From a860cdf12b04c4c9ca0b8e72624236df1a100961 Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Tue, 10 Jun 2025 17:09:34 +0800 Subject: [PATCH] =?UTF-8?q?=E6=B5=B7=E5=BA=B7/=E5=81=9C=E8=BD=A6/=E4=BB=BB?= =?UTF-8?q?=E5=8A=A1=E4=B8=8A=E6=8A=A5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../path/dto/PathToRobotChangeXYArgDTO.java | 3 + .../api/path/dto/PathToRobotChangeXYDTO.java | 4 +- .../yudao-module-system-biz/pom.xml | 7 +++ .../robot/RobotUpdatePalletHeightApiImpl.java | 4 +- .../api/robot/RobotWorkStatusApiImpl.java | 21 +++++++ .../robot/vo/RobotUpdatePalletHeightDTO.java | 2 +- .../system/config/hik/ArtemisApiConstant.java | 43 ++++++++++++++ .../config/hik/ArtemisConfigConstant.java | 45 ++++++++++++++ .../controller/admin/hik/HikController.java | 36 ++++++++++++ .../DeviceInformationController.java | 2 +- .../vo/DeviceInformationPageReqVO.java | 6 ++ .../vo/DeviceInformationRespVO.java | 8 +++ .../vo/DeviceInformationSaveReqVO.java | 6 ++ .../admin/robot/RobotCameraController.java | 2 +- .../admin/robot/task/TaskAssignDTO.java | 2 + .../system/enums/path/PathTaskTypeEnum.java | 3 +- .../system/enums/robot/CommandTypeEnum.java | 2 + .../robot/task/RobotCommandTypeEnum.java | 4 +- .../module/system/service/hik/HikService.java | 5 ++ .../system/service/hik/HikServiceImpl.java | 52 +++++++++++++++++ .../DeviceInformationServiceImpl.java | 3 - .../service/path/PathPlanningServiceImpl.java | 58 ++++++++++++++++--- .../service/robot/RobotTaskServiceImpl.java | 52 ++++++++++++++++- .../RobotPathPlanningServiceImpl.java | 54 ++++++++++++----- .../src/main/resources/application-dev.yaml | 16 +++++ .../src/main/resources/application-hik.yaml | 12 ++++ .../src/main/resources/application-local.yaml | 17 +++++- .../src/main/resources/application-test.yaml | 14 +++++ 28 files changed, 445 insertions(+), 38 deletions(-) create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/hik/ArtemisApiConstant.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/hik/ArtemisConfigConstant.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/hik/HikController.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/hik/HikService.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/hik/HikServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/resources/application-hik.yaml diff --git a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYArgDTO.java b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYArgDTO.java index 1975580b0..6bb0bf2de 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYArgDTO.java +++ b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYArgDTO.java @@ -15,5 +15,8 @@ public class PathToRobotChangeXYArgDTO { private List pose2ds; private PathToRobotChangeXYArgPoseDTO backPose; private PathToRobotChangeXYArgPoseDTO cargoPose; + private Double height; + private Integer level; + private Double offsetHeight; } diff --git a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYDTO.java b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYDTO.java index cecc3876f..565276c74 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYDTO.java +++ b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYDTO.java @@ -5,6 +5,8 @@ import lombok.Builder; import lombok.Data; import lombok.NoArgsConstructor; +import java.util.List; + @Data @Builder @NoArgsConstructor @@ -21,5 +23,5 @@ public class PathToRobotChangeXYDTO { private String robotNo; private String taskType; - private PathToRobotChangeXYDataDTO data; + private List data; } diff --git a/yudao-module-system/yudao-module-system-biz/pom.xml b/yudao-module-system/yudao-module-system-biz/pom.xml index e8cd5e731..f56d0e304 100644 --- a/yudao-module-system/yudao-module-system-biz/pom.xml +++ b/yudao-module-system/yudao-module-system-biz/pom.xml @@ -130,6 +130,13 @@ yudao-spring-boot-starter-monitor + + + com.hikvision.ga + artemis-http-client + 1.1.3 + + com.xingyuv diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotUpdatePalletHeightApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotUpdatePalletHeightApiImpl.java index 407c62f6e..215fd4603 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotUpdatePalletHeightApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotUpdatePalletHeightApiImpl.java @@ -53,9 +53,9 @@ public class RobotUpdatePalletHeightApiImpl implements RobotUpdatePalletHeightAp log.info("高度反馈 :{}", message); TenantContextHolder.setTenantId(1L); RobotUpdatePalletHeightDTO data = JSON.parseObject(message, RobotUpdatePalletHeightDTO.class); - if (RobotCommandTypeEnum.WORD_DROP_OFF_GOODS.getType().equals(data.getCommandType())) { + if (RobotCommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(data.getCommandType())) { dropOffGoods(data); - } else if (RobotCommandTypeEnum.WORD_PICK_UP_GOODS.getType().equals(data.getCommandType())) { + } else if (RobotCommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(data.getCommandType())) { pickUpGoods(data); } } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java index 51619f4b6..bbabffc09 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java @@ -2,8 +2,13 @@ package cn.iocoder.yudao.module.system.api.robot; import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder; import cn.iocoder.yudao.module.system.api.robot.vo.RobotWorkStatusDTO; +import cn.iocoder.yudao.module.system.constant.robot.RobotExecutionStateConstant; import cn.iocoder.yudao.module.system.controller.admin.log.vo.RobotOperationLogSaveReqVO; +import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum; +import cn.iocoder.yudao.module.system.enums.path.PathIsReachEnum; +import cn.iocoder.yudao.module.system.enums.robot.CommandTypeEnum; import cn.iocoder.yudao.module.system.service.log.RobotOperationLogService; +import cn.iocoder.yudao.module.system.service.path.PathPlanningService; import cn.iocoder.yudao.module.system.service.robot.RobotInformationService; import com.alibaba.fastjson.JSON; import lombok.extern.slf4j.Slf4j; @@ -24,6 +29,9 @@ public class RobotWorkStatusApiImpl implements RobotWorkStatusApi { @Autowired private RobotInformationService robotInformationService; + @Resource + private PathPlanningService pathPlanningService; + @Override public void robotWorkStatus(String message) { log.info("作业实时行为上报: {}", message); @@ -40,6 +48,19 @@ public class RobotWorkStatusApiImpl implements RobotWorkStatusApi { .executionState(data.getExecutionState()) .build(); operationLogService.createOperationLog(createReqVO); + + if ((CommandTypeEnum.WORK_PICK_UP_GOODS_MOVE_TO_CHECK.getType().equals(data.getCommandType()) + || CommandTypeEnum.WORK_DROP_OFF_GOODS_MOVE_TO_CHECK.getType().equals(data.getCommandType())) + && RobotExecutionStateConstant.DOING.equals(Integer.valueOf(data.getExecutionState()))) { + pathPlanningService.updateBehavior(String.valueOf(data.getOrderId()), robotNo + , data.getCommandType(), PathIsReachEnum.START_WORK.getType()); + }else if ((CommandTypeEnum.WORK_PICK_UP_GOODS_MOVE_TO_CHECK.getType().equals(data.getCommandType()) + || CommandTypeEnum.WORK_DROP_OFF_GOODS_MOVE_TO_CHECK.getType().equals(data.getCommandType())) + && RobotExecutionStateConstant.DONE.equals(Integer.valueOf(data.getExecutionState()))) { + pathPlanningService.updateBehavior(String.valueOf(data.getOrderId()), robotNo + , data.getCommandType(), PathIsReachEnum.END_WORK.getType()); + } + } } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotUpdatePalletHeightDTO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotUpdatePalletHeightDTO.java index f29474800..3b3588490 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotUpdatePalletHeightDTO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotUpdatePalletHeightDTO.java @@ -8,7 +8,7 @@ public class RobotUpdatePalletHeightDTO { private String goodsHeight; private String mac; private String orderId; - //作业类型 WORD_PICK_UP_GOODS/WORD_DROP_OFF_GOODS + //作业类型 WORK_PICK_UP_GOODS/WORK_DROP_OFF_GOODS private String commandType; private String orderType; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/hik/ArtemisApiConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/hik/ArtemisApiConstant.java new file mode 100644 index 000000000..f0a62072a --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/hik/ArtemisApiConstant.java @@ -0,0 +1,43 @@ +package cn.iocoder.yudao.module.system.config.hik; + +import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Value; +import org.springframework.boot.CommandLineRunner; +import org.springframework.context.annotation.Configuration; +import org.springframework.context.annotation.PropertySource; + +@Configuration +@Slf4j +@PropertySource("classpath:application-hik.yaml") +public class ArtemisApiConstant implements CommandLineRunner { + + public static String camerasApi; + public static String previewUrlsApi; + public static String replayUrlApi; + + public static String operateUrlApi = "/artemis/api/video/v1/ptzs/controlling"; + + @Value("${resource.cameras}") + public void setCamerasApi(String a) { + camerasApi = a; + } + + @Value("${video.previewUrls}") + public void setPreviewUrls(String a) { + previewUrlsApi = a; + } + + @Value("${video.replayUrlApi}") + public void setReplayUrlApi(String a) { + replayUrlApi = a; + } + + @Override + public void run(String... args) throws Exception { + log.info("# 【ArtemisApiConstant】 camerasApi：{} #", camerasApi); + log.info("# 【ArtemisApiConstant】 previewUrlsApi：{} #", previewUrlsApi); + log.info("# 【ArtemisApiConstant】 replayUrlApi：{} #", replayUrlApi); + } + + +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/hik/ArtemisConfigConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/hik/ArtemisConfigConstant.java new file mode 100644 index 000000000..67fb1011c --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/hik/ArtemisConfigConstant.java @@ -0,0 +1,45 @@ +package cn.iocoder.yudao.module.system.config.hik; + +import com.hikvision.artemis.sdk.config.ArtemisConfig; +import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Value; +import org.springframework.boot.CommandLineRunner; +import org.springframework.context.annotation.Configuration; +import org.springframework.context.annotation.PropertySource; + +@Configuration +@Slf4j +@PropertySource("classpath:application-hik.yaml") +public class ArtemisConfigConstant implements CommandLineRunner { + + + public static String host; + public static String appKey; + public static String appSecret; + + @Value("${isc.host}") + public void setHost(String a) { + host = a; + ArtemisConfig.host = a; + } + + @Value("${isc.appKey}") + public void setAppKey(String a) { + appKey = a; + ArtemisConfig.appKey = a; + } + + @Value("${isc.appSecret}") + public void setAppSecret(String a) { + appSecret = a; + ArtemisConfig.appSecret = a; + } + + @Override + public void run(String... args) throws Exception { + log.info("# 【ArtemisConfigConstant】 host：{} #", ArtemisConfigConstant.host); + log.info("# 【ArtemisConfigConstant】 appKey：{} #", ArtemisConfigConstant.appKey); + log.info("# 【ArtemisConfigConstant】 appSecret：{} #", ArtemisConfigConstant.appSecret); + } + +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/hik/HikController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/hik/HikController.java new file mode 100644 index 000000000..ed1175fd4 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/hik/HikController.java @@ -0,0 +1,36 @@ +package cn.iocoder.yudao.module.system.controller.admin.hik; + +import cn.iocoder.yudao.framework.common.pojo.CommonResult; +import cn.iocoder.yudao.module.system.service.hik.HikService; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.tags.Tag; +import org.springframework.web.bind.annotation.GetMapping; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RestController; + +import javax.annotation.Resource; +import javax.annotation.security.PermitAll; + +/** + * 工厂管理-工厂列表 + * + * @author qun.xu + */ +@RestController +@RequestMapping("/system/smartfactory/hik") +@Tag(name = "海康接口") +public class HikController { + + @Resource + private HikService hikService; + + @GetMapping("/getCameraUrl") + @Operation(summary = "视频播放->查询播放地址") +// @PreAuthorize("@ss.hasPermission('smartfactory:camera:view')") + @PermitAll + public CommonResult getCameraUrl(String cameraCode) { + String url = hikService.getPreviewUrlsApi(cameraCode, 0); + return CommonResult.success(url); + } + +} 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 ef0c4b25b..b63e4f3b6 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 @@ -84,7 +84,7 @@ public class DeviceInformationController { } @GetMapping("/list") - @Operation(summary = "获得设备信息列表") + @Operation(summary = "获得设备信息列表,3D地图也用到") public CommonResult> getList(@Valid DeviceInformationDTO dto) { List list = informationService.getList(dto); return success(BeanUtils.toBean(list, DeviceInformationRespVO.class)); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java index 5c5d2480b..730440266 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java @@ -29,6 +29,12 @@ public class DeviceInformationPageReqVO extends PageParam { @Schema(description = "库位坐标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 = "宽度") private BigDecimal locationWide; diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java index 5e1ec65dc..a42dd8900 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java @@ -34,6 +34,14 @@ public class DeviceInformationRespVO { @ExcelProperty("库位坐标y轴") private String locationY; + @Schema(description = "实际坐标x轴") + @ExcelProperty("实际坐标x轴") + private String actualLocationX; + + @Schema(description = "实际坐标Y轴") + @ExcelProperty("实际坐标Y轴") + private String actualLocationY; + @Schema(description = "宽度") @ExcelProperty("宽度") private BigDecimal locationWide; diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java index 8afad94bd..25b7afc49 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java @@ -29,6 +29,12 @@ public class DeviceInformationSaveReqVO { @Schema(description = "库位坐标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 = "宽度") private BigDecimal locationWide; diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotCameraController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotCameraController.java index 2e7389078..4cdb9dd99 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotCameraController.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotCameraController.java @@ -29,7 +29,7 @@ import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success; @Tag(name = "管理后台 - 车辆摄像头信息") @RestController -@RequestMapping("/robot/camera") +@RequestMapping("/system/robot/camera") @Validated public class RobotCameraController { diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/task/TaskAssignDTO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/task/TaskAssignDTO.java index ed75a7996..414aa2ac4 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/task/TaskAssignDTO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/task/TaskAssignDTO.java @@ -50,6 +50,8 @@ public class TaskAssignDTO { return "机器人分配到自动充电任务 "; }if (PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(orderType)) { return "机器人分配到移动到点位任务 "; + }if (PathTaskTypeEnum.MOVE_TO_PP_POINT.getType().equals(orderType)) { + return "路径规划分配机器人移动到点位任务 "; } return "未知任务"; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskTypeEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskTypeEnum.java index 10f8522e7..bebe0fea5 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskTypeEnum.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskTypeEnum.java @@ -15,10 +15,11 @@ import java.util.List; public enum PathTaskTypeEnum { TAKE_RELEASE("TAKE_RELEASE","取放货任务"), CHARGE("CHARGE","充电任务"), - MOVE("MOVE","移动任务"),//移动到库位 + MOVE("MOVE","移动任务(移动到库位)"), MOVE_TO_WAIT("MOVE_TO_WAIT","移动到等待点(没任务时去等待点)"), MOVE_TO_WAIT_STOP("MOVE_TO_WAIT_STOP","停车任务"), MOVE_TO_POINT("MOVE_TO_POINT","移动到路径点任务"), + MOVE_TO_PP_POINT("MOVE_TO_PP_POINT","移动到路径规划指定的点位"), TAKE("TAKE","仅取货任务"), RELEASE("RELEASE","仅放货任务"), AUTO_CHARGE("AUTO_CHARGE","自动充电"); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/CommandTypeEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/CommandTypeEnum.java index 75befb511..31b08c6dd 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/CommandTypeEnum.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/CommandTypeEnum.java @@ -9,6 +9,8 @@ import lombok.Getter; @Getter @AllArgsConstructor public enum CommandTypeEnum { + WORK_PICK_UP_GOODS_MOVE_TO_CHECK("WORK_PICK_UP_GOODS_MOVE_TO_CHECK","取货导航到检测点"), + WORK_DROP_OFF_GOODS_MOVE_TO_CHECK("WORK_DROP_OFF_GOODS_MOVE_TO_CHECK","放货导航到检测点"), WORK_PICK_UP_GOODS("WORK_PICK_UP_GOODS","取货控叉"), WORK_DROP_OFF_GOODS("WORK_DROP_OFF_GOODS","放货控叉"), MOVE_POSES("MOVE_POSES","移动"), diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotCommandTypeEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotCommandTypeEnum.java index 3b701630f..8b616eaf3 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotCommandTypeEnum.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotCommandTypeEnum.java @@ -9,8 +9,8 @@ public enum RobotCommandTypeEnum { MOVE_POSES("MOVE_POSES","移动"), SWITCH_MAP("SWITCH_MAP","切图"), WORK_START_CHARGE("WORK_START_CHARGE","充电"), - WORD_PICK_UP_GOODS("WORD_PICK_UP_GOODS","取货"), - WORD_DROP_OFF_GOODS("WORD_DROP_OFF_GOODS","放货"), + WORK_PICK_UP_GOODS("WORK_PICK_UP_GOODS","取货"), + WORK_DROP_OFF_GOODS("WORK_DROP_OFF_GOODS","放货"), MOVE_POSE("MOVE_POSE","仿真移动点位"), MODE("MODE","远遥/RCS模式切换"), EMERGENCY_STOP("EMERGENCY_STOP","急停车辆"), diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/hik/HikService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/hik/HikService.java new file mode 100644 index 000000000..ec291b574 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/hik/HikService.java @@ -0,0 +1,5 @@ +package cn.iocoder.yudao.module.system.service.hik; + +public interface HikService { + String getPreviewUrlsApi(String cameraCode, int i); +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/hik/HikServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/hik/HikServiceImpl.java new file mode 100644 index 000000000..7df7750b7 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/hik/HikServiceImpl.java @@ -0,0 +1,52 @@ +package cn.iocoder.yudao.module.system.service.hik; + +import cn.hutool.json.JSONObject; +import cn.hutool.json.JSONUtil; +import com.alibaba.cloud.commons.lang.StringUtils; +import com.hikvision.artemis.sdk.ArtemisHttpUtil; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Service; +import org.springframework.validation.annotation.Validated; + +import java.util.HashMap; +import java.util.Map; + +@Service +@Validated +@Slf4j +public class HikServiceImpl implements HikService{ + + @Override + public String getPreviewUrlsApi(String cameraCode, int streamType) { + final String previewUrlsApi ="/artemis/api/video/v2/cameras/previewURLs"; + Map path = new HashMap(1) { + { + put("https://", previewUrlsApi); + } + }; + JSONObject body = new JSONObject(); + body.set("cameraIndexCode", cameraCode); + body.set("streamType", streamType); + body.set("protocol", "ws"); + body.set("transmode", 1); + body.set("expand", "streamform=ps"); + try { + String result = ArtemisHttpUtil + .doPostStringArtemis(path, JSONUtil.toJsonStr(body), null, null, "application/json") ; + log.info("{}监控查看预览地址返回：{}", JSONUtil.toJsonStr(body), result); + if (StringUtils.isEmpty(result)) { +// throw new ServiceException("监控查看预览地址返回为空"); + System.out.println("监控查看预览地址返回为空"); + } + JSONObject json = JSONUtil.parseObj(result); + String url = ""; + if (json.getJSONObject("data") != null) { + url = json.getJSONObject("data").getStr("url"); + } + return url; + } catch (Exception e) { + e.printStackTrace(); + } + return null; + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java index be46ae37f..1038c2044 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java @@ -5,10 +5,8 @@ import cn.iocoder.yudao.framework.common.pojo.PageResult; import cn.iocoder.yudao.framework.common.util.object.BeanUtils; import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX; import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils; -import cn.iocoder.yudao.module.system.api.robot.vo.RobotPathStatusDTO; import cn.iocoder.yudao.module.system.constant.device.DeviceChcheConstant; import cn.iocoder.yudao.module.system.controller.admin.information.dto.DeviceInformationDTO; -import cn.iocoder.yudao.module.system.controller.admin.information.dto.DeviceInformationDataJsonDTO; import cn.iocoder.yudao.module.system.controller.admin.information.dto.MapBindDeviceInfoDTO; import cn.iocoder.yudao.module.system.controller.admin.information.dto.StatisticsInformationDTO; import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationPageReqVO; @@ -26,7 +24,6 @@ import cn.iocoder.yudao.module.system.enums.device.DeviceAttributeEnum; import cn.iocoder.yudao.module.system.enums.device.DeviceStatusEnum; import cn.iocoder.yudao.module.system.enums.device.DeviceTypeEnum; import cn.iocoder.yudao.module.system.enums.device.PictureConfigEnum; -import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum; import cn.iocoder.yudao.module.system.service.config.CommonConfigService; import cn.iocoder.yudao.module.system.service.dict.DictDataService; import cn.iocoder.yudao.module.system.service.log.UserOperationLogService; diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java index 026909d7f..77e829f0f 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java @@ -37,6 +37,7 @@ import cn.iocoder.yudao.module.system.enums.config.CommandConfigTypeEnum; import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum; import cn.iocoder.yudao.module.system.enums.line.DirectionEnum; import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum; +import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeToRobotEnum; import cn.iocoder.yudao.module.system.enums.path.PathTypeEnum; import cn.iocoder.yudao.module.system.enums.robot.actionlog.ActionStatusEnum; import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum; @@ -50,6 +51,7 @@ import cn.iocoder.yudao.module.system.service.robot.RobotInformationService; import cn.iocoder.yudao.module.system.service.robot.RobotModelService; import cn.iocoder.yudao.module.system.util.redis.RedisUtil; import com.alibaba.fastjson.JSON; +import com.google.common.collect.Lists; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.BeanUtils; import org.springframework.beans.factory.annotation.Autowired; @@ -57,6 +59,8 @@ import org.springframework.beans.factory.annotation.Value; import org.springframework.stereotype.Service; import javax.annotation.Resource; +import java.math.BigDecimal; +import java.math.MathContext; import java.time.Duration; import java.time.LocalDateTime; import java.util.ArrayList; @@ -78,6 +82,8 @@ import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.PATH_PLANN @Service public class PathPlanningServiceImpl implements PathPlanningService { + private static final double PI = Math.PI; + @Resource private PositionMapLineMapper positionMapLineMapper; @@ -115,6 +121,9 @@ public class PathPlanningServiceImpl implements PathPlanningService { @Value("${zn.send_robot_init_pose:false}") private Boolean sendRobotInitPose; + @Value("${zn.synchronous_all_map_node:500}") + private Integer synchronousAllMapNodeSize; + @Resource private PositionChangePointBindingService positionChangePointBindingService; @@ -187,13 +196,16 @@ public class PathPlanningServiceImpl implements PathPlanningService { if (ObjectUtil.isEmpty(positionMapItemSynDTOS)) { continue; } - PositionMapItemPathDTO relatedPathNode = new PositionMapItemPathDTO(); - relatedPathNode.setFloor(positionMapDO.getFloor()); - relatedPathNode.setArea(positionMapDO.getArea()); - relatedPathNode.setType(PathTypeEnum.INIT.getType()); - relatedPathNode.setControl_nodes(positionMapItemSynDTOS); - commonApi.commonMethod(relatedPathNode, PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_NODE); + List> partition = Lists.partition(positionMapItemSynDTOS, synchronousAllMapNodeSize); + for (List nodes : partition) { + PositionMapItemPathDTO relatedPathNode = new PositionMapItemPathDTO(); + relatedPathNode.setFloor(positionMapDO.getFloor()); + relatedPathNode.setArea(positionMapDO.getArea()); + relatedPathNode.setType(PathTypeEnum.INIT.getType()); + relatedPathNode.setControl_nodes(nodes); + commonApi.commonMethod(relatedPathNode, PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_NODE); + } } log.info("同步点位信息结束"); @@ -450,11 +462,12 @@ public class PathPlanningServiceImpl implements PathPlanningService { @Override public void sendPosedsToRobot(String message) { PathToRobotDTO pathRobotDTO = JSON.parseObject(message, PathToRobotDTO.class); + log.info("任务类型 :{}",pathRobotDTO.getTaskType()); String mac = robotInformationService.getMacByRobotNo(pathRobotDTO.getRobotNo()); String topic = RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + mac; - if(RobotCommandTypeEnum.SWITCH_MAP.getType().equals(pathRobotDTO.getCommandType())) { + if(RobotCommandTypeEnum.SWITCH_MAP.getType().equals(pathRobotDTO.getTaskType())) { switchMap(pathRobotDTO,topic); - } else if (RobotCommandTypeEnum.WORD_DROP_OFF_GOODS.getType().equals(pathRobotDTO.getCommandType())) { + } else if (PathTaskTypeToRobotEnum.DROP_OFF_GOODS.getType().equals(pathRobotDTO.getTaskType())) { wordDropOffGoods(message,topic,pathRobotDTO.getRobotNo()); } else { commonApi.commonMethodStr(message, topic); @@ -474,9 +487,36 @@ public class PathPlanningServiceImpl implements PathPlanningService { commonApi.commonMethodStr(message, topic); return; } -// PathToRobotChangeXYDTO pathToRobotChangeXY = JSON.parseObject(message, PathToRobotChangeXYDTO.class); + PathToRobotChangeXYDTO pathToRobotChangeXY = JSON.parseObject(message, PathToRobotChangeXYDTO.class); + List data = pathToRobotChangeXY.getData(); + boolean needOffset = false; + PathToRobotChangeXYArgPoseDTO cargoPose = new PathToRobotChangeXYArgPoseDTO(); + for (PathToRobotChangeXYDataDTO item : data) { + if (RobotCommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(item.getCommandType()) && ZeroOneEnum.ONE.getType().equals(item.getIsCommandEnd())) { + needOffset = true; + cargoPose = item.getArg().getCargoPose(); + } + } + if (!needOffset) { + commonApi.commonMethodStr(message, topic); + return; + } + BigDecimal robotXOffset = new BigDecimal(model.getRobotXOffset()); + BigDecimal robotYOffset = new BigDecimal(model.getRobotYOffset()); + double sin = Math.sin(cargoPose.getYaw()); + double cos = Math.cos(cargoPose.getYaw()); + BigDecimal sino = new BigDecimal(String.valueOf(sin)); + BigDecimal coso = new BigDecimal(String.valueOf(cos)); + BigDecimal x1 = new BigDecimal(String.valueOf(cargoPose.getX())); + BigDecimal y1 = new BigDecimal(String.valueOf(cargoPose.getY())); + BigDecimal x = (coso.multiply(robotXOffset, MathContext.DECIMAL32)).subtract(sino.multiply(robotYOffset, MathContext.DECIMAL32)).add(x1); + BigDecimal y = (sino.multiply(robotXOffset, MathContext.DECIMAL32)).add(coso.multiply(robotYOffset, MathContext.DECIMAL32)).add(y1); + cargoPose.setX(x.doubleValue()); + cargoPose.setY(y.doubleValue()); + log.info("转换后 :{}",JSON.toJSONString(pathToRobotChangeXY)); + commonApi.commonMethodStr(JSON.toJSONString(pathToRobotChangeXY), topic); } /** diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java index e63867613..ebeeecce0 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java @@ -1,6 +1,7 @@ package cn.iocoder.yudao.module.system.service.robot; import cn.hutool.core.bean.BeanUtil; +import cn.hutool.core.util.IdUtil; import cn.hutool.core.util.ObjectUtil; import cn.iocoder.yudao.framework.common.pojo.PageResult; import cn.iocoder.yudao.framework.common.util.date.DateUtils; @@ -45,6 +46,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper; import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper; import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum; import cn.iocoder.yudao.module.system.enums.device.DeviceUseStatusEnum; +import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum; import cn.iocoder.yudao.module.system.enums.item.UseStatusEnum; import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum; import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum; @@ -166,6 +168,15 @@ public class RobotTaskServiceImpl extends ServiceImpl v.getRobotStatus().equals(RobotStatusEnum.STAND_BY.getType())) - .collect(Collectors.toList()); - if (ObjectUtil.isEmpty(robots)) { - log.info("------没有空闲的机器人可以去等待点-----"); - return; - } - List positionMapItems = positionMapItemMapper.selectList(new LambdaQueryWrapperX() .eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType())); @@ -213,19 +205,50 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { return; } - List robotNos = robots.stream().map(RobotInformationDO::getRobotNo).collect(Collectors.toList()); + List inStopPointRobotNos = new ArrayList<>(); + for (PositionMapItemDO positionMapItem : positionMapItems) { + if (UseStatusEnum.USEING.getType().equals(positionMapItem.getUseStatus()) && ObjectUtil.isNotEmpty(positionMapItem.getRobotNo())) { + inStopPointRobotNos.add(positionMapItem.getRobotNo()); + } + } + List robotNos = new ArrayList<>(); + Map> robotFloorAreaJsonMap = new HashMap<>(); + for (RobotInformationDO robot : robots) { + if (!RobotStatusEnum.STAND_BY.getType().equals(robot.getRobotStatus())) { + continue; + } + + if (ObjectUtil.isEmpty(robot.getFloorAreaJson())) { + log.info("车辆没有能行走的区域 :{}",robot.getRobotNo()); + continue; + } + + if (ObjectUtil.isNotEmpty(inStopPointRobotNos) && inStopPointRobotNos.contains(robot.getRobotNo())) { + log.info("车辆已经在停车点了 :{}",robot.getRobotNo()); + continue; + } + + robotNos.add(robot.getRobotNo()); + robotFloorAreaJsonMap.put(robot.getRobotNo(),robot.getFloorAreaJson()); + } + + if (ObjectUtil.isEmpty(robotNos)) { + log.info("------没有空闲的机器人可以去等待点-----"); + return; + } List existMapItems = positionMapItems.stream() - .filter(v -> ObjectUtil.isNotEmpty(v.getRobotNo()) && robotNos.contains(v.getRobotNo())) + .filter(v -> ObjectUtil.isNotEmpty(v.getRobotNo()) + && robotNos.contains(v.getRobotNo()) + && robotFloorAreaJsonMap.get(v.getRobotNo()).contains(v.getPositionMapId())) .collect(Collectors.toList()); //车辆直接分配的停车点集合 List robotMapItems = new ArrayList<>(); if (ObjectUtil.isNotEmpty(existMapItems)) { - for (PositionMapItemDO positionMapItem : existMapItems) { - if (ObjectUtil.isEmpty(robots)) { + if (ObjectUtil.isEmpty(robotNos)) { break; } robotNos.removeIf(v -> v.equals(positionMapItem.getRobotNo())); @@ -244,7 +267,12 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { if (ObjectUtil.isEmpty(robotNos)) { break; } - positionMapItem.setRobotNo(robotNos.get(0)); + String robotNo = robotNos.get(0); + if (!robotFloorAreaJsonMap.get(robotNo).contains(positionMapItem.getPositionMapId())) { + log.info("车辆不能在此停车点 :{}, 车辆编号 :{}",positionMapItem.getSortNum(), robotNo); + continue; + } + positionMapItem.setRobotNo(robotNo); robotNos.removeIf(v -> v.equals(positionMapItem.getRobotNo())); positionMapItem.setUseStatus(UseStatusEnum.PRE_OCCUPANCY.getType()); robotMapItems.add(positionMapItem); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml index 05a901949..c999a6167 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml @@ -212,3 +212,19 @@ zn: is_simulation: false # 是否为仿真环境 send_robot_init_pose: true # 是否为发送默认的车辆所在地图和点位 restore_task_restart: false # 恢复任务是否全部重新执行 true:全部重新开始 + synchronous_all_map_node: 500 # 点位信息每次发送的数据量 + + +#海康威视的相关配置 +isc: + previewUrl: https://api.znkj.ispt.com.cn + host: 111.75.51.123:10443 + appKey: 24991430 + appSecret: jQd4pIYZBzwW8cnuI9IN +#视频资源 +resource: + cameras: /artemis/api/resource/v1/cameras +#视频能力 +video: + previewUrls: /artemis/api/video/v2/cameras/previewURLs + replayUrlApi: /artemis/api/video/v2/cameras/playbackURLs \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-hik.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-hik.yaml new file mode 100644 index 000000000..9435cb9bd --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-hik.yaml @@ -0,0 +1,12 @@ +#海康威视的相关配置 +isc: + host: hik.znkj.ispt.com.cn:10443 + appKey: 24991430 + appSecret: jQd4pIYZBzwW8cnuI9IN +#视频资源 +resource: + cameras: /artemis/api/resource/v1/cameras +#视频能力 +video: + previewUrls: /artemis/api/video/v2/cameras/previewURLs + replayUrlApi: /artemis/api/video/v2/cameras/playbackURLs diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml index 9c8ca5b2e..749253bde 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml @@ -247,7 +247,22 @@ zn: is_simulation: true # 是否为仿真环境 send_robot_init_pose: true # 是否为发送默认的车辆所在地图和点位 restore_task_restart: true # 恢复任务是否全部重新执行 true:全部重新开始 + synchronous_all_map_node: 500 # 点位信息每次发送的数据量 logging: file: - name: C:\system\install\log/${spring.application.name}.log \ No newline at end of file + name: C:\system\install\log/${spring.application.name}.log + +#海康威视的相关配置 +isc: + previewUrl: https://api.znkj.ispt.com.cn + host: 111.75.51.123:10443 + appKey: 24991430 + appSecret: jQd4pIYZBzwW8cnuI9IN +#视频资源 +resource: + cameras: /artemis/api/resource/v1/cameras +#视频能力 +video: + previewUrls: /artemis/api/video/v2/cameras/previewURLs + replayUrlApi: /artemis/api/video/v2/cameras/playbackURLs \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml index 91a5abe2d..2a33e2148 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml @@ -240,4 +240,18 @@ zn: is_simulation: false # 是否为仿真环境 send_robot_init_pose: true # 是否为发送默认的车辆所在地图和点位 restore_task_restart: false # 恢复任务是否全部重新执行 true:全部重新开始 + synchronous_all_map_node: 500 # 点位信息每次发送的数据量 +#海康威视的相关配置 +isc: + previewUrl: https://api.znkj.ispt.com.cn + host: 111.75.51.123:10443 + appKey: 24991430 + appSecret: jQd4pIYZBzwW8cnuI9IN +#视频资源 +resource: + cameras: /artemis/api/resource/v1/cameras +#视频能力 +video: + previewUrls: /artemis/api/video/v2/cameras/previewURLs + replayUrlApi: /artemis/api/video/v2/cameras/playbackURLs \ No newline at end of file