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代码优化

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cbs 2025-06-04 17:01:13 +08:00
parent fc8c96e5c2
commit 4f6fd7d807
8 changed files with 56 additions and 14 deletions
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9
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/tool/ToolsController.java
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@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.controller.admin.tool;
import cn.iocoder.yudao.framework.common.pojo.CommonResult;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.tool.dto.SendMsgToMqttDTO;
import cn.iocoder.yudao.module.system.service.tool.ToolsService;
import io.swagger.v3.oas.annotations.Operation;
import io.swagger.v3.oas.annotations.tags.Tag;
@ -55,4 +56,12 @@ public class ToolsController {
toolsService.simulationPose();
return success("同步完成");
}
@PostMapping("/sendMsgToMQTT")
@Operation(summary = "发送消息给MQTT")
@PermitAll
public CommonResult<String> sendMsgToMQTT( @RequestBody SendMsgToMqttDTO dto) {
toolsService.sendMsgToMQTT(dto);
return success("发送完成");
}
}

14
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/tool/dto/SendMsgToMqttDTO.java Normal file
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@ -0,0 +1,14 @@
package cn.iocoder.yudao.module.system.controller.admin.tool.dto;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.Data;
@Data
public class SendMsgToMqttDTO {
@Schema(description = "消息")
private String msg;
@Schema(description = "主题topic")
private String topic;
}

11
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
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@ -59,6 +59,7 @@ import java.time.LocalDateTime;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.Collections;
import java.util.LinkedList;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
@ -499,6 +500,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
*/
@Override
public void pathPlanningMovePose(String message) {
log.info("车辆即将行走的点位 :{}",message);
PathPlanningMovePoseVO robotStatusData = JSON.parseObject(message, PathPlanningMovePoseVO.class);
String mac = robotInformationService.getMacByRobotNo(robotStatusData.getRobotNo());
String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + mac;
@ -546,13 +548,14 @@ public class PathPlanningServiceImpl implements PathPlanningService {
return;
}
List<PositionMapItemDO> itemDOList = new ArrayList<>();
List<PositionMapItemDO> itemDOList = new LinkedList<>();
List<PositionMapItemDO> items = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.STOP.getType());
if (ObjectUtil.isEmpty(items) || items.size() < robots.size()) {
if (ObjectUtil.isNotEmpty(items)) {
itemDOList.addAll(items);
}
if ( itemDOList.size() < robots.size()) {
List<PositionMapItemDO> itemPoses = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.PATH.getType());
itemDOList.addAll(itemPoses);
} else {
itemDOList = items;
}
List<SimulationRobotPoseDTO> simulationList = new ArrayList<>();

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java
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@ -174,7 +174,8 @@ public class PositionMapItemServiceImpl extends ServiceImpl<PositionMapItemMappe
public List<PositionMapItemDO> getPositionMapItemByMapAndType(Long mapId, Integer type) {
return positionMapItemMapper.selectList(new LambdaQueryWrapperX<PositionMapItemDO>()
.eq(PositionMapItemDO::getPositionMapId, mapId)
.eq(PositionMapItemDO::getType, type));
.eq(PositionMapItemDO::getType, type)
.orderByDesc(PositionMapItemDO::getId));
}
/**

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
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@ -506,6 +506,9 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
List<RobotDimensionsDTO> RobotDimensions = informationMapper.selectRobotDimensions();
commonApi.commonMethod(RobotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + robotInformationDO.getMacAddress();
redisUtil.del(pose2dKey);
redisUtil.del(key);
//地图相关
String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + robotInformationDO.getMacAddress();

16
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
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@ -218,19 +218,20 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
List<PositionMapItemDO> robotMapItems = new ArrayList<>();
if (ObjectUtil.isNotEmpty(existMapItems)) {
for (PositionMapItemDO positionMapItem : positionMapItems) {
robotNos.removeIf(v -> v.equals(positionMapItem.getRobotNo()));
if (UseStatusEnum.USEING.getType().equals(positionMapItem.getUseStatus())) {
continue;
for (PositionMapItemDO positionMapItem : existMapItems) {
if (ObjectUtil.isEmpty(robots)) {
break;
}
robotNos.removeIf(v -> v.equals(positionMapItem.getRobotNo()));
positionMapItem.setUseStatus(UseStatusEnum.PRE_OCCUPANCY.getType());
robotMapItems.add(positionMapItem);
positionMapItems.removeIf(v -> v.getId().equals(positionMapItem.getId()));
}
}
if (ObjectUtil.isNotEmpty(robotNos)) {
List<PositionMapItemDO> emptyMapItems = positionMapItems.stream()
.filter(v -> ObjectUtil.isEmpty(v.getRobotNo()))
.filter(v -> UseStatusEnum.FREE.getType().equals(v.getUseStatus()))
.collect(Collectors.toList());
if (ObjectUtil.isNotEmpty(emptyMapItems)) {
for (PositionMapItemDO positionMapItem : emptyMapItems) {
@ -250,11 +251,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
return;
}
Map<String, PositionMapItemDO> positionMap =
robotMapItems.stream().collect(Collectors.toMap(PositionMapItemDO::getRobotNo, Function.identity()));
Map<Long, Long> sortMap = positionMapItems.stream().collect(Collectors.toMap(PositionMapItemDO::getId, PositionMapItemDO::getSortNum));
//机器人不能行走的区域
List<TaskRobotNoLimittationAreaDTO> robotNoLimitationArea = getRobotNoLimitationArea(robots);
Map<String, TaskRobotNoLimittationAreaDTO> robotNoLimittationAreaDTOMap =
@ -296,7 +294,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
.build();
TaskRobotNoLimittationAreaDTO taskRobotNoLimittationAreaDTO = robotNoLimittationAreaDTOMap.get(v.getRobotNo());
List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = Arrays.asList(taskRobotNoLimittationAreaDTO);
List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = Collections.singletonList(taskRobotNoLimittationAreaDTO);
pathPlanning.setRobotNoLimitationAreaDTOS(robotNoLimitions);
String key = PathPlanningChcheConstant.PATH_PLANNING_TASK + pathPlanning.getOrderId();

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsService.java
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@ -1,5 +1,7 @@
package cn.iocoder.yudao.module.system.service.tool;
import cn.iocoder.yudao.module.system.controller.admin.tool.dto.SendMsgToMqttDTO;
import javax.servlet.http.HttpServletResponse;
import javax.validation.Valid;
import javax.validation.constraints.NotBlank;
@ -14,4 +16,10 @@ public interface ToolsService {
String updateWarnCode();
void simulationPose();
/**
* 发送消息给MQTT
* @param dto
*/
void sendMsgToMQTT(SendMsgToMqttDTO dto);
}

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java
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@ -14,6 +14,7 @@ import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
import cn.iocoder.yudao.module.system.controller.admin.config.dto.TaskOrderConfigDTO;
import cn.iocoder.yudao.module.system.controller.admin.config.vo.CommonConfigVO;
import cn.iocoder.yudao.module.system.controller.admin.tool.dto.CleanAgvDTO;
import cn.iocoder.yudao.module.system.controller.admin.tool.dto.SendMsgToMqttDTO;
import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
@ -244,6 +245,11 @@ public class ToolsServiceImpl implements ToolsService {
}
}
@Override
public void sendMsgToMQTT(SendMsgToMqttDTO dto) {
commonApi.commonMethodStr(dto.getMsg(),dto.getTopic());
}
public void addWarnMsg() {
RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(4)