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摄像头code

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cbs 2025-06-09 14:40:14 +08:00
parent e3223b5618
commit b92119dd75
14 changed files with 256 additions and 28 deletions
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19
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYArgDTO.java Normal file
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@ -0,0 +1,19 @@
package cn.iocoder.yudao.module.mqtt.api.path.dto;
import lombok.AllArgsConstructor;
import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;
import java.util.List;
@Data
@Builder
@NoArgsConstructor
@AllArgsConstructor
public class PathToRobotChangeXYArgDTO {
private List<PathToRobotChangeXYArgMovePoseDTO> pose2ds;
private PathToRobotChangeXYArgPoseDTO backPose;
private PathToRobotChangeXYArgPoseDTO cargoPose;
}

41
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYArgMovePoseDTO.java Normal file
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@ -0,0 +1,41 @@
package cn.iocoder.yudao.module.mqtt.api.path.dto;
import lombok.AllArgsConstructor;
import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;
@Data
@Builder
@NoArgsConstructor
@AllArgsConstructor
public class PathToRobotChangeXYArgMovePoseDTO {
/**
* 开始控制点x轴
*/
private Double actualBeginControlX;
/**
* 开始控制点y轴
*/
private Double actualBeginControlY;
/**
* 结束控制点x轴
*/
private Double actualEndControlX;
/**
* 结束控制点y轴
*/
private Double actualEndControlY;
private String id;
private Integer isEndPose;
private Integer isOldPose;
private Boolean isStraightEdge;
private String poseId;
private Double speed;
private Double x;
private Double y;
private Double yaw;
}

38
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYArgPoseDTO.java Normal file
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@ -0,0 +1,38 @@
package cn.iocoder.yudao.module.mqtt.api.path.dto;
import lombok.AllArgsConstructor;
import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;
@Data
@Builder
@NoArgsConstructor
@AllArgsConstructor
public class PathToRobotChangeXYArgPoseDTO {
/**
* 开始控制点x轴
*/
private Double actualBeginControlX;
/**
* 开始控制点y轴
*/
private Double actualBeginControlY;
/**
* 结束控制点x轴
*/
private Double actualEndControlX;
/**
* 结束控制点y轴
*/
private Double actualEndControlY;
private String id;
private Boolean isStraightEdge;
private Double speed;
private Double x;
private Double y;
private Double yaw;
}

25
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYDTO.java Normal file
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@ -0,0 +1,25 @@
package cn.iocoder.yudao.module.mqtt.api.path.dto;
import lombok.AllArgsConstructor;
import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;
@Data
@Builder
@NoArgsConstructor
@AllArgsConstructor
public class PathToRobotChangeXYDTO {
//这个实体类不要修改
//这个实体类不要修改
//这个实体类不要修改
//这个实体类不要修改
//这个实体类不要修改
private String executionType;
private String orderId;
private String orderType;
private String robotNo;
private String taskType;
private PathToRobotChangeXYDataDTO data;
}

16
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYDataDTO.java Normal file
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@ -0,0 +1,16 @@
package cn.iocoder.yudao.module.mqtt.api.path.dto;
import lombok.AllArgsConstructor;
import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;
@Data
@Builder
@NoArgsConstructor
@AllArgsConstructor
public class PathToRobotChangeXYDataDTO {
private PathToRobotChangeXYArgDTO arg;
private String commandType;
private Integer isCommandEnd;
}

1
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotDTO.java
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@ -21,5 +21,6 @@ public class PathToRobotDTO {
private Integer isCommandEnd;
private String robotNo;
private String commandType;
private String taskType;
private PathToRobotArgDTO arg;
}

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/DeviceInformationController.java
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@ -75,6 +75,14 @@ public class DeviceInformationController {
return success(BeanUtils.toBean(information, DeviceInformationRespVO.class));
}
@GetMapping("/getCameraCode")
@Operation(summary = "获得设备信息的摄像头code")
@Parameter(name = "id", description = "编号", required = true, example = "1024")
@PreAuthorize("@ss.hasPermission('device:information:getCameraCode')")
public CommonResult<String> getCameraCode(@RequestParam("id") Long id) throws Exception {
return success(informationService.getCameraCode(id));
}
@GetMapping("/list")
@Operation(summary = "获得设备信息列表")
public CommonResult<List<DeviceInformationRespVO>> getList(@Valid DeviceInformationDTO dto) {

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotModelPageReqVO.java
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@ -45,4 +45,10 @@ public class RobotModelPageReqVO extends PageParam {
@Schema(description = "转弯半径(单位米)")
private String robotTurningRadius;
@Schema(description = "X轴偏移量")
private String robotXOffset;
@Schema(description = "Y轴偏移量")
private String robotYOffset;
}

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotModelRespVO.java
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@ -49,4 +49,10 @@ public class RobotModelRespVO {
@Schema(description = "转弯半径(单位米)")
private String robotTurningRadius;
@Schema(description = "X轴偏移量")
private String robotXOffset;
@Schema(description = "Y轴偏移量")
private String robotYOffset;
}

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotModelSaveReqVO.java
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@ -36,4 +36,10 @@ public class RobotModelSaveReqVO {
@Schema(description = "转弯半径(单位米)")
private String robotTurningRadius;
@Schema(description = "X轴偏移量")
private String robotXOffset;
@Schema(description = "Y轴偏移量")
private String robotYOffset;
}

10
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotModelDO.java
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@ -67,4 +67,14 @@ public class RobotModelDO extends BaseDO {
*/
private String robotTurningRadius;
/**
* X轴偏移量
*/
private String robotXOffset;
/**
* Y轴偏移量
*/
private String robotYOffset;
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationService.java
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@ -143,4 +143,11 @@ public interface DeviceInformationService extends IService<DeviceInformationDO>
* @param id
*/
void deleteDeviceByMapId(Long id);
/**
* 获取摄像头code
* @param id
* @return
*/
String getCameraCode(Long id) throws Exception;
}

10
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java
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@ -474,6 +474,16 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
informationMapper.deleteDeviceByMapId(mapId);
}
@Override
public String getCameraCode(Long id) throws Exception {
DeviceInformationDO deviceInformationDO = informationMapper.selectById(id);
if (ObjectUtil.isEmpty(deviceInformationDO.getCameraCode()) || !DeviceTypeEnum.CAMERA.getType().equals(deviceInformationDO.getDeviceType())) {
return "";
}
return AESEncryptionUtil.decrypt(deviceInformationDO.getCameraCode(), cameraSecretKey);
}
public void shrink(String ip, int port, String deviceNo) {
boolean success = true;
short[] shrinkArr = {0};

91
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
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@ -27,10 +27,12 @@ import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotModelDO;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapLineMapper;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
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;
@ -45,6 +47,7 @@ import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService
import cn.iocoder.yudao.module.system.service.positionmap.PositionMapService;
import cn.iocoder.yudao.module.system.service.remote.RemoteControllerInformationService;
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 lombok.extern.slf4j.Slf4j;
@ -121,6 +124,9 @@ public class PathPlanningServiceImpl implements PathPlanningService {
@Resource
private RobotTaskDetailActionLogService taskDetailActionLogService;
@Resource
private RobotModelService modelService;
/**
* 同步ware_position_map_line的点位信息
*/
@ -447,38 +453,67 @@ public class PathPlanningServiceImpl implements PathPlanningService {
String mac = robotInformationService.getMacByRobotNo(pathRobotDTO.getRobotNo());
String topic = RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + mac;
if(RobotCommandTypeEnum.SWITCH_MAP.getType().equals(pathRobotDTO.getCommandType())) {
String mapFileName = positionMapService.getMapFileNameByFloorAndAreaName(pathRobotDTO.getArg().getFloor(),pathRobotDTO.getArg().getAreaId());
pathRobotDTO.getArg().setMapName(mapFileName);
controllerInformationService.robotChangeSpeed(pathRobotDTO);
commonApi.commonMethodStr(JSON.toJSONString(pathRobotDTO), topic);
RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getLastTaskByRobotNo(pathRobotDTO.getRobotNo(),null);
if (ObjectUtil.isNotEmpty(actionLog)) {
//为了统计各个地图的工作时间
RobotTaskDetailActionLogSaveReqVO data = new RobotTaskDetailActionLogSaveReqVO();
data.setActionMsg(actionLog.getRobotNo() + " 切换为 " + pathRobotDTO.getArg().getFloor()+"层 " + pathRobotDTO.getArg().getAreaId());
data.setRobotNo(actionLog.getRobotNo());
data.setTaskDetailId(actionLog.getTaskDetailId());
data.setTaskStage(actionLog.getTaskStage());
data.setCommandType(actionLog.getCommandType());
data.setTaskNo(actionLog.getTaskNo());
data.setActionStatus(actionLog.getActionStatus());
data.setStartTime(LocalDateTime.now());
Long mapId = robotInformationService.getRobotMapIdByRobotNo(actionLog.getRobotNo());
if (ObjectUtil.isNotEmpty(mapId)) {
data.setPositionMapId(mapId);
}
taskDetailActionLogService.createTaskDetailActionLog(data);
}
if (ObjectUtil.isNotEmpty(actionLog) && ObjectUtil.isNotEmpty(actionLog.getStartTime())) {
Duration duration = Duration.between(actionLog.getCreateTime(), LocalDateTime.now());
actionLog.setDuration(duration.toMinutes());
taskDetailActionLogService.updateTaskDetailActionLogs(Collections.singletonList(actionLog));
}
}else {
switchMap(pathRobotDTO,topic);
} else if (RobotCommandTypeEnum.WORD_DROP_OFF_GOODS.getType().equals(pathRobotDTO.getCommandType())) {
wordDropOffGoods(message,topic,pathRobotDTO.getRobotNo());
} else {
commonApi.commonMethodStr(message, topic);
}
}
/**
* 适配不同车型的放货点
* @param message
* @param topic
*/
private void wordDropOffGoods(String message, String topic, String robotNo) {
RobotInformationDO robotInformation = robotInformationService.getInformationByRobotNo(robotNo);
RobotModelDO model = modelService.getModel(robotInformation.getRobotModelId());
if (String.valueOf(ZeroOneEnum.ZERO.getType()).equals(model.getRobotXOffset())
&& String.valueOf(ZeroOneEnum.ZERO.getType()).equals(model.getRobotYOffset())) {
commonApi.commonMethodStr(message, topic);
return;
}
PathToRobotChangeXYDTO pathToRobotChangeXY = JSON.parseObject(message, PathToRobotChangeXYDTO.class);
}
/**
* 统计时间使用
* @param pathRobotDTO
* @param topic
*/
public void switchMap(PathToRobotDTO pathRobotDTO,String topic ) {
String mapFileName = positionMapService.getMapFileNameByFloorAndAreaName(pathRobotDTO.getArg().getFloor(),pathRobotDTO.getArg().getAreaId());
pathRobotDTO.getArg().setMapName(mapFileName);
controllerInformationService.robotChangeSpeed(pathRobotDTO);
commonApi.commonMethodStr(JSON.toJSONString(pathRobotDTO), topic);
RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getLastTaskByRobotNo(pathRobotDTO.getRobotNo(),null);
if (ObjectUtil.isNotEmpty(actionLog)) {
//为了统计各个地图的工作时间
RobotTaskDetailActionLogSaveReqVO data = new RobotTaskDetailActionLogSaveReqVO();
data.setActionMsg(actionLog.getRobotNo() + " 切换为 " + pathRobotDTO.getArg().getFloor()+"层 " + pathRobotDTO.getArg().getAreaId());
data.setRobotNo(actionLog.getRobotNo());
data.setTaskDetailId(actionLog.getTaskDetailId());
data.setTaskStage(actionLog.getTaskStage());
data.setCommandType(actionLog.getCommandType());
data.setTaskNo(actionLog.getTaskNo());
data.setActionStatus(actionLog.getActionStatus());
data.setStartTime(LocalDateTime.now());
Long mapId = robotInformationService.getRobotMapIdByRobotNo(actionLog.getRobotNo());
if (ObjectUtil.isNotEmpty(mapId)) {
data.setPositionMapId(mapId);
}
taskDetailActionLogService.createTaskDetailActionLog(data);
}
if (ObjectUtil.isNotEmpty(actionLog) && ObjectUtil.isNotEmpty(actionLog.getStartTime())) {
Duration duration = Duration.between(actionLog.getCreateTime(), LocalDateTime.now());
actionLog.setDuration(duration.toMinutes());
taskDetailActionLogService.updateTaskDetailActionLogs(Collections.singletonList(actionLog));
}
}
/**
* 实时行为上报
* @param orderId