代码优化

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/tool/ToolsController.java

@@ -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");
+    }
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/tool/dto/SendMsgToMqttDTO.java

@@ -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;
+}

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

@@ -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<>();

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

@@ -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));
     }
 
     /**

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

@@ -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();

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

@@ -218,19 +218,20 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         List<PositionMapItemDO> robotMapItems = new ArrayList<>();
         if (ObjectUtil.isNotEmpty(existMapItems)) {
 
-            for (PositionMapItemDO positionMapItem : positionMapItems) {
+            for (PositionMapItemDO positionMapItem : existMapItems) {
-                robotNos.removeIf(v -> v.equals(positionMapItem.getRobotNo()));
+                if (ObjectUtil.isEmpty(robots)) {
-                if (UseStatusEnum.USEING.getType().equals(positionMapItem.getUseStatus())) {
+                    break;
-                    continue;
                 }
+                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();

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsService.java

@@ -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);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java

@@ -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)