diff --git a/yudao-framework/yudao-common/src/main/java/cn/iocoder/yudao/framework/common/enums/NodeTypeEnum.java b/yudao-framework/yudao-common/src/main/java/cn/iocoder/yudao/framework/common/enums/NodeTypeEnum.java index 0778726ae..b477f6cc0 100644 --- a/yudao-framework/yudao-common/src/main/java/cn/iocoder/yudao/framework/common/enums/NodeTypeEnum.java +++ b/yudao-framework/yudao-common/src/main/java/cn/iocoder/yudao/framework/common/enums/NodeTypeEnum.java @@ -3,6 +3,10 @@ package cn.iocoder.yudao.framework.common.enums; import lombok.AllArgsConstructor; import lombok.Getter; +import java.util.Arrays; +import java.util.List; +import java.util.stream.Collectors; + /** * 通用状态枚举 * @@ -28,4 +32,8 @@ public enum NodeTypeEnum { */ private final String name; + public static List getAllTypes() { + return Arrays.stream(NodeTypeEnum.values()).map(NodeTypeEnum::getType).collect(Collectors.toList()); + } + } diff --git a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PositionMapLineDTO.java b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PositionMapLineDTO.java index d3080f2ec..0bfc85f20 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PositionMapLineDTO.java +++ b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PositionMapLineDTO.java @@ -25,7 +25,7 @@ public class PositionMapLineDTO { @Schema(description = "结束点id(点位子表id)", example = "15890") private Long endPointId; - @Schema(description = "行走方法 0.直线 1.上左曲线2.上右曲线3.下左曲线 4.下右曲线") + @Schema(description = "行走方法 0.直线 1.曲线") private Integer method; @Schema(description = "方向 1.单向 2.双向", example = "15890") @@ -48,7 +48,38 @@ public class PositionMapLineDTO { @Schema(description = "结束控制点y轴") private String endControlY; - + /** + * 开始点位x轴 + */ + private String actualStartPointX; + /** + * 开始点位y轴 + */ + private String actualStartPointY; + /** + * 结束点位x轴 + */ + private String actualEndPointX; + /** + * 结束点位y轴 + */ + private String actualEndPointY; + /** + * 开始控制点x轴 + */ + private String actualBeginControlX; + /** + * 开始控制点y轴 + */ + private String actualBeginControlY; + /** + * 结束控制点x轴 + */ + private String actualEndControlX; + /** + * 结束控制点y轴 + */ + private String actualEndControlY; @Schema(description = "膨胀区域前") private BigDecimal expansionZoneFront; diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotInformationVO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotInformationVO.java new file mode 100644 index 000000000..8c4158840 --- /dev/null +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotInformationVO.java @@ -0,0 +1,27 @@ +package cn.iocoder.yudao.module.system.api.robot.vo; + +import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO; +import lombok.Data; + +/** + * 车机响应信息 + */ +@Data +public class RobotInformationVO { + /** + * 设备id + */ + private Long id; + /** + * mac地址 + */ + private String macAddress; + /** + * 车辆类型 + */ + private String robotModelNumber; + /** + * 点位信息 + */ + public RobotStatusDataPoseDTO pose2d; +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java index f7f0aaba0..b007a0d19 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java @@ -6,6 +6,7 @@ import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder; import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO; import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataErrorDTO; import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO; +import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO; import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant; import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO; import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnMsgDO; @@ -19,7 +20,6 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; -import org.springframework.scheduling.annotation.Async; import org.springframework.validation.annotation.Validated; import org.springframework.web.bind.annotation.RestController; @@ -29,8 +29,6 @@ import java.util.List; import java.util.Map; import java.util.stream.Collectors; -import static cn.iocoder.yudao.module.system.config.SystemJobConfiguration.NOTIFY_THREAD_POOL_TASK_EXECUTOR; - @Slf4j @RestController // 提供 RESTful API 接口，给 Feign 调用 @Validated @@ -85,10 +83,16 @@ public class RobotStatusApiImpl implements RobotStatusApi { robotStatusDataPoseDTO.setFloor(robotStatusDataDTO.getData().getFloor_zone().getFloor()); robotStatusDataPoseDTO.setArea(robotStatusDataDTO.getData().getFloor_zone().getArea()); redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime); - + // -- 通过mac 地址获取车辆信息 - (并且加入到缓存中) + Map robotInformationVOS = robotInformationService.getAllRobotByRedis(); + RobotInformationVO robotInformationVO = robotInformationVOS.get(robotStatusDataDTO.getMac()); + if (robotInformationVO == null) { + robotInformationVO = robotInformationService.getRobotByRedis(robotStatusDataDTO.getMac()); + } + robotInformationVO.setPose2d(robotStatusDataDTO.getData().getPose2d()); // 合并请求 - 这里接受到的数据都丢给 RequestProcessor - 再整合数据通过WebSocket丢给前端 processor.handleRequest(robotStatusDataPoseDTO.getFloor() + "_" + robotStatusDataPoseDTO.getArea(), - robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(robotStatusDataDTO.getData().getPose2d())); + robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(robotInformationVO)); if (ObjectUtil.isNotNull(robotStatusDataDTO.getData().getErr_code())) { diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java index 5ecf87b2d..7d56cc046 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java @@ -28,4 +28,7 @@ public class RobotTaskChcheConstant { //机器人异常信息(拼接的是mac地址) public static String ROBOT_ERROR_MSG = "robot:information:error:msg"; + + //机器人mac地址和机器人id以及机器人类型映射(通过mac地址。获取机器人基本信息) + public static String ROBOT_GET_ROBOT_INFO = "robot:information:getRobotInfo"; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapItemController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapItemController.java index 6e8e3b9b3..d2a991a32 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapItemController.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapItemController.java @@ -1,19 +1,15 @@ package cn.iocoder.yudao.module.system.controller.admin.positionmap; import cn.hutool.core.collection.CollectionUtil; -import cn.iocoder.yudao.framework.apilog.core.annotation.ApiAccessLog; +import cn.iocoder.yudao.framework.common.enums.NodeTypeEnum; import cn.iocoder.yudao.framework.common.pojo.CommonResult; -import cn.iocoder.yudao.framework.common.pojo.PageParam; import cn.iocoder.yudao.framework.common.util.object.BeanUtils; -import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils; import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX; import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.NodeBaseDTO; -import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemPageReqVO; import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemRespVO; import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO; import cn.iocoder.yudao.module.system.handler.mapnode.NodeProcessingContext; import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService; -import com.baomidou.mybatisplus.core.toolkit.IdWorker; import io.swagger.v3.oas.annotations.Operation; import io.swagger.v3.oas.annotations.Parameter; import io.swagger.v3.oas.annotations.tags.Tag; @@ -22,15 +18,12 @@ import org.springframework.validation.annotation.Validated; import org.springframework.web.bind.annotation.*; import javax.annotation.Resource; -import javax.servlet.http.HttpServletResponse; import javax.validation.Valid; -import java.io.IOException; import java.util.Collections; import java.util.List; import java.util.Map; import java.util.stream.Collectors; -import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.EXPORT; import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success; @Tag(name = "管理后台 - 仓库点位地图子表") @@ -44,12 +37,6 @@ public class PositionMapItemController { @Resource private NodeProcessingContext nodeProcessingContext; - @GetMapping("/getMapItemId") - @Operation(summary = "获取节点id") - public CommonResult getMapItemId() { - return success(String.valueOf(IdWorker.getId())); - } - // -- 前端给所有的节点信息 - @PostMapping("/batchSaveOrEditOrDel") @Operation(summary = "批量新增编辑删除节点") @@ -59,10 +46,10 @@ public class PositionMapItemController { // -- 获取到对应地图的所有点位 List oldList = positionMapItemService.getByMapId(positionMapId); Map> oldMap = oldList.stream().collect(Collectors.groupingBy(PositionMapItemDO::getType)); - for (Map.Entry> entry : map.entrySet()) { - int key = entry.getKey(); + for (Integer key : NodeTypeEnum.getAllTypes()) { + List nodeBaseDTOList = CollectionUtil.isEmpty(map.get(key)) ? Collections.emptyList() : map.get(key); List oldItemList = CollectionUtil.isEmpty(oldMap.get(key)) ? Collections.emptyList() : oldMap.get(key); - nodeProcessingContext.processNodesByStrategy(positionMapId, oldItemList, key, entry.getValue()); + nodeProcessingContext.processNodesByStrategy(positionMapId, oldItemList, key, nodeBaseDTOList); } return success(true); } @@ -88,18 +75,4 @@ public class PositionMapItemController { .eqIfPresent(PositionMapItemDO::getLaneId, laneId)); return success(BeanUtils.toBean(list, PositionMapItemRespVO.class)); } - - @GetMapping("/export-excel") - @Operation(summary = "导出仓库点位地图子表 Excel") - @PreAuthorize("@ss.hasPermission('system:position-map-item:export')") - @ApiAccessLog(operateType = EXPORT) - public void exportPositionMapItemExcel(@Valid PositionMapItemPageReqVO pageReqVO, - HttpServletResponse response) throws IOException { - pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE); - List list = positionMapItemService.getPositionMapItemPage(pageReqVO).getList(); - // 导出 Excel - ExcelUtils.write(response, "仓库点位地图子表.xls", "数据", PositionMapItemRespVO.class, - BeanUtils.toBean(list, PositionMapItemRespVO.class)); - } - } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/PositionMapLineDTO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/PositionMapLineDTO.java index eb266a704..286889067 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/PositionMapLineDTO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/PositionMapLineDTO.java @@ -23,7 +23,7 @@ public class PositionMapLineDTO { @Schema(description = "结束点id(点位子表id)", example = "15890") private Long endPointId; - @Schema(description = "行走方法 0.直线 1.上左曲线2.上右曲线3.下左曲线 4.下右曲线") + @Schema(description = "行走方法 0.直线 1.曲线") private Integer method; @Schema(description = "方向 1.单向 2.双向", example = "15890") @@ -46,7 +46,38 @@ public class PositionMapLineDTO { @Schema(description = "结束控制点y轴") private String endControlY; - + /** + * 开始点位x轴 + */ + private String actualStartPointX; + /** + * 开始点位y轴 + */ + private String actualStartPointY; + /** + * 结束点位x轴 + */ + private String actualEndPointX; + /** + * 结束点位y轴 + */ + private String actualEndPointY; + /** + * 开始控制点x轴 + */ + private String actualBeginControlX; + /** + * 开始控制点y轴 + */ + private String actualBeginControlY; + /** + * 结束控制点x轴 + */ + private String actualEndControlX; + /** + * 结束控制点y轴 + */ + private String actualEndControlY; @Schema(description = "膨胀区域前") private BigDecimal expansionZoneFront; diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemRespVO.java index 7a04d7130..d2260922f 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemRespVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemRespVO.java @@ -42,6 +42,12 @@ public class PositionMapItemRespVO { @ExcelProperty("坐标y轴") private String locationY; + @Schema(description = "实际坐标x轴") + private String actualLocationX; + + @Schema(description = "实际坐标y轴") + private String actualLocationY; + @Schema(description = "类型 1.路径点位 2.库位点 3.充电桩 4.停车点 5.区域变更点 6.等待点 --- 后续补充", example = "1") @ExcelProperty("类型 1.路径点位 2.库位点 3.充电桩 4.停车点 5.区域变更点 6.等待点 --- 后续补充") private Integer type; diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLinePageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLinePageReqVO.java index 4a651d477..205ee92ec 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLinePageReqVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLinePageReqVO.java @@ -49,6 +49,30 @@ public class PositionMapLinePageReqVO extends PageParam { @Schema(description = "结束控制点y轴", example = "15890") private String endControlY; + @Schema(description = "实际开始点位x轴", example = "15890") + private String actualStartPointX; + + @Schema(description = "实际开始点位y轴", example = "15890") + private String actualStartPointY; + + @Schema(description = "实际结束点位x轴", example = "15890") + private String actualEndPointX; + + @Schema(description = "实际结束点位y轴", example = "15890") + private String actualEndPointY; + + @Schema(description = "实际开始控制点x轴", example = "15890") + private String actualBeginControlX; + + @Schema(description = "实际开始控制点y轴", example = "15890") + private String actualBeginControlY; + + @Schema(description = "实际结束控制点x轴", example = "15890") + private String actualEndControlX; + + @Schema(description = "实际结束控制点y轴", example = "15890") + private String actualEndControlY; + @Schema(description = "膨胀区域前", example = "15890") private BigDecimal expansionZoneFront; @@ -61,7 +85,7 @@ public class PositionMapLinePageReqVO extends PageParam { @Schema(description = "膨胀区域右", example = "15890") private BigDecimal expansionZoneRight; - @Schema(description = "行走方法 0.直线 1.上左曲线2.上右曲线3.下左曲线 4.下右曲线") + @Schema(description = "行走方法 0.直线 1.曲线") private Integer method; @Schema(description = "方向 1.单向 2.双向", example = "15890") diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineRespVO.java index d1d356872..f5f2ea6cf 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineRespVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineRespVO.java @@ -54,6 +54,30 @@ public class PositionMapLineRespVO { @ExcelProperty("结束控制点y轴") private String endControlY; + @Schema(description = "实际开始点位x轴", example = "15890") + private String actualStartPointX; + + @Schema(description = "实际开始点位y轴", example = "15890") + private String actualStartPointY; + + @Schema(description = "实际结束点位x轴", example = "15890") + private String actualEndPointX; + + @Schema(description = "实际结束点位y轴", example = "15890") + private String actualEndPointY; + + @Schema(description = "实际开始控制点x轴", example = "15890") + private String actualBeginControlX; + + @Schema(description = "实际开始控制点y轴", example = "15890") + private String actualBeginControlY; + + @Schema(description = "实际结束控制点x轴", example = "15890") + private String actualEndControlX; + + @Schema(description = "实际结束控制点y轴", example = "15890") + private String actualEndControlY; + @Schema(description = "膨胀区域前", example = "15890") @ExcelProperty("膨胀区域前") private BigDecimal expansionZoneFront; @@ -70,8 +94,8 @@ public class PositionMapLineRespVO { @ExcelProperty("膨胀区域右") private BigDecimal expansionZoneRight; - @Schema(description = "行走方法 0.直线 1.上左曲线2.上右曲线3.下左曲线 4.下右曲线") - @ExcelProperty("行走方法 0.直线 1.上左曲线2.上右曲线3.下左曲线 4.下右曲线") + @Schema(description = "行走方法 0.直线 1.曲线") + @ExcelProperty("行走方法 0.直线 1.曲线") private Integer method; @Schema(description = "方向 1.单向 2.双向", example = "15890") diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineSaveReqVO.java index 63255677a..2ca1c9522 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineSaveReqVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineSaveReqVO.java @@ -46,6 +46,30 @@ public class PositionMapLineSaveReqVO { @Schema(description = "结束控制点y轴", example = "15890") private String endControlY; + @Schema(description = "实际开始点位x轴", example = "15890") + private String actualStartPointX; + + @Schema(description = "实际开始点位y轴", example = "15890") + private String actualStartPointY; + + @Schema(description = "实际结束点位x轴", example = "15890") + private String actualEndPointX; + + @Schema(description = "实际结束点位y轴", example = "15890") + private String actualEndPointY; + + @Schema(description = "实际开始控制点x轴", example = "15890") + private String actualBeginControlX; + + @Schema(description = "实际开始控制点y轴", example = "15890") + private String actualBeginControlY; + + @Schema(description = "实际结束控制点x轴", example = "15890") + private String actualEndControlX; + + @Schema(description = "实际结束控制点y轴", example = "15890") + private String actualEndControlY; + @Schema(description = "膨胀区域前", example = "15890") private BigDecimal expansionZoneFront; @@ -58,7 +82,7 @@ public class PositionMapLineSaveReqVO { @Schema(description = "膨胀区域右", example = "15890") private BigDecimal expansionZoneRight; - @Schema(description = "行走方法 0.直线 1.上左曲线2.上右曲线3.下左曲线 4.下右曲线") + @Schema(description = "行走方法 0.直线 1.曲线") private Integer method; @Schema(description = "方向 1.单向 2.双向", example = "15890") diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java index f6a09d8b5..9d82a11dd 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java @@ -6,6 +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.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; @@ -17,6 +18,7 @@ import org.springframework.validation.annotation.Validated; import org.springframework.web.bind.annotation.*; import javax.annotation.Resource; +import javax.annotation.security.PermitAll; import javax.servlet.http.HttpServletResponse; import javax.validation.Valid; import java.io.IOException; @@ -120,4 +122,12 @@ public class RobotInformationController { PageResult pageResult = informationService.getInformationPage(pageReqVO); return success(BeanUtils.toBean(pageResult, RobotInformationPageRespVO.class)); } + + @PostMapping("/test") + @Operation(summary = "测试") + @PermitAll + public CommonResult test(@RequestBody RobotStatusDTO dto) { + informationService.test(dto); + return success(true); + } } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapLineDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapLineDO.java index cf7f21d0a..4c96bc832 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapLineDO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapLineDO.java @@ -74,6 +74,38 @@ public class PositionMapLineDO extends BaseDO { * 结束控制点y轴 */ private String endControlY; + /** + * 实际开始点位x轴 + */ + private String actualStartPointX; + /** + * 实际开始点位y轴 + */ + private String actualStartPointY; + /** + * 实际结束点位x轴 + */ + private String actualEndPointX; + /** + * 实际结束点位y轴 + */ + private String actualEndPointY; + /** + * 实际开始控制点x轴 + */ + private String actualBeginControlX; + /** + * 实际开始控制点y轴 + */ + private String actualBeginControlY; + /** + * 实际结束控制点x轴 + */ + private String actualEndControlX; + /** + * 实际结束控制点y轴 + */ + private String actualEndControlY; /** * 膨胀区域前 */ @@ -91,7 +123,7 @@ public class PositionMapLineDO extends BaseDO { */ private BigDecimal expansionZoneRight; /** - * 行走方法 0.直线 1.上左曲线2.上右曲线3.下左曲线 4.下右曲线 + * 行走方法 0.直线 1.曲线 */ private Integer method; /** diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/DeviceStrategyImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/DeviceStrategyImpl.java index a4791a0ea..1e6f32820 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/DeviceStrategyImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/DeviceStrategyImpl.java @@ -42,7 +42,7 @@ public class DeviceStrategyImpl implements NodeProcessingStrategy { }); List oldList = deviceInformationService.getByMapId(positionMapId); - List> list = CollectionUtils.diffList(oldList, newList, + List> list = CollectionUtils.compareLists(oldList, newList, (oldVal, newVal) -> ObjectUtil.equal(oldVal.getId(), newVal.getId())); deviceInformationService.batchSaveOrEditOrDel(positionMapId, list); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/HouseLocationStrategyImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/HouseLocationStrategyImpl.java index be8aaa003..bd649cddd 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/HouseLocationStrategyImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/HouseLocationStrategyImpl.java @@ -55,7 +55,7 @@ public class HouseLocationStrategyImpl implements NodeProcessingStrategy { }); List oldList = houseLocationService.getByMapId(positionMapId); - List> list = CollectionUtils.diffList(oldList, newList, + List> list = CollectionUtils.compareLists(oldList, newList, (oldVal, newVal) -> ObjectUtil.equal(oldVal.getId(), newVal.getId())); houseLocationService.batchSaveOrEditOrDel(positionMapId, list); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/ParkingSpotStrategyImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/ParkingSpotStrategyImpl.java index bb4310b47..b13e3ea4f 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/ParkingSpotStrategyImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/ParkingSpotStrategyImpl.java @@ -43,10 +43,10 @@ public class ParkingSpotStrategyImpl implements NodeProcessingStrategy { parkingSpotDO.setPositionMapItemId(item.getId()); newList.add(parkingSpotDO); item.setDataJson(JSONUtil.toJsonStr(parkingSpotDO)); - }); + }); List oldList = parkingSpotService.getByMapId(positionMapId); - List> list = CollectionUtils.diffList(oldList, newList, + List> list = CollectionUtils.compareLists(oldList, newList, (oldVal, newVal) -> ObjectUtil.equal(oldVal.getId(), newVal.getId())); parkingSpotService.batchSaveOrEditOrDel(positionMapId, list); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/housearea/HouseAreaServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/housearea/HouseAreaServiceImpl.java index cb35de163..67ac2df56 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/housearea/HouseAreaServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/housearea/HouseAreaServiceImpl.java @@ -116,7 +116,7 @@ public class HouseAreaServiceImpl implements HouseAreaService { } // -- 这里去判断更新点位的线库信息 - List> allList = CollectionUtils.diffList(oldList, list, + List> allList = CollectionUtils.compareLists(oldList, list, (oldVal, newVal) -> ObjectUtil.equal(oldVal.getAreaId(), newVal.getAreaId())); List editList = new ArrayList<>(); if (CollUtil.isNotEmpty(allList.get(0))) { diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselane/WareHouseLaneServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselane/WareHouseLaneServiceImpl.java index a77a13532..c7cb35c48 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselane/WareHouseLaneServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselane/WareHouseLaneServiceImpl.java @@ -100,7 +100,7 @@ public class WareHouseLaneServiceImpl extends ServiceImpl> allList = CollectionUtils.diffList(oldList, list, + List> allList = CollectionUtils.compareLists(oldList, list, (oldVal, newVal) -> ObjectUtil.equal(oldVal.getLaneId(), newVal.getLaneId())); List editList = new ArrayList<>(); if (CollUtil.isNotEmpty(allList.get(0))) { diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapLineServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapLineServiceImpl.java index 6040d1cc1..bf487a13b 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapLineServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapLineServiceImpl.java @@ -6,7 +6,6 @@ import cn.iocoder.yudao.framework.common.util.collection.CollectionUtils; import cn.iocoder.yudao.framework.common.util.object.BeanUtils; import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLinePageReqVO; import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLineSaveReqVO; -import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO; import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO; import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapLineMapper; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; @@ -51,8 +50,10 @@ public class PositionMapLineServiceImpl extends ServiceImpl createReqVO) { List newList = BeanUtils.toBean(createReqVO, PositionMapLineDO.class); + newList.forEach(a -> a.setPositionMapId(positionMapId)); + // todo 判断是否有重复数据 List oldList = this.getByMapId(positionMapId); - List> list = CollectionUtils.diffList(oldList, newList, + List> list = CollectionUtils.compareLists(oldList, newList, (oldVal, newVal) -> ObjectUtil.equal(oldVal.getId(), newVal.getId())); this.batchSaveOrEditOrDel(list); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java index ed46d39d0..1d8456b65 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java @@ -1,18 +1,22 @@ package cn.iocoder.yudao.module.system.service.robot; import cn.iocoder.yudao.framework.common.pojo.PageResult; +import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO; +import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO; import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*; import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO; +import com.baomidou.mybatisplus.extension.service.IService; import javax.validation.Valid; import java.util.List; +import java.util.Map; /** * 车辆信息 Service 接口 * * @author 陈宾顺 */ -public interface RobotInformationService { +public interface RobotInformationService extends IService { /** * 创建车辆信息 @@ -80,4 +84,24 @@ public interface RobotInformationService { * @return */ String getRobotNoByMac(String mac); + + /** + * @param dto + */ + void test(@Valid RobotStatusDTO dto); + + /** + * 获取所有的车辆信息 (缓存中获取) + * + * @return + */ + Map getAllRobotByRedis(); + + /** + * 通过macAddress 获取设备基础信息 - 然后存入到redis中 + * + * @param macAddress + * @return + */ + RobotInformationVO getRobotByRedis(String macAddress); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java index 7d0af862a..d6ac177c1 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java @@ -5,28 +5,37 @@ 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.api.robot.vo.RobotInformationVO; import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant; import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*; import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO; import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO; import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotModelDO; -import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO; import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper; import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper; import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotModelMapper; import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper; -import cn.iocoder.yudao.module.system.enums.robot.*; +import cn.iocoder.yudao.module.system.enums.robot.CommandTypeEnum; +import cn.iocoder.yudao.module.system.enums.robot.RobotStatusEnum; +import cn.iocoder.yudao.module.system.enums.robot.RobotTaskModelEnum; import cn.iocoder.yudao.module.system.enums.robot.information.RobotStatisticsTypeEnum; import cn.iocoder.yudao.module.system.util.redis.RedisUtil; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; +import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; import org.springframework.stereotype.Service; import org.springframework.validation.annotation.Validated; import javax.annotation.Resource; import java.util.ArrayList; import java.util.List; +import java.util.Map; import java.util.Set; +import java.util.function.Function; +import java.util.stream.Collectors; import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception; import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*; @@ -38,7 +47,7 @@ import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*; */ @Service @Validated -public class RobotInformationServiceImpl implements RobotInformationService { +public class RobotInformationServiceImpl extends ServiceImpl implements RobotInformationService { @Resource private RobotInformationMapper informationMapper; @@ -54,6 +63,10 @@ public class RobotInformationServiceImpl implements RobotInformationService { @Resource private RedisUtil redisUtil; + @Resource + private RequestProcessor processor; + // -- 获取所有的设备信息key + public static final String key = RobotTaskChcheConstant.ROBOT_GET_ROBOT_INFO; @Override public Long createInformation(RobotInformationSaveReqVO createReqVO) { @@ -281,7 +294,7 @@ public class RobotInformationServiceImpl implements RobotInformationService { Integer fault = 0; //0：待命、1：任务中、2：锁定、3：离线、4:充电中、5:故障 for (RobotInformationDO v : existRobot) { - String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +v.getMacAddress(); + String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + v.getMacAddress(); Object object = redisUtil.get(pose2dKey); if (ObjectUtil.isEmpty(object)) { @@ -294,7 +307,7 @@ public class RobotInformationServiceImpl implements RobotInformationService { doLock++; } //设置异常 - String errorLevelKey = RobotTaskChcheConstant.ROBOT_ERROR_LEVEL +v.getMacAddress(); + String errorLevelKey = RobotTaskChcheConstant.ROBOT_ERROR_LEVEL + v.getMacAddress(); Object errorLevel = redisUtil.get(errorLevelKey); if (ObjectUtil.isNotEmpty(errorLevel) && Integer.valueOf(errorLevel.toString()).intValue() >= 3) { fault++; @@ -303,10 +316,10 @@ public class RobotInformationServiceImpl implements RobotInformationService { if (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())) { //待命中 standby++; - }else if (RobotStatusEnum.CHARGE.getType().equals(v.getRobotStatus())) { + } else if (RobotStatusEnum.CHARGE.getType().equals(v.getRobotStatus())) { //充电中 charge++; - }else { + } else { //任务中 inTask++; } @@ -365,4 +378,66 @@ public class RobotInformationServiceImpl implements RobotInformationService { return ""; } + @Override + public void test(RobotStatusDTO robotStatusDataDTO) { + TenantContextHolder.setTenantId(1L); + if (ObjectUtil.isEmpty(robotStatusDataDTO) || ObjectUtil.isEmpty(robotStatusDataDTO.getMac())) { + return; + } + // -- 通过mac 地址获取车辆信息 - (并且加入到缓存中) + Map robotInformationVOS = this.getAllRobotByRedis(); + RobotInformationVO robotInformationVO = robotInformationVOS.get(robotStatusDataDTO.getMac()); + if (robotInformationVO == null) { + robotInformationVO = this.getRobotByRedis(robotStatusDataDTO.getMac()); + } + + 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()); + + robotInformationVO.setPose2d(robotStatusDataPoseDTO); + + // 模拟请求 + processor.handleRequest(robotStatusDataDTO.getData().getFloor_zone().getFloor() + "_" + robotStatusDataDTO.getData().getFloor_zone().getArea(), + robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(robotInformationVO)); + + } + + @Override + public Map getAllRobotByRedis() { + Object o = redisUtil.get(key); + if (ObjectUtil.isNotEmpty(o)) { + // 化作列表 + List list = JSONUtil.toList(o.toString(), RobotInformationVO.class); + return list.stream().collect(Collectors.toMap(RobotInformationVO::getMacAddress, Function.identity())); + } else { + List allRobotInfoList = this.list(); + List list = BeanUtil.copyToList(allRobotInfoList, RobotInformationVO.class); + redisUtil.set(key, JSONUtil.toJsonStr(list)); + return list.stream().collect(Collectors.toMap(RobotInformationVO::getMacAddress, Function.identity())); + } + } + + @Override + public RobotInformationVO getRobotByRedis(String macAddress) { + // todo -- 如果说有一个设备的mac 一直都不在库里 会出现缓存穿透的问题 - 后续如果出现这种情况的话 - 考虑将null值也存入到缓存中 + RobotInformationDO item = this.getOne(new LambdaQueryWrapper().eq(RobotInformationDO::getMacAddress, macAddress)); + // -- 将获取到的存入到redis中 + if (ObjectUtil.isNotEmpty(item)) { + RobotInformationVO vo = BeanUtil.toBean(item, RobotInformationVO.class); + List list = new ArrayList<>(); + Object o = redisUtil.get(key); + if (ObjectUtil.isNotEmpty(o)) { + list = JSONUtil.toList(o.toString(), RobotInformationVO.class); + } + list.add(vo); + redisUtil.set(key, JSONUtil.toJsonStr(list)); + return vo; + } + return new RobotInformationVO(); + } }