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

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

@@ -0,0 +1,61 @@
+package cn.iocoder.yudao.module.system.api.robot;
+
+import cn.hutool.core.map.MapUtil;
+import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.PreDestroy;
+import javax.annotation.Resource;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
+
+@Component
+@Slf4j
+public class RequestProcessor {
+    private final ConcurrentHashMap<String, ConcurrentHashMap<String, String>> cache = new ConcurrentHashMap<>();
+    private final ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(1);
+
+    @Resource
+    public WebSocketSenderApi webSocketSenderApi;
+
+    public RequestProcessor() {
+        // 每秒执行一次 - 处理并发送数据 - 避免数据丢失
+        scheduler.scheduleAtFixedRate(this::processAndSend, 1, 1, TimeUnit.SECONDS);
+    }
+
+    public void handleRequest(String map, String mac, String data) {
+        cache.computeIfAbsent(map, k -> new ConcurrentHashMap<>()).put(mac, data);
+    }
+
+
+    private void processAndSend() {
+        Map<String, ConcurrentHashMap<String, String>> snapshot = new ConcurrentHashMap<>(cache); // 创建快照
+        cache.clear(); // 先清理缓存
+        for (Map.Entry<String, ConcurrentHashMap<String, String>> entry : snapshot.entrySet()) {
+            if (!MapUtil.isEmpty(entry.getValue())) {
+                sendData(entry.getKey(), entry.getValue());
+            }
+        }
+    }
+
+    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);
+        webSocketSenderApi.sendObject(map, "map_push", data);
+    }
+
+    public void shutdown() {
+        scheduler.shutdown();
+    }
+
+    @PreDestroy
+    public void destroy() {
+        // 在Bean销毁前关闭去啊
+        shutdown();
+    }
+}

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

@@ -24,6 +24,7 @@ import org.springframework.web.bind.annotation.RestController;
 
 import javax.annotation.Resource;
 import java.util.ArrayList;
+import java.util.Arrays;
 import java.util.List;
 import java.util.Map;
 import java.util.stream.Collectors;
@@ -48,8 +49,12 @@ public class RobotStatusApiImpl implements RobotStatusApi {
     @Value("${zn.robot_position_cache_time:600}")
     private Long robotPositionCacheTime;
 
+    @Resource
+    private RequestProcessor processor;
+
     /**
      * 更新机器人点位/异常/能否做任务
+     *
      * @param robotStatusDataDTO
      * @return
      */
@@ -61,26 +66,31 @@ public class RobotStatusApiImpl implements RobotStatusApi {
             return;
         }
 
-        String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS +robotStatusDataDTO.getMac();
+        String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robotStatusDataDTO.getMac();
-        String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED +robotStatusDataDTO.getMac();
+        String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robotStatusDataDTO.getMac();
-        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +robotStatusDataDTO.getMac();
+        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robotStatusDataDTO.getMac();
-        redisUtil.set(taskStatusKey, robotStatusDataDTO.getData().getTask_status(),robotPositionCacheTime);
+        redisUtil.set(taskStatusKey, robotStatusDataDTO.getData().getTask_status(), robotPositionCacheTime);
-        redisUtil.set(cargoDetectedKey,robotStatusDataDTO.getData().getCargo_detected(),robotPositionCacheTime);
+        redisUtil.set(cargoDetectedKey, robotStatusDataDTO.getData().getCargo_detected(), robotPositionCacheTime);
 
         Object object = redisUtil.get(pose2dKey);
-        RobotStatusDataPoseDTO robotStatusDataPoseDTO= JSONUtil.toBean((String)object, RobotStatusDataPoseDTO.class);
+        RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
         robotStatusDataPoseDTO.setX(robotStatusDataDTO.getData().getPose2d().getX());
         robotStatusDataPoseDTO.setY(robotStatusDataDTO.getData().getPose2d().getY());
         robotStatusDataPoseDTO.setYaw(robotStatusDataDTO.getData().getPose2d().getYaw());
-        robotStatusDataPoseDTO.setFloor(robotStatusDataDTO.getData().getPose2d().getFloor());
+        robotStatusDataPoseDTO.setFloor(robotStatusDataDTO.getData().getFloor_zone().getFloor());
-        robotStatusDataPoseDTO.setArea(robotStatusDataDTO.getData().getPose2d().getArea());
+        robotStatusDataPoseDTO.setArea(robotStatusDataDTO.getData().getFloor_zone().getArea());
-        redisUtil.set(pose2dKey,JSON.toJSONString(robotStatusDataPoseDTO),robotPositionCacheTime);
+        redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime);
+
+        // 模拟请求
+        processor.handleRequest(robotStatusDataPoseDTO.getFloor() + "_" + robotStatusDataPoseDTO.getArea(),
+                robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(robotStatusDataDTO.getData().getPose2d()));
+
 
         if (ObjectUtil.isNotNull(robotStatusDataDTO.getData().getErr_code())) {
             List<RobotStatusDataErrorDTO> errCode = robotStatusDataDTO.getData().getErr_code();
             String robotNo = robotInformationService.getRobotNoByMac(robotStatusDataDTO.getMac());
             if (ObjectUtil.isNull(robotNo)) {
-                log.info("查不到机器人编号 :{}",robotStatusDataDTO.getMac());
+                log.info("查不到机器人编号 :{}", robotStatusDataDTO.getMac());
                 return;
             }
 
@@ -88,7 +98,7 @@ public class RobotStatusApiImpl implements RobotStatusApi {
                     errCode.stream().map(RobotStatusDataErrorDTO::getError_code).collect(Collectors.toList());
             List<RobotWarnCodeMappingDO> robotWarnCodeMappingDOS =
                     warnCodeMappingMapper.selectList(new LambdaQueryWrapper<RobotWarnCodeMappingDO>()
-                    .in(RobotWarnCodeMappingDO::getWarnCode, warnCodes));
+                            .in(RobotWarnCodeMappingDO::getWarnCode, warnCodes));
             if (ObjectUtil.isEmpty(robotWarnCodeMappingDOS)) {
                 log.info("查不对应编号的告警信息 :{}", JSON.toJSONString(warnCodes));
                 return;
@@ -102,7 +112,7 @@ public class RobotStatusApiImpl implements RobotStatusApi {
             for (RobotStatusDataErrorDTO robotStatusData : errCode) {
                 List<RobotWarnCodeMappingDO> mappingDOS = warnCodeMapping.get(robotStatusData.getError_code());
                 if (ObjectUtil.isEmpty(mappingDOS)) {
-                    log.info("当前告警类型查不到对应的告警信息 :{}",robotStatusData.getError_code());
+                    log.info("当前告警类型查不到对应的告警信息 :{}", robotStatusData.getError_code());
                     continue;
                 }
                 RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(Integer.valueOf(robotStatusData.getCode_level()))
@@ -119,5 +129,4 @@ public class RobotStatusApiImpl implements RobotStatusApi {
     }
 
 
-
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/housearea/HouseAreaController.java

@@ -82,8 +82,8 @@ public class HouseAreaController {
     @GetMapping("/getHouseAreaList")
     @Operation(summary = "获得全部库区")
     @PreAuthorize("@ss.hasPermission('ware:house-area:query')")
-    public CommonResult<List<HouseAreaRespVO>> getHouseAreaList() {
+    public CommonResult<List<HouseAreaRespVO>> getHouseAreaList(@RequestParam Long positionMapId) {
-        List<HouseAreaDO> list = houseAreaService.getHouseAreaList();
+        List<HouseAreaDO> list = houseAreaService.getHouseAreaList(positionMapId);
         return success(BeanUtils.toBean(list, HouseAreaRespVO.class));
     }
 

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

@@ -6,7 +6,7 @@ import cn.iocoder.yudao.framework.common.pojo.PageParam;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils;
-import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
@@ -36,8 +36,14 @@ public class RobotInformationController {
 
     @Resource
     private RobotInformationService informationService;
-    @Resource
+
-    private WebSocketSenderApi webSocketSenderApi;
+    @PostMapping("/test")
+    @Operation(summary = "测试")
+    @PermitAll
+    public CommonResult<Boolean> test(@RequestBody RobotStatusDTO dto) {
+        informationService.test(dto);
+        return success(true);
+    }
 
     @PostMapping("/create")
     @Operation(summary = "创建车辆信息")
@@ -46,14 +52,6 @@ public class RobotInformationController {
         return success(informationService.createInformation(createReqVO));
     }
 
-    @PostMapping("/test")
-    @PermitAll
-    @Operation(summary = "测试")
-    public CommonResult<Boolean> test(@RequestParam String id, @RequestParam String msg) {
-        webSocketSenderApi.sendObject(id,"map_push", msg);
-        return success(true);
-    }
-
     @PutMapping("/update")
     @Operation(summary = "更新车辆信息")
     @PreAuthorize("@ss.hasPermission('robot:information:update')")

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/housearea/HouseAreaService.java

@@ -64,5 +64,5 @@ public interface HouseAreaService {
      * 获得全部库区
      * @return
      */
-    List<HouseAreaDO> getHouseAreaList();
+    List<HouseAreaDO> getHouseAreaList(Long positionMapId);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/housearea/HouseAreaServiceImpl.java

@@ -14,7 +14,6 @@ import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionM
 import cn.iocoder.yudao.module.system.dal.dataobject.housearea.HouseAreaDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotModelDO;
 import cn.iocoder.yudao.module.system.dal.mysql.housearea.HouseAreaMapper;
 import cn.iocoder.yudao.module.system.service.houselocation.HouseLocationService;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
@@ -157,10 +156,10 @@ public class HouseAreaServiceImpl implements HouseAreaService {
     }
 
     @Override
-    public List<HouseAreaDO> getHouseAreaList() {
+    public List<HouseAreaDO> getHouseAreaList(Long positionMapId) {
-        List<HouseAreaDO> list = houseAreaMapper.selectList(new LambdaQueryWrapper<HouseAreaDO>()
+        return houseAreaMapper.selectList(new LambdaQueryWrapper<HouseAreaDO>()
+                .eq(HouseAreaDO::getPositionMapId, positionMapId)
                 .orderByAsc(HouseAreaDO::getId));
-        return list;
     }
 
 }

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

@@ -4,6 +4,7 @@ import java.util.*;
 import javax.validation.*;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 
@@ -77,4 +78,9 @@ public interface RobotInformationService {
      */
     String getRobotNoByMac(String mac);
 
+    /**
+     *
+     * @param dto
+     */
+    void test(@Valid RobotStatusDTO dto);
 }

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

@@ -3,6 +3,11 @@ package cn.iocoder.yudao.module.system.service.robot;
 import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.json.JSONUtil;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
+import cn.iocoder.yudao.module.system.api.robot.RequestProcessor;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
@@ -18,13 +23,11 @@ import cn.iocoder.yudao.module.system.enums.robot.*;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import org.springframework.stereotype.Service;
-import javax.annotation.Resource;
 import org.springframework.validation.annotation.Validated;
 
-import java.util.*;
+import javax.annotation.Resource;
-import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import java.util.List;
-import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import java.util.Set;
-
 
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
 import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
@@ -52,6 +55,8 @@ public class RobotInformationServiceImpl implements RobotInformationService {
 
     @Resource
     private RedisUtil redisUtil;
+    @Resource
+    private RequestProcessor processor;
 
     @Override
     public Long createInformation(RobotInformationSaveReqVO createReqVO) {
@@ -308,4 +313,23 @@ public class RobotInformationServiceImpl implements RobotInformationService {
         return "";
     }
 
+    @Override
+    public void test(RobotStatusDTO robotStatusDataDTO) {
+        TenantContextHolder.setTenantId(1L);
+        if (ObjectUtil.isEmpty(robotStatusDataDTO) || ObjectUtil.isEmpty(robotStatusDataDTO.getMac())) {
+            return;
+        }
+        RobotStatusDataPoseDTO robotStatusDataPoseDTO = new RobotStatusDataPoseDTO();
+        robotStatusDataPoseDTO.setX(robotStatusDataDTO.getData().getPose2d().getX());
+        robotStatusDataPoseDTO.setY(robotStatusDataDTO.getData().getPose2d().getY());
+        robotStatusDataPoseDTO.setYaw(robotStatusDataDTO.getData().getPose2d().getYaw());
+        robotStatusDataPoseDTO.setFloor(robotStatusDataDTO.getData().getFloor_zone().getFloor());
+        robotStatusDataPoseDTO.setArea(robotStatusDataDTO.getData().getFloor_zone().getArea());
+        robotStatusDataPoseDTO.setBat_soc(robotStatusDataDTO.getData().getPose2d().getBat_soc());
+        // 模拟请求
+        processor.handleRequest(robotStatusDataDTO.getData().getFloor_zone().getFloor() + "_" + robotStatusDataDTO.getData().getFloor_zone().getArea(),
+                robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(robotStatusDataPoseDTO));
+
+    }
+
 }

yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml

@@ -58,7 +58,7 @@ spring:
       primary: master
       datasource:
         master:
-          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
+          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
           #          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
           #          url: jdbc:postgresql://127.0.0.1:5432/ruoyi-vue-pro # PostgreSQL 连接的示例
           #          url: jdbc:oracle:thin:@127.0.0.1:1521:xe # Oracle 连接的示例
@@ -72,7 +72,7 @@ spring:
         #          password: SYSDBA # DM 连接的示例
         slave: # 模拟从库，可根据自己需要修改
           lazy: true # 开启懒加载，保证启动速度
-          url: jdbc:mysql://47.97.8.94:3306/zn_wcs?useSSL=false&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true&nullCatalogMeansCurrent=true&rewriteBatchedStatements=true
+          url: jdbc:mysql://47.97.8.94:3306/zn_wcs?useSSL=false&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true&nullCatalogMeansCurrent=true&rewriteBatchedStatements=true&allowMultiQueries=true
           username: root
           password: yhtkj@2024!