long areaId;
+    /**
+     * 库区名称
+     */
+    private String areaName;
+    /**
+     * 库位编号
+     */
+    private String locationNo;
+    /**
+     * 分组名称
+     */
+    private String groupName;
+    /**
+     * 弧度
+     */
+    private String locationYaw;
+    /**
+     * 物料信息
+     */
+    private String skuInfo;
+    /**
+     * 物料批次号
+     */
+    private String skuBatch;
+    /**
+     * 物料数量
+     */
+    private Long skuNumber;
+    /**
+     * 托盘消息
+     */
+    private String trayInfo;
+    /**
+     * 启用/禁用（0：禁用、1：启用）
+     */
+    private Integer locationEnable;
+    /**
+     * 锁定/正常（0：锁定、1：正常）
+     */
+    private Integer locationLock;
+    /**
+     * 状态（0：空闲、1：占用）
+     */
+    private Integer locationUseStatus;
+    /**
+     * 库位坐标x轴
+     */
+    private String locationX;
+    /**
+     * 库位坐标y轴
+     */
+    private String locationY;
+    /**
+     * 宽(库位上目前所放物品的宽)
+     */
+    private BigDecimal locationWide;
+    /**
+     * 深(库位上目前所放物品的深)
+     */
+    private BigDecimal locationDeep;
+    /**
+     * 高(库位上目前所放物品的高)
+     */
+    private BigDecimal locationHeight;
+    /**
+     * 库位默认高度(现场有水泥高出地面的高度)
+     */
+    private BigDecimal locationDefaultHeight;
+    /**
+     * 机车上报的高度/总高(如果两个箱子叠加，就是叠加后的总高度)
+     */
+    private BigDecimal locationTotalHeight;
+    /**
+     * 机车上报的托盘高度
+     */
+    private BigDecimal locationTrayHeight;
+    /**
+     * 层数
+     */
+    private Integer locationStorey;
+    /**
+     * 点位类型（0：库位、1：等待点、2：输送线取托盘点、3：出库放托盘点）
+     */
+    private Integer locationType;
+    /**
+     * 排序的位置,越大越优先堆放
+     */
+    private Long locationNumber;
+    /**
+     * 最后一次执行任务robot_task的id
+     */
+    private Long taskId;
+
+}