feat(positionmap): 增加车头朝向的种类并优化路径规划逻辑

- 在 PositionMapLineDO 和 PositionMapLineDTO 中扩展了车头朝向的种类，增加了随意朝向和反向行走时的朝向变化
- 修改了 PathPlanningServiceImpl 中的路径规划逻辑，以适应新的车头朝向种类
- 更新了相关控制器和 API 接口中的车头朝向描述

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PositionMapLineDTO.java

@@ -102,16 +102,18 @@ 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 4正随 5随正 6随反 7反随 8随随) 如果是单向的话 0代表正 1代表反 2代表随意", example = "15890")
     private Integer toward;
 
-    @Schema(description = "发送给路径规划 车头朝向(0正 1反)", example = "15890")
+    @Schema(description = "发送给路径规划 车头朝向(0正 1反 2随)", example = "15890")
     private Integer ppToward;
 
 
     /**
      * 双向车道 反向行走变更车头朝向
      *
+     * 车头朝向(0:正正 1:正反 2:反正 3:反反  4正随 5随正 6随反 7反随 8随随
+     *
      * @param toward
      * @return
      */
@@ -124,6 +126,48 @@ public class PositionMapLineDTO {
             return 0;
         } else if (toward == 3) {
             return 1;
+        } else if (toward == 4) {
+            return 2;
+        } else if (toward == 5) {
+            return 0;
+        } else if (toward == 6) {
+            return 1;
+        } else if (toward == 7) {
+            return 2;
+        } else if (toward == 8) {
+            return 2;
+        } else {
+            return 0;
+        }
+    }
+
+    /**
+     * 双向车道 反向行走变更车头朝向
+     *
+     * 车头朝向(0:正正 1:正反 2:反正 3:反反  4正随 5随正 6随反 7反随 8随随
+     *
+     * @param toward
+     * @return
+     */
+    public Integer changeTowardFirst(Integer toward) {
+        if (toward == 0) {
+            return 0;
+        } else if (toward == 1) {
+            return 0;
+        } else if (toward == 2) {
+            return 1;
+        } else if (toward == 3) {
+            return 1;
+        } else if (toward == 4) {
+            return 0;
+        } else if (toward == 5) {
+            return 2;
+        } else if (toward == 6) {
+            return 2;
+        } else if (toward == 7) {
+            return 1;
+        } else if (toward == 8) {
+            return 2;
         } else {
             return 0;
         }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/PositionMapLineDTO.java

@@ -102,6 +102,6 @@ public class PositionMapLineDTO {
     @Schema(description = "终点高")
     private BigDecimal endHigh;
 
-    @Schema(description = "车头朝向( 0:正正 1:正反 2:反正 3:反反)")
+    @Schema(description = "车头朝向(0:正正 1:正反 2:反正 3:反反 4正随 5随正 6随反 7反随 8随随")
     private Integer toward;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLinePageReqVO.java

@@ -114,7 +114,7 @@ public class PositionMapLinePageReqVO extends PageParam {
     private LocalDateTime[] createTime;
 
 
-    @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 4正随 5随正 6随反 7反随 8随随", example = "15890")
     private Integer toward;
 
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineRespVO.java

@@ -130,8 +130,8 @@ public class PositionMapLineRespVO {
     @ExcelProperty("创建时间")
     private LocalDateTime createTime;
 
-    @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 4正随 5随正 6随反 7反随 8随随", example = "15890")
-    @ExcelProperty("车头朝向( 0:正正 1:正反 2:反正 3:反反)")
+    @ExcelProperty("车头朝向(0:正正 1:正反 2:反正 3:反反 4正随 5随正 6随反 7反随 8随随")
     private Integer toward;
 
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineSaveReqVO.java

@@ -112,7 +112,7 @@ public class PositionMapLineSaveReqVO {
     private BigDecimal reverseSpeedLimit;
 
 
-    @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 4正随 5随正 6随反 7反随 8随随 如果是单向的话 0代表正 1代表反 2代表随意", example = "15890")
     private Integer toward;
 
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapLineDO.java

@@ -169,7 +169,7 @@ public class PositionMapLineDO extends BaseDO {
     private BigDecimal reverseSpeedLimit;
 
     /**
-     * 车头朝向(0:正正 1:正反 2:反正 3:反反)
+     * 车头朝向(0:正正 1:正反 2:反正 3:反反 4正随 5随正 6随反 7反随 8随随 如果是单向的话 0代表正 1代表反 2代表随意
      */
     private Integer toward;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java

@@ -205,10 +205,12 @@ public class PathPlanningServiceImpl implements PathPlanningService {
 
         List<PositionMapLineDTO> list = new ArrayList<>();
         for (PositionMapLineDTO positionMapLineDO : positionMapLineDOS) {
-            list.add(positionMapLineDO);
             if (DirectionEnum.ONE_WAY.getType().equals(positionMapLineDO.getDirection())) {
-                positionMapLineDO.setPpToward(positionMapLineDO.changeToward(positionMapLineDO.getToward()));
+                positionMapLineDO.setPpToward(positionMapLineDO.getToward());
+                list.add(positionMapLineDO);
             } else {
+                positionMapLineDO.setPpToward(positionMapLineDO.changeTowardFirst(positionMapLineDO.getToward()));
+                list.add(positionMapLineDO);
                 list.add(setPositionMapLineDTOData(positionMapLineDO));
             }
         }
@@ -280,10 +282,12 @@ public class PathPlanningServiceImpl implements PathPlanningService {
 
         List<PositionMapLineDTO> list = new ArrayList<>();
         for (PositionMapLineDTO positionMapLineDO : positionMapLineDOS) {
-            list.add(positionMapLineDO);
             if (DirectionEnum.ONE_WAY.getType().equals(positionMapLineDO.getDirection())) {
-                positionMapLineDO.setPpToward(positionMapLineDO.changeToward(positionMapLineDO.getToward()));
+                positionMapLineDO.setPpToward(positionMapLineDO.getToward());
+                list.add(positionMapLineDO);
             } else {
+                positionMapLineDO.setPpToward(positionMapLineDO.changeTowardFirst(positionMapLineDO.getToward()));
+                list.add(positionMapLineDO);
                 list.add(setPositionMapLineDTOData(positionMapLineDO));
             }
         }
@@ -533,7 +537,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
                 .expansionZoneAfter(positionMapLineDO.getExpansionZoneFront())
                 .expansionZoneLeft(positionMapLineDO.getExpansionZoneRight())
                 .expansionZoneRight(positionMapLineDO.getExpansionZoneLeft())
-                .toward(positionMapLineDO.changeToward(positionMapLineDO.getToward()))
+                .ppToward(positionMapLineDO.changeToward(positionMapLineDO.getToward()))
                 .build();
         return build;
     }
@@ -548,10 +552,12 @@ public class PathPlanningServiceImpl implements PathPlanningService {
 
         List<PositionMapLineDTO> list = new ArrayList<>();
         for (PositionMapLineDTO positionMapLineDO : positionMapLineDOS) {
-            list.add(positionMapLineDO);
             if (DirectionEnum.ONE_WAY.getType().equals(positionMapLineDO.getDirection())) {
-                positionMapLineDO.setPpToward(positionMapLineDO.changeToward(positionMapLineDO.getToward()));
+                positionMapLineDO.setPpToward(positionMapLineDO.getToward());
+                list.add(positionMapLineDO);
             } else {
+                positionMapLineDO.setPpToward(positionMapLineDO.changeTowardFirst(positionMapLineDO.getToward()));
+                list.add(positionMapLineDO);
                 list.add(setPositionMapLineDTOData(positionMapLineDO));
             }
         }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java

@@ -301,8 +301,7 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
 
     @Override
     public void emergencyStopOrRecovery(Long id) {
-        // 先获取当前地图上的所有AGV信息
+        // todo 先获取当前地图上的所有AGV信息
-
     }
 
     @Override