地图暂停和恢复

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java

@@ -268,4 +268,6 @@ public interface ErrorCodeConstants {
     ErrorCode USER_OPERATION_LOG_NOT_EXISTS = new ErrorCode(1_002_050_001, "用户操作记录不存在");
     // ========== 车辆衔接任务 1_002_051_001 ==========
     ErrorCode TASK_PROCEED_NOT_EXISTS = new ErrorCode(1_002_051_001, "车辆衔接任务不存在");
+    // ========== 车辆(地图)急停记录 1_002_052_001  ==========
+    ErrorCode MAP_STOP_NOT_EXISTS = new ErrorCode(1_002_052_001, "车辆(地图)急停记录不存在");
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/SystemApplicationRunner.java

@@ -18,10 +18,10 @@ public class SystemApplicationRunner implements ApplicationRunner {
 
     @Override
     public void run(ApplicationArguments args) {
-        try {
+        /*try {
             toolsService.simulationPose();
         } catch (Exception e) {
             log.error("同步仿真的点位信息失败 :{}",e.getMessage());
-        }
+        }*/
     }
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapController.java

@@ -2,6 +2,7 @@ package cn.iocoder.yudao.module.system.controller.admin.positionmap;
 
 import cn.iocoder.yudao.framework.common.pojo.CommonResult;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionMapDTO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapRespVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapService;
@@ -54,6 +55,7 @@ public class PositionMapController {
     @GetMapping("/emergencyStopOrRecovery")
     @Operation(summary = "一键急停or一键恢复地图上所有AGV")
     @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @Parameter(name = "type", description = "类型(1:停止， 0:恢复)", required = true, example = "1024")
     @PreAuthorize("@ss.hasPermission('system:position-map:emergencyStopOrRecovery')")
     public CommonResult<Boolean> emergencyStopOrRecovery(@RequestParam("id") Long id, @RequestParam("type") Integer type) {
         positionMapService.emergencyStopOrRecovery(id,type);
@@ -63,10 +65,11 @@ public class PositionMapController {
     @GetMapping("/getMap")
     @Operation(summary = "获得仓库点位地图Map")
     @PreAuthorize("@ss.hasPermission('system:position-map:query')")
-    public CommonResult<Map<Integer, List<PositionMapDO>>> getPositionMapList() {
+    public CommonResult<Map<Integer, List<PositionMapDTO>>> getPositionMapList() {
-        List<PositionMapDO> list = positionMapService.list();
+        Map<Integer, List<PositionMapDTO>> result = positionMapService.getPositionMapList();
-        Map<Integer, List<PositionMapDO>> map = list.stream().collect(Collectors.groupingBy(PositionMapDO::getFloor));
+        /*List<PositionMapDO> list = positionMapService.list();
-        return success(map);
+        Map<Integer, List<PositionMapDO>> map = list.stream().collect(Collectors.groupingBy(PositionMapDO::getFloor));*/
+        return success(result);
     }
 
     @PostMapping("/upload")

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/PositionMapDTO.java

@@ -0,0 +1,31 @@
+package cn.iocoder.yudao.module.system.controller.admin.positionmap.dto;
+
+import com.baomidou.mybatisplus.annotation.TableId;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Schema(description = "管理后台 - 仓库点位地图新增/修改 Request VO")
+@Data
+public class PositionMapDTO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "2349")
+    private Long id;
+
+    @Schema(description = "楼层")
+    private Integer floor;
+
+    @Schema(description = "区域")
+    private String area;
+
+    @Schema(description = "AGV地图ymlJson信息")
+    private String yamlJson;
+
+    @Schema(description = "AGV地图图片路径")
+    private String pngUrl;
+
+    @Schema(description = "AGV地图yaml路径")
+    private String yamlUrl;
+
+    @Schema(description = "地图暂停/恢复 (0:未暂停, 1:暂停)")
+    private Integer stopOrRestore = 0;
+}

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

@@ -0,0 +1,96 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot;
+
+import cn.iocoder.yudao.module.system.controller.admin.robot.mapstop.RobotMapStopPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.mapstop.RobotMapStopRespVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.mapstop.RobotMapStopSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotMapStopDO;
+import cn.iocoder.yudao.module.system.service.robot.mapstop.RobotMapStopService;
+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 - 车辆(地图)急停记录")
+@RestController
+@RequestMapping("/system/robot/map-stop")
+@Validated
+public class RobotMapStopController {
+
+    @Resource
+    private RobotMapStopService mapStopService;
+
+    @PostMapping("/create")
+    @Operation(summary = "创建车辆(地图)急停记录")
+    @PreAuthorize("@ss.hasPermission('robot:map-stop:create')")
+    public CommonResult<Long> createMapStop(@Valid @RequestBody RobotMapStopSaveReqVO createReqVO) {
+        return success(mapStopService.createMapStop(createReqVO));
+    }
+
+    @PutMapping("/update")
+    @Operation(summary = "更新车辆(地图)急停记录")
+    @PreAuthorize("@ss.hasPermission('robot:map-stop:update')")
+    public CommonResult<Boolean> updateMapStop(@Valid @RequestBody RobotMapStopSaveReqVO updateReqVO) {
+        mapStopService.updateMapStop(updateReqVO);
+        return success(true);
+    }
+
+    @DeleteMapping("/delete")
+    @Operation(summary = "删除车辆(地图)急停记录")
+    @Parameter(name = "id", description = "编号", required = true)
+    @PreAuthorize("@ss.hasPermission('robot:map-stop:delete')")
+    public CommonResult<Boolean> deleteMapStop(@RequestParam("id") Long id) {
+        mapStopService.deleteMapStop(id);
+        return success(true);
+    }
+
+    @GetMapping("/get")
+    @Operation(summary = "获得车辆(地图)急停记录")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('robot:map-stop:query')")
+    public CommonResult<RobotMapStopRespVO> getMapStop(@RequestParam("id") Long id) {
+        RobotMapStopDO mapStop = mapStopService.getMapStop(id);
+        return success(BeanUtils.toBean(mapStop, RobotMapStopRespVO.class));
+    }
+
+    @GetMapping("/page")
+    @Operation(summary = "获得车辆(地图)急停记录分页")
+    @PreAuthorize("@ss.hasPermission('robot:map-stop:query')")
+    public CommonResult<PageResult<RobotMapStopRespVO>> getMapStopPage(@Valid RobotMapStopPageReqVO pageReqVO) {
+        PageResult<RobotMapStopDO> pageResult = mapStopService.getMapStopPage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, RobotMapStopRespVO.class));
+    }
+
+    @GetMapping("/export-excel")
+    @Operation(summary = "导出车辆(地图)急停记录 Excel")
+    @PreAuthorize("@ss.hasPermission('robot:map-stop:export')")
+    @ApiAccessLog(operateType = EXPORT)
+    public void exportMapStopExcel(@Valid RobotMapStopPageReqVO pageReqVO,
+              HttpServletResponse response) throws IOException {
+        pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
+        List<RobotMapStopDO> list = mapStopService.getMapStopPage(pageReqVO).getList();
+        // 导出 Excel
+        ExcelUtils.write(response, "车辆(地图)急停记录.xls", "数据", RobotMapStopRespVO.class,
+                        BeanUtils.toBean(list, RobotMapStopRespVO.class));
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/mapstop/RobotMapStopPageReqVO.java

@@ -0,0 +1,31 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.mapstop;
+
+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 - 车辆(地图)急停记录分页 Request VO")
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+public class RobotMapStopPageReqVO extends PageParam {
+
+    @Schema(description = "急停仓库点位地图表id", example = "20550")
+    private Long positionMapId;
+
+    @Schema(description = "急停的AGV编号")
+    private String robotNo;
+
+    @Schema(description = "类型（0：地图、1：车辆）", example = "2")
+    private Integer stopType;
+
+    @Schema(description = "创建时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
+    private LocalDateTime[] createTime;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/mapstop/RobotMapStopRespVO.java

@@ -0,0 +1,35 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.mapstop;
+
+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 - 车辆(地图)急停记录 Response VO")
+@Data
+@ExcelIgnoreUnannotated
+public class RobotMapStopRespVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "1220")
+    @ExcelProperty("主键ID")
+    private Long id;
+
+    @Schema(description = "急停仓库点位地图表id", example = "20550")
+    @ExcelProperty("急停仓库点位地图表id")
+    private Long positionMapId;
+
+    @Schema(description = "急停的AGV编号")
+    @ExcelProperty("急停的AGV编号")
+    private String robotNo;
+
+    @Schema(description = "类型（0：地图、1：车辆）", example = "2")
+    @ExcelProperty("类型（0：地图、1：车辆）")
+    private Integer stopType;
+
+    @Schema(description = "创建时间", requiredMode = Schema.RequiredMode.REQUIRED)
+    @ExcelProperty("创建时间")
+    private LocalDateTime createTime;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/mapstop/RobotMapStopSaveReqVO.java

@@ -0,0 +1,22 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.mapstop;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+
+@Schema(description = "管理后台 - 车辆(地图)急停记录新增/修改 Request VO")
+@Data
+public class RobotMapStopSaveReqVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "1220")
+    private Long id;
+
+    @Schema(description = "急停仓库点位地图表id", example = "20550")
+    private Long positionMapId;
+
+    @Schema(description = "急停的AGV编号")
+    private String robotNo;
+
+    @Schema(description = "类型（0：地图、1：车辆）", example = "2")
+    private Integer stopType;
+
+}

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

@@ -0,0 +1,40 @@
+package cn.iocoder.yudao.module.system.dal.dataobject.robot;
+
+import lombok.*;
+import com.baomidou.mybatisplus.annotation.*;
+import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
+
+/**
+ * 车辆(地图)急停记录 DO
+ *
+ * @author 陈宾顺
+ */
+@TableName("robot_map_stop")
+@KeySequence("robot_map_stop_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 RobotMapStopDO extends BaseDO {
+
+    /**
+     * 主键ID
+     */
+    @TableId
+    private Long id;
+    /**
+     * 急停仓库点位地图表id
+     */
+    private Long positionMapId;
+    /**
+     * 急停的AGV编号
+     */
+    private String robotNo;
+    /**
+     * 类型（0：地图、1：车辆）
+     */
+    private Integer stopType;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotMapStopMapper.java

@@ -0,0 +1,29 @@
+package cn.iocoder.yudao.module.system.dal.mysql.robot;
+
+import java.util.*;
+
+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.robot.mapstop.RobotMapStopPageReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotMapStopDO;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 车辆(地图)急停记录 Mapper
+ *
+ * @author 陈宾顺
+ */
+@Mapper
+public interface RobotMapStopMapper extends BaseMapperX<RobotMapStopDO> {
+
+    default PageResult<RobotMapStopDO> selectPage(RobotMapStopPageReqVO reqVO) {
+        return selectPage(reqVO, new LambdaQueryWrapperX<RobotMapStopDO>()
+                .eqIfPresent(RobotMapStopDO::getPositionMapId, reqVO.getPositionMapId())
+                .eqIfPresent(RobotMapStopDO::getRobotNo, reqVO.getRobotNo())
+                .eqIfPresent(RobotMapStopDO::getStopType, reqVO.getStopType())
+                .betweenIfPresent(RobotMapStopDO::getCreateTime, reqVO.getCreateTime())
+                .orderByDesc(RobotMapStopDO::getId));
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapService.java

@@ -1,6 +1,7 @@
 package cn.iocoder.yudao.module.system.service.positionmap;
 
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionMapDTO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
@@ -11,6 +12,7 @@ import javax.servlet.http.HttpServletResponse;
 import javax.validation.Valid;
 import java.io.IOException;
 import java.util.List;
+import java.util.Map;
 
 /**
  * 仓库点位地图 Service 接口
@@ -101,4 +103,10 @@ public interface PositionMapService extends IService<PositionMapDO> {
      * @return
      */
     List<PositionMapDO> getAllMap();
+
+    /**
+     * 获取地图及显示地图是否暂停
+     * @return
+     */
+    Map<Integer, List<PositionMapDTO>> getPositionMapList();
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java

@@ -10,22 +10,22 @@ import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionMapDTO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapSaveReqVO;
-import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
 import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
+import cn.iocoder.yudao.module.system.service.robot.mapstop.RobotMapStopService;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.io.IOUtils;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.cache.annotation.Cacheable;
-import org.springframework.data.redis.core.StringRedisTemplate;
 import org.springframework.http.HttpHeaders;
 import org.springframework.http.HttpStatus;
 import org.springframework.stereotype.Service;
@@ -74,6 +74,9 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
     @Resource
     private CommonApi commonApi;
 
+    @Resource
+    private RobotMapStopService robotMapStopService;
+
     @Override
     public Long createPositionMap(PositionMapSaveReqVO createReqVO) {
         // 插入
@@ -350,4 +353,26 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
         return positionMapMapper.selectList(new LambdaQueryWrapperX<PositionMapDO>().orderByDesc(PositionMapDO::getId));
     }
 
+    @Override
+    public Map<Integer, List<PositionMapDTO>> getPositionMapList() {
+        List<PositionMapDO> allMap = getAllMap();
+        if (ObjectUtil.isEmpty(allMap)) {
+            return Collections.emptyMap();
+        }
+
+        List<PositionMapDTO> list = BeanUtils.toBean(allMap, PositionMapDTO.class);
+        List<Long> stopMapIds = robotMapStopService.getStopMapIds();
+        if (ObjectUtil.isEmpty(stopMapIds)) {
+            return list.stream().collect(Collectors.groupingBy(PositionMapDTO::getFloor));
+        }
+
+        for (PositionMapDTO positionMap : list) {
+            if (stopMapIds.contains(positionMap.getId())) {
+                positionMap.setStopOrRestore(ZeroOneEnum.ONE.getType());
+            }
+        }
+
+        return list.stream().collect(Collectors.groupingBy(PositionMapDTO::getFloor));
+    }
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopService.java

@@ -0,0 +1,63 @@
+package cn.iocoder.yudao.module.system.service.robot.mapstop;
+
+import java.util.*;
+import javax.validation.*;
+
+import cn.iocoder.yudao.module.system.controller.admin.robot.mapstop.RobotMapStopPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.mapstop.RobotMapStopSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotMapStopDO;
+import com.baomidou.mybatisplus.extension.service.IService;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+
+/**
+ * 车辆(地图)急停记录 Service 接口
+ *
+ * @author 陈宾顺
+ */
+public interface RobotMapStopService extends IService<RobotMapStopDO> {
+
+    /**
+     * 创建车辆(地图)急停记录
+     *
+     * @param createReqVO 创建信息
+     * @return 编号
+     */
+    Long createMapStop(@Valid RobotMapStopSaveReqVO createReqVO);
+
+    /**
+     * 更新车辆(地图)急停记录
+     *
+     * @param updateReqVO 更新信息
+     */
+    void updateMapStop(@Valid RobotMapStopSaveReqVO updateReqVO);
+
+    /**
+     * 删除车辆(地图)急停记录
+     *
+     * @param id 编号
+     */
+    void deleteMapStop(Long id);
+
+    /**
+     * 获得车辆(地图)急停记录
+     *
+     * @param id 编号
+     * @return 车辆(地图)急停记录
+     */
+    RobotMapStopDO getMapStop(Long id);
+
+    /**
+     * 获得车辆(地图)急停记录分页
+     *
+     * @param pageReqVO 分页查询
+     * @return 车辆(地图)急停记录分页
+     */
+    PageResult<RobotMapStopDO> getMapStopPage(RobotMapStopPageReqVO pageReqVO);
+
+    /**
+     * 查询暂停的地图
+     * @return
+     */
+    List<Long> getStopMapIds();
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopServiceImpl.java

@@ -0,0 +1,96 @@
+package cn.iocoder.yudao.module.system.service.robot.mapstop;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.module.system.controller.admin.robot.mapstop.RobotMapStopPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.mapstop.RobotMapStopSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotMapStopDO;
+import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotMapStopMapper;
+import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
+import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum;
+import org.springframework.stereotype.Service;
+import javax.annotation.Resource;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.util.*;
+import java.util.stream.Collectors;
+
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+
+
+import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.MAP_STOP_NOT_EXISTS;
+
+/**
+ * 车辆(地图)急停记录 Service 实现类
+ *
+ * @author 陈宾顺
+ */
+@Service
+@Validated
+public class RobotMapStopServiceImpl extends ServiceImpl<RobotMapStopMapper, RobotMapStopDO> implements RobotMapStopService {
+
+    @Resource
+    private RobotMapStopMapper mapStopMapper;
+
+    @Override
+    public Long createMapStop(RobotMapStopSaveReqVO createReqVO) {
+        // 插入
+        RobotMapStopDO mapStop = BeanUtils.toBean(createReqVO, RobotMapStopDO.class);
+        mapStopMapper.insert(mapStop);
+        // 返回
+        return mapStop.getId();
+    }
+
+    @Override
+    public void updateMapStop(RobotMapStopSaveReqVO updateReqVO) {
+        // 校验存在
+        validateMapStopExists(updateReqVO.getId());
+        // 更新
+        RobotMapStopDO updateObj = BeanUtils.toBean(updateReqVO, RobotMapStopDO.class);
+        mapStopMapper.updateById(updateObj);
+    }
+
+    @Override
+    public void deleteMapStop(Long id) {
+        // 校验存在
+        validateMapStopExists(id);
+        // 删除
+        mapStopMapper.deleteById(id);
+    }
+
+    private void validateMapStopExists(Long id) {
+        if (mapStopMapper.selectById(id) == null) {
+            throw exception(MAP_STOP_NOT_EXISTS);
+        }
+    }
+
+    @Override
+    public RobotMapStopDO getMapStop(Long id) {
+        return mapStopMapper.selectById(id);
+    }
+
+    @Override
+    public PageResult<RobotMapStopDO> getMapStopPage(RobotMapStopPageReqVO pageReqVO) {
+        return mapStopMapper.selectPage(pageReqVO);
+    }
+
+    @Override
+    public List<Long> getStopMapIds() {
+        List<RobotMapStopDO> positionMapItems = mapStopMapper.selectList(new LambdaQueryWrapperX<RobotMapStopDO>()
+                .eq(RobotMapStopDO::getStopType, ZeroOneEnum.ZERO.getType()));
+        if (ObjectUtil.isEmpty(positionMapItems)) {
+            return new ArrayList<>();
+        }
+
+        return positionMapItems.stream()
+                .map(RobotMapStopDO::getPositionMapId)
+                .collect(Collectors.toList());
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotMapStopMapper.xml

@@ -0,0 +1,12 @@
+<?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.robot.RobotMapStopMapper">
+
+    <!--
+        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>