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feat(system): 添加一键急停和恢复地图上所有AGV的功能- 在 PositionMapController 中添加了 emergencyStopOrRecovery 接口

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- 在 PositionMapService 中添加了 emergencyStopOrRecovery 方法- 在 PositionMapServiceImpl 中实现了 emergencyStopOrRecovery 方法
-优化了 PositionMapLineDTO 中的车头朝向逻辑
This commit is contained in:
aikai 2025-03-17 14:30:12 +08:00
parent 19fd048a1b
commit 111f63e10a
5 changed files with 45 additions and 18 deletions
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15
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PositionMapLineDTO.java
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@ -6,8 +6,6 @@ import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;
import java.math.BigDecimal;
@Data
@Builder
@NoArgsConstructor
@ -104,20 +102,27 @@ public class PositionMapLineDTO {
@Schema(description = "终点高")
private Double endHigh;
@Schema(description = "车头朝向( 0:正正 1:正反 2:反正 3:反反)", example = "15890")
@Schema(description = "车头朝向(0:正正 1:正反 2:反正 3:反反)", example = "15890")
private Integer toward;
@Schema(description = "发送给路径规划 车头朝向(0正 1反)", example = "15890")
private Integer ppToward;
/**
* 双向车道 反向行走变更车头朝向
*
* @param toward
* @return
*/
public Integer changeToward(Integer toward) {
if (toward == 0) {
return 3;
return 0;
} else if (toward == 1) {
return 2;
return 1;
} else if (toward == 2) {
return 0;
} else if (toward == 3) {
return 1;
} else {
return 0;

11
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapController.java
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@ -17,6 +17,7 @@ import javax.annotation.Resource;
import javax.annotation.security.PermitAll;
import javax.servlet.http.HttpServletResponse;
import java.io.IOException;
import java.util.Comparator;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
@ -50,6 +51,16 @@ public class PositionMapController {
return success(BeanUtils.toBean(positionMap, PositionMapRespVO.class));
}
@GetMapping("/emergencyStopOrRecovery")
@Operation(summary = "一键急停or一键恢复地图上所有AGV")
@Parameter(name = "id", description = "编号", required = true, example = "1024")
@PreAuthorize("@ss.hasPermission('system:position-map:emergencyStopOrRecovery')")
public CommonResult<Boolean> emergencyStopOrRecovery(@RequestParam("id") Long id) {
positionMapService.emergencyStopOrRecovery(id);
return success(true);
}
@GetMapping("/getMap")
@Operation(summary = "获得仓库点位地图Map")
@PreAuthorize("@ss.hasPermission('system:position-map:query')")

23
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
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@ -11,7 +11,6 @@ import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMa
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapLineMapper;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
@ -26,8 +25,6 @@ import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import java.util.Map;
import java.util.concurrent.ExecutorService;
import java.util.concurrent.Executors;
import java.util.stream.Collectors;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
@ -88,7 +85,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
relatedPathNode.setFloor(positionMapDO.getFloor());
relatedPathNode.setArea(positionMapDO.getArea());
relatedPathNode.setType(PathTypeEnum.INIT.getType());
List<PositionMapLineDTO> positionMapLineDOS = positionMapLineMap.get(positionMapDO.getId()+"");
List<PositionMapLineDTO> positionMapLineDOS = positionMapLineMap.get(positionMapDO.getId() + "");
if (ObjectUtil.isEmpty(positionMapLineDOS)) {
continue;
}
@ -163,10 +160,10 @@ public class PathPlanningServiceImpl implements PathPlanningService {
for (PositionMapLineDTO positionMapLineDO : positionMapLineDOS) {
list.add(positionMapLineDO);
if (DirectionEnum.ONE_WAY.getType().equals(positionMapLineDO.getDirection())) {
continue;
positionMapLineDO.setPpToward(positionMapLineDO.changeToward(positionMapLineDO.getToward()));
} else {
list.add(setPositionMapLineDTOData(positionMapLineDO));
}
list.add(setPositionMapLineDTOData(positionMapLineDO));
}
PositionMapLinePathDTO relatedPathNode = new PositionMapLinePathDTO();
@ -238,10 +235,10 @@ public class PathPlanningServiceImpl implements PathPlanningService {
for (PositionMapLineDTO positionMapLineDO : positionMapLineDOS) {
list.add(positionMapLineDO);
if (DirectionEnum.ONE_WAY.getType().equals(positionMapLineDO.getDirection())) {
continue;
positionMapLineDO.setPpToward(positionMapLineDO.changeToward(positionMapLineDO.getToward()));
} else {
list.add(setPositionMapLineDTOData(positionMapLineDO));
}
list.add(setPositionMapLineDTOData(positionMapLineDO));
}
PositionMapLinePathDTO relatedPathNode = new PositionMapLinePathDTO();
@ -406,10 +403,10 @@ public class PathPlanningServiceImpl implements PathPlanningService {
for (PositionMapLineDTO positionMapLineDO : positionMapLineDOS) {
list.add(positionMapLineDO);
if (DirectionEnum.ONE_WAY.getType().equals(positionMapLineDO.getDirection())) {
continue;
positionMapLineDO.setPpToward(positionMapLineDO.changeToward(positionMapLineDO.getToward()));
} else {
list.add(setPositionMapLineDTOData(positionMapLineDO));
}
list.add(setPositionMapLineDTOData(positionMapLineDO));
}
relatedPathNode.setControl_nodes(list);

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapService.java
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@ -92,7 +92,15 @@ public interface PositionMapService extends IService<PositionMapDO> {
/**
* 获得所有仓库点位地图Map
*
* @return
*/
Map<Integer, List<PositionMapDO>> getAllMap();
/**
* 一键急停or一键恢复
*
* @param id
*/
void emergencyStopOrRecovery(Long id);
}

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java
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@ -319,4 +319,10 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
return collect;
}
@Override
public void emergencyStopOrRecovery(Long id) {
// 先获取当前地图上的所有AGV信息
}
}