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远遥车速

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This commit is contained in:
cbs 2025-04-24 14:11:38 +08:00
parent 97fa291198
commit feaa3a76c6
23 changed files with 774 additions and 29 deletions
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16
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/remote/RobotModeDTO.java Normal file
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@ -0,0 +1,16 @@
package cn.iocoder.yudao.module.mqtt.api.path.dto.remote;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.Data;
import org.bouncycastle.cms.PasswordRecipientId;
@Data
public class RobotModeDTO {
private String commandType;
@Schema(description = "AUTO自动、 MAN手动")
private String operationMode;
private Double maxSpeed;
}

2
yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/RemoteRobotController.java
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@ -71,7 +71,7 @@ public class RemoteRobotController {
}
@PostMapping("/robotChangeMode")
@Operation(summary = "获取机器人远遥模式/急停/协控状态")
@Operation(summary = "修改模式")
@PreAuthorize("@ss.hasPermission('remote:robot:robotChangeMode')")
public CommonResult<Boolean> robotChangeMode(@Valid @RequestBody RemoteRobotChangeModeDTO data,HttpServletRequest request) {
remoteRobotService.robotChangeMode(data,request);

44
yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/speed/RemoteRobotMaxSpeedController.java Normal file
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@ -0,0 +1,44 @@
package cn.iocoder.yudao.module.remote.controller.admin.speed;
import cn.iocoder.yudao.framework.common.pojo.CommonResult;
import cn.iocoder.yudao.module.remote.service.speed.RemoteRobotMaxSpeedService;
import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotMaxSpeedDTO;
import io.swagger.v3.oas.annotations.Operation;
import io.swagger.v3.oas.annotations.tags.Tag;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.security.access.prepost.PreAuthorize;
import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.*;
import javax.validation.Valid;
import java.util.List;
import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
@Tag(name = "管理后台 - 远遥车辆速度")
@RestController
@RequestMapping("/remote/robotMaxSpeed")
@Validated
public class RemoteRobotMaxSpeedController {
@Autowired
private RemoteRobotMaxSpeedService remoteRobotMaxSpeedService;
@GetMapping("/list")
@Operation(summary = "获得远遥车辆最大速度集合")
@PreAuthorize("@ss.hasPermission('remote:robotMaxSpeed:list')")
public CommonResult<List<RemoteRobotMaxSpeedDTO>> getRobotMaxSpeedPage() {
List<RemoteRobotMaxSpeedDTO> list = remoteRobotMaxSpeedService.getRobotMaxSpeedPage();
return success(list);
}
@PostMapping("/update")
@Operation(summary = "获得远遥车辆最大速度集合")
@PreAuthorize("@ss.hasPermission('remote:robotMaxSpeed:update')")
public CommonResult<Boolean> updateRobotMaxSpeedPage(@RequestBody List<RemoteRobotMaxSpeedDTO> list) {
remoteRobotMaxSpeedService.updateRobotMaxSpeedPage(list);
return success(true);
}
}

3
yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/framework/system/SystemConfiguration.java
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@ -3,10 +3,11 @@ package cn.iocoder.yudao.module.remote.framework.system;
import cn.iocoder.yudao.module.system.api.remote.RemoteExceptionTaskApi;
import cn.iocoder.yudao.module.system.api.remote.RemoteLoginApi;
import cn.iocoder.yudao.module.system.api.remote.RemoteRobotApi;
import cn.iocoder.yudao.module.system.api.remote.RemoteRobotMaxSpeedApi;
import org.springframework.cloud.openfeign.EnableFeignClients;
import org.springframework.context.annotation.Configuration;
@Configuration(proxyBeanMethods = false)
@EnableFeignClients(clients = {RemoteLoginApi.class, RemoteRobotApi.class, RemoteExceptionTaskApi.class})
@EnableFeignClients(clients = {RemoteLoginApi.class, RemoteRobotApi.class, RemoteExceptionTaskApi.class, RemoteRobotMaxSpeedApi.class})
public class SystemConfiguration {
}

11
yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/speed/RemoteRobotMaxSpeedService.java Normal file
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@ -0,0 +1,11 @@
package cn.iocoder.yudao.module.remote.service.speed;
import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotMaxSpeedDTO;
import java.util.List;
public interface RemoteRobotMaxSpeedService {
List<RemoteRobotMaxSpeedDTO> getRobotMaxSpeedPage();
void updateRobotMaxSpeedPage(List<RemoteRobotMaxSpeedDTO> list);
}

29
yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/speed/RemoteRobotMaxSpeedServiceImpl.java Normal file
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@ -0,0 +1,29 @@
package cn.iocoder.yudao.module.remote.service.speed;
import cn.iocoder.yudao.module.system.api.remote.RemoteRobotMaxSpeedApi;
import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotMaxSpeedDTO;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
import java.util.Collections;
import java.util.List;
@Slf4j
@Service
public class RemoteRobotMaxSpeedServiceImpl implements RemoteRobotMaxSpeedService{
@Resource
private RemoteRobotMaxSpeedApi remoteRobotMaxSpeedApi;
@Override
public List<RemoteRobotMaxSpeedDTO> getRobotMaxSpeedPage() {
return remoteRobotMaxSpeedApi.getRobotMaxSpeedPage();
}
@Override
public void updateRobotMaxSpeedPage(List<RemoteRobotMaxSpeedDTO> list) {
remoteRobotMaxSpeedApi.updateRobotMaxSpeedPage(list);
}
}

26
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotMaxSpeedApi.java Normal file
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@ -0,0 +1,26 @@
package cn.iocoder.yudao.module.system.api.remote;
import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotMaxSpeedDTO;
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.RequestBody;
import java.util.List;
@FeignClient(name = ApiConstants.NAME) // TODO 芋艿：fallbackFactory =
@Tag(name = "RPC 服务 - 远遥车辆相关速度")
public interface RemoteRobotMaxSpeedApi {
String PREFIX = ApiConstants.PREFIX + "/remote";
@PostMapping(PREFIX + "/getRobotMaxSpeedPage")
@Operation(summary = "获取远遥车辆速度")
List<RemoteRobotMaxSpeedDTO> getRobotMaxSpeedPage();
@PostMapping(PREFIX + "/updateRobotMaxSpeed")
@Operation(summary = "更新远遥车辆速度")
void updateRobotMaxSpeedPage(@RequestBody List<RemoteRobotMaxSpeedDTO> list);
}

17
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/dto/RemoteRobotMaxSpeedDTO.java Normal file
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@ -0,0 +1,17 @@
package cn.iocoder.yudao.module.system.api.remote.dto;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.Data;
@Data
public class RemoteRobotMaxSpeedDTO {
private Long id;
@Schema(description = "AGV编号")
private String robotNo;
@Schema(description = "远遥最大速度， 最大5米每秒")
private String maxSpeed;
}

3
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
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@ -292,4 +292,7 @@ public interface ErrorCodeConstants {
ErrorCode CAMERA_NOT_EXISTS = new ErrorCode(1_002_054_001, "车辆摄像头信息不存在");
ErrorCode CAMERA_IP_EXIST = new ErrorCode(1_002_054_001, "车辆摄像头IP已经存在");
ErrorCode CAMERA_IP_REPEAT = new ErrorCode(1_002_054_001, "存在重复的摄像头IP");
// ========== 远遥车辆最大速度 TODO 补充编号 ==========
ErrorCode ROBOT_MAX_SPEED_NOT_EXISTS = new ErrorCode(1_002_054_001, "远遥车辆最大速度不存在");
}

30
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotMaxSpeedApiImpl.java Normal file
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@ -0,0 +1,30 @@
package cn.iocoder.yudao.module.system.api.remote;
import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotMaxSpeedDTO;
import cn.iocoder.yudao.module.system.service.remote.RobotMaxSpeedService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.RestController;
import javax.annotation.Resource;
import java.util.Collections;
import java.util.List;
@Slf4j
@RestController // 提供 RESTful API 接口，给 Feign 调用
@Validated
public class RemoteRobotMaxSpeedApiImpl implements RemoteRobotMaxSpeedApi{
@Resource
private RobotMaxSpeedService robotMaxSpeedService;
@Override
public List<RemoteRobotMaxSpeedDTO> getRobotMaxSpeedPage() {
return robotMaxSpeedService.getAllRobotMaxSpeedList();
}
@Override
public void updateRobotMaxSpeedPage(List<RemoteRobotMaxSpeedDTO> list) {
robotMaxSpeedService.updateRobotMaxSpeedList(list);
}
}

96
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/remote/RobotMaxSpeedController.java Normal file
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@ -0,0 +1,96 @@
package cn.iocoder.yudao.module.system.controller.admin.remote;
import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RobotMaxSpeedPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RobotMaxSpeedRespVO;
import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RobotMaxSpeedSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.remote.RobotMaxSpeedDO;
import cn.iocoder.yudao.module.system.service.remote.RobotMaxSpeedService;
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 - 远遥车辆最大速度")
@RestController
@RequestMapping("/system/remote/robot-max-speed")
@Validated
public class RobotMaxSpeedController {
@Resource
private RobotMaxSpeedService robotMaxSpeedService;
@PostMapping("/create")
@Operation(summary = "创建远遥车辆最大速度")
@PreAuthorize("@ss.hasPermission('remote:robot-max-speed:create')")
public CommonResult<Long> createRobotMaxSpeed(@Valid @RequestBody RobotMaxSpeedSaveReqVO createReqVO) {
return success(robotMaxSpeedService.createRobotMaxSpeed(createReqVO));
}
@PutMapping("/update")
@Operation(summary = "更新远遥车辆最大速度")
@PreAuthorize("@ss.hasPermission('remote:robot-max-speed:update')")
public CommonResult<Boolean> updateRobotMaxSpeed(@Valid @RequestBody RobotMaxSpeedSaveReqVO updateReqVO) {
robotMaxSpeedService.updateRobotMaxSpeed(updateReqVO);
return success(true);
}
@DeleteMapping("/delete")
@Operation(summary = "删除远遥车辆最大速度")
@Parameter(name = "id", description = "编号", required = true)
@PreAuthorize("@ss.hasPermission('remote:robot-max-speed:delete')")
public CommonResult<Boolean> deleteRobotMaxSpeed(@RequestParam("id") Long id) {
robotMaxSpeedService.deleteRobotMaxSpeed(id);
return success(true);
}
@GetMapping("/get")
@Operation(summary = "获得远遥车辆最大速度")
@Parameter(name = "id", description = "编号", required = true, example = "1024")
@PreAuthorize("@ss.hasPermission('remote:robot-max-speed:query')")
public CommonResult<RobotMaxSpeedRespVO> getRobotMaxSpeed(@RequestParam("id") Long id) {
RobotMaxSpeedDO robotMaxSpeed = robotMaxSpeedService.getRobotMaxSpeed(id);
return success(BeanUtils.toBean(robotMaxSpeed, RobotMaxSpeedRespVO.class));
}
@GetMapping("/page")
@Operation(summary = "获得远遥车辆最大速度分页")
@PreAuthorize("@ss.hasPermission('remote:robot-max-speed:query')")
public CommonResult<PageResult<RobotMaxSpeedRespVO>> getRobotMaxSpeedPage(@Valid RobotMaxSpeedPageReqVO pageReqVO) {
PageResult<RobotMaxSpeedDO> pageResult = robotMaxSpeedService.getRobotMaxSpeedPage(pageReqVO);
return success(BeanUtils.toBean(pageResult, RobotMaxSpeedRespVO.class));
}
@GetMapping("/export-excel")
@Operation(summary = "导出远遥车辆最大速度 Excel")
@PreAuthorize("@ss.hasPermission('remote:robot-max-speed:export')")
@ApiAccessLog(operateType = EXPORT)
public void exportRobotMaxSpeedExcel(@Valid RobotMaxSpeedPageReqVO pageReqVO,
HttpServletResponse response) throws IOException {
pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
List<RobotMaxSpeedDO> list = robotMaxSpeedService.getRobotMaxSpeedPage(pageReqVO).getList();
// 导出 Excel
ExcelUtils.write(response, "远遥车辆最大速度.xls", "数据", RobotMaxSpeedRespVO.class,
BeanUtils.toBean(list, RobotMaxSpeedRespVO.class));
}
}

28
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/remote/vo/RobotMaxSpeedPageReqVO.java Normal file
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@ -0,0 +1,28 @@
package cn.iocoder.yudao.module.system.controller.admin.remote.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 - 远遥车辆最大速度分页 Request VO")
@Data
@EqualsAndHashCode(callSuper = true)
@ToString(callSuper = true)
public class RobotMaxSpeedPageReqVO extends PageParam {
@Schema(description = "AGV编号")
private String robotNo;
@Schema(description = "远遥最大速度")
private String maxSpeed;
@Schema(description = "创建时间")
@DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
private LocalDateTime[] createTime;
}

31
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/remote/vo/RobotMaxSpeedRespVO.java Normal file
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@ -0,0 +1,31 @@
package cn.iocoder.yudao.module.system.controller.admin.remote.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 - 远遥车辆最大速度 Response VO")
@Data
@ExcelIgnoreUnannotated
public class RobotMaxSpeedRespVO {
@Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "22620")
@ExcelProperty("主键ID")
private Long id;
@Schema(description = "AGV编号")
@ExcelProperty("AGV编号")
private String robotNo;
@Schema(description = "远遥最大速度")
@ExcelProperty("远遥最大速度")
private String maxSpeed;
@Schema(description = "创建时间", requiredMode = Schema.RequiredMode.REQUIRED)
@ExcelProperty("创建时间")
private LocalDateTime createTime;
}

21
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/remote/vo/RobotMaxSpeedSaveReqVO.java Normal file
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@ -0,0 +1,21 @@
package cn.iocoder.yudao.module.system.controller.admin.remote.vo;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.*;
import java.util.*;
import javax.validation.constraints.*;
@Schema(description = "管理后台 - 远遥车辆最大速度新增/修改 Request VO")
@Data
public class RobotMaxSpeedSaveReqVO {
@Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "22620")
private Long id;
@Schema(description = "AGV编号")
private String robotNo;
@Schema(description = "远遥最大速度")
private String maxSpeed;
}

39
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/remote/RobotMaxSpeedDO.java Normal file
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@ -0,0 +1,39 @@
package cn.iocoder.yudao.module.system.dal.dataobject.remote;
import lombok.*;
import java.util.*;
import java.time.LocalDateTime;
import java.time.LocalDateTime;
import com.baomidou.mybatisplus.annotation.*;
import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
/**
* 远遥车辆最大速度 DO
*
* @author 陈宾顺
*/
@TableName("remote_robot_max_speed")
@KeySequence("remote_robot_max_speed_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 RobotMaxSpeedDO extends BaseDO {
/**
* 主键ID
*/
@TableId
private Long id;
/**
* AGV编号
*/
private String robotNo;
/**
* 远遥最大速度
*/
private String maxSpeed;
}

41
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/remote/RobotMaxSpeedMapper.java Normal file
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@ -0,0 +1,41 @@
package cn.iocoder.yudao.module.system.dal.mysql.remote;
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.remote.vo.RobotMaxSpeedPageReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.remote.RobotMaxSpeedDO;
import org.apache.ibatis.annotations.Mapper;
import org.apache.ibatis.annotations.Param;
/**
* 远遥车辆最大速度 Mapper
*
* @author 陈宾顺
*/
@Mapper
public interface RobotMaxSpeedMapper extends BaseMapperX<RobotMaxSpeedDO> {
default PageResult<RobotMaxSpeedDO> selectPage(RobotMaxSpeedPageReqVO reqVO) {
return selectPage(reqVO, new LambdaQueryWrapperX<RobotMaxSpeedDO>()
.eqIfPresent(RobotMaxSpeedDO::getRobotNo, reqVO.getRobotNo())
.eqIfPresent(RobotMaxSpeedDO::getMaxSpeed, reqVO.getMaxSpeed())
.betweenIfPresent(RobotMaxSpeedDO::getCreateTime, reqVO.getCreateTime())
.orderByDesc(RobotMaxSpeedDO::getId));
}
/**
* 更新车辆编号
* @param oldRobotNo
* @param newRobotNo
*/
void updateRobotNo(@Param("oldRobotNo") String oldRobotNo, @Param("newRobotNo") String newRobotNo);
/**
* 根据车辆编号删除
* @param robotNo
*/
void deleteByRobotNo(@Param("robotNo") String robotNo);
}

25
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/remote/RemoteOperationModeEnum.java Normal file
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@ -0,0 +1,25 @@
package cn.iocoder.yudao.module.system.enums.robot.remote;
import lombok.AllArgsConstructor;
import lombok.Getter;
@Getter
@AllArgsConstructor
public enum RemoteOperationModeEnum {
AUTO("AUTO","自动控制车辆"),
MAN("MAN","手动控制车辆");
/**
* 类型
*/
private final String type;
private final String msg;
public static String getType(Integer remoteMode) {
if (RemoteModeEnum.AUTOMATIC.getType().equals(remoteMode)) {
return AUTO.getType();
}
return MAN.getType();
}
}

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotCommandTypeEnum.java
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@ -11,6 +11,7 @@ public enum RobotCommandTypeEnum {
WORD_PICK_UP_GOODS("WORD_PICK_UP_GOODS","取货"),
WORD_DROP_OFF_GOODS("WORD_DROP_OFF_GOODS","放货"),
MOVE_POSE("MOVE_POSE","仿真移动点位"),
MODE("MODE","远遥/RCS模式切换"),
EMERGENCY_STOP("EMERGENCY_STOP","急停车辆"),
RECOVERY("RECOVERY","恢复车辆");
/**

54
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java
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@ -5,10 +5,12 @@ import cn.iocoder.yudao.framework.common.util.servlet.ServletUtils;
import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
import cn.iocoder.yudao.module.mqtt.api.path.dto.remote.RemotePathPlanningDTO;
import cn.iocoder.yudao.module.mqtt.api.path.dto.remote.RobotModeDTO;
import cn.iocoder.yudao.module.system.api.remote.dto.LoginCheckDTO;
import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotStatusDTO;
import cn.iocoder.yudao.module.system.constant.path.PathPlanningChcheConstant;
import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
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.remote.vo.RemoteControllerInformationPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RemoteControllerInformationSaveReqVO;
@ -28,12 +30,15 @@ import cn.iocoder.yudao.module.system.enums.robot.RobotStatusEnum;
import cn.iocoder.yudao.module.system.enums.robot.RobotTaskModelEnum;
import cn.iocoder.yudao.module.system.enums.robot.actionlog.ActionStatusEnum;
import cn.iocoder.yudao.module.system.enums.robot.remote.RemoteModeEnum;
import cn.iocoder.yudao.module.system.enums.robot.remote.RemoteOperationModeEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogService;
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 cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import cn.iocoder.yudao.module.system.util.redis.RedissonUtils;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import lombok.extern.slf4j.Slf4j;
import org.redisson.api.RLock;
@ -92,6 +97,9 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
@Resource
private CommonConfigMapper configMapper;
@Resource
private RobotMaxSpeedService robotMaxSpeedService;
@Override
public Long createControllerInformation(RemoteControllerInformationSaveReqVO createReqVO) {
// 插入
@ -282,6 +290,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
*/
@Transactional(rollbackFor = Exception.class)
public void doRobotChangeMode(Integer remoteMode, String remoteIp, String robotNo) {
log.info("切换模式的车辆 :{}",robotNo);
//后续判断下，如果协控中，能不能切换模式
@ -309,8 +318,8 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
if (ObjectUtil.isEmpty(information.getRobotNo()) && RemoteModeEnum.AUTOMATIC.getType().equals(remoteMode)) {
String operateAction = information.getRemoteIp() + " 开启远遥为自动模式";
setRemoteChangeLog(information, robotNo, remoteMode, operateAction);
sendRemoteMsgToRobotAndPP(false,robotNo);
//todo 同步苏工和PP 包括车速
sendRemoteMsgToRobotAndPP(robotNo);
sendModeToRobot(robotNo,RemoteOperationModeEnum.AUTO.getType());
return;
}
@ -320,6 +329,8 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
.operateAction(information.getRemoteIp() + " 重新进入远遥 " + RemoteModeEnum.getMsg(remoteMode))
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
sendRemoteMsgToRobotAndPP(robotNo);
sendModeToRobot(robotNo,RemoteOperationModeEnum.getType(remoteMode));
return;
}
@ -331,8 +342,8 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
}
String operateAction = information.getRemoteIp() + " 切换远遥模式为 " + RemoteModeEnum.getMsg(remoteMode);
setRemoteChangeLog(information, robotNo, remoteMode, operateAction);
sendRemoteMsgToRobotAndPP(true,robotNo);
//todo 同步苏工和PP 包括车速
sendRemoteMsgToRobotAndPP(robotNo);
sendModeToRobot(robotNo,RemoteOperationModeEnum.MAN.getType());
return;
}
@ -356,8 +367,8 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
String operateAction = information.getRemoteIp() + " 切换远遥模式为 " + RemoteModeEnum.getMsg(remoteMode);
setRemoteChangeLog(information, robotNo, remoteMode, operateAction);
sendRemoteMsgToRobotAndPP(true,robotNo);
//todo 同步苏工和PP 包括车速
sendRemoteMsgToRobotAndPP(robotNo);
sendModeToRobot(robotNo,RemoteOperationModeEnum.MAN.getType());
return;
}
@ -371,8 +382,8 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
String operateAction = information.getRemoteIp() + " 切换远遥模式为 " + RemoteModeEnum.getMsg(remoteMode);
setRemoteChangeLog(information, robotNo, remoteMode, operateAction);
sendRemoteMsgToRobotAndPP(false,robotNo);
//todo 同步苏工和PP 包括车速
sendRemoteMsgToRobotAndPP(robotNo);
sendModeToRobot(robotNo,RemoteOperationModeEnum.AUTO.getType());
return;
}
@ -398,18 +409,35 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
String operateAction = information.getRemoteIp() + " 切换远遥模式为 " + RemoteModeEnum.getMsg(remoteMode);
setRemoteChangeLog(information, robotNo, remoteMode, operateAction);
sendRemoteMsgToRobotAndPP(false,robotNo);
//todo 同步苏工和PP 包括车速
sendRemoteMsgToRobotAndPP(robotNo);
sendModeToRobot(robotNo,RemoteOperationModeEnum.AUTO.getType());
}
}
/**
* 让车机切换模式
*/
public void sendModeToRobot(String robotNo, String operationMode) {
RobotModeDTO robotModeDTO = new RobotModeDTO();
robotModeDTO.setCommandType(RobotCommandTypeEnum.MODE.getType());
robotModeDTO.setOperationMode(operationMode);
if (RemoteOperationModeEnum.MAN.getType().equals(operationMode)) {
String maxSpeed = robotMaxSpeedService.getRobotMaxSpeedByRobotNo(robotNo);
if (ObjectUtil.isNotEmpty(maxSpeed)) {
robotModeDTO.setMaxSpeed(Double.valueOf(maxSpeed));
}
}
String mac = informationService.getMacByRobotNo(robotNo);
commonApi.commonMethod(robotModeDTO, RobotTopicConstant.ROBOT_COMMAND_TOPIC + mac);
log.info("发送消息让车机切换模式 :{}", JSON.toJSONString(robotModeDTO));
}
/**
* 发送远遥信息给PP和车机
* @param isAuto
* @param robotNo
*/
public void sendRemoteMsgToRobotAndPP(Boolean isAuto, String robotNo){
public void sendRemoteMsgToRobotAndPP( String robotNo){
RemotePathPlanningDTO remotePathPlanning = new RemotePathPlanningDTO();
remotePathPlanning.setRobotNo(robotNo);
commonApi.commonMethod(remotePathPlanning, PathPlanningTopicConstant.START_REMOTE_CONTROLLER);
@ -436,7 +464,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
/**
* 校验电量是否充足
*
* @param robotNo
* @param information
*/
private void checkElectricity(RobotInformationDO information) {

89
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RobotMaxSpeedService.java Normal file
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@ -0,0 +1,89 @@
package cn.iocoder.yudao.module.system.service.remote;
import java.util.*;
import javax.validation.*;
import javax.validation.constraints.NotEmpty;
import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotMaxSpeedDTO;
import cn.iocoder.yudao.module.system.controller.admin.remote.vo.*;
import cn.iocoder.yudao.module.system.dal.dataobject.remote.RobotMaxSpeedDO;
import com.baomidou.mybatisplus.extension.service.IService;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
/**
* 远遥车辆最大速度 Service 接口
*
* @author 陈宾顺
*/
public interface RobotMaxSpeedService extends IService<RobotMaxSpeedDO> {
/**
* 创建远遥车辆最大速度
*
* @param createReqVO 创建信息
* @return 编号
*/
Long createRobotMaxSpeed(@Valid RobotMaxSpeedSaveReqVO createReqVO);
/**
* 更新远遥车辆最大速度
*
* @param updateReqVO 更新信息
*/
void updateRobotMaxSpeed(@Valid RobotMaxSpeedSaveReqVO updateReqVO);
/**
* 删除远遥车辆最大速度
*
* @param id 编号
*/
void deleteRobotMaxSpeed(Long id);
/**
* 获得远遥车辆最大速度
*
* @param id 编号
* @return 远遥车辆最大速度
*/
RobotMaxSpeedDO getRobotMaxSpeed(Long id);
/**
* 获得远遥车辆最大速度分页
*
* @param pageReqVO 分页查询
* @return 远遥车辆最大速度分页
*/
PageResult<RobotMaxSpeedDO> getRobotMaxSpeedPage(RobotMaxSpeedPageReqVO pageReqVO);
/**
* 更新车辆编号
* @param oldRobotNo
* @param newRobotNo
*/
void updateRobotNo(String oldRobotNo, String newRobotNo);
/**
* 根据车辆编号删除
* @param robotNo
*/
void deleteByRobotNo(String robotNo);
/**
* 查询所有车辆速度
* @return
*/
List<RemoteRobotMaxSpeedDTO> getAllRobotMaxSpeedList();
/**
* 批量更新车辆速度
* @param list
*/
void updateRobotMaxSpeedList(List<RemoteRobotMaxSpeedDTO> list);
/**
* 根据车辆编号查询
* @param robotNo
*/
String getRobotMaxSpeedByRobotNo(String robotNo);
}

126
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RobotMaxSpeedServiceImpl.java Normal file
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@ -0,0 +1,126 @@
package cn.iocoder.yudao.module.system.service.remote;
import cn.hutool.core.util.ObjectUtil;
import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotMaxSpeedDTO;
import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RobotMaxSpeedPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RobotMaxSpeedRespVO;
import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RobotMaxSpeedSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselane.WareHouseLaneDO;
import cn.iocoder.yudao.module.system.dal.dataobject.remote.RobotMaxSpeedDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
import cn.iocoder.yudao.module.system.dal.mysql.remote.RobotMaxSpeedMapper;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
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 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.ROBOT_MAX_SPEED_NOT_EXISTS;
/**
* 远遥车辆最大速度 Service 实现类
*
* @author 陈宾顺
*/
@Service
@Validated
public class RobotMaxSpeedServiceImpl extends ServiceImpl<RobotMaxSpeedMapper, RobotMaxSpeedDO> implements RobotMaxSpeedService {
@Resource
private RobotMaxSpeedMapper robotMaxSpeedMapper;
@Override
public Long createRobotMaxSpeed(RobotMaxSpeedSaveReqVO createReqVO) {
// 插入
RobotMaxSpeedDO robotMaxSpeed = BeanUtils.toBean(createReqVO, RobotMaxSpeedDO.class);
robotMaxSpeedMapper.insert(robotMaxSpeed);
// 返回
return robotMaxSpeed.getId();
}
@Override
public void updateRobotMaxSpeed(RobotMaxSpeedSaveReqVO updateReqVO) {
// 校验存在
validateRobotMaxSpeedExists(updateReqVO.getId());
// 更新
RobotMaxSpeedDO updateObj = BeanUtils.toBean(updateReqVO, RobotMaxSpeedDO.class);
robotMaxSpeedMapper.updateById(updateObj);
}
@Override
public void deleteRobotMaxSpeed(Long id) {
// 校验存在
validateRobotMaxSpeedExists(id);
// 删除
robotMaxSpeedMapper.deleteById(id);
}
private void validateRobotMaxSpeedExists(Long id) {
if (robotMaxSpeedMapper.selectById(id) == null) {
throw exception(ROBOT_MAX_SPEED_NOT_EXISTS);
}
}
@Override
public RobotMaxSpeedDO getRobotMaxSpeed(Long id) {
return robotMaxSpeedMapper.selectById(id);
}
@Override
public PageResult<RobotMaxSpeedDO> getRobotMaxSpeedPage(RobotMaxSpeedPageReqVO pageReqVO) {
return robotMaxSpeedMapper.selectPage(pageReqVO);
}
/**
* 更新车辆编号
*
* @param oldRobotNo
* @param newRobotNo
*/
@Override
public void updateRobotNo(String oldRobotNo, String newRobotNo) {
robotMaxSpeedMapper.updateRobotNo(oldRobotNo, newRobotNo);
}
@Override
public void deleteByRobotNo(String robotNo) {
robotMaxSpeedMapper.deleteByRobotNo(robotNo);
}
@Override
public List<RemoteRobotMaxSpeedDTO> getAllRobotMaxSpeedList() {
List<RobotMaxSpeedDO> list = robotMaxSpeedMapper.selectList(new LambdaQueryWrapper<RobotMaxSpeedDO>());
if (ObjectUtil.isEmpty(list)) {
return new ArrayList<>();
}
List<RemoteRobotMaxSpeedDTO> bean = BeanUtils.toBean(list, RemoteRobotMaxSpeedDTO.class);
return bean;
}
@Override
public void updateRobotMaxSpeedList(List<RemoteRobotMaxSpeedDTO> list) {
List<RobotMaxSpeedDO> bean = BeanUtils.toBean(list, RobotMaxSpeedDO.class);
robotMaxSpeedMapper.updateById(bean);
}
@Override
public String getRobotMaxSpeedByRobotNo(String robotNo) {
RobotMaxSpeedDO robotMaxSpeedDO = robotMaxSpeedMapper.selectOne(new LambdaQueryWrapper<RobotMaxSpeedDO>()
.eq(RobotMaxSpeedDO::getRobotNo, robotNo)
.last("limit 1"));
return ObjectUtil.isEmpty(robotMaxSpeedDO) ? null : robotMaxSpeedDO.getMaxSpeed();
}
}

44
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
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@ -32,6 +32,7 @@ import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
import cn.iocoder.yudao.module.system.controller.admin.config.vo.CommonConfigVO;
import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RobotMaxSpeedSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.camera.RobotCameraAddVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.proceed.RobotTaskProceedSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
@ -73,6 +74,7 @@ import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogServic
import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
import cn.iocoder.yudao.module.system.service.remote.RemoteControllerInformationService;
import cn.iocoder.yudao.module.system.service.remote.RobotMaxSpeedService;
import cn.iocoder.yudao.module.system.service.robot.camera.RobotCameraService;
import cn.iocoder.yudao.module.system.service.robot.pathplanning.RobotPathPlanningService;
import cn.iocoder.yudao.module.system.service.robot.proceed.RobotTaskProceedService;
@ -187,6 +189,9 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
@Resource
private RobotMapStopMapper mapStopMapper;
@Resource
private RobotMaxSpeedService robotMaxSpeedService;
@Override
@Transactional(rollbackFor = Exception.class)
public Long createInformation(RobotInformationSaveReqVO createReqVO) {
@ -248,6 +253,10 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
pathPlanningApi.synchronousLineObject(list, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
redisUtil.del(key);
RobotMaxSpeedSaveReqVO robotMaxSpeedSave = new RobotMaxSpeedSaveReqVO();
robotMaxSpeedSave.setRobotNo(information.getRobotNo());
robotMaxSpeedService.createRobotMaxSpeed(robotMaxSpeedSave);
// 返回
return information.getId();
}
@ -313,6 +322,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
informationMapper.updateById(updateObj);
if (!robotInformationDO.getRobotNo().equals(updateReqVO.getRobotNo())) {
robotMaxSpeedService.updateRobotNo(robotInformationDO.getRobotNo(),updateReqVO.getRobotNo());
List<RobotMapStopDO> robotMapStops = mapStopMapper.selectList(new LambdaQueryWrapperX<RobotMapStopDO>()
.eq(RobotMapStopDO::getRobotNo, robotInformationDO.getRobotNo()));
if (ObjectUtil.isNotEmpty(robotMapStops)) {
@ -346,17 +356,19 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
//地图相关
String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + robotInformationDO.getMacAddress();
Object o = redisUtil.get(floorAreaKey);
FloorZoneDTO floorZone = JSON.parseObject((String) o, FloorZoneDTO.class);
String oldFloorArea = floorZone.getFloor() + "-" + floorZone.getArea();
redisUtil.hdel(oldFloorArea, robotInformationDO.getRobotNo());
redisUtil.del(floorAreaKey);
if (ObjectUtil.isNotEmpty(o)) {
String newFloorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + updateReqVO.getMacAddress();
redisUtil.set(newFloorAreaKey, JSON.toJSONString(floorZone));
Map<String, Object> map = new HashMap<>();
String value = floorZone.getFloor() + "-" + floorZone.getArea();
map.put(updateReqVO.getRobotNo(), value);
redisUtil.hmset(value, map);
FloorZoneDTO floorZone = JSON.parseObject((String) o, FloorZoneDTO.class);
String oldFloorArea = floorZone.getFloor() + "-" + floorZone.getArea();
redisUtil.hdel(oldFloorArea, robotInformationDO.getRobotNo());
redisUtil.del(floorAreaKey);
if (ObjectUtil.isNotEmpty(o)) {
String newFloorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + updateReqVO.getMacAddress();
redisUtil.set(newFloorAreaKey, JSON.toJSONString(floorZone));
Map<String, Object> map = new HashMap<>();
String value = floorZone.getFloor() + "-" + floorZone.getArea();
map.put(updateReqVO.getRobotNo(), value);
redisUtil.hmset(value, map);
}
}
}
@ -404,10 +416,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
//地图相关
String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + robotInformationDO.getMacAddress();
Object o = redisUtil.get(floorAreaKey);
FloorZoneDTO floorZone = JSON.parseObject((String) o, FloorZoneDTO.class);
String oldFloorArea = floorZone.getFloor() + "-" + floorZone.getArea();
redisUtil.hdel(oldFloorArea, robotInformationDO.getRobotNo());
redisUtil.del(floorAreaKey);
if (ObjectUtil.isNotEmpty(o)) {
FloorZoneDTO floorZone = JSON.parseObject((String) o, FloorZoneDTO.class);
String oldFloorArea = floorZone.getFloor() + "-" + floorZone.getArea();
redisUtil.hdel(oldFloorArea, robotInformationDO.getRobotNo());
redisUtil.del(floorAreaKey);
}
robotMaxSpeedService.deleteByRobotNo(robotInformationDO.getRobotNo());
}
public void releaseRobotStop(RobotInformationDO robotInformationDO) {

27
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/remote/RobotMaxSpeedMapper.xml Normal file
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@ -0,0 +1,27 @@
<?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.remote.RobotMaxSpeedMapper">
<!--
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/
-->
<update id="updateRobotNo">
update
remote_robot_max_speed
set
robot_no = #{newRobotNo}
where
robot_no = #{oldRobotNo}
</update>
<delete id="deleteByRobotNo">
delete
from remote_robot_max_speed
where
robot_no = #{robotNo}
</delete>
</mapper>