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转换点绑定校验

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This commit is contained in:
cbs 2025-04-28 17:55:03 +08:00
parent 5d830c5165
commit 681d8d7dc2
11 changed files with 191 additions and 7 deletions
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3
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
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@ -307,5 +307,6 @@ public interface ErrorCodeConstants {
// ========== 区域变更点绑定 1_002_057_001 ==========
ErrorCode POSITION_CHANGE_POINT_BINDING_NOT_EXISTS = new ErrorCode(1_002_057_001, "区域变更点绑定不存在");
ErrorCode POSITION_CHANGE_POINT_SAME_MAP = new ErrorCode(1_002_057_001, "区域变更点绑定，不能是同一张地图");
ErrorCode POSITION_CHANGE_POINT_SAME_MAP = new ErrorCode(1_002_057_002, "区域变更点绑定，不能是同一张地图");
ErrorCode POSITION_CHANGE_POINT_ALREADY_BINDING = new ErrorCode(1_002_057_003, "请勿重复绑定区域变更点");
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionChangePointBindingPageReqVO.java
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@ -31,4 +31,6 @@ public class PositionChangePointBindingPageReqVO extends PageParam {
@DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
private LocalDateTime[] createTime;
@Schema(description = "startingPointId的地图id")
private Long positionMapId;
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionChangePointBindingRespVO.java
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@ -36,4 +36,8 @@ public class PositionChangePointBindingRespVO {
@ExcelProperty("创建时间")
private LocalDateTime createTime;
@Schema(description = "startingPointId的地图id")
@ExcelProperty("startingPointId的地图id")
private Long positionMapId;
}

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionChangePointBindingSaveReqVO.java
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@ -1,5 +1,7 @@
package cn.iocoder.yudao.module.system.controller.admin.positionmap.vo;
import com.baomidou.mybatisplus.annotation.FieldStrategy;
import com.baomidou.mybatisplus.annotation.TableField;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.*;
import java.util.*;
@ -24,4 +26,7 @@ public class PositionChangePointBindingSaveReqVO {
@Schema(description = "点位2自增排序")
private Long endPointSortNum;
@Schema(description = "startingPointId的地图id")
private Long positionMapId;
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionChangePointBindingDO.java
View File

@ -25,7 +25,7 @@ public class PositionChangePointBindingDO extends BaseDO {
/**
* 主键ID
*/
@TableId
@TableId(type = IdType.ASSIGN_ID)
private Long id;
/**
* 点位1的id
@ -43,5 +43,10 @@ public class PositionChangePointBindingDO extends BaseDO {
* 点位2自增排序
*/
private Long endPointSortNum;
/**
* 地图id
*/
@TableField(updateStrategy = FieldStrategy.IGNORED)
private Long positionMapId;
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapDO.java
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@ -25,7 +25,7 @@ public class PositionMapDO extends BaseDO {
/**
* 主键ID
*/
@TableId
@TableId(type = IdType.ASSIGN_ID)
private Long id;
/**
* 楼层

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/NodeProcessingContext.java
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@ -27,6 +27,8 @@ public class NodeProcessingContext {
@Autowired
private MapNodeStrategyImpl mapNodeStrategyImpl;
@Autowired
private ChangeNodeStrategyImpl changeNodeStrategyImpl;
@Autowired
private HouseLocationStrategyImpl houseLocationStrategyImpl;
@Autowired
private ParkingSpotStrategyImpl parkingSpotStrategyImpl;
@ -47,7 +49,7 @@ public class NodeProcessingContext {
// 停车点
strategyMap.put(NodeTypeEnum.PARKING.getType(), parkingSpotStrategyImpl);
// 路径点
strategyMap.put(NodeTypeEnum.CHANGE.getType(), mapNodeStrategyImpl);
strategyMap.put(NodeTypeEnum.CHANGE.getType(), changeNodeStrategyImpl);
// 等待点
strategyMap.put(NodeTypeEnum.WAIT.getType(), mapNodeStrategyImpl);
// 文字点

81
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/ChangeNodeStrategyImpl.java Normal file
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@ -0,0 +1,81 @@
package cn.iocoder.yudao.module.system.handler.mapnode.strategy;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.json.JSONUtil;
import cn.iocoder.yudao.framework.common.util.collection.CollectionUtils;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.NodeBaseDTO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionChangePointBindingDO;
import cn.iocoder.yudao.module.system.service.positionmap.PositionChangePointBindingService;
import org.apache.commons.lang3.StringUtils;
import org.springframework.stereotype.Component;
import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.List;
import java.util.stream.Collectors;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception0;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.HOUSE_LOCATION_HAVE_TASK;
@Component
public class ChangeNodeStrategyImpl implements NodeProcessingStrategy {
@Resource
private PositionChangePointBindingService positionChangePointBindingService;
@Override
public void processNodes(Long positionMapId, List<NodeBaseDTO> nodeBaseDTOS) {
List<PositionChangePointBindingDO> newList = new ArrayList<>();
// -- 拿到这个地图所绑定的设备 -
List<PositionChangePointBindingDO> oldList = positionChangePointBindingService.getPositionChangePointBindingByMapId(positionMapId);
List<Long> startPointIds = new ArrayList<>();
List<Long> endPointIds = new ArrayList<>();
List<Long> sortNums = new ArrayList<>();
for (NodeBaseDTO item : nodeBaseDTOS) {
if (ObjectUtil.isEmpty(item.getDataJson())) {
continue;
}
PositionChangePointBindingDO positionChangePointBindingDO = new PositionChangePointBindingDO();
NodeBaseDTO nodeBase = JSONUtil.toBean(item.getDataJson(), NodeBaseDTO.class);
if (sortNums.contains(nodeBase.getSortNum())) {
throw exception0(HOUSE_LOCATION_HAVE_TASK.getCode(), "以下点位已经被选中: " + nodeBase.getSortNum(), nodeBase.getSortNum());
}
positionChangePointBindingDO.setPositionMapId(positionMapId);
positionChangePointBindingDO.setStartingPointId(item.getId());
positionChangePointBindingDO.setStartingPointSortNum(item.getSortNum());
positionChangePointBindingDO.setEndPointId(nodeBase.getId());
positionChangePointBindingDO.setEndPointSortNum(nodeBase.getSortNum());
newList.add(positionChangePointBindingDO);
startPointIds.add(item.getId());
endPointIds.add(nodeBase.getId());
sortNums.add(item.getSortNum());
sortNums.add(nodeBase.getSortNum());
}
//判断这些点是否被绑定过
if (ObjectUtil.isNotEmpty(endPointIds)) {
List<PositionChangePointBindingDO> existList = positionChangePointBindingService.getByMapIdAndEndPointIds(positionMapId, endPointIds);
if (ObjectUtil.isNotEmpty(existList)) {
List<Long> sortNumList = existList.stream().map(PositionChangePointBindingDO::getEndPointSortNum).collect(Collectors.toList());
String join = StringUtils.join(sortNumList, ",");
throw exception0(HOUSE_LOCATION_HAVE_TASK.getCode(), "以下区域变更点已经被其他地图绑定:"+join,join);
}
List<PositionChangePointBindingDO> existBindingList = positionChangePointBindingService.getByMapIdAndStartPointIds(positionMapId, endPointIds,startPointIds);
if (ObjectUtil.isNotEmpty(existBindingList)) {
List<Long> sortNumList = existBindingList.stream().map(PositionChangePointBindingDO::getStartingPointSortNum).collect(Collectors.toList());
String join = StringUtils.join(sortNumList, ",");
throw exception0(HOUSE_LOCATION_HAVE_TASK.getCode(), "以下区域变更点绑定的点位错乱(出现A绑定B,B绑定C的情况):"+join,join);
}
}
List<List<PositionChangePointBindingDO>> list = CollectionUtils.compareLists(oldList, newList,
(oldVal, newVal) -> ObjectUtil.equal(oldVal.getEndPointId(), newVal.getEndPointId()));
positionChangePointBindingService.batchEditOrDel(list);
}
}

29
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionChangePointBindingService.java
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@ -61,4 +61,33 @@ public interface PositionChangePointBindingService extends IService<PositionChan
* @return
*/
List<PositionAllChangePointBindingDTO> getAllPositionChangePointBinding();
/**
* 根据地图id查询
* @param positionMapId
* @return
*/
List<PositionChangePointBindingDO> getPositionChangePointBindingByMapId(Long positionMapId);
/**
* 批量新增删除修改
* @param list
*/
void batchEditOrDel(List<List<PositionChangePointBindingDO>> list);
/**
* 不在此地图id的被绑定变更点
* @param positionMapId
* @param endPointIds
* @return
*/
List<PositionChangePointBindingDO> getByMapIdAndEndPointIds(Long positionMapId, List<Long> endPointIds);
/**
* 不在此地图id的绑定变更点
* @param positionMapId
* @param startPointIds
* @return
*/
List<PositionChangePointBindingDO> getByMapIdAndStartPointIds(Long positionMapId, List<Long> endPointIds, List<Long> startPointIds);
}

58
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionChangePointBindingServiceImpl.java
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@ -6,6 +6,8 @@ import cn.iocoder.yudao.module.mqtt.api.path.dto.PositionAllChangePointBindingDT
import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionChangePointBindingDTO;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionChangePointBindingPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionChangePointBindingSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionChangePointBindingDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
@ -25,7 +27,9 @@ import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import static cn.hutool.core.collection.CollUtil.isNotEmpty;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
import static cn.iocoder.yudao.framework.common.util.collection.CollectionUtils.convertList;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
/**
@ -44,6 +48,7 @@ public class PositionChangePointBindingServiceImpl extends ServiceImpl<PositionC
private PositionMapItemService positionMapItemService;
@Override
@Transactional(rollbackFor = Exception.class)
public Long createPositionChangePointBinding(PositionChangePointBindingSaveReqVO createReqVO) {
// 插入
PositionChangePointBindingDO positionChangePointBinding = BeanUtils.toBean(createReqVO, PositionChangePointBindingDO.class);
@ -55,11 +60,24 @@ public class PositionChangePointBindingServiceImpl extends ServiceImpl<PositionC
throw exception(POSITION_CHANGE_POINT_SAME_MAP);
}
PositionChangePointBindingDO startPosition = positionChangePointBindingMapper.selectOne(new LambdaQueryWrapperX<PositionChangePointBindingDO>()
.eq(PositionChangePointBindingDO::getStartingPointId, createReqVO.getStartingPointId()).last("limit 1"));
if (ObjectUtil.isNotEmpty(startPosition)) {
throw exception(POSITION_CHANGE_POINT_ALREADY_BINDING);
}
PositionChangePointBindingDO endPosition = positionChangePointBindingMapper.selectOne(new LambdaQueryWrapperX<PositionChangePointBindingDO>()
.eq(PositionChangePointBindingDO::getStartingPointId, createReqVO.getEndPointId()).last("limit 1"));
if (ObjectUtil.isNotEmpty(endPosition)) {
throw exception(POSITION_CHANGE_POINT_ALREADY_BINDING);
}
// 返回
return positionChangePointBinding.getId();
}
@Override
@Transactional(rollbackFor = Exception.class)
public void updatePositionChangePointBinding(PositionChangePointBindingSaveReqVO updateReqVO) {
// 校验存在
validatePositionChangePointBindingExists(updateReqVO.getId());
@ -86,7 +104,7 @@ public class PositionChangePointBindingServiceImpl extends ServiceImpl<PositionC
public PositionChangePointBindingDTO getPositionChangePointBinding(Long mapItemId) {
PositionChangePointBindingDTO positionChangePointBinding = new PositionChangePointBindingDTO();
PositionChangePointBindingDO position = positionChangePointBindingMapper.selectOne(new LambdaQueryWrapperX<PositionChangePointBindingDO>()
.eq(PositionChangePointBindingDO::getStartingPointId, mapItemId));
.eq(PositionChangePointBindingDO::getStartingPointId, mapItemId).last("limit 1"));
if (ObjectUtil.isNotEmpty(position)) {
positionChangePointBinding.setId(position.getId());
positionChangePointBinding.setSortNum(position.getEndPointSortNum());
@ -95,7 +113,7 @@ public class PositionChangePointBindingServiceImpl extends ServiceImpl<PositionC
}
PositionChangePointBindingDO startPosition = positionChangePointBindingMapper.selectOne(new LambdaQueryWrapperX<PositionChangePointBindingDO>()
.eq(PositionChangePointBindingDO::getEndPointId, mapItemId));
.eq(PositionChangePointBindingDO::getEndPointId, mapItemId).last("limit 1"));
if (ObjectUtil.isNotEmpty(startPosition)) {
positionChangePointBinding.setId(startPosition.getId());
positionChangePointBinding.setSortNum(startPosition.getStartingPointSortNum());
@ -115,5 +133,41 @@ public class PositionChangePointBindingServiceImpl extends ServiceImpl<PositionC
return positionChangePointBindingMapper.getAllPositionChangePointBinding();
}
@Override
public List<PositionChangePointBindingDO> getPositionChangePointBindingByMapId(Long positionMapId) {
return positionChangePointBindingMapper.selectList(new LambdaQueryWrapperX<PositionChangePointBindingDO>()
.eq(PositionChangePointBindingDO::getPositionMapId, positionMapId));
}
@Override
public void batchEditOrDel(List<List<PositionChangePointBindingDO>> list) {
//批量添加、修改、删除
//批量添加、修改、删除
if (isNotEmpty(list.get(0))) {
positionChangePointBindingMapper.insertBatch(list.get(0));
}
if (isNotEmpty(list.get(1))) {
positionChangePointBindingMapper.updateBatch(list.get(1));
}
if (isNotEmpty(list.get(2))) {
positionChangePointBindingMapper.deleteByIds(convertList(list.get(2), PositionChangePointBindingDO::getId));
}
}
@Override
public List<PositionChangePointBindingDO> getByMapIdAndEndPointIds(Long positionMapId, List<Long> endPointIds) {
return positionChangePointBindingMapper.selectList(new LambdaQueryWrapperX<PositionChangePointBindingDO>()
.ne(PositionChangePointBindingDO::getPositionMapId, positionMapId)
.in(PositionChangePointBindingDO::getEndPointId,endPointIds));
}
@Override
public List<PositionChangePointBindingDO> getByMapIdAndStartPointIds(Long positionMapId, List<Long> endPointIds, List<Long> startPointIds) {
return positionChangePointBindingMapper.selectList(new LambdaQueryWrapperX<PositionChangePointBindingDO>()
.ne(PositionChangePointBindingDO::getPositionMapId, positionMapId)
.in(PositionChangePointBindingDO::getStartingPointId,endPointIds)
.notIn(PositionChangePointBindingDO::getEndPointId,startPointIds));
}
}

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
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@ -701,7 +701,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
} else if (RobotTaskTypeEnum.TAKE.getType().equals(v.getTaskType())) {
//仅取货
takeSetTask(list, v, fromLane, toLane, fromLocation, toLocation, toHaveFrom, fromHaveTo);
} else if (RobotTaskTypeEnum.PARK.getType().equals(v.getTaskType())) {
} else if (RobotTaskTypeEnum.PARK.getType().equals(v.getTaskType())
|| RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(v.getTaskType())) {
list.add(v);
}
}