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
This commit is contained in:
aikai
parent
cd52301d5e
commit
8565c226cf
@ -0,0 +1,61 @@
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package cn.iocoder.yudao.module.system.api.robot;
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import cn.hutool.core.map.MapUtil;
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import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
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import lombok.extern.slf4j.Slf4j;
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import org.springframework.stereotype.Component;
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import javax.annotation.PreDestroy;
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import javax.annotation.Resource;
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import java.util.Map;
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import java.util.concurrent.ConcurrentHashMap;
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import java.util.concurrent.Executors;
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import java.util.concurrent.ScheduledExecutorService;
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import java.util.concurrent.TimeUnit;
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@Component
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@Slf4j
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public class RequestProcessor {
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private final ConcurrentHashMap<String, ConcurrentHashMap<String, String>> cache = new ConcurrentHashMap<>();
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private final ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(1);
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@Resource
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public WebSocketSenderApi webSocketSenderApi;
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public RequestProcessor() {
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// 每秒执行一次 - 处理并发送数据 - 避免数据丢失
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scheduler.scheduleAtFixedRate(this::processAndSend, 1, 1, TimeUnit.SECONDS);
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}
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public void handleRequest(String map, String mac, String data) {
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cache.computeIfAbsent(map, k -> new ConcurrentHashMap<>()).put(mac, data);
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}
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private void processAndSend() {
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Map<String, ConcurrentHashMap<String, String>> snapshot = new ConcurrentHashMap<>(cache); // 创建快照
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cache.clear(); // 先清理缓存
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for (Map.Entry<String, ConcurrentHashMap<String, String>> entry : snapshot.entrySet()) {
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if (!MapUtil.isEmpty(entry.getValue())) {
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sendData(entry.getKey(), entry.getValue());
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}
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}
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}
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private void sendData(String map, Map<String, String> data) {
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// -- 发送给对应的websocket
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// System.out.println("key:" + map + "发送数据：" + data);
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log.info("key:" + map + "发送数据：" + data);
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webSocketSenderApi.sendObject(map, "map_push", data);
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}
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public void shutdown() {
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scheduler.shutdown();
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}
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@PreDestroy
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public void destroy() {
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// 在Bean销毁前关闭去啊
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shutdown();
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}
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}
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@ -24,6 +24,7 @@ import org.springframework.web.bind.annotation.RestController;
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import javax.annotation.Resource;
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import java.util.ArrayList;
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import java.util.Arrays;
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import java.util.List;
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import java.util.Map;
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import java.util.stream.Collectors;
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@ -48,8 +49,12 @@ public class RobotStatusApiImpl implements RobotStatusApi {
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@Value("${zn.robot_position_cache_time:600}")
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private Long robotPositionCacheTime;
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@Resource
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private RequestProcessor processor;
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/**
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* 更新机器人点位/异常/能否做任务
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*
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* @param robotStatusDataDTO
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* @return
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*/
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@ -61,26 +66,31 @@ public class RobotStatusApiImpl implements RobotStatusApi {
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return;
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}
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String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS +robotStatusDataDTO.getMac();
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String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED +robotStatusDataDTO.getMac();
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String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +robotStatusDataDTO.getMac();
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redisUtil.set(taskStatusKey, robotStatusDataDTO.getData().getTask_status(),robotPositionCacheTime);
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redisUtil.set(cargoDetectedKey,robotStatusDataDTO.getData().getCargo_detected(),robotPositionCacheTime);
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String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robotStatusDataDTO.getMac();
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String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robotStatusDataDTO.getMac();
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String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robotStatusDataDTO.getMac();
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redisUtil.set(taskStatusKey, robotStatusDataDTO.getData().getTask_status(), robotPositionCacheTime);
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redisUtil.set(cargoDetectedKey, robotStatusDataDTO.getData().getCargo_detected(), robotPositionCacheTime);
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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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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().getPose2d().getFloor());
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robotStatusDataPoseDTO.setArea(robotStatusDataDTO.getData().getPose2d().getArea());
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redisUtil.set(pose2dKey,JSON.toJSONString(robotStatusDataPoseDTO),robotPositionCacheTime);
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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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redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime);
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// 模拟请求
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processor.handleRequest(robotStatusDataPoseDTO.getFloor() + "_" + robotStatusDataPoseDTO.getArea(),
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robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(robotStatusDataDTO.getData().getPose2d()));
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if (ObjectUtil.isNotNull(robotStatusDataDTO.getData().getErr_code())) {
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List<RobotStatusDataErrorDTO> errCode = robotStatusDataDTO.getData().getErr_code();
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String robotNo = robotInformationService.getRobotNoByMac(robotStatusDataDTO.getMac());
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if (ObjectUtil.isNull(robotNo)) {
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log.info("查不到机器人编号 :{}",robotStatusDataDTO.getMac());
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log.info("查不到机器人编号 :{}", robotStatusDataDTO.getMac());
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return;
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}
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@ -88,7 +98,7 @@ public class RobotStatusApiImpl implements RobotStatusApi {
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errCode.stream().map(RobotStatusDataErrorDTO::getError_code).collect(Collectors.toList());
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List<RobotWarnCodeMappingDO> robotWarnCodeMappingDOS =
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warnCodeMappingMapper.selectList(new LambdaQueryWrapper<RobotWarnCodeMappingDO>()
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.in(RobotWarnCodeMappingDO::getWarnCode, warnCodes));
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.in(RobotWarnCodeMappingDO::getWarnCode, warnCodes));
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if (ObjectUtil.isEmpty(robotWarnCodeMappingDOS)) {
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log.info("查不对应编号的告警信息 :{}", JSON.toJSONString(warnCodes));
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return;
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@ -102,7 +112,7 @@ public class RobotStatusApiImpl implements RobotStatusApi {
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for (RobotStatusDataErrorDTO robotStatusData : errCode) {
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List<RobotWarnCodeMappingDO> mappingDOS = warnCodeMapping.get(robotStatusData.getError_code());
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if (ObjectUtil.isEmpty(mappingDOS)) {
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log.info("当前告警类型查不到对应的告警信息 :{}",robotStatusData.getError_code());
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log.info("当前告警类型查不到对应的告警信息 :{}", robotStatusData.getError_code());
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continue;
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}
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RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(Integer.valueOf(robotStatusData.getCode_level()))
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@ -119,5 +129,4 @@ public class RobotStatusApiImpl implements RobotStatusApi {
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}
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}
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@ -82,8 +82,8 @@ public class HouseAreaController {
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@GetMapping("/getHouseAreaList")
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@Operation(summary = "获得全部库区")
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@PreAuthorize("@ss.hasPermission('ware:house-area:query')")
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public CommonResult<List<HouseAreaRespVO>> getHouseAreaList() {
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List<HouseAreaDO> list = houseAreaService.getHouseAreaList();
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public CommonResult<List<HouseAreaRespVO>> getHouseAreaList(@RequestParam Long positionMapId) {
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List<HouseAreaDO> list = houseAreaService.getHouseAreaList(positionMapId);
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return success(BeanUtils.toBean(list, HouseAreaRespVO.class));
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}
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@ -6,7 +6,7 @@ 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.infra.api.websocket.WebSocketSenderApi;
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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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@ -36,8 +36,14 @@ public class RobotInformationController {
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@Resource
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private RobotInformationService informationService;
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@Resource
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private WebSocketSenderApi webSocketSenderApi;
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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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@ -46,14 +52,6 @@ public class RobotInformationController {
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return success(informationService.createInformation(createReqVO));
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}
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@PostMapping("/test")
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@PermitAll
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@Operation(summary = "测试")
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public CommonResult<Boolean> test(@RequestParam String id, @RequestParam String msg) {
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webSocketSenderApi.sendObject(id,"map_push", msg);
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return success(true);
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}
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@PutMapping("/update")
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@Operation(summary = "更新车辆信息")
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@PreAuthorize("@ss.hasPermission('robot:information:update')")
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@ -64,5 +64,5 @@ public interface HouseAreaService {
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* 获得全部库区
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* @return
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*/
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List<HouseAreaDO> getHouseAreaList();
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List<HouseAreaDO> getHouseAreaList(Long positionMapId);
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}
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@ -14,7 +14,6 @@ import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionM
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import cn.iocoder.yudao.module.system.dal.dataobject.housearea.HouseAreaDO;
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import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
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import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
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import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotModelDO;
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import cn.iocoder.yudao.module.system.dal.mysql.housearea.HouseAreaMapper;
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import cn.iocoder.yudao.module.system.service.houselocation.HouseLocationService;
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import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
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@ -157,10 +156,10 @@ public class HouseAreaServiceImpl implements HouseAreaService {
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}
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@Override
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public List<HouseAreaDO> getHouseAreaList() {
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List<HouseAreaDO> list = houseAreaMapper.selectList(new LambdaQueryWrapper<HouseAreaDO>()
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public List<HouseAreaDO> getHouseAreaList(Long positionMapId) {
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return houseAreaMapper.selectList(new LambdaQueryWrapper<HouseAreaDO>()
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.eq(HouseAreaDO::getPositionMapId, positionMapId)
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.orderByAsc(HouseAreaDO::getId));
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return list;
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}
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}
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@ -4,6 +4,7 @@ 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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@ -77,4 +78,9 @@ public interface RobotInformationService {
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*/
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String getRobotNoByMac(String mac);
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}
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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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@ -3,6 +3,11 @@ package cn.iocoder.yudao.module.system.service.robot;
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import cn.hutool.core.bean.BeanUtil;
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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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@ -18,13 +23,11 @@ import cn.iocoder.yudao.module.system.enums.robot.*;
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import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
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import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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import org.springframework.stereotype.Service;
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import javax.annotation.Resource;
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import org.springframework.validation.annotation.Validated;
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import java.util.*;
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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 javax.annotation.Resource;
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import java.util.List;
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import java.util.Set;
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import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
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import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
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@ -52,6 +55,8 @@ 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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@ -308,4 +313,23 @@ public class RobotInformationServiceImpl implements RobotInformationService {
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return "";
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}
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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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@ -58,7 +58,7 @@ spring:
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primary: master
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datasource:
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master:
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url: jdbc:mysql://47.97.8.94:3306/zn_wcs?useSSL=false&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true&nullCatalogMeansCurrent=true&rewriteBatchedStatements=true # MySQL Connector/J 8.X 连接的示例
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url: jdbc:mysql://47.97.8.94:3306/zn_wcs?useSSL=false&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true&nullCatalogMeansCurrent=true&rewriteBatchedStatements=true&allowMultiQueries=true # MySQL Connector/J 8.X 连接的示例
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# url: jdbc:mysql://127.0.0.1:3306/ruoyi-vue-pro?useSSL=true&allowPublicKeyRetrieval=true&useUnicode=true&characterEncoding=UTF-8&serverTimezone=Asia/Shanghai&rewriteBatchedStatements=true # MySQL Connector/J 5.X 连接的示例
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# url: jdbc:postgresql://127.0.0.1:5432/ruoyi-vue-pro # PostgreSQL 连接的示例
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# url: jdbc:oracle:thin:@127.0.0.1:1521:xe # Oracle 连接的示例
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@ -72,7 +72,7 @@ spring:
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# password: SYSDBA # DM 连接的示例
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slave: # 模拟从库，可根据自己需要修改
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lazy: true # 开启懒加载，保证启动速度
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url: jdbc:mysql://47.97.8.94:3306/zn_wcs?useSSL=false&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true&nullCatalogMeansCurrent=true&rewriteBatchedStatements=true
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url: jdbc:mysql://47.97.8.94:3306/zn_wcs?useSSL=false&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true&nullCatalogMeansCurrent=true&rewriteBatchedStatements=true&allowMultiQueries=true
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username: root
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password: yhtkj@2024!
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@ -229,4 +229,4 @@ zn:
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lane_auto_move: true #线库是否自动移库 true:线库执行自动移库 、false：线库关闭执行自动移库
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robot_position_cache_time: 10 #机器人上报点位存储时间
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cycle_do_auto_move: true #存在循环的任务，是否开启自动移库. true:存在循环任务，开启自动移库; false：有循环任务不自动移库
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full_electricity: 100 #机器人充满电的电量
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full_electricity: 100 #机器人充满电的电量
|
||||
|
||||
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Reference in New Issue
Block a user