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cbs 2025-01-03 15:54:13 +08:00
parent 1a0881f0ad
commit bb03dd010f
22 changed files with 688 additions and 50 deletions
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7
pom.xml
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@ -46,6 +46,7 @@
<spring.boot.version>2.7.18</spring.boot.version>
<mapstruct.version>1.6.2</mapstruct.version>
<project.build.sourceEncoding>UTF-8</project.build.sourceEncoding>
<mqtt.version>1.2.5</mqtt.version>
</properties>
<dependencyManagement>
@ -69,6 +70,12 @@
<artifactId>grpc-client-spring-boot-starter</artifactId>
<version>${grpc.version}</version>
</dependency>
<dependency>
<groupId>org.eclipse.paho</groupId>
<artifactId>org.eclipse.paho.client.mqttv3</artifactId>
<version>${mqtt.version}</version>
</dependency>
</dependencies>
</dependencyManagement>

28
yudao-module-grpc/yudao-module-grpc-biz/pom.xml
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@ -24,18 +24,46 @@
</dependency>
<!-- 依赖服务 -->
<dependency>
<groupId>cn.iocoder.cloud</groupId>
<artifactId>yudao-module-system-api</artifactId>
<version>${revision}</version>
</dependency>
<dependency>
<groupId>cn.iocoder.cloud</groupId>
<artifactId>yudao-module-grpc-api</artifactId>
<version>${revision}</version>
</dependency>
<dependency>
<groupId>com.alibaba.cloud</groupId>
<artifactId>spring-cloud-starter-alibaba-nacos-discovery</artifactId>
</dependency>
<dependency>
<groupId>com.alibaba.cloud</groupId>
<artifactId>spring-cloud-starter-alibaba-nacos-config</artifactId>
</dependency>
<dependency>
<groupId>commons-collections</groupId>
<artifactId>commons-collections</artifactId>
<version>3.2.2</version>
</dependency>
<dependency>
<groupId>cn.iocoder.cloud</groupId>
<artifactId>yudao-module-grpc-lib</artifactId>
<version>${revision}</version>
</dependency>
<dependency>
<groupId>com.alibaba.boot</groupId>
<artifactId>nacos-config-spring-boot-starter</artifactId>
<version>0.2.12</version>
</dependency>
<dependency>
<groupId>io.swagger.core.v3</groupId>
<artifactId>swagger-annotations</artifactId>

3
yudao-module-grpc/yudao-module-grpc-biz/src/main/java/cn/iocoder/yudao/module/grpc/service/api/GrpcServiceImpl.java → yudao-module-grpc/yudao-module-grpc-biz/src/main/java/cn/iocoder/yudao/module/grpc/api/GrpcServiceImpl.java
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@ -1,6 +1,5 @@
package cn.iocoder.yudao.module.grpc.service.api;
package cn.iocoder.yudao.module.grpc.api;
import cn.iocoder.yudao.module.grpc.api.GrpcServiceApi;
import cn.iocoder.yudao.module.grpc.service.geometry.GeometryService;
import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.RestController;

19
yudao-module-grpc/yudao-module-grpc-biz/src/main/java/cn/iocoder/yudao/module/grpc/service/geometry/GeometryServiceImpl.java
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@ -3,14 +3,16 @@ package cn.iocoder.yudao.module.grpc.service.geometry;
import com.google.protobuf.DoubleValue;
import device.proto.model.common.Geometry;
import device.proto.model.common.Types;
import device.proto.robotics.nav.ChassisNavigationControlService;
import device.proto.robotics.nav.ChassisNavigationServiceGrpc;
import io.grpc.Channel;
import device.proto.api.al.robotics.universal.nav.ChassisNavigationServiceGrpc;
import lombok.extern.slf4j.Slf4j;
import net.devh.springboot.autoconfigure.grpc.client.GrpcClient;
import org.springframework.stereotype.Service;
import java.util.Iterator;
@Slf4j
@Service
public class GeometryServiceImpl implements GeometryService{
@ -19,18 +21,17 @@ public class GeometryServiceImpl implements GeometryService{
@Override
public String onVehiclePoseUpdated() {
log.info("测试GRPC连接");
ChassisNavigationServiceGrpc.ChassisNavigationServiceBlockingStub myServiceStub
= ChassisNavigationServiceGrpc.newBlockingStub(this.serverChannel);
Iterator<Geometry.Pose2d> pose2dIterator = myServiceStub.onVehiclePoseUpdated(null);
while (pose2dIterator.hasNext()) {
Geometry.Pose2d next = pose2dIterator.next();
System.out.println("返回的 " + next);
Iterator<ChassisNavigationControlService.Response> responseIterator = myServiceStub.onVehiclePoseUpdated(null);
while (responseIterator.hasNext()) {
log.info("机车推送的消息 :{}",responseIterator.next());
}
DoubleValue build = DoubleValue.newBuilder().build();
Types.Nothing nothing = myServiceStub.forkControl(build);
return nothing.toString();
ChassisNavigationControlService.Response response = myServiceStub.forkControl(build);
return response.toString();
}

26
yudao-module-grpc/yudao-module-grpc-biz/src/main/resources/application-local.yaml
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@ -1,7 +1,31 @@
# grpc配置
grpc:
# grpc clienT相关配置
client:
# 是服务端配置的名字，GrpcClient注解会用到
ChassisNavigationService:
# gRPC服务端地址
host: 192.168.10.78
port: 6914
# 是否开启保持连接（长连接）
enableKeepAlive: true
# 保持连接时长（默认20s）
keepAliveTimeout: 20
# 没有RPC调用时是否保持连接（默认false，可禁用避免额外消耗CPU）
keepAliveWithoutCalls: false
# 客户端负载均衡策略(round_robin（默认）, pick_first)
defaultLoadBalancingPolicy: round_robin
# 通信类型
# plaintext | plaintext_upgrade | tls
# 明文通信且http/2 | 明文通信且升级http/1.1为http/2 | 使用TLS（ALPN/NPN）通信
negotiationType: plaintext
spring:
cloud:
nacos:
server-addr: 127.0.0.1:8848 # Nacos 服务器地址
server-addr: localhost:8848 # Nacos 服务器地址
username: # Nacos 账号
password: # Nacos 密码
discovery: # 【配置中心】配置项

25
yudao-module-grpc/yudao-module-grpc-biz/src/main/resources/application.yaml
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@ -1,26 +1,3 @@
# grpc配置
grpc:
# grpc clienT相关配置
client:
# 是服务端配置的名字，GrpcClient注解会用到
ChassisNavigationService:
# gRPC服务端地址
host: 192.168.10.211
port: 6914
# 是否开启保持连接（长连接）
enableKeepAlive: true
# 保持连接时长（默认20s）
keepAliveTimeout: 20
# 没有RPC调用时是否保持连接（默认false，可禁用避免额外消耗CPU）
keepAliveWithoutCalls: false
# 客户端负载均衡策略(round_robin（默认）, pick_first)
defaultLoadBalancingPolicy: round_robin
# 通信类型
# plaintext | plaintext_upgrade | tls
# 明文通信且http/2 | 明文通信且升级http/1.1为http/2 | 使用TLS（ALPN/NPN）通信
negotiationType: plaintext
spring:
application:
@ -45,7 +22,7 @@ spring:
fail-on-empty-beans: false # 允许序列化无属性的 Bean
server:
port: 48082
port: 48084
debug: false

2
yudao-module-grpc/yudao-module-grpc-biz/src/main/resources/bootstrap.yaml
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@ -7,7 +7,7 @@ spring:
# active: prod
server:
port: 48082
port: 48084
# 日志文件配置。注意，如果 logging.file.name 不放在 bootstrap.yaml 配置文件，而是放在 application.yaml 中，会导致出现 LOG_FILE_IS_UNDEFINED 文件
logging:

61
yudao-module-grpc/yudao-module-grpc-lib/src/main/proto/svc/robotics/universal/chassis_navigation_control_service.proto
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@ -1,32 +1,69 @@
syntax = "proto3";
package device.proto.api.al.robotics.universal.nav;
package device.proto.robotics.nav;
option csharp_namespace = "Al.Proto.Api.Robotics.Nav";
import "google/protobuf/empty.proto";
import "google/protobuf/wrappers.proto";
import "model/common/geometry.proto";
import "model/common/types.proto";
import "google/protobuf/struct.proto";
//位姿数组运动请求
//平面2d位姿
message Pose2d {
double x = 1; //平移x
double y = 2; //平移y
double yaw = 3; //角度
}
message NavigateThroughPosesRequest {
//位姿数组
repeated device.proto.model.common.Pose2d pose2ds = 1;
repeated Pose2d pose2ds = 1;
}
//摇杆控制请求
message JoyAgvRequest {
//x方向的速度
double vx = 1;
//y方向的速度
double vy = 2;
//角速度
double angle = 3;
}
message Response {
//响应的状态码
string status_code = 1;
//失败时的错误原因
string message = 2;
//附带的响应内容
google.protobuf.Struct data = 3;
}
service ChassisNavigationService {
//订阅车体位姿更新
rpc OnVehiclePoseUpdated(google.protobuf.Empty) returns (stream device.proto.model.common.Pose2d) {}
rpc OnVehiclePoseUpdated(google.protobuf.Empty) returns (stream Response) {}
//订阅跟踪的物体的位姿更新
rpc OnTrackingPoseUpdated(google.protobuf.Empty) returns (stream device.proto.model.common.Pose2d) {}
rpc OnTrackingPoseUpdated(google.protobuf.Empty) returns (stream Response) {}
//导航到指定位姿
rpc NavigateToPose(device.proto.model.common.Pose2d) returns (device.proto.model.common.Nothing) {}
rpc NavigateToPose(Pose2d) returns (Response) {}
//路径导航
rpc NavigateThroughPoses(NavigateThroughPosesRequest) returns (device.proto.model.common.Nothing) {}
rpc NavigateThroughPoses(NavigateThroughPosesRequest) returns (Response) {}
//货叉纵向控制
rpc ForkControl(google.protobuf.DoubleValue) returns (device.proto.model.common.Nothing) {}
rpc ForkControl(google.protobuf.DoubleValue) returns (Response) {}
//订阅机器人状态更新
rpc OnRobotStateUpdated(google.protobuf.Empty) returns (stream Response) {}
//监听订阅底盘主IMU数据的更新
rpc OnChassesMainImuDataUpdated(google.protobuf.Empty) returns (stream Response) {}
//监听车体用于定位的里程计更新
rpc OnChassesOdometryUpdated(google.protobuf.Empty) returns (stream Response) {}
//监听雷达里程计更新
rpc OnPerceptionLaserOdometryUpdated(google.protobuf.Empty) returns (stream Response) {}
//监听轮式里程计更新
rpc OnWheelOdometryUpdated(google.protobuf.Empty) returns (stream Response) {}
//机器人故障状态
rpc OnRobotFaultStatusUpdated(google.protobuf.Empty) returns (stream Response) {}
//摇杆车体运动控制
rpc JoyAgvControl(JoyAgvRequest) returns (Response) {}
//摇杆货叉运动控制
rpc JoyForkControl(google.protobuf.Struct) returns (Response) {}
}

1
yudao-module-mqtt/yudao-module-mqtt-biz/pom.xml
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@ -45,7 +45,6 @@
<dependency>
<groupId>org.eclipse.paho</groupId>
<artifactId>org.eclipse.paho.client.mqttv3</artifactId>
<version>1.2.5</version>
</dependency>
<dependency>

4
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
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@ -163,4 +163,8 @@ public interface ErrorCodeConstants {
// ========== 站内信发送 1-002-028-000 ==========
ErrorCode NOTIFY_SEND_TEMPLATE_PARAM_MISS = new ErrorCode(1_002_028_000, "模板参数({})缺失");
// ========== 设备信息 1-002-029-000 ==========
ErrorCode INFORMATION_NOT_EXISTS = new ErrorCode(1_002_029_001, "设备信息不存在");
ErrorCode INFORMATION_MAC_EXIST = new ErrorCode(1_002_029_002, "此Mac地址已经存在");
ErrorCode INFORMATION_MAC_INPUT = new ErrorCode(1_002_029_003, "请输入Mac地址");
}

5
yudao-module-system/yudao-module-system-biz/pom.xml
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@ -35,6 +35,11 @@
<artifactId>yudao-module-infra-api</artifactId>
<version>${revision}</version>
</dependency>
<dependency>
<groupId>cn.iocoder.cloud</groupId>
<artifactId>yudao-module-grpc-api</artifactId>
<version>${revision}</version>
</dependency>
<!-- 业务组件 -->
<dependency>

96
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/DeviceInformationController.java Normal file
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@ -0,0 +1,96 @@
package cn.iocoder.yudao.module.system.controller.admin.information;
import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationRespVO;
import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
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 javax.validation.*;
import javax.servlet.http.*;
import java.util.*;
import java.io.IOException;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.CommonResult;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import static cn.iocoder.yudao.framework.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 - 设备信息")
@RestController
@RequestMapping("/system/device/information")
@Validated
public class DeviceInformationController {
@Resource
private DeviceInformationService informationService;
@PostMapping("/create")
@Operation(summary = "创建设备信息")
@PreAuthorize("@ss.hasPermission('device:information:create')")
public CommonResult<Long> createInformation(@Valid @RequestBody DeviceInformationSaveReqVO createReqVO) {
return success(informationService.createInformation(createReqVO));
}
@PutMapping("/update")
@Operation(summary = "更新设备信息")
@PreAuthorize("@ss.hasPermission('device:information:update')")
public CommonResult<Boolean> updateInformation(@Valid @RequestBody DeviceInformationSaveReqVO updateReqVO) {
informationService.updateInformation(updateReqVO);
return success(true);
}
@DeleteMapping("/delete")
@Operation(summary = "删除设备信息")
@Parameter(name = "id", description = "编号", required = true)
@PreAuthorize("@ss.hasPermission('device:information:delete')")
public CommonResult<Boolean> deleteInformation(@RequestParam("id") Long id) {
informationService.deleteInformation(id);
return success(true);
}
@GetMapping("/get")
@Operation(summary = "获得设备信息")
@Parameter(name = "id", description = "编号", required = true, example = "1024")
@PreAuthorize("@ss.hasPermission('device:information:query')")
public CommonResult<DeviceInformationRespVO> getInformation(@RequestParam("id") Long id) {
DeviceInformationDO information = informationService.getInformation(id);
return success(BeanUtils.toBean(information, DeviceInformationRespVO.class));
}
@GetMapping("/page")
@Operation(summary = "获得设备信息分页")
@PreAuthorize("@ss.hasPermission('device:information:query')")
public CommonResult<PageResult<DeviceInformationRespVO>> getInformationPage(@Valid DeviceInformationPageReqVO pageReqVO) {
PageResult<DeviceInformationDO> pageResult = informationService.getInformationPage(pageReqVO);
return success(BeanUtils.toBean(pageResult, DeviceInformationRespVO.class));
}
@GetMapping("/export-excel")
@Operation(summary = "导出设备信息 Excel")
@PreAuthorize("@ss.hasPermission('device:information:export')")
@ApiAccessLog(operateType = EXPORT)
public void exportInformationExcel(@Valid DeviceInformationPageReqVO pageReqVO,
HttpServletResponse response) throws IOException {
pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
List<DeviceInformationDO> list = informationService.getInformationPage(pageReqVO).getList();
// 导出 Excel
ExcelUtils.write(response, "设备信息.xls", "数据", DeviceInformationRespVO.class,
BeanUtils.toBean(list, DeviceInformationRespVO.class));
}
}

50
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java Normal file
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@ -0,0 +1,50 @@
package cn.iocoder.yudao.module.system.controller.admin.information.vo;
import lombok.*;
import java.util.*;
import io.swagger.v3.oas.annotations.media.Schema;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
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;
@Schema(description = "管理后台 - 设备信息分页 Request VO")
@Data
@EqualsAndHashCode(callSuper = true)
@ToString(callSuper = true)
public class DeviceInformationPageReqVO extends PageParam {
@Schema(description = "设备类型（1：充电桩、2：输送线、 3：码垛机、4：拆垛机、5：自动门、6：提升机、7：信号灯、8：按钮盒）", example = "2")
private Integer deviceType;
@Schema(description = "设备编号")
private String deviceNo;
@Schema(description = "mac地址")
private String macAddress;
@Schema(description = "上传图片附件", example = "https://www.iocoder.cn")
private String url;
@Schema(description = "图片设置（1：默认图片、2：上传图片、 3：不显示图片）")
private Integer pictureConfig;
@Schema(description = "设备状态（1：在线、2：离线、 3：异常）", example = "1")
private Integer deviceStatus;
@Schema(description = "设备启用禁用（0：禁用、1：启用）")
private Integer deviceEnable;
@Schema(description = "设备协议")
private String deviceAgreement;
@Schema(description = "设备最后通讯时间")
@DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
private LocalDateTime[] deviceLastTime;
@Schema(description = "创建时间")
@DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
private LocalDateTime[] createTime;
}

59
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java Normal file
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@ -0,0 +1,59 @@
package cn.iocoder.yudao.module.system.controller.admin.information.vo;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.*;
import java.util.*;
import org.springframework.format.annotation.DateTimeFormat;
import java.time.LocalDateTime;
import com.alibaba.excel.annotation.*;
@Schema(description = "管理后台 - 设备信息 Response VO")
@Data
@ExcelIgnoreUnannotated
public class DeviceInformationRespVO {
@Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "14335")
@ExcelProperty("主键ID")
private Long id;
@Schema(description = "设备类型（1：充电桩、2：输送线、 3：码垛机、4：拆垛机、5：自动门、6：提升机、7：信号灯、8：按钮盒）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@ExcelProperty("设备类型（1：充电桩、2：输送线、 3：码垛机、4：拆垛机、5：自动门、6：提升机、7：信号灯、8：按钮盒）")
private Integer deviceType;
@Schema(description = "设备编号")
@ExcelProperty("设备编号")
private String deviceNo;
@Schema(description = "mac地址")
@ExcelProperty("mac地址")
private String macAddress;
@Schema(description = "上传图片附件", requiredMode = Schema.RequiredMode.REQUIRED, example = "https://www.iocoder.cn")
@ExcelProperty("上传图片附件")
private String url;
@Schema(description = "图片设置（1：默认图片、2：上传图片、 3：不显示图片）")
@ExcelProperty("图片设置（1：默认图片、2：上传图片、 3：不显示图片）")
private Integer pictureConfig;
@Schema(description = "设备状态（1：在线、2：离线、 3：异常）", example = "1")
@ExcelProperty("设备状态（1：在线、2：离线、 3：异常）")
private Integer deviceStatus;
@Schema(description = "设备启用禁用（0：禁用、1：启用）")
@ExcelProperty("设备启用禁用（0：禁用、1：启用）")
private Integer deviceEnable;
@Schema(description = "设备协议")
@ExcelProperty("设备协议")
private String deviceAgreement;
@Schema(description = "设备最后通讯时间")
@ExcelProperty("设备最后通讯时间")
private LocalDateTime deviceLastTime;
@Schema(description = "创建时间", requiredMode = Schema.RequiredMode.REQUIRED)
@ExcelProperty("创建时间")
private LocalDateTime createTime;
}

45
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java Normal file
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@ -0,0 +1,45 @@
package cn.iocoder.yudao.module.system.controller.admin.information.vo;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.*;
import java.util.*;
import javax.validation.constraints.*;
import org.springframework.format.annotation.DateTimeFormat;
import java.time.LocalDateTime;
@Schema(description = "管理后台 - 设备信息新增/修改 Request VO")
@Data
public class DeviceInformationSaveReqVO {
@Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "14335")
private Long id;
@Schema(description = "设备类型（1：充电桩、2：输送线、 3：码垛机、4：拆垛机、5：自动门、6：提升机、7：信号灯、8：按钮盒）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@NotNull(message = "设备类型不能为空")
private Integer deviceType;
@Schema(description = "设备编号")
private String deviceNo;
@Schema(description = "mac地址")
private String macAddress;
@Schema(description = "上传图片附件", requiredMode = Schema.RequiredMode.REQUIRED, example = "https://www.iocoder.cn")
private String url;
@Schema(description = "图片设置（1：默认图片、2：上传图片、 3：不显示图片）")
private Integer pictureConfig;
@Schema(description = "设备状态（1：在线、2：离线、 3：异常）", example = "1")
private Integer deviceStatus;
@Schema(description = "设备启用禁用（0：禁用、1：启用）")
private Integer deviceEnable;
@Schema(description = "设备协议")
private String deviceAgreement;
@Schema(description = "设备最后通讯时间")
private LocalDateTime deviceLastTime;
}

68
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java Normal file
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package cn.iocoder.yudao.module.system.dal.dataobject.information;
import lombok.*;
import java.util.*;
import java.time.LocalDateTime;
import java.time.LocalDateTime;
import java.time.LocalDateTime;
import com.baomidou.mybatisplus.annotation.*;
import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
/**
* 设备信息 DO
*
* @author 陈宾顺
*/
@TableName("device_information")
@KeySequence("device_information_seq") // 用于 Oracle、PostgreSQL、Kingbase、DB2、H2 数据库的主键自增。如果是 MySQL 等数据库，可不写。
@Data
@EqualsAndHashCode(callSuper = true)
@ToString(callSuper = true)
@Builder
@NoArgsConstructor
@AllArgsConstructor
public class DeviceInformationDO extends BaseDO {
/**
* 主键ID
*/
@TableId
private Long id;
/**
* 设备类型（1：充电桩、2：输送线、 3：码垛机、4：拆垛机、5：自动门、6：提升机、7：信号灯、8：按钮盒）
*/
private Integer deviceType;
/**
* 设备编号
*/
private String deviceNo;
/**
* mac地址
*/
private String macAddress;
/**
* 上传图片附件
*/
private String url;
/**
* 图片设置（1：默认图片、2：上传图片、 3：不显示图片）
*/
private Integer pictureConfig;
/**
* 设备状态（1：在线、2：离线、 3：异常）
*/
private Integer deviceStatus;
/**
* 设备启用禁用（0：禁用、1：启用）
*/
private Integer deviceEnable;
/**
* 设备协议
*/
private String deviceAgreement;
/**
* 设备最后通讯时间
*/
private LocalDateTime deviceLastTime;
}

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yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/information/DeviceInformationMapper.java Normal file
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package cn.iocoder.yudao.module.system.dal.mysql.information;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationPageReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
import org.apache.ibatis.annotations.Mapper;
/**
* 设备信息 Mapper
*
* @author 陈宾顺
*/
@Mapper
public interface DeviceInformationMapper extends BaseMapperX<DeviceInformationDO> {
default PageResult<DeviceInformationDO> selectPage(DeviceInformationPageReqVO reqVO) {
return selectPage(reqVO, new LambdaQueryWrapperX<DeviceInformationDO>()
.eqIfPresent(DeviceInformationDO::getDeviceType, reqVO.getDeviceType())
.eqIfPresent(DeviceInformationDO::getDeviceNo, reqVO.getDeviceNo())
.eqIfPresent(DeviceInformationDO::getMacAddress, reqVO.getMacAddress())
.eqIfPresent(DeviceInformationDO::getUrl, reqVO.getUrl())
.eqIfPresent(DeviceInformationDO::getPictureConfig, reqVO.getPictureConfig())
.eqIfPresent(DeviceInformationDO::getDeviceStatus, reqVO.getDeviceStatus())
.eqIfPresent(DeviceInformationDO::getDeviceEnable, reqVO.getDeviceEnable())
.eqIfPresent(DeviceInformationDO::getDeviceAgreement, reqVO.getDeviceAgreement())
.betweenIfPresent(DeviceInformationDO::getDeviceLastTime, reqVO.getDeviceLastTime())
.betweenIfPresent(DeviceInformationDO::getCreateTime, reqVO.getCreateTime())
.orderByDesc(DeviceInformationDO::getId));
}
}

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yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/DeviceInformationType.java Normal file
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package cn.iocoder.yudao.module.system.enums;
import lombok.AllArgsConstructor;
import lombok.Getter;
@Getter
@AllArgsConstructor
public enum DeviceInformationType {
CHARGING_STATION(1, "充电桩"),
Conveyor_line(2, "输送线"),
PALLETIZER(3, "码垛机"),
DISMANTLING_MACHINE(4, "拆垛机"),
AUTOMATIC_DOOR(5, "自动门"),
HOIST(6, "提升机"),
SIGNAL_LIGHT(7, "信号灯"),
BUTTON_BOX(8, "按钮盒");
/**
* 类型
*/
private final Integer type;
/**
* 说明
*/
private final String source;
}

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yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/framework/grpc/config/GrpcConfiguration.java Normal file
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package cn.iocoder.yudao.module.system.framework.grpc.config;
import cn.iocoder.yudao.module.grpc.api.GrpcServiceApi;
import org.springframework.cloud.openfeign.EnableFeignClients;
import org.springframework.context.annotation.Configuration;
@Configuration(proxyBeanMethods = false)
@EnableFeignClients(clients = {GrpcServiceApi.class})
public class GrpcConfiguration {
}

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yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationService.java Normal file
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package cn.iocoder.yudao.module.system.service.information;
import java.util.*;
import javax.validation.*;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
/**
* 设备信息 Service 接口
*
* @author 陈宾顺
*/
public interface DeviceInformationService {
/**
* 创建设备信息
*
* @param createReqVO 创建信息
* @return 编号
*/
Long createInformation(@Valid DeviceInformationSaveReqVO createReqVO);
/**
* 更新设备信息
*
* @param updateReqVO 更新信息
*/
void updateInformation(@Valid DeviceInformationSaveReqVO updateReqVO);
/**
* 删除设备信息
*
* @param id 编号
*/
void deleteInformation(Long id);
/**
* 获得设备信息
*
* @param id 编号
* @return 设备信息
*/
DeviceInformationDO getInformation(Long id);
/**
* 获得设备信息分页
*
* @param pageReqVO 分页查询
* @return 设备信息分页
*/
PageResult<DeviceInformationDO> getInformationPage(DeviceInformationPageReqVO pageReqVO);
}

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yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java Normal file
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package cn.iocoder.yudao.module.system.service.information;
import cn.hutool.core.util.ObjectUtil;
import cn.iocoder.yudao.module.grpc.api.GrpcServiceApi;
import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
import cn.iocoder.yudao.module.system.enums.DeviceInformationType;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
import org.springframework.validation.annotation.Validated;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import java.time.LocalDateTime;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
/**
* 设备信息 Service 实现类
*
* @author 陈宾顺
*/
@Service
@Validated
@Slf4j
public class DeviceInformationServiceImpl implements DeviceInformationService {
@Resource
private DeviceInformationMapper informationMapper;
@Resource
private GrpcServiceApi grpcServiceApi;
@Override
public Long createInformation(DeviceInformationSaveReqVO createReqVO) {
DeviceInformationPageReqVO pageReqVO = new DeviceInformationPageReqVO();
pageReqVO.setMacAddress(createReqVO.getMacAddress());
PageResult<DeviceInformationDO> pageResult = informationMapper.selectPage(pageReqVO);
if(ObjectUtil.isNotEmpty(pageResult.getList())){
throw exception(INFORMATION_MAC_EXIST);
}
//AGV需要判断机车是否接收到此Mac地址
if(DeviceInformationType.PALLETIZER.getType().equals(createReqVO.getDeviceType())
&& ObjectUtil.isEmpty(createReqVO.getMacAddress())){
throw exception(INFORMATION_MAC_INPUT);
}
if(DeviceInformationType.PALLETIZER.getType().equals(createReqVO.getDeviceType())){
String jiCheResponse = grpcServiceApi.onVehiclePoseUpdated();
log.info("调用GRPC查询机车信息返回 :{}",jiCheResponse);
}
// 插入
DeviceInformationDO information = BeanUtils.toBean(createReqVO, DeviceInformationDO.class);
information.setDeviceStatus(1);
information.setDeviceLastTime(LocalDateTime.now());
informationMapper.insert(information);
// 返回
return information.getId();
}
@Override
public void updateInformation(DeviceInformationSaveReqVO updateReqVO) {
// 校验存在
validateInformationExists(updateReqVO.getId());
// 更新
DeviceInformationDO updateObj = BeanUtils.toBean(updateReqVO, DeviceInformationDO.class);
informationMapper.updateById(updateObj);
}
@Override
public void deleteInformation(Long id) {
// 校验存在
validateInformationExists(id);
// 删除
informationMapper.deleteById(id);
}
private void validateInformationExists(Long id) {
if (informationMapper.selectById(id) == null) {
throw exception(INFORMATION_NOT_EXISTS);
}
}
@Override
public DeviceInformationDO getInformation(Long id) {
return informationMapper.selectById(id);
}
@Override
public PageResult<DeviceInformationDO> getInformationPage(DeviceInformationPageReqVO pageReqVO) {
return informationMapper.selectPage(pageReqVO);
}
}

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yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/information/DeviceInformationMapper.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper">
<!--
一般情况下，尽可能使用 Mapper 进行 CRUD 增删改查即可。
无法满足的场景，例如说多表关联查询，才使用 XML 编写 SQL。
代码生成器暂时只生成 Mapper XML 文件本身，更多推荐 MybatisX 快速开发插件来生成查询。
文档可见：https://www.iocoder.cn/MyBatis/x-plugins/
-->
</mapper>