feat(websocket): 增加地图 WebSocket 会话管理

- 新增 getMapSession 方法用于获取地图 WebSocket 会话
- 在 addSession 和 removeSession 中增加对地图会话的处理逻辑
- 优化代码结构，提高可读性和可维护性

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

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 sessionId      Session 编号
-     * @param userType 用户类型
+     * @param userType       用户类型
-     * @param userId 用户编号
+     * @param userId         用户编号
-     * @param messageType 消息类型
+     * @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<WebSocketSession>) 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 sessions       Session 列表
-     * @param messageType 消息类型
+     * @param messageType    消息类型
      * @param messageContent 消息内容
      */
     public void doSend(Collection<WebSocketSession> sessions, String messageType, String messageContent) {

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<WebSocketSession> getSessionList(Integer userType, Long userId);
 
-}
+}

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.nio.charset.StandardCharsets;
-import java.util.Collection;
+import java.util.*;
-import java.util.LinkedList;
-import java.util.List;
 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
-     *
+     * <p>
      * key：Session 编号
      */
     private final ConcurrentMap<String, WebSocketSession> idSessions = new ConcurrentHashMap<>();
 
     /**
      * user 与 WebSocketSession 映射
-     *
+     * <p>
      * key1：用户类型
      * key2：用户编号
      */
     private final ConcurrentMap<Integer, ConcurrentMap<Long, CopyOnWriteArrayList<WebSocketSession>>> userSessions
             = new ConcurrentHashMap<>();
 
+
+    /**
+     * 地图 与 WebSocketSession 映射
+     * <p>
+     * key：地图地址 楼+'_'+区
+     */
+    private final ConcurrentMap<String, WebSocketSession> mapSessions = new ConcurrentHashMap<>();
+
     @Override
     public void addSession(WebSocketSession session) {
-        // 添加到 idSessions 中
+        // 解析 session Url 中参数
-        idSessions.put(session.getId(), session);
+        Map<String, String> paramMap = HttpUtil.decodeParamMap(String.valueOf(session.getUri()), StandardCharsets.UTF_8);
-        // 添加到 userSessions 中
+        String type = paramMap.get("type");
-        LoginUser user = WebSocketFrameworkUtils.getLoginUser(session);
+        // -- 如果是地图里面过来的
-        if (user == null) {
+        if ("map".equals(type)) {
-            return;
+            mapSessions.put(paramMap.get("floor") + "_" + paramMap.get("area"), session);
-        }
+        } else {
-        ConcurrentMap<Long, CopyOnWriteArrayList<WebSocketSession>> userSessionsMap = userSessions.get(user.getUserType());
+            // 添加到 idSessions 中
-        if (userSessionsMap == null) {
+            idSessions.put(session.getId(), session);
-            userSessionsMap = new ConcurrentHashMap<>();
+            // 添加到 userSessions 中
-            if (userSessions.putIfAbsent(user.getUserType(), userSessionsMap) != null) {
+            LoginUser user = WebSocketFrameworkUtils.getLoginUser(session);
-                userSessionsMap = userSessions.get(user.getUserType());
+            if (user == null) {
+                return;
             }
-        }
+            ConcurrentMap<Long, CopyOnWriteArrayList<WebSocketSession>> userSessionsMap = userSessions.get(user.getUserType());
-        CopyOnWriteArrayList<WebSocketSession> sessions = userSessionsMap.get(user.getId());
+            if (userSessionsMap == null) {
-        if (sessions == null) {
+                userSessionsMap = new ConcurrentHashMap<>();
-            sessions = new CopyOnWriteArrayList<>();
+                if (userSessions.putIfAbsent(user.getUserType(), userSessionsMap) != null) {
-            if (userSessionsMap.putIfAbsent(user.getId(), sessions) != null) {
+                    userSessionsMap = userSessions.get(user.getUserType());
-                sessions = userSessionsMap.get(user.getId());
+                }
             }
+            CopyOnWriteArrayList<WebSocketSession> 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
+        // 解析 session Url 中参数
-        idSessions.remove(session.getId());
+        Map<String, String> paramMap = HttpUtil.decodeParamMap(String.valueOf(session.getUri()), StandardCharsets.UTF_8);
-        // 移除从 idSessions 中
+        String type = paramMap.get("type");
-        LoginUser user = WebSocketFrameworkUtils.getLoginUser(session);
+        // -- 如果是地图里面过来的
-        if (user == null) {
+        if ("map".equals(type)) {
-            return;
+            mapSessions.remove(paramMap.get("floor") + "_" + paramMap.get("area"), session);
-        }
+        } else {
-        ConcurrentMap<Long, CopyOnWriteArrayList<WebSocketSession>> userSessionsMap = userSessions.get(user.getUserType());
+            // 移除从 idSessions 中
-        if (userSessionsMap == null) {
+            idSessions.remove(session.getId());
-            return;
+            // 移除从 idSessions 中
-        }
+            LoginUser user = WebSocketFrameworkUtils.getLoginUser(session);
-        CopyOnWriteArrayList<WebSocketSession> sessions = userSessionsMap.get(user.getId());
+            if (user == null) {
-        sessions.removeIf(session0 -> session0.getId().equals(session.getId()));
+                return;
-        if (CollUtil.isEmpty(sessions)) {
+            }
-            userSessionsMap.remove(user.getId(), sessions);
+            ConcurrentMap<Long, CopyOnWriteArrayList<WebSocketSession>> userSessionsMap = userSessions.get(user.getUserType());
+            if (userSessionsMap == null) {
+                return;
+            }
+            CopyOnWriteArrayList<WebSocketSession> 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<WebSocketSession> getSessionList(Integer userType) {
         ConcurrentMap<Long, CopyOnWriteArrayList<WebSocketSession>> userSessionsMap = userSessions.get(userType);

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 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_POSE_BAT +robotStatusDataDTO.getMac();
+        String pose2dKey = RobotTaskChcheConstant.ROBOT_POSE_BAT + 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());
-        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<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;
             }
 
@@ -86,7 +95,7 @@ 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;
@@ -100,7 +109,7 @@ 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()))
@@ -117,5 +126,4 @@ public class RobotStatusApiImpl implements RobotStatusApi {
     }
 
 
-
 }

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<Boolean> mapBindDeviceInfo(@Valid MapBindDeviceInfoDTO dto) {
+    public CommonResult<Boolean> mapBindDeviceInfo(@Valid @RequestBody MapBindDeviceInfoDTO dto) {
         informationService.mapBindDeviceInfo(dto);
         return success(true);
     }

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<String> 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")

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;

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;

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;
 

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;

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;
 

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.annotation.Resource;
-import javax.servlet.http.*;
+import javax.annotation.security.PermitAll;
-import java.util.*;
+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 static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.EXPORT;
-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.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<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')")
@@ -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<RobotInformationPageRespVO> 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));
     }
 
-}
+}

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);
     }
 
-}
+}

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
      */

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
     }
 

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<PositionMapItemMappe
     public void batchSaveOrEditOrDel(Long positionMapId, List<List<PositionMapItemDO>> 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))) {