From 85439bb29b0d61c69e211e6d441f5ff79aa0b5c0 Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Wed, 2 Apr 2025 11:28:57 +0800 Subject: [PATCH 1/2] =?UTF-8?q?=E8=BD=A6=E6=9C=BA=E6=95=85=E9=9A=9C?= =?UTF-8?q?=E4=B8=8A=E6=8A=A5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../yudao/module/mqtt/config/MqttFactory.java | 2 + .../module/mqtt/enums/DefineSubTopicEnum.java | 1 + .../framework/system/SystemConfiguration.java | 2 +- .../RobotObstaclesStatusServiceImpl.java | 20 ++++++ .../api/robot/RobotObstaclesStatusApi.java | 19 ++++++ .../robot/dto/RobotObstaclesStatusDTO.java | 17 +++++ .../system/enums/ErrorCodeConstants.java | 8 ++- .../robot/RobotObstaclesStatusApiImpl.java | 67 +++++++++++++++++++ .../constant/robot/RobotTopicConstant.java | 4 ++ .../dto/DeviceInformationDataJsonDTO.java | 20 ++++++ .../HouseLocationServiceImpl.java | 13 ++-- .../DeviceInformationServiceImpl.java | 29 +++++--- .../service/robot/RobotTaskServiceImpl.java | 46 ++++++------- .../RobotWarnCodeMappingServiceImpl.java | 7 +- .../system/service/tool/ToolsServiceImpl.java | 11 +++ 15 files changed, 219 insertions(+), 47 deletions(-) create mode 100644 yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotObstaclesStatusServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotObstaclesStatusApi.java create mode 100644 yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotObstaclesStatusDTO.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotObstaclesStatusApiImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/dto/DeviceInformationDataJsonDTO.java diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttFactory.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttFactory.java index 190cacd8c..5bb9754e0 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttFactory.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttFactory.java @@ -145,6 +145,8 @@ public class MqttFactory { return BeanUtils.getBean(RobotWorkStatusServiceImpl.class); case ROBOT_UPDATE_PALLET_HEIGHT: return BeanUtils.getBean(RobotUpdatePalletHeightServiceImpl.class); + case ROBOT_OBSTACLES_STATUS: + return BeanUtils.getBean(RobotObstaclesStatusServiceImpl.class); case PLANNING_INIT_DATA: return BeanUtils.getBean(PathPlanningInitDataServiceImpl.class); case PLANNING_DISTRIBUTION_TASK: diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java index 4d6f2b6ad..b3ac6ace6 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java @@ -21,6 +21,7 @@ public enum DefineSubTopicEnum { ROBOT_PATH_STATUS("ROBOT_PATH_STATUS", 2,"导航实时行为上报"), ROBOT_WORK_STATUS("ROBOT_WORK_STATUS", 2,"作业实时行为上报"), ROBOT_UPDATE_PALLET_HEIGHT("UPDATE_PALLET_HEIGHT", 2,"放货后货物高度反馈和取货后货物高度反馈"), + ROBOT_OBSTACLES_STATUS("ROBOT_OBSTACLES_STATUS", 2,"障碍物状态上报"), PLANNING_INIT_DATA("SYNCHRONOUS_ALL_MAP_REQUEST", 2,"路径规划需要初始数据上报"), PLANNING_DISTRIBUTION_TASK("TASK_ASSIGNMENT_FEEDBACK", 2,"路径规划任务分配上报"), PLANNING_DISTRIBUTION_FAIL("TASK_ASSIGNMENT_FAIL", 2,"路径规划失败上报"), diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/framework/system/SystemConfiguration.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/framework/system/SystemConfiguration.java index 505c8fc8f..ba2071699 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/framework/system/SystemConfiguration.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/framework/system/SystemConfiguration.java @@ -6,6 +6,6 @@ import org.springframework.context.annotation.Configuration; @Configuration(proxyBeanMethods = false) @EnableFeignClients(clients = {RobotGenericsStatusApi.class, RobotTaskStatusApi.class, RobotStatusApi.class, RobotReactiveStatusApi.class, - RobotPathStatusApi.class,RobotWorkStatusApi.class,RobotUpdatePalletHeightApi.class}) + RobotPathStatusApi.class,RobotWorkStatusApi.class,RobotUpdatePalletHeightApi.class,RobotObstaclesStatusApi.class}) public class SystemConfiguration { } diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotObstaclesStatusServiceImpl.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotObstaclesStatusServiceImpl.java new file mode 100644 index 000000000..3203351c2 --- /dev/null +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotObstaclesStatusServiceImpl.java @@ -0,0 +1,20 @@ +package cn.iododer.yudao.module.mqtt.service; + +import cn.iocoder.yudao.module.system.api.robot.RobotObstaclesStatusApi; +import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.stereotype.Service; + +@Slf4j +@Service +public class RobotObstaclesStatusServiceImpl implements MqttService{ + + @Autowired + private RobotObstaclesStatusApi robotObstaclesStatusApi; + + @Override + public void analysisMessage(String message) { + log.info("障碍物状态上报 :{}", message); + robotObstaclesStatusApi.robotObstaclesStatus(message); + } +} diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotObstaclesStatusApi.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotObstaclesStatusApi.java new file mode 100644 index 000000000..a6a2e87fb --- /dev/null +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotObstaclesStatusApi.java @@ -0,0 +1,19 @@ +package cn.iocoder.yudao.module.system.api.robot; + +import cn.iocoder.yudao.module.system.enums.ApiConstants; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.tags.Tag; +import org.springframework.cloud.openfeign.FeignClient; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestParam; + +@FeignClient(name = ApiConstants.NAME) +@Tag(name = "RPC 服务 - 障碍物状态上报") +public interface RobotObstaclesStatusApi { + + String PREFIX = ApiConstants.PREFIX + "/task"; + + @PostMapping(PREFIX + "/robotObstaclesStatus") + @Operation(summary = "障碍物状态上报") + void robotObstaclesStatus(@RequestParam("message") String message); +} diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotObstaclesStatusDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotObstaclesStatusDTO.java new file mode 100644 index 000000000..211d68a95 --- /dev/null +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotObstaclesStatusDTO.java @@ -0,0 +1,17 @@ +package cn.iocoder.yudao.module.system.api.robot.dto; + +import lombok.Data; + +@Data +public class RobotObstaclesStatusDTO { + + /** + * mac地址 + */ + public String mac; + + /** + * true表示有障碍物，false表示没有障碍物 + */ + public Boolean obstacles; +} diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java index b9b3d621a..52f599a41 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java @@ -167,6 +167,7 @@ public interface ErrorCodeConstants { 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"); + ErrorCode INFORMATION_BIND_MAP = new ErrorCode(1_002_029_004, "设备已经绑定在地图上,请先在地图上解绑"); // ========== 线库/巷道 1-002-030-000 ========== ErrorCode HOUSE_LANE_NOT_EXISTS = new ErrorCode(1-002-030-001, "线库不存在"); @@ -201,9 +202,9 @@ public interface ErrorCodeConstants { ErrorCode TASK_CHECK_EXCEPTION = new ErrorCode(1-002-035-005, "任务下发失败"); ErrorCode TASK_CHECK_ID_EXCEPTION = new ErrorCode(1-002-035-006, "请输入ID"); ErrorCode TASK_CHECK_TASK_PRIORITY = new ErrorCode(1-002-035-007, "非新单据不能修改优先级"); - ErrorCode TASK_CHECK_TASK_STATUS = new ErrorCode(1-002-035-100, "订单已完成"); - ErrorCode TASK_CHECK_UPDATE_STATUS = new ErrorCode(1-002-035-101, "订单更新失败"); - ErrorCode TASK_CHECK_EXIST_NO = new ErrorCode(1-002-035-102, "订单号已存在"); + ErrorCode TASK_CHECK_TASK_STATUS = new ErrorCode(1-002-035-100, "任务已完成"); + ErrorCode TASK_CHECK_UPDATE_STATUS = new ErrorCode(1-002-035-101, "任务更新失败"); + ErrorCode TASK_CHECK_EXIST_NO = new ErrorCode(1-002-035-102, "任务号已存在"); ErrorCode TASK_TYPE_UN_EXIST = new ErrorCode(1-002-035-103, "找不到对应的任务类型"); ErrorCode TASK_TAKE_LOCATION_EMPTY = new ErrorCode(1-002-035-104, "取货库位没有库存"); ErrorCode TASK_TAKE_LOCATION_UPPER_LEVELS_NOT_EMPTY = new ErrorCode(1-002-035-105, "取货库位上层不为空"); @@ -211,6 +212,7 @@ public interface ErrorCodeConstants { ErrorCode TASK_RELEASE_LOCATION_LOWER_LEVELS_EMPTY = new ErrorCode(1-002-035-107, "放货库位下层为空"); ErrorCode TASK_TAKE_LOCATION_HAVE_OTHER_TASK = new ErrorCode(1-002-035-108, "取货库位已经分配了其他任务"); ErrorCode TASK_RELEASE_LOCATION_HAVE_OTHER_TASK = new ErrorCode(1-002-035-109, "放货库位已经分配了其他任务"); + ErrorCode TASK_CREATE_FAIL = new ErrorCode(1-002-035-110, "任务创建失败:"); // ========== 机器人任务明细 1-002-036-000 ========== ErrorCode TASK_DETAIL_NOT_EXISTS = new ErrorCode(1-002-036-001, "机器人任务明细不存在"); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotObstaclesStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotObstaclesStatusApiImpl.java new file mode 100644 index 000000000..895389f97 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotObstaclesStatusApiImpl.java @@ -0,0 +1,67 @@ +package cn.iocoder.yudao.module.system.api.robot; + +import cn.hutool.json.JSONUtil; +import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi; +import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO; +import cn.iocoder.yudao.module.system.api.robot.dto.RobotObstaclesStatusDTO; +import cn.iocoder.yudao.module.system.api.robot.vo.RobotUpdatePalletHeightDTO; +import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant; +import cn.iocoder.yudao.module.system.constant.webSocket.WebSocketConstant; +import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnMsgSaveReqVO; +import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnMsgDO; +import cn.iocoder.yudao.module.system.enums.robot.RobotWarnType; +import cn.iocoder.yudao.module.system.service.robot.RobotInformationService; +import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService; +import cn.iocoder.yudao.module.system.util.redis.RedisUtil; +import com.alibaba.fastjson.JSON; +import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.validation.annotation.Validated; +import org.springframework.web.bind.annotation.RestController; + +import javax.annotation.Resource; + +@Slf4j +@RestController // 提供 RESTful API 接口，给 Feign 调用 +@Validated +public class RobotObstaclesStatusApiImpl implements RobotObstaclesStatusApi{ + + @Resource + private RedisUtil redisUtil; + + @Resource + public WebSocketSenderApi webSocketSenderApi; + + @Resource + private RobotWarnMsgService warnMsgService; + + @Autowired + private RobotInformationService robotInformationService; + + @Override + public void robotObstaclesStatus(String message) { + log.info("障碍物状态上报 :{}" ,message); + + RobotObstaclesStatusDTO data = JSON.parseObject(message, RobotObstaclesStatusDTO.class); + if (!data.getObstacles()) { + return; + } + + String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + data.getMac(); + Object floorAreaObject = redisUtil.get(floorAreaKey); + FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class); + + + String robotNo = robotInformationService.getRobotNoByMac(data.getMac()); + + RobotWarnMsgSaveReqVO warnMsg = new RobotWarnMsgSaveReqVO(); + warnMsg.setWarnLevel(4); + warnMsg.setRobotNo(robotNo); + warnMsg.setWarnType(RobotWarnType.ROBOT_WARN.getType()); + warnMsg.setWarnMsg(robotNo +" 机器人遇到障碍物"); + warnMsgService.createWarnMsg(warnMsg); + + webSocketSenderApi.sendObject(floorZoneDTO.getFloor() + "_" + floorZoneDTO.getArea(), + WebSocketConstant.AGV_WARN, warnMsg.getWarnMsg()); + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTopicConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTopicConstant.java index d5c5a970c..1ae9ff31c 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTopicConstant.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTopicConstant.java @@ -20,4 +20,8 @@ public class RobotTopicConstant { * 让机器人同步告警码值映射的topic （拼接mac地址） */ public static String UPDATE_ERROR_TOPIC = "UPDATE_ERROR_"; + /** + * 让机器人同步告警码值映射的topic （拼接mac地址） + */ + public static String WARN_WAIT_TIME_TOPIC = "WARN_WAIT_TIME"; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/dto/DeviceInformationDataJsonDTO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/dto/DeviceInformationDataJsonDTO.java new file mode 100644 index 000000000..97898e559 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/dto/DeviceInformationDataJsonDTO.java @@ -0,0 +1,20 @@ +package cn.iocoder.yudao.module.system.controller.admin.information.dto; + +import io.swagger.v3.oas.models.security.SecurityScheme; +import lombok.Data; + +@Data +public class DeviceInformationDataJsonDTO { + private Long id; + private Long positionMapId; + private Long positionMapItemId; + private String locationX; + private String locationY; + private String actualLocationX; + private String actualLocationY; + private Integer locationWide; + private Integer locationDeep; + private Integer deviceType; + private String deviceNo; + private String mapImageUrl; +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/HouseLocationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/HouseLocationServiceImpl.java index 5d429f53a..02443e242 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/HouseLocationServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/HouseLocationServiceImpl.java @@ -72,18 +72,20 @@ public class HouseLocationServiceImpl extends ServiceImpl detailIds = new ArrayList<>(); Set robotNos = new HashSet<>(); - UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder().operateAction("关闭订单 " + robotTaskDO.getTaskNo()) + UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder().operateAction("关闭任务 " + robotTaskDO.getTaskNo()) .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build(); userOperationLogService.createUserOperationLog(operationLog); @@ -726,20 +717,21 @@ public class RobotTaskServiceImpl extends ServiceImpl(), new ArrayList<>(), new ArrayList<>()); if (ObjectUtil.isEmpty(stockList)) { log.error("取货线库/区域为空或者已锁定或者机器人取放货区域受限制 :{}", robotTaskVo.toString()); - throw new RuntimeException("取货线库/区域为空或者已锁定或者机器人取放货区域受限制"); + throw exception0(TASK_CREATE_FAIL.getCode(), "取货线库/区域为空或者已锁定或者机器人取放货区域受限制" ); } //判断取货库位是否存在未完成的任务 Set stockLocationIds = stockList.stream().map(WareHouseLocationDO::getId).collect(Collectors.toSet()); List doingTasks = taskDetailMapper.queryDoingTaskByIds(stockLocationIds); if (ObjectUtil.isNotEmpty(doingTasks)) { - throw new RuntimeException("取货线库/区域,存在未完成的任务"); + log.error("取货线库/区域,存在未完成的任务 :{}", JSON.toJSONString(doingTasks)); + throw exception0(TASK_CREATE_FAIL.getCode(), "取货线库/区域,存在未完成的任务" ); } //查找空库位 WareHouseLocationDO releaseQuery = null; if (ReleaseTakeEnum.TO_LANE.getType().equals(robotTaskVo.getReleaseType())) { if (ObjectUtil.isEmpty(laneIds) && ObjectUtil.isNotEmpty(skuInfo)) { log.error("查不到此物料对应的线库区域 :{}", robotTaskVo.getReleaseId()); - throw new RuntimeException("查不到此物料对应的线库区域 " + skuInfo); + throw exception0(TASK_CREATE_FAIL.getCode(), "查不到此物料对应的线库区域" ); } releaseQuery = WareHouseLocationDO.builder() .laneId(robotTaskVo.getReleaseId()) @@ -750,7 +742,7 @@ public class RobotTaskServiceImpl extends ServiceImpl(), new ArrayList<>()); if (ObjectUtil.isEmpty(wareHouseLocationDO)) { log.error("取货库位为空或者已锁定或者机器人取放货区域受限制 :{}", robotTaskVo.getTakeId()); - throw new RuntimeException("取货库位为空或者已锁定或者机器人取放货区域受限制 " + robotTaskVo.getTakeId()); + throw exception0(TASK_CREATE_FAIL.getCode(), "取货库位为空或者已锁定或者机器人取放货区域受限制 " + robotTaskVo.getTakeId()); } robotTaskVo.setFromLocationNo(wareHouseLocationDO.getLocationNo()); robotTaskVo.setFromLocationId(wareHouseLocationDO.getId()); @@ -1141,7 +1133,7 @@ public class RobotTaskServiceImpl extends ServiceImpl doingTasks = taskDetailMapper.queryDoingTaskByIds(set); if (ObjectUtil.isNotEmpty(doingTasks)) { log.error("取货库位,存在未完成的任务 :{}", robotTaskVo.getTakeId()); - throw new RuntimeException("取货库位,存在未完成的任务 "); + throw exception0(TASK_CREATE_FAIL.getCode(), "取货库位,存在未完成的任务" ); } } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingServiceImpl.java index d56898b12..c27722cf3 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingServiceImpl.java @@ -2,6 +2,7 @@ package cn.iocoder.yudao.module.system.service.robot; import cn.hutool.core.util.ObjectUtil; import cn.iocoder.yudao.framework.mybatis.core.util.MyBatisUtils; +import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO; import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingPageReqVO; import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingSaveReqVO; import cn.iocoder.yudao.module.system.controller.admin.robot.warn.RobotWarnCodeMappingVO; @@ -32,6 +33,9 @@ import java.util.HashMap; import java.util.Map; import java.util.*; +import java.util.function.Function; +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; @@ -108,7 +112,8 @@ public class RobotWarnCodeMappingServiceImpl implements RobotWarnCodeMappingServ if (ObjectUtil.isEmpty(list)) { return; } - exportJson(response,list,"warn.json",warnUploadPath); + Map map = list.stream().collect(Collectors.toMap(RobotWarnCodeMappingVO::getWarnCode, Function.identity(), (v1, v2) -> v1)); + exportJson(response,map,"warn.json",warnUploadPath); } public void exportJson(HttpServletResponse response, Object obj, String fileName, String uploadPath) { diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java index ca440b3c3..662e57c0c 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java @@ -71,6 +71,17 @@ public class ToolsServiceImpl implements ToolsService { } CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfigDO.getConfigStr(), CommonConfigVO.class); + if (ObjectUtil.isNotEmpty(chargeConfig.getWarnWaitTime())) { + List robots = informationService.getAllRobot(); + if (ObjectUtil.isNotEmpty(robots)) { + for (RobotInformationDO robot : robots) { + commonApi.commonMethodStr(String.valueOf(chargeConfig.getWarnWaitTime()), + RobotTopicConstant.WARN_WAIT_TIME_TOPIC+robot.getMacAddress()); + } + } + } + + if (ObjectUtil.isEmpty(chargeConfig.getPathSortConfig())) { addWarnMsg(); return "没有配置路径规划权重"; From 7a89732aa601d70afd95cc4c08ddbbc9620e6bfc Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Wed, 2 Apr 2025 17:51:52 +0800 Subject: [PATCH 2/2] =?UTF-8?q?=E4=BB=BF=E7=9C=9F=E5=90=8C=E6=AD=A5?= =?UTF-8?q?=E6=95=B0=E6=8D=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../yudao/module/mqtt/config/MqttFactory.java | 2 + .../module/mqtt/enums/DefineSubTopicEnum.java | 1 + ...SimulationRobotPoseRequestServiceImpl.java | 22 ++++++ .../yudao/module/system/api/path/PathApi.java | 4 + .../module/system/api/path/PathApiImpl.java | 10 +++ .../path/PathPlanningTopicConstant.java | 4 + .../admin/path/PathPlanningController.java | 7 ++ .../path/dto/SimulationRobotPoseDTO.java | 32 ++++++++ .../enums/config/CommandConfigTypeEnum.java | 3 +- .../DeviceInformationServiceImpl.java | 5 +- .../service/path/PathPlanningService.java | 5 ++ .../service/path/PathPlanningServiceImpl.java | 78 ++++++++++++++++++- .../positionmap/PositionMapItemService.java | 8 ++ .../PositionMapItemServiceImpl.java | 8 ++ .../positionmap/PositionMapService.java | 7 ++ .../positionmap/PositionMapServiceImpl.java | 5 ++ 16 files changed, 196 insertions(+), 5 deletions(-) create mode 100644 yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/PlanningSimulationRobotPoseRequestServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/path/dto/SimulationRobotPoseDTO.java diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttFactory.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttFactory.java index 5bb9754e0..554eaa591 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttFactory.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttFactory.java @@ -153,6 +153,8 @@ public class MqttFactory { return BeanUtils.getBean(PathPlanningDistributionTaskServiceImpl.class); case PLANNING_DISTRIBUTION_FAIL: return BeanUtils.getBean(PathPlanningDistributionFailServiceImpl.class); + case PLANNING_SIMULATION_ROBOT_POSE_REQUEST: + return BeanUtils.getBean(PlanningSimulationRobotPoseRequestServiceImpl.class); case PLANNING_MOVE: return BeanUtils.getBean(PathPlanningMoveServiceImpl.class); case PLANNING_ROUTE_DISPLAY: diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java index b3ac6ace6..e686b0cbe 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java @@ -25,6 +25,7 @@ public enum DefineSubTopicEnum { PLANNING_INIT_DATA("SYNCHRONOUS_ALL_MAP_REQUEST", 2,"路径规划需要初始数据上报"), PLANNING_DISTRIBUTION_TASK("TASK_ASSIGNMENT_FEEDBACK", 2,"路径规划任务分配上报"), PLANNING_DISTRIBUTION_FAIL("TASK_ASSIGNMENT_FAIL", 2,"路径规划失败上报"), + PLANNING_SIMULATION_ROBOT_POSE_REQUEST("SIMULATION_ROBOT_POSE_REQUEST", 2,"仿真初始化点位信息"), PLANNING_MOVE("UPDATE_ROUTE_DISPLAY_PLANNING", 2,"车辆即将走的点位"), PLANNING_ROUTE_DISPLAY("ROBOT_MOVE_POSE_PLANNING", 2,"路径规划上报实时路径"); diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/PlanningSimulationRobotPoseRequestServiceImpl.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/PlanningSimulationRobotPoseRequestServiceImpl.java new file mode 100644 index 000000000..2d674ed46 --- /dev/null +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/PlanningSimulationRobotPoseRequestServiceImpl.java @@ -0,0 +1,22 @@ +package cn.iododer.yudao.module.mqtt.service; + +import cn.iocoder.yudao.module.system.api.path.PathApi; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Service; + +import javax.annotation.Resource; + +@Service +@Slf4j +public class PlanningSimulationRobotPoseRequestServiceImpl implements MqttService{ + + @Resource + private PathApi pathApi; + + @Override + public void analysisMessage(String message) { + log.info("收到仿真初始化点位的消息 :{}",message); + pathApi.simulationRobotPoseRequest(message); + } + +} diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApi.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApi.java index ee790e543..02f84fbdf 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApi.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApi.java @@ -32,4 +32,8 @@ public interface PathApi { @PostMapping(PREFIX + "/pathPlanningMovePose") @Operation(summary = "路径规划要走的点位信息") void pathPlanningMovePose(@RequestParam("message") String message); + + @PostMapping(PREFIX + "/simulationRobotPose") + @Operation(summary = "仿真初始化点位信息") + void simulationRobotPoseRequest(@RequestParam("message") String message); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java index 3798f5154..d3d4f8047 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java @@ -104,5 +104,15 @@ public class PathApiImpl implements PathApi { pathPlanningService.pathPlanningMovePose(message); } + /** + * 仿真点位信息 + * @param message + */ + @Override + public void simulationRobotPoseRequest(String message) { + TenantContextHolder.setTenantId(1L); + pathPlanningService.simulationRobotPoseRequest(); + } + } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java index 38fb6a4cf..bb981dd42 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java @@ -64,6 +64,10 @@ public class PathPlanningTopicConstant { * 发送车辆编号对应的车宽、中心与车头距离、中心与车尾距离给PP */ public static String SEND_ROBOT_DIMENSIONS = "SEND_ROBOT_DIMENSIONS"; + /** + * 仿真车辆信息 + */ + public static String INIT_ROBOT_POSE = "INIT_ROBOT_POSE"; /** * 车辆当前位置给给PP diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/path/PathPlanningController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/path/PathPlanningController.java index c8b8d30fc..bb5279343 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/path/PathPlanningController.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/path/PathPlanningController.java @@ -107,4 +107,11 @@ public class PathPlanningController { pathPlanningService.robotDimensions(); return success("同步完成"); } + + @PostMapping("/robot/simulationRobotPoseRequest") + @Operation(summary = "发送车辆数据给--仿真") + public CommonResult simulationRobotPoseRequest() { + pathPlanningService.simulationRobotPoseRequest(); + return success("同步完成"); + } } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/path/dto/SimulationRobotPoseDTO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/path/dto/SimulationRobotPoseDTO.java new file mode 100644 index 000000000..13fec9923 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/path/dto/SimulationRobotPoseDTO.java @@ -0,0 +1,32 @@ +package cn.iocoder.yudao.module.system.controller.admin.path.dto; + +import com.alibaba.excel.annotation.ExcelProperty; +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Builder; +import lombok.Data; + +@Data +public class SimulationRobotPoseDTO { + private String mac; + + @Schema(description = "坐标x轴") + private String locationX; + + @Schema(description = "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 = "地图所在楼") + public String floor; + + @Schema(description = "地图所在区") + public String area; + + @Schema(description = "弧度") + private String locationYaw; +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/config/CommandConfigTypeEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/config/CommandConfigTypeEnum.java index f4f019258..3e4b30ffb 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/config/CommandConfigTypeEnum.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/config/CommandConfigTypeEnum.java @@ -13,7 +13,8 @@ public enum CommandConfigTypeEnum { CHARG_CONFIG(1,"充电设置(页面)"), PP_CONFIG_PRIORITY(2,"优先级>时间>路径"), PP_CONFIG_TIME(3,"优先级=时间>路径"), - PP_CONFIG_PATH(4,"优先级=时间=路径"); + PP_CONFIG_PATH(4,"优先级=时间=路径"), + SIMULATION_CONFIG(13,"仿真初始化地图"); /** * 类型 */ 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 8c664caff..37d8a4ee3 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 @@ -219,7 +219,10 @@ public class DeviceInformationServiceImpl extends ServiceImpl a.setPositionMapItemId(null)); + list.get(2).forEach( a -> { + a.setPositionMapItemId(null); + a.setPositionMapId(null); + }); editList.addAll(list.get(2)); } if (isNotEmpty(editList)) { diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningService.java index 6f32a49f1..816e0acb0 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningService.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningService.java @@ -44,4 +44,9 @@ public interface PathPlanningService { * @param message */ void pathPlanningMovePose(String message); + + /** + * 仿真点位信息 + */ + void simulationRobotPoseRequest(); } 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 6d5ae9bd1..bbbb2d17f 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 @@ -18,19 +18,27 @@ import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant; import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant; import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant; import cn.iocoder.yudao.module.system.constant.webSocket.WebSocketConstant; +import cn.iocoder.yudao.module.system.controller.admin.path.dto.SimulationRobotPoseDTO; import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemSaveReqVO; import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLineSaveReqVO; import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapSaveReqVO; import cn.iocoder.yudao.module.system.controller.admin.robot.task.TaskAssignDTO; +import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO; 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.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.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.PathTypeEnum; +import cn.iocoder.yudao.module.system.service.config.CommonConfigService; +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.robot.RobotInformationService; import cn.iocoder.yudao.module.system.util.redis.RedisUtil; import com.alibaba.fastjson.JSON; @@ -80,15 +88,21 @@ public class PathPlanningServiceImpl implements PathPlanningService { @Resource private CommonApi commonApi; - @Resource - private RequestProcessor processor; - @Resource private RedisUtil redisUtil; @Resource public WebSocketSenderApi webSocketSenderApi; + @Resource + private CommonConfigService configService; + + @Resource + private PositionMapService positionMapService; + + @Resource + private PositionMapItemService positionMapItemService; + /** * 同步ware_position_map_line的点位信息 */ @@ -444,6 +458,64 @@ public class PathPlanningServiceImpl implements PathPlanningService { WebSocketConstant.PLANNING_MOVE_POSE, message); } + /** + * 仿真点位信息 + */ + @Override + public void simulationRobotPoseRequest() { + CommonConfigDO config = configService.getConfig(CommandConfigTypeEnum.SIMULATION_CONFIG.getType().longValue()); + PositionMapDO positionMap = null; + if (ObjectUtil.isEmpty(config) || ObjectUtil.isEmpty(config.getConfigStr())) { + List maps = positionMapService.getAllMap(); + if (ObjectUtil.isEmpty(maps)) { + return; + } + positionMap = maps.get(0); + }else { + positionMap = positionMapService.getPositionMap(Long.valueOf(config.getConfigStr())); + } + if (ObjectUtil.isEmpty(positionMap)) { + log.info("仿真环境没有地图信息"); + return; + } + + List robots = robotInformationService.getAllRobot(); + + if (ObjectUtil.isEmpty(robots)) { + log.info("仿真环境没有机器人信息"); + return; + } + + List itemDOList = new ArrayList<>(); + List items = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.WAIT.getType()); + if (ObjectUtil.isEmpty(items) || items.size() < robots.size()) { + List itemPoses = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.PATH.getType()); + itemDOList.addAll(itemPoses); + } else { + itemDOList = items; + } + + List simulationList = new ArrayList<>(); + int i = 0; + for (RobotInformationDO robot : robots) { + SimulationRobotPoseDTO simulationRobotPoseDTO = new SimulationRobotPoseDTO(); + simulationRobotPoseDTO.setMac(robot.getMacAddress()); + if (itemDOList.size() <= i) { + continue; + } + simulationRobotPoseDTO.setLocationX(itemDOList.get(i).getLocationX()); + simulationRobotPoseDTO.setLocationY(itemDOList.get(i).getLocationY()); + simulationRobotPoseDTO.setActualLocationX(itemDOList.get(i).getActualLocationX()); + simulationRobotPoseDTO.setActualLocationY(itemDOList.get(i).getActualLocationY()); + simulationRobotPoseDTO.setLocationYaw(itemDOList.get(i).getLocationYaw()); + simulationRobotPoseDTO.setFloor(positionMap.getFloor()+""); + simulationRobotPoseDTO.setArea(positionMap.getArea()); + simulationList.add(simulationRobotPoseDTO); + i++; + } + commonApi.commonMethod(simulationList, PathPlanningTopicConstant.INIT_ROBOT_POSE); + } + public PositionMapLineDTO setPositionMapLineDTOData(PositionMapLineDTO positionMapLineDO) { PositionMapLineDTO build = PositionMapLineDTO.builder() .id(positionMapLineDO.getId()) diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemService.java index 39eea5a0b..511cf09b6 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemService.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemService.java @@ -103,4 +103,12 @@ public interface PositionMapItemService extends IService { Object getAGVPointInformation(String macAddress); void setMapItemIdle(Long id); + + /** + * 查询地图对应的类型数据 + * @param id 地图id + * @param type 类型 + * @return + */ + List getPositionMapItemByMapAndType(Long id, Integer type); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java index f02673147..ed4540cde 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java @@ -17,6 +17,7 @@ import org.springframework.transaction.annotation.Transactional; import org.springframework.validation.annotation.Validated; import javax.annotation.Resource; +import java.util.Collections; import java.util.List; import static cn.hutool.core.collection.CollUtil.isNotEmpty; @@ -130,4 +131,11 @@ public class PositionMapItemServiceImpl extends ServiceImpl getPositionMapItemByMapAndType(Long mapId, Integer type) { + return positionMapItemMapper.selectList(new LambdaQueryWrapperX() + .eq(PositionMapItemDO::getPositionMapId, mapId) + .eq(PositionMapItemDO::getType, type)); + } + } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapService.java index d9e78b845..cc878ee5e 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapService.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapService.java @@ -10,6 +10,7 @@ import org.springframework.web.multipart.MultipartFile; import javax.servlet.http.HttpServletResponse; import javax.validation.Valid; import java.io.IOException; +import java.util.List; /** * 仓库点位地图 Service 接口 @@ -94,4 +95,10 @@ public interface PositionMapService extends IService { * @param id */ void emergencyStopOrRecovery(Long id); + + /** + * 获取所有地图 + * @return + */ + List getAllMap(); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java index 35f4b98cf..e11f3ee52 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java @@ -305,4 +305,9 @@ public class PositionMapServiceImpl extends ServiceImpl getAllMap() { + return positionMapMapper.selectList(new LambdaQueryWrapperX().orderByDesc(PositionMapDO::getId)); + } + }