feat(system): 添加机器人状态测试接口并优化数据处理
- 在 RobotInformationController 中添加 test 接口，用于测试机器人状态 - 在 RobotInformationService 中添加 test 方法，处理机器人状态数据 - 在 HouseAreaService 中修改 getHouseAreaList 方法，增加 positionMapId 参数- 在 application-local.yaml 中更新数据库连接 URL，添加 allowMultiQueries 参数 - 新增 RequestProcessor 类，用于处理和发送机器人状态数据
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aikai
parent
8565c226cf
commit
22c8eca028
@ -6,7 +6,6 @@ import cn.iocoder.yudao.framework.common.pojo.PageParam;
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import cn.iocoder.yudao.framework.common.pojo.PageResult;
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import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
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import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils;
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import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
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import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
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import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
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import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
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@ -18,7 +17,6 @@ import org.springframework.validation.annotation.Validated;
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import org.springframework.web.bind.annotation.*;
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import javax.annotation.Resource;
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import javax.annotation.security.PermitAll;
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import javax.servlet.http.HttpServletResponse;
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import javax.validation.Valid;
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import java.io.IOException;
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@ -37,14 +35,6 @@ public class RobotInformationController {
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@Resource
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private RobotInformationService informationService;
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@PostMapping("/test")
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@Operation(summary = "测试")
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@PermitAll
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public CommonResult<Boolean> test(@RequestBody RobotStatusDTO dto) {
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informationService.test(dto);
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return success(true);
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}
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@PostMapping("/create")
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@Operation(summary = "创建车辆信息")
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@PreAuthorize("@ss.hasPermission('robot:information:create')")
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@ -1,13 +1,12 @@
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package cn.iocoder.yudao.module.system.service.robot;
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import java.util.*;
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import javax.validation.*;
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import cn.iocoder.yudao.framework.common.pojo.PageResult;
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import cn.iocoder.yudao.framework.common.pojo.PageParam;
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import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
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import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
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import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
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import javax.validation.Valid;
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import java.util.List;
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/**
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* 车辆信息 Service 接口
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*
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@ -55,32 +54,30 @@ public interface RobotInformationService {
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/**
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* 统计车辆待命/任务中/离线
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*
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* @return
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*/
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RobotInformationStatisticsVO statisticsInformation();
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/**
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* 查询能正常使用的车辆
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*
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* @return
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*/
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List<RobotInformationDO> getCanUseRobot();
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/**
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* 查询所有车辆
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*
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* @return
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*/
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List<RobotInformationDO> getAllRobot();
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/**
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* 查询机器人编号
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*
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* @param mac
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* @return
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*/
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String getRobotNoByMac(String mac);
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/**
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*
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* @param dto
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*/
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void test(@Valid RobotStatusDTO dto);
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}
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@ -5,9 +5,7 @@ import cn.hutool.core.util.ObjectUtil;
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import cn.hutool.json.JSONUtil;
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import cn.iocoder.yudao.framework.common.pojo.PageResult;
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import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
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import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
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import cn.iocoder.yudao.module.system.api.robot.RequestProcessor;
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import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
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import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
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import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
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import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
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@ -55,8 +53,6 @@ public class RobotInformationServiceImpl implements RobotInformationService {
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@Resource
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private RedisUtil redisUtil;
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@Resource
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private RequestProcessor processor;
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@Override
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public Long createInformation(RobotInformationSaveReqVO createReqVO) {
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@ -110,7 +106,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
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// 更新
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RobotInformationDO updateObj = BeanUtils.toBean(updateReqVO, RobotInformationDO.class);
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informationMapper.updateById(updateObj);
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redisUtil.set(RobotTaskChcheConstant.ROBOT_GET_ROBOTNO_BY_MAC + updateObj.getMacAddress(),updateObj.getRobotNo());
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redisUtil.set(RobotTaskChcheConstant.ROBOT_GET_ROBOTNO_BY_MAC + updateObj.getMacAddress(), updateObj.getRobotNo());
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}
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@Override
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@ -162,14 +158,15 @@ public class RobotInformationServiceImpl implements RobotInformationService {
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/**
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* 设置状态和信息
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*
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* @param v
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*/
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private void setMsgAndRobotStatus(RobotInformationPageRespVO v) {
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String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +v.getMacAddress();
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String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + v.getMacAddress();
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Object object = redisUtil.get(pose2dKey);
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RobotStatusDataPoseDTO robotStatusDataPoseDTO= JSONUtil.toBean((String)object, RobotStatusDataPoseDTO.class);
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RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
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String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_QUERY_DOING_ACTION +v.getMacAddress();
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String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_QUERY_DOING_ACTION + v.getMacAddress();
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Object action = redisUtil.get(robotDoingActionKey);
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if (ObjectUtil.isNotEmpty(object) && ObjectUtil.isNotEmpty(robotStatusDataPoseDTO)) {
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@ -181,10 +178,10 @@ public class RobotInformationServiceImpl implements RobotInformationService {
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if (RobotTaskModelEnum.REJECTION.getType().equals(v.getRobotTaskModel())) {
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v.setRobotStatus(RobotInformationPageStatusEnum.DOLOCK.getType());
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v.setMsg("车辆已经锁定");
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}else if (ObjectUtil.isEmpty(object)) {
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} else if (ObjectUtil.isEmpty(object)) {
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v.setRobotStatus(RobotInformationPageStatusEnum.OFFLINE.getType());
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v.setMsg("车辆已经离线");
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}else if (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())) {
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} else if (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())) {
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//查看机器人最后做的任务是不是充电
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RobotTaskDetailDO robotTaskDetailDO = taskDetailMapper.selectOne(new LambdaQueryWrapper<RobotTaskDetailDO>()
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.eq(RobotTaskDetailDO::getRobotNo, v.getRobotNo())
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@ -195,15 +192,15 @@ public class RobotInformationServiceImpl implements RobotInformationService {
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&& RobotTaskStatusEnum.DOING.getType().equals(robotTaskDetailDO.getTaskStatus())) {
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v.setRobotStatus(RobotInformationPageStatusEnum.CHARGE.getType());
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v.setMsg("车辆正在充电");
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}else {
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} else {
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v.setRobotStatus(RobotInformationPageStatusEnum.STANDBY.getType());
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v.setMsg("车辆正在待命");
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}
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}else if (RobotStatusEnum.DOING.getType().equals(v.getRobotStatus()) && ObjectUtil.isNotEmpty(action)) {
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} else if (RobotStatusEnum.DOING.getType().equals(v.getRobotStatus()) && ObjectUtil.isNotEmpty(action)) {
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v.setRobotStatus(RobotInformationPageStatusEnum.INTASK.getType());
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CommandTypeEnum commandType = CommandTypeEnum.getCommandType(String.valueOf(action));
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if (ObjectUtil.isNotEmpty(commandType)) {
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v.setMsg("车辆正在"+commandType.getMsg());
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v.setMsg("车辆正在" + commandType.getMsg());
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}
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} else {
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v.setRobotStatus(RobotInformationPageStatusEnum.FAULT.getType());
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@ -214,6 +211,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
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/**
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* 统计车辆待命/任务中/离线
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*
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* @return
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*/
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@Override
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@ -233,13 +231,13 @@ public class RobotInformationServiceImpl implements RobotInformationService {
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Integer fault = 0;
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//0：待命、1：任务中、2：锁定、3：离线、4:充电中、5:故障
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for (RobotInformationDO v : existRobot) {
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String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +v.getMacAddress();
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String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + v.getMacAddress();
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Object object = redisUtil.get(pose2dKey);
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if (ObjectUtil.isEmpty(object)) {
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offline++;
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}else if (RobotTaskModelEnum.REJECTION.getType().equals(v.getRobotTaskModel())) {
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} else if (RobotTaskModelEnum.REJECTION.getType().equals(v.getRobotTaskModel())) {
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doLock++;
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}else if (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())) {
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} else if (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())) {
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//查看机器人最后做的任务是不是充电
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RobotTaskDetailDO robotTaskDetailDO = taskDetailMapper.selectOne(new LambdaQueryWrapper<RobotTaskDetailDO>()
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@ -250,11 +248,11 @@ public class RobotInformationServiceImpl implements RobotInformationService {
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&& RobotTaskTypeEnum.CHARGE.getType().equals(robotTaskDetailDO.getTaskType())
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&& RobotTaskStatusEnum.DOING.getType().equals(robotTaskDetailDO.getTaskStatus())) {
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charge++;
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}else {
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} else {
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standby++;
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}
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}else if (RobotStatusEnum.DOING.getType().equals(v.getRobotStatus())) {
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} else if (RobotStatusEnum.DOING.getType().equals(v.getRobotStatus())) {
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inTask++;
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} else {
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fault++;
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@ -271,7 +269,6 @@ public class RobotInformationServiceImpl implements RobotInformationService {
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}
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/**
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*
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* @return
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*/
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@Override
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@ -289,6 +286,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
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/**
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* 根据mac查询机器人编号
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*
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* @param mac
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* @return
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*/
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@ -307,29 +305,10 @@ public class RobotInformationServiceImpl implements RobotInformationService {
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.eq(RobotInformationDO::getMacAddress, mac)
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.last("limit 1"));
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if (ObjectUtil.isNotEmpty(robotInformationDO)) {
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redisUtil.set(RobotTaskChcheConstant.ROBOT_GET_ROBOTNO_BY_MAC + mac,robotInformationDO.getRobotNo());
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redisUtil.set(RobotTaskChcheConstant.ROBOT_GET_ROBOTNO_BY_MAC + mac, robotInformationDO.getRobotNo());
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return robotInformationDO.getRobotNo();
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}
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return "";
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}
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@Override
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public void test(RobotStatusDTO robotStatusDataDTO) {
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TenantContextHolder.setTenantId(1L);
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if (ObjectUtil.isEmpty(robotStatusDataDTO) || ObjectUtil.isEmpty(robotStatusDataDTO.getMac())) {
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return;
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}
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RobotStatusDataPoseDTO robotStatusDataPoseDTO = new RobotStatusDataPoseDTO();
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robotStatusDataPoseDTO.setX(robotStatusDataDTO.getData().getPose2d().getX());
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robotStatusDataPoseDTO.setY(robotStatusDataDTO.getData().getPose2d().getY());
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robotStatusDataPoseDTO.setYaw(robotStatusDataDTO.getData().getPose2d().getYaw());
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robotStatusDataPoseDTO.setFloor(robotStatusDataDTO.getData().getFloor_zone().getFloor());
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robotStatusDataPoseDTO.setArea(robotStatusDataDTO.getData().getFloor_zone().getArea());
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robotStatusDataPoseDTO.setBat_soc(robotStatusDataDTO.getData().getPose2d().getBat_soc());
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// 模拟请求
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processor.handleRequest(robotStatusDataDTO.getData().getFloor_zone().getFloor() + "_" + robotStatusDataDTO.getData().getFloor_zone().getArea(),
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robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(robotStatusDataPoseDTO));
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}
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}
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