摄像头code

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYArgDTO.java

@@ -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;
+
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYArgMovePoseDTO.java

@@ -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;
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYArgPoseDTO.java

@@ -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;
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYDTO.java

@@ -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;
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYDataDTO.java

@@ -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;
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotDTO.java

@@ -21,5 +21,6 @@ public class PathToRobotDTO {
     private Integer isCommandEnd;
     private String robotNo;
     private String commandType;
+    private String taskType;
     private PathToRobotArgDTO arg;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/DeviceInformationController.java

@@ -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) {

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotModelPageReqVO.java

@@ -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;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotModelRespVO.java

@@ -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;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotModelSaveReqVO.java

@@ -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;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotModelDO.java

@@ -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;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationService.java

@@ -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;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java

@@ -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};

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java

@@ -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
      */
@@ -447,6 +453,38 @@ 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())) {
+            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);
@@ -474,9 +512,6 @@ public class PathPlanningServiceImpl implements PathPlanningService {
             actionLog.setDuration(duration.toMinutes());
             taskDetailActionLogService.updateTaskDetailActionLogs(Collections.singletonList(actionLog));
         }
-        }else {
-            commonApi.commonMethodStr(message, topic);
-        }
     }
 
     /**