前端ID

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

@@ -15,7 +15,7 @@ import java.util.List;
 public class PositionMapItemSynDTO {
 
     @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "31007")
-    private Long id;
+    private String id;
 
     @Schema(description = "坐标x轴")
     private Double x;

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

@@ -5,8 +5,10 @@ import cn.hutool.json.JSONUtil;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
 import cn.iocoder.yudao.module.system.api.robot.dto.*;
+import cn.iocoder.yudao.module.system.api.robot.processor.RequestProcessor;
 import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
 import cn.iocoder.yudao.module.system.config.ratelimiter.SystemRateLimiter;
+import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
@@ -20,6 +22,7 @@ import org.springframework.validation.annotation.Validated;
 import org.springframework.web.bind.annotation.RestController;
 
 import javax.annotation.Resource;
+import java.util.HashMap;
 import java.util.Map;
 
 @Slf4j
@@ -52,13 +55,14 @@ public class RobotStatusApiImpl implements RobotStatusApi {
      * @return
      */
     @Override
-    @SystemRateLimiter(time = 1, count = 150, keyArg = "robotStatusUpdate",message = "机器人上报点位超过限流")
+    @SystemRateLimiter(time = 1, count = 150, keyArg = "robotStatusUpdate", message = "机器人上报点位超过限流")
     public void robotStatusUpdate(RobotPoseStatusDTO robotStatusDataDTO) {
         updateRobotPosed(robotStatusDataDTO);
     }
 
     /**
      * 更新点位信息
+     *
      * @param robotStatusDataDTO
      */
     private void updateRobotPosed(RobotPoseStatusDTO robotStatusDataDTO) {
@@ -99,6 +103,11 @@ public class RobotStatusApiImpl implements RobotStatusApi {
         }
         robotInformationVO.setPose2d(robotStatusDataPoseDTO);
 
+        Map<String, Object> map = new HashMap<>();
+        String value = FloorAreaConstant.FLOOR_AREA_ROBOT + floorZoneDTO.getFloor() + "-" + floorZoneDTO.getArea();
+        map.put(robotNo, robotInformationVO);
+        redisUtil.hmset(value, map, 20);
+
         // 合并请求 - 这里接受到的数据都丢给 RequestProcessor - 再整合数据通过WebSocket丢给前端
         processor.handleRequest(floorZoneDTO.getFloor() + "_" + floorZoneDTO.getArea(),
                 robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(robotInformationVO));
@@ -106,7 +115,7 @@ public class RobotStatusApiImpl implements RobotStatusApi {
     }
 
     private void sendToPP(RobotStatusDataPoseDTO robotStatusDataPoseDTO) {
-        taskExecutor.execute(()->{
+        taskExecutor.execute(() -> {
             commonApi.commonMethod(robotStatusDataPoseDTO, PathPlanningTopicConstant.AGV_POSE);
         });
     }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/processor/RequestProcessor.java

@@ -1,8 +1,7 @@
-package cn.iocoder.yudao.module.system.api.robot;
+package cn.iocoder.yudao.module.system.api.robot.processor;
 
 import cn.hutool.core.map.MapUtil;
 import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
-import com.alibaba.fastjson.JSON;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Component;
 
@@ -46,7 +45,7 @@ public class RequestProcessor {
     private void sendData(String map, Map<String, String> data) {
         // -- 发送给对应的websocket
 //        System.out.println("key:" + map + "发送数据：" + data);
-        log.info("key:" + map + "发送数据：" + data);
+//        log.info("key:" + map + "发送数据：" + data);
         webSocketSenderApi.sendObject(map, "map_push", data);
     }
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/processor/ThreeDRequestProcessor.java

@@ -0,0 +1,59 @@
+/*
+package cn.iocoder.yudao.module.system.api.robot.processor;
+
+import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
+import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant;
+import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
+import cn.iocoder.yudao.module.system.service.positionmap.PositionMapService;
+import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
+import com.alibaba.fastjson.JSON;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.Resource;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
+
+*/
+/**
+ * 3D推送车辆信息
+ *//*
+
+@Component
+@Slf4j
+public class ThreeDRequestProcessor {
+
+    private final ConcurrentHashMap<String, ConcurrentHashMap<String, String>> cache = new ConcurrentHashMap<>();
+    private final ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(1);
+
+    @Resource
+    private PositionMapService positionMapService;
+
+    @Resource
+    private RedisUtil redisUtil;
+
+    @Resource
+    public WebSocketSenderApi webSocketSenderApi;
+
+    public ThreeDRequestProcessor() {
+        // 每秒执行一次 - 处理并发送数据 - 避免数据丢失
+        scheduler.scheduleAtFixedRate(this::processAndSend, 300, 300, TimeUnit.MILLISECONDS);
+    }
+
+    private void processAndSend() {
+        List<PositionMapDO> allMap = positionMapService.getAllMap();
+        for (PositionMapDO map : allMap) {
+            String key = FloorAreaConstant.FLOOR_AREA_ROBOT + map.getFloor() + "-" + map.getArea();
+            Map<Object, Object> data = redisUtil.hmget(key);
+            System.out.println("3D发送数据 "+ JSON.toJSONString(data));
+            webSocketSenderApi.sendObject(key, "3d_map_robot", data);
+        }
+    }
+
+
+}
+*/

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/area/FloorAreaConstant.java

@@ -0,0 +1,12 @@
+package cn.iocoder.yudao.module.system.constant.area;
+
+public class FloorAreaConstant {
+
+    //楼层区域的KEY，通过这个KEY，可以查这个楼层下所有的机器人
+    //仅限给WEBSOCKET推送给前端使用，缓存15秒
+    public static String FLOOR_AREA_ROBOT = "floor:area:robot";
+
+
+
+
+}

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

@@ -1,5 +1,7 @@
 package cn.iocoder.yudao.module.system.controller.admin.robot.camera;
 
+import com.fasterxml.jackson.databind.annotation.JsonSerialize;
+import com.fasterxml.jackson.databind.ser.std.ToStringSerializer;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 import java.util.*;
@@ -13,6 +15,7 @@ import com.alibaba.excel.annotation.*;
 public class RobotCameraRespVO {
 
     @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "30856")
+    @JsonSerialize(using = ToStringSerializer.class)
     @ExcelProperty("主键ID")
     private Long id;
 

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

@@ -1,5 +1,7 @@
 package cn.iocoder.yudao.module.system.controller.admin.robot.chargelog;
 
+import com.fasterxml.jackson.databind.annotation.JsonSerialize;
+import com.fasterxml.jackson.databind.ser.std.ToStringSerializer;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 import java.util.*;
@@ -14,6 +16,7 @@ public class RobotChargeLogRespVO {
 
     @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "6554")
     @ExcelProperty("主键ID")
+    @JsonSerialize(using = ToStringSerializer.class)
     private Long id;
 
     @Schema(description = "AGV编号")

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

@@ -1,6 +1,8 @@
 package cn.iocoder.yudao.module.system.controller.admin.robot.detail;
 
 import com.alibaba.excel.annotation.ExcelProperty;
+import com.fasterxml.jackson.databind.annotation.JsonSerialize;
+import com.fasterxml.jackson.databind.ser.std.ToStringSerializer;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 
@@ -9,6 +11,7 @@ import java.time.LocalDateTime;
 @Data
 public class RobotTaskDetailLogResoVO {
     @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "26224")
+    @JsonSerialize(using = ToStringSerializer.class)
     private Long id;
 
     @Schema(description = "任务号")

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

@@ -1,5 +1,7 @@
 package cn.iocoder.yudao.module.system.controller.admin.robot.mapstop;
 
+import com.fasterxml.jackson.databind.annotation.JsonSerialize;
+import com.fasterxml.jackson.databind.ser.std.ToStringSerializer;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 import java.util.*;
@@ -14,6 +16,7 @@ public class RobotMapStopRespVO {
 
     @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "1220")
     @ExcelProperty("主键ID")
+    @JsonSerialize(using = ToStringSerializer.class)
     private Long id;
 
     @Schema(description = "急停仓库点位地图表id", example = "20550")

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

@@ -2,10 +2,11 @@ package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
 
 import com.alibaba.excel.annotation.ExcelIgnoreUnannotated;
 import com.alibaba.excel.annotation.ExcelProperty;
+import com.fasterxml.jackson.databind.annotation.JsonSerialize;
+import com.fasterxml.jackson.databind.ser.std.ToStringSerializer;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 
-import javax.validation.constraints.NotNull;
 import java.util.Set;
 
 
@@ -14,6 +15,7 @@ import java.util.Set;
 @ExcelIgnoreUnannotated
 public class RobotInformationPageRespVO {
     @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "21881")
+    @JsonSerialize(using = ToStringSerializer.class)
     @ExcelProperty("主键ID")
     private Long id;
 

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

@@ -3,6 +3,8 @@ package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
 import cn.iocoder.yudao.framework.mybatis.core.type.LongListTypeHandler;
 import cn.iocoder.yudao.module.system.controller.admin.robot.camera.RobotCameraAddVO;
 import com.baomidou.mybatisplus.annotation.TableField;
+import com.fasterxml.jackson.databind.annotation.JsonSerialize;
+import com.fasterxml.jackson.databind.ser.std.ToStringSerializer;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 import java.time.LocalDateTime;
@@ -17,6 +19,7 @@ public class RobotInformationRespVO {
 
     @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "21881")
     @ExcelProperty("主键ID")
+    @JsonSerialize(using = ToStringSerializer.class)
     private Long id;
 
     @Schema(description = "车辆类型表id", example = "28234")

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

@@ -1,6 +1,8 @@
 package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
 
 import cn.iocoder.yudao.module.system.controller.admin.robot.camera.RobotCameraAddVO;
+import com.fasterxml.jackson.databind.annotation.JsonSerialize;
+import com.fasterxml.jackson.databind.ser.std.ToStringSerializer;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 import org.hibernate.validator.constraints.Range;
@@ -16,6 +18,7 @@ import java.util.Set;
 public class RobotInformationSaveReqVO {
 
     @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "21881")
+    @JsonSerialize(using = ToStringSerializer.class)
     private Long id;
 
     @Schema(description = "车辆类型表id", example = "28234")

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

@@ -2,6 +2,8 @@ package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
 
 import com.alibaba.excel.annotation.ExcelIgnoreUnannotated;
 import com.alibaba.excel.annotation.ExcelProperty;
+import com.fasterxml.jackson.databind.annotation.JsonSerialize;
+import com.fasterxml.jackson.databind.ser.std.ToStringSerializer;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 
@@ -14,6 +16,7 @@ public class RobotModelRespVO {
 
     @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "15571")
     @ExcelProperty("主键ID")
+    @JsonSerialize(using = ToStringSerializer.class)
     private Long id;
 
     @Schema(description = "车辆类型", requiredMode = Schema.RequiredMode.REQUIRED)

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

@@ -1,5 +1,7 @@
 package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
 
+import com.fasterxml.jackson.databind.annotation.JsonSerialize;
+import com.fasterxml.jackson.databind.ser.std.ToStringSerializer;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 import java.util.*;
@@ -14,6 +16,7 @@ public class RobotTaskAutoMoveRespVO {
 
     @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "30110")
     @ExcelProperty("主键ID")
+    @JsonSerialize(using = ToStringSerializer.class)
     private Long id;
 
     @Schema(description = "机器人任务主表id", example = "24553")

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

@@ -1,5 +1,7 @@
 package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
 
+import com.fasterxml.jackson.databind.annotation.JsonSerialize;
+import com.fasterxml.jackson.databind.ser.std.ToStringSerializer;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 
@@ -13,6 +15,7 @@ public class RobotTaskDetailRespVO {
 
     @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "26224")
     @ExcelProperty("主键ID")
+    @JsonSerialize(using = ToStringSerializer.class)
     private Long id;
 
     @Schema(description = "机器人任务主表id", requiredMode = Schema.RequiredMode.REQUIRED, example = "9241")

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

@@ -1,6 +1,8 @@
 package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
 
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
+import com.fasterxml.jackson.databind.annotation.JsonSerialize;
+import com.fasterxml.jackson.databind.ser.std.ToStringSerializer;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 import java.util.*;
@@ -17,6 +19,7 @@ public class RobotTaskRespVO {
 
     @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "15306")
     @ExcelProperty("主键ID")
+    @JsonSerialize(using = ToStringSerializer.class)
     private Long id;
 
     @Schema(description = "是否拼接任务（0：不拼接、1：拼接）", requiredMode = Schema.RequiredMode.REQUIRED)

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

@@ -1,5 +1,7 @@
 package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
 
+import com.fasterxml.jackson.databind.annotation.JsonSerialize;
+import com.fasterxml.jackson.databind.ser.std.ToStringSerializer;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 import java.util.*;
@@ -14,6 +16,7 @@ public class RobotWarnCodeMappingRespVO {
 
     @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "15754")
     @ExcelProperty("主键ID")
+    @JsonSerialize(using = ToStringSerializer.class)
     private Long id;
 
     @Schema(description = "告警等级 (1,2,3,4)")

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

@@ -1,5 +1,7 @@
 package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
 
+import com.fasterxml.jackson.databind.annotation.JsonSerialize;
+import com.fasterxml.jackson.databind.ser.std.ToStringSerializer;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 import java.util.*;
@@ -14,6 +16,7 @@ public class RobotWarnMsgRespVO {
 
     @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "26180")
     @ExcelProperty("主键ID")
+    @JsonSerialize(using = ToStringSerializer.class)
     private Long id;
 
     @Schema(description = "AGV编号")

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

@@ -185,7 +185,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
             relatedPathNode.setType(PathTypeEnum.INIT.getType());
             relatedPathNode.setControl_nodes(positionMapItemSynDTOS);
 
-            log.info("synchronousAllItem----doing");
+            log.info("synchronousAllItem----doing :{}",JSON.toJSONString(relatedPathNode));
             commonApi.commonMethod(relatedPathNode, PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_NODE);
         }
 
@@ -347,7 +347,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
                 .y(Double.valueOf(positionMapItemDO.getActualLocationY()))
                 .sortNum(positionMapItemDO.getSortNum())
                 .yaw(Double.parseDouble(positionMapItemDO.getLocationYaw()))
-                .id(positionMapItemDO.getId()).build();
+                .id(positionMapItemDO.getId()+"").build();
 
         PositionMapItemPathDTO PositionMapItemPathDTO = new PositionMapItemPathDTO();
         PositionMapItemPathDTO.setFloor(positionMapDO.getFloor());
@@ -418,7 +418,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
                 .y(Double.valueOf(positionMapItemDO.getActualLocationY()))
                 .sortNum(positionMapItemDO.getSortNum())
                 .yaw(Double.parseDouble(positionMapItemDO.getLocationYaw()))
-                .id(positionMapItemDO.getId()).build();
+                .id(positionMapItemDO.getId()+"").build();
 
         PositionMapItemPathDTO PositionMapItemPathDTO = new PositionMapItemPathDTO();
         PositionMapItemPathDTO.setFloor(positionMapDO.getFloor());

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java

@@ -18,7 +18,7 @@ import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotRcsHeartBeatDTO;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO;
 import cn.iocoder.yudao.module.mqtt.enums.task.ExecutionTypeEnum;
-import cn.iocoder.yudao.module.system.api.robot.RequestProcessor;
+import cn.iocoder.yudao.module.system.api.robot.processor.RequestProcessor;
 import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java

@@ -348,7 +348,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
             pathPlanning.setReleaseGroupId("POINT_" + v.getPositionMapItemId());
             pathPlanning.setReleaseLocationNumber(releaseLocationNumberConfig);
-            pathPlanning.setReleasePointId(v.getPositionMapItemId());
+            pathPlanning.setWaitIds(Collections.singletonList(v.getPositionMapItemId() + ""));
 
             String key = PathPlanningChcheConstant.PATH_PLANNING_TASK + pathPlanning.getOrderId();
             redisUtil.set(key, JSON.toJSONString(pathPlanning), taskChcheTime);