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 1a7a4826b..0778726ae 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 @@ -16,7 +16,8 @@ public enum NodeTypeEnum { DEVICE(3, "设备点"), PARKING(4, "停车点"), CHANGE(5, "区域变更点"), - WAIT(6, "等待点"); + WAIT(6, "等待点"), + TEXT(7, "文字点"); /** * 类型 diff --git a/yudao-framework/yudao-spring-boot-starter-websocket/src/main/java/cn/iocoder/yudao/framework/websocket/core/sender/AbstractWebSocketMessageSender.java b/yudao-framework/yudao-spring-boot-starter-websocket/src/main/java/cn/iocoder/yudao/framework/websocket/core/sender/AbstractWebSocketMessageSender.java index 4e0db44c9..dbc969a58 100644 --- a/yudao-framework/yudao-spring-boot-starter-websocket/src/main/java/cn/iocoder/yudao/framework/websocket/core/sender/AbstractWebSocketMessageSender.java +++ b/yudao-framework/yudao-spring-boot-starter-websocket/src/main/java/cn/iocoder/yudao/framework/websocket/core/sender/AbstractWebSocketMessageSender.java @@ -44,10 +44,10 @@ public abstract class AbstractWebSocketMessageSender implements WebSocketMessage /** * 发送消息 * - * @param sessionId Session 编号 - * @param userType 用户类型 - * @param userId 用户编号 - * @param messageType 消息类型 + * @param sessionId Session 编号 + * @param userType 用户类型 + * @param userId 用户编号 + * @param messageType 消息类型 * @param messageContent 消息内容 */ public void send(String sessionId, Integer userType, Long userId, String messageType, String messageContent) { @@ -57,6 +57,12 @@ public abstract class AbstractWebSocketMessageSender implements WebSocketMessage WebSocketSession session = sessionManager.getSession(sessionId); if (session != null) { sessions = Collections.singletonList(session); + } else { + // -- 这里用于获取地图的webSocket + session = sessionManager.getMapSession(sessionId); + if (session != null){ + sessions = Collections.singletonList(session); + } } } else if (userType != null && userId != null) { sessions = (List) sessionManager.getSessionList(userType, userId); @@ -74,8 +80,8 @@ public abstract class AbstractWebSocketMessageSender implements WebSocketMessage /** * 发送消息的具体实现 * - * @param sessions Session 列表 - * @param messageType 消息类型 + * @param sessions Session 列表 + * @param messageType 消息类型 * @param messageContent 消息内容 */ public void doSend(Collection sessions, String messageType, String messageContent) { diff --git a/yudao-framework/yudao-spring-boot-starter-websocket/src/main/java/cn/iocoder/yudao/framework/websocket/core/session/WebSocketSessionManager.java b/yudao-framework/yudao-spring-boot-starter-websocket/src/main/java/cn/iocoder/yudao/framework/websocket/core/session/WebSocketSessionManager.java index ad1de23c2..b9b3fcdfc 100644 --- a/yudao-framework/yudao-spring-boot-starter-websocket/src/main/java/cn/iocoder/yudao/framework/websocket/core/session/WebSocketSessionManager.java +++ b/yudao-framework/yudao-spring-boot-starter-websocket/src/main/java/cn/iocoder/yudao/framework/websocket/core/session/WebSocketSessionManager.java @@ -33,6 +33,14 @@ public interface WebSocketSessionManager { */ WebSocketSession getSession(String id); + /** + * 根据 地图 楼+"_"+区 获取session + * + * @param key + * @return + */ + WebSocketSession getMapSession(String key); + /** * 获得指定用户类型的 Session 列表 * @@ -45,9 +53,9 @@ public interface WebSocketSessionManager { * 获得指定用户编号的 Session 列表 * * @param userType 用户类型 - * @param userId 用户编号 + * @param userId 用户编号 * @return Session 列表 */ Collection getSessionList(Integer userType, Long userId); -} \ No newline at end of file +} diff --git a/yudao-framework/yudao-spring-boot-starter-websocket/src/main/java/cn/iocoder/yudao/framework/websocket/core/session/WebSocketSessionManagerImpl.java b/yudao-framework/yudao-spring-boot-starter-websocket/src/main/java/cn/iocoder/yudao/framework/websocket/core/session/WebSocketSessionManagerImpl.java index 6dba89851..9ceceda99 100644 --- a/yudao-framework/yudao-spring-boot-starter-websocket/src/main/java/cn/iocoder/yudao/framework/websocket/core/session/WebSocketSessionManagerImpl.java +++ b/yudao-framework/yudao-spring-boot-starter-websocket/src/main/java/cn/iocoder/yudao/framework/websocket/core/session/WebSocketSessionManagerImpl.java @@ -1,15 +1,14 @@ package cn.iocoder.yudao.framework.websocket.core.session; import cn.hutool.core.collection.CollUtil; +import cn.hutool.http.HttpUtil; import cn.iocoder.yudao.framework.security.core.LoginUser; import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder; import cn.iocoder.yudao.framework.websocket.core.util.WebSocketFrameworkUtils; import org.springframework.web.socket.WebSocketSession; -import java.util.ArrayList; -import java.util.Collection; -import java.util.LinkedList; -import java.util.List; +import java.nio.charset.StandardCharsets; +import java.util.*; import java.util.concurrent.ConcurrentHashMap; import java.util.concurrent.ConcurrentMap; import java.util.concurrent.CopyOnWriteArrayList; @@ -23,63 +22,87 @@ public class WebSocketSessionManagerImpl implements WebSocketSessionManager { /** * id 与 WebSocketSession 映射 - * + *

* key：Session 编号 */ private final ConcurrentMap idSessions = new ConcurrentHashMap<>(); /** * user 与 WebSocketSession 映射 - * + *

* key1：用户类型 * key2：用户编号 */ private final ConcurrentMap>> userSessions = new ConcurrentHashMap<>(); + + /** + * 地图 与 WebSocketSession 映射 + *

+ * key：地图地址 楼+'_'+区 + */ + private final ConcurrentMap mapSessions = new ConcurrentHashMap<>(); + @Override public void addSession(WebSocketSession session) { - // 添加到 idSessions 中 - idSessions.put(session.getId(), session); - // 添加到 userSessions 中 - LoginUser user = WebSocketFrameworkUtils.getLoginUser(session); - if (user == null) { - return; - } - ConcurrentMap> userSessionsMap = userSessions.get(user.getUserType()); - if (userSessionsMap == null) { - userSessionsMap = new ConcurrentHashMap<>(); - if (userSessions.putIfAbsent(user.getUserType(), userSessionsMap) != null) { - userSessionsMap = userSessions.get(user.getUserType()); + // 解析 session Url 中参数 + Map paramMap = HttpUtil.decodeParamMap(String.valueOf(session.getUri()), StandardCharsets.UTF_8); + String type = paramMap.get("type"); + // -- 如果是地图里面过来的 + if ("map".equals(type)) { + mapSessions.put(paramMap.get("floor") + "_" + paramMap.get("area"), session); + } else { + // 添加到 idSessions 中 + idSessions.put(session.getId(), session); + // 添加到 userSessions 中 + LoginUser user = WebSocketFrameworkUtils.getLoginUser(session); + if (user == null) { + return; } - } - CopyOnWriteArrayList sessions = userSessionsMap.get(user.getId()); - if (sessions == null) { - sessions = new CopyOnWriteArrayList<>(); - if (userSessionsMap.putIfAbsent(user.getId(), sessions) != null) { - sessions = userSessionsMap.get(user.getId()); + ConcurrentMap> userSessionsMap = userSessions.get(user.getUserType()); + if (userSessionsMap == null) { + userSessionsMap = new ConcurrentHashMap<>(); + if (userSessions.putIfAbsent(user.getUserType(), userSessionsMap) != null) { + userSessionsMap = userSessions.get(user.getUserType()); + } } + CopyOnWriteArrayList sessions = userSessionsMap.get(user.getId()); + if (sessions == null) { + sessions = new CopyOnWriteArrayList<>(); + if (userSessionsMap.putIfAbsent(user.getId(), sessions) != null) { + sessions = userSessionsMap.get(user.getId()); + } + } + sessions.add(session); } - sessions.add(session); } @Override public void removeSession(WebSocketSession session) { - // 移除从 idSessions 中 - idSessions.remove(session.getId()); - // 移除从 idSessions 中 - LoginUser user = WebSocketFrameworkUtils.getLoginUser(session); - if (user == null) { - return; - } - ConcurrentMap> userSessionsMap = userSessions.get(user.getUserType()); - if (userSessionsMap == null) { - return; - } - CopyOnWriteArrayList sessions = userSessionsMap.get(user.getId()); - sessions.removeIf(session0 -> session0.getId().equals(session.getId())); - if (CollUtil.isEmpty(sessions)) { - userSessionsMap.remove(user.getId(), sessions); + // 解析 session Url 中参数 + Map paramMap = HttpUtil.decodeParamMap(String.valueOf(session.getUri()), StandardCharsets.UTF_8); + String type = paramMap.get("type"); + // -- 如果是地图里面过来的 + if ("map".equals(type)) { + mapSessions.remove(paramMap.get("floor") + "_" + paramMap.get("area"), session); + } else { + // 移除从 idSessions 中 + idSessions.remove(session.getId()); + // 移除从 idSessions 中 + LoginUser user = WebSocketFrameworkUtils.getLoginUser(session); + if (user == null) { + return; + } + ConcurrentMap> userSessionsMap = userSessions.get(user.getUserType()); + if (userSessionsMap == null) { + return; + } + CopyOnWriteArrayList sessions = userSessionsMap.get(user.getId()); + sessions.removeIf(session0 -> session0.getId().equals(session.getId())); + if (CollUtil.isEmpty(sessions)) { + userSessionsMap.remove(user.getId(), sessions); + } } } @@ -88,6 +111,11 @@ public class WebSocketSessionManagerImpl implements WebSocketSessionManager { return idSessions.get(id); } + @Override + public WebSocketSession getMapSession(String key) { + return mapSessions.get(key); + } + @Override public Collection getSessionList(Integer userType) { ConcurrentMap> userSessionsMap = userSessions.get(userType); 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 2ff94fd8d..0bc1019be 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 @@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.api.robot; import cn.hutool.core.util.ObjectUtil; import cn.hutool.json.JSONUtil; import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder; +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.api.robot.dto.RobotStatusDataErrorDTO; import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO; @@ -50,6 +51,7 @@ public class RobotStatusApiImpl implements RobotStatusApi { /** * 更新机器人点位/异常/能否做任务 + * * @param robotStatusDataDTO * @return */ @@ -61,24 +63,31 @@ public class RobotStatusApiImpl implements RobotStatusApi { return; } - String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS +robotStatusDataDTO.getMac(); - String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED +robotStatusDataDTO.getMac(); - String pose2dKey = RobotTaskChcheConstant.ROBOT_POSE_BAT +robotStatusDataDTO.getMac(); - redisUtil.set(taskStatusKey, robotStatusDataDTO.getData().getTask_status(),robotPositionCacheTime); - redisUtil.set(cargoDetectedKey,robotStatusDataDTO.getData().getCargo_detected(),robotPositionCacheTime); + String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robotStatusDataDTO.getMac(); + String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robotStatusDataDTO.getMac(); + String pose2dKey = RobotTaskChcheConstant.ROBOT_POSE_BAT + robotStatusDataDTO.getMac(); + redisUtil.set(taskStatusKey, robotStatusDataDTO.getData().getTask_status(), 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()); - redisUtil.set(pose2dKey,JSON.toJSONString(robotStatusDataPoseDTO),robotPositionCacheTime); + redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime); + + // -- webSocket 推送过来的机器人点位信息 - + + // -- 上报的时候没有地图信息 - 那么？怎么获取到这个地图的信息呢？ - + + + // - 这里的接口需要接受 if (ObjectUtil.isNotNull(robotStatusDataDTO.getData().getErr_code())) { List 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; } @@ -86,7 +95,7 @@ public class RobotStatusApiImpl implements RobotStatusApi { errCode.stream().map(RobotStatusDataErrorDTO::getError_code).collect(Collectors.toList()); List robotWarnCodeMappingDOS = warnCodeMappingMapper.selectList(new LambdaQueryWrapper() - .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; @@ -100,7 +109,7 @@ public class RobotStatusApiImpl implements RobotStatusApi { for (RobotStatusDataErrorDTO robotStatusData : errCode) { List 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())) @@ -117,5 +126,4 @@ public class RobotStatusApiImpl implements RobotStatusApi { } - } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/DeviceInformationController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/DeviceInformationController.java index 1fe556188..f8afceb2e 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/DeviceInformationController.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/DeviceInformationController.java @@ -83,7 +83,7 @@ public class DeviceInformationController { @PostMapping("/mapBindDeviceInfo") @Operation(summary = "地图绑定设备") - public CommonResult mapBindDeviceInfo(@Valid MapBindDeviceInfoDTO dto) { + public CommonResult mapBindDeviceInfo(@Valid @RequestBody MapBindDeviceInfoDTO dto) { informationService.mapBindDeviceInfo(dto); return success(true); } 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 7d9ed85e3..6e8e3b9b3 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 @@ -13,6 +13,7 @@ import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMa 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; @@ -43,6 +44,12 @@ 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") diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapLineController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapLineController.java index e9133d8ac..9242d0104 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapLineController.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapLineController.java @@ -2,7 +2,6 @@ package cn.iocoder.yudao.module.system.controller.admin.positionmap; import cn.iocoder.yudao.framework.common.pojo.CommonResult; import cn.iocoder.yudao.framework.common.util.object.BeanUtils; -import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX; import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLineRespVO; import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLineSaveReqVO; import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO; diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemPageReqVO.java index 4870daf3a..b04440efd 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemPageReqVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemPageReqVO.java @@ -1,11 +1,12 @@ package cn.iocoder.yudao.module.system.controller.admin.positionmap.vo; -import com.alibaba.excel.annotation.ExcelProperty; -import lombok.*; -import java.util.*; -import io.swagger.v3.oas.annotations.media.Schema; import cn.iocoder.yudao.framework.common.pojo.PageParam; +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; +import lombok.EqualsAndHashCode; +import lombok.ToString; import org.springframework.format.annotation.DateTimeFormat; + import java.time.LocalDateTime; import static cn.iocoder.yudao.framework.common.util.date.DateUtils.FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND; 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 37b3bfed1..61bc7f17b 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 @@ -1,6 +1,7 @@ package cn.iocoder.yudao.module.system.controller.admin.positionmap.vo; import cn.iocoder.yudao.framework.common.pojo.PageParam; +import com.alibaba.excel.annotation.ExcelProperty; import io.swagger.v3.oas.annotations.media.Schema; import lombok.Data; import lombok.EqualsAndHashCode; @@ -27,6 +28,30 @@ public class PositionMapLinePageReqVO extends PageParam { @Schema(description = "结束点id(点位子表id)", example = "15890") private Long endPointId; + @Schema(description = "开始控制点x轴", example = "15890") + private String beginControlX; + + @Schema(description = "开始控制点y轴", example = "15890") + private String beginControlY; + + @Schema(description = "结束控制点x轴", example = "15890") + private String endControlX; + + @Schema(description = "结束控制点y轴", example = "15890") + private String endControlY; + + @Schema(description = "膨胀区域前", example = "15890") + private BigDecimal expansionZoneFront; + + @Schema(description = "膨胀区域后", example = "15890") + private BigDecimal expansionZoneAfter; + + @Schema(description = "膨胀区域左", example = "15890") + private BigDecimal expansionZoneLeft; + + @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") private Integer method; 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 d07ea1bde..f816fe85d 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 @@ -29,6 +29,38 @@ public class PositionMapLineRespVO { @ExcelProperty("结束点id(点位子表id)") private Long endPointId; + @Schema(description = "开始控制点x轴", example = "15890") + @ExcelProperty("开始控制点x轴") + private String beginControlX; + + @Schema(description = "开始控制点y轴", example = "15890") + @ExcelProperty("开始控制点y轴") + private String beginControlY; + + @Schema(description = "结束控制点x轴", example = "15890") + @ExcelProperty("结束控制点x轴") + private String endControlX; + + @Schema(description = "结束控制点y轴", example = "15890") + @ExcelProperty("结束控制点y轴") + private String endControlY; + + @Schema(description = "膨胀区域前", example = "15890") + @ExcelProperty("膨胀区域前") + private BigDecimal expansionZoneFront; + + @Schema(description = "膨胀区域后", example = "15890") + @ExcelProperty("膨胀区域后") + private BigDecimal expansionZoneAfter; + + @Schema(description = "膨胀区域左", example = "15890") + @ExcelProperty("膨胀区域左") + private BigDecimal expansionZoneLeft; + + @Schema(description = "膨胀区域右", example = "15890") + @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") private Integer method; 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 d284e00e4..4fe4bde7e 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 @@ -1,5 +1,6 @@ package cn.iocoder.yudao.module.system.controller.admin.positionmap.vo; +import com.alibaba.excel.annotation.ExcelProperty; import io.swagger.v3.oas.annotations.media.Schema; import lombok.*; @@ -24,6 +25,30 @@ public class PositionMapLineSaveReqVO { @Schema(description = "结束点id(点位子表id)", example = "15890") private Long endPointId; + @Schema(description = "开始控制点x轴", example = "15890") + private String beginControlX; + + @Schema(description = "开始控制点y轴", example = "15890") + private String beginControlY; + + @Schema(description = "结束控制点x轴", example = "15890") + private String endControlX; + + @Schema(description = "结束控制点y轴", example = "15890") + private String endControlY; + + @Schema(description = "膨胀区域前", example = "15890") + private BigDecimal expansionZoneFront; + + @Schema(description = "膨胀区域后", example = "15890") + private BigDecimal expansionZoneAfter; + + @Schema(description = "膨胀区域左", example = "15890") + private BigDecimal expansionZoneLeft; + + @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") private Integer method; 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 056a0893e..f5d0c2fda 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 @@ -1,32 +1,32 @@ package cn.iocoder.yudao.module.system.controller.admin.robot; +import cn.iocoder.yudao.framework.apilog.core.annotation.ApiAccessLog; +import cn.iocoder.yudao.framework.common.pojo.CommonResult; +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.controller.admin.robot.vo.*; import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO; import cn.iocoder.yudao.module.system.service.robot.RobotInformationService; -import org.springframework.web.bind.annotation.*; -import javax.annotation.Resource; -import org.springframework.validation.annotation.Validated; -import org.springframework.security.access.prepost.PreAuthorize; -import io.swagger.v3.oas.annotations.tags.Tag; -import io.swagger.v3.oas.annotations.Parameter; import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.Parameter; +import io.swagger.v3.oas.annotations.tags.Tag; +import org.springframework.security.access.prepost.PreAuthorize; +import org.springframework.validation.annotation.Validated; +import org.springframework.web.bind.annotation.*; -import javax.validation.*; -import javax.servlet.http.*; -import java.util.*; +import javax.annotation.Resource; +import javax.annotation.security.PermitAll; +import javax.servlet.http.HttpServletResponse; +import javax.validation.Valid; import java.io.IOException; +import java.util.List; -import cn.iocoder.yudao.framework.common.pojo.PageParam; -import cn.iocoder.yudao.framework.common.pojo.PageResult; -import cn.iocoder.yudao.framework.common.pojo.CommonResult; -import cn.iocoder.yudao.framework.common.util.object.BeanUtils; +import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.EXPORT; import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success; -import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils; - -import cn.iocoder.yudao.framework.apilog.core.annotation.ApiAccessLog; -import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.*; - @Tag(name = "管理后台 - 车辆信息") @RestController @@ -36,6 +36,8 @@ public class RobotInformationController { @Resource private RobotInformationService informationService; + @Resource + private WebSocketSenderApi webSocketSenderApi; @PostMapping("/create") @Operation(summary = "创建车辆信息") @@ -44,6 +46,14 @@ public class RobotInformationController { return success(informationService.createInformation(createReqVO)); } + @PostMapping("/test") + @PermitAll + @Operation(summary = "测试") + public CommonResult 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')") @@ -83,12 +93,12 @@ public class RobotInformationController { @PreAuthorize("@ss.hasPermission('robot:information:export')") @ApiAccessLog(operateType = EXPORT) public void exportInformationExcel(@Valid RobotInformationPageReqVO pageReqVO, - HttpServletResponse response) throws IOException { + HttpServletResponse response) throws IOException { pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE); List list = informationService.getInformationPage(pageReqVO).getList(); // 导出 Excel ExcelUtils.write(response, "车辆信息.xls", "数据", RobotInformationPageRespVO.class, - BeanUtils.toBean(list, RobotInformationPageRespVO.class)); + BeanUtils.toBean(list, RobotInformationPageRespVO.class)); } @PostMapping("/statistics") @@ -114,4 +124,4 @@ public class RobotInformationController { return success(BeanUtils.toBean(result, RobotInformationRespVO.class)); } -} \ No newline at end of file +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/sms/SmsCallbackController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/sms/SmsCallbackController.java index b682ea9d6..2f3f023c6 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/sms/SmsCallbackController.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/sms/SmsCallbackController.java @@ -6,7 +6,10 @@ import cn.iocoder.yudao.module.system.framework.sms.core.enums.SmsChannelEnum; import cn.iocoder.yudao.module.system.service.sms.SmsSendService; import io.swagger.v3.oas.annotations.Operation; import io.swagger.v3.oas.annotations.tags.Tag; -import org.springframework.web.bind.annotation.*; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestBody; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RestController; import javax.annotation.Resource; import javax.annotation.security.PermitAll; @@ -30,7 +33,6 @@ public class SmsCallbackController { smsSendService.receiveSmsStatus(SmsChannelEnum.ALIYUN.getCode(), text); return success(true); } - @PostMapping("/tencent") @PermitAll @Operation(summary = "腾讯云短信的回调", description = "参见 https://cloud.tencent.com/document/product/382/52077 文档") @@ -57,4 +59,4 @@ public class SmsCallbackController { return success(true); } -} \ No newline at end of file +} 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 676560b64..16d2050f4 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 @@ -5,6 +5,7 @@ import com.baomidou.mybatisplus.annotation.IdType; import com.baomidou.mybatisplus.annotation.KeySequence; import com.baomidou.mybatisplus.annotation.TableId; import com.baomidou.mybatisplus.annotation.TableName; +import io.swagger.v3.oas.annotations.media.Schema; import lombok.*; import java.math.BigDecimal; @@ -41,6 +42,38 @@ public class PositionMapLineDO extends BaseDO { * 结束点id(点位子表id) */ private Long endPointId; + /** + * 开始控制点x轴 + */ + private String beginControlX; + /** + * 开始控制点y轴 + */ + private String beginControlY; + /** + * 结束控制点x轴 + */ + private String endControlX; + /** + * 结束控制点y轴 + */ + private String endControlY; + /** + * 膨胀区域前 + */ + private BigDecimal expansionZoneFront; + /** + * 膨胀区域后 + */ + private BigDecimal expansionZoneAfter; + /** + * 膨胀区域左 + */ + private BigDecimal expansionZoneLeft; + /** + * 膨胀区域右 + */ + 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 */ diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/NodeProcessingContext.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/NodeProcessingContext.java index 6ccf624b7..eed2dc3e4 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/NodeProcessingContext.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/NodeProcessingContext.java @@ -50,6 +50,8 @@ public class NodeProcessingContext { strategyMap.put(NodeTypeEnum.CHANGE.getType(), mapNodeStrategyImpl); // 等待点 strategyMap.put(NodeTypeEnum.WAIT.getType(), mapNodeStrategyImpl); + // 文字点 + strategyMap.put(NodeTypeEnum.TEXT.getType(), mapNodeStrategyImpl); // todo 可以继续添加更多的策略 - 新增实现即可 } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java index db6f8d985..f5edce992 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java @@ -72,9 +72,11 @@ public class PositionMapItemServiceImpl extends ServiceImpl> list) { //批量添加、修改、删除 if (isNotEmpty(list.get(0))) { + list.get(0).forEach(a -> a.setPositionMapId(positionMapId)); positionMapItemMapper.insertBatch(list.get(0)); } if (isNotEmpty(list.get(1))) { + list.get(1).forEach(a -> a.setPositionMapId(positionMapId)); positionMapItemMapper.updateBatch(list.get(1)); } if (isNotEmpty(list.get(2))) {