Merge branch 'dev' of http://git.znkjfw.com/ak/zn-cloud-wcs into dev

# Conflicts:
#	yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java
#	yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapLineServiceImpl.java
#	yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java
#	yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
#	yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml

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

@@ -0,0 +1,14 @@
+package cn.iocoder.yudao.module.system.controller.admin.positionmap.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Data
+public class PositionMapIdNumMapVO {
+    @Schema(description = "主键ID")
+    private Long id;
+    @Schema(description = "序号")
+    private Long sortNum;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java

@@ -8,12 +8,10 @@ import cn.iocoder.yudao.module.mqtt.api.task.dto.Pose2ds;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.RobotPositionMapDTO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemPageReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
-import org.apache.ibatis.annotations.MapKey;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
 
 import java.util.List;
-import java.util.Map;
 
 /**
  * 仓库点位地图子表 Mapper
@@ -59,13 +57,13 @@ public interface PositionMapItemMapper extends BaseMapperX<PositionMapItemDO> {
 
     /**
      * 将laneId设为空
+     *
      * @param mapId
      * @param laneId
      */
     void emptyLaneId(@Param("mapId") Long mapId, @Param("laneId") Long laneId);
 
     /**
-     *
      * @param list
      * @return
      */
@@ -73,12 +71,14 @@ public interface PositionMapItemMapper extends BaseMapperX<PositionMapItemDO> {
 
     /**
      * 删除这个地图的点
+     *
      * @param mapId
      */
     void deleteByMapId(@Param("mapId") Long mapId);
 
     /**
      * 更新车辆编号
+     *
      * @param oldRobotNo
      * @param newRobotNo
      */
@@ -86,12 +86,12 @@ public interface PositionMapItemMapper extends BaseMapperX<PositionMapItemDO> {
 
     /**
      * 释放车辆
+     *
      * @param robotNo
      */
     void clearRobotNo(@Param("robotNo") String robotNo);
 
     /**
-     *
      * @param ids
      * @return
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/NodeProcessingContext.java

@@ -2,20 +2,21 @@ package cn.iocoder.yudao.module.system.handler.mapnode;
 
 
 import cn.hutool.core.bean.BeanUtil;
-import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.common.enums.NodeTypeEnum;
-import cn.iocoder.yudao.framework.common.util.collection.CollectionUtils;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.NodeBaseDTO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
 import cn.iocoder.yudao.module.system.handler.mapnode.strategy.*;
-import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Component;
 import org.springframework.transaction.annotation.Transactional;
 
 import javax.annotation.PostConstruct;
-import java.util.*;
+import java.util.Collections;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
 
 @Slf4j
 @Component
@@ -23,8 +24,6 @@ public class NodeProcessingContext {
 
     private final Map<Integer, NodeProcessingStrategy> strategyMap = new HashMap<>();
     @Autowired
-    private PositionMapItemService positionMapItemService;
-    @Autowired
     private MapNodeStrategyImpl mapNodeStrategyImpl;
     @Autowired
     private ChangeNodeStrategyImpl changeNodeStrategyImpl;
@@ -33,6 +32,7 @@ public class NodeProcessingContext {
     @Autowired
     private ParkingSpotStrategyImpl parkingSpotStrategyImpl;
     @Autowired
+    @Lazy
     private DeviceStrategyImpl deviceStrategyImpl;
 
     /**

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/HouseLocationStrategyImpl.java

@@ -13,6 +13,7 @@ import cn.iocoder.yudao.module.system.service.houselocation.HouseLocationService
 import cn.iocoder.yudao.module.system.service.robot.RobotTaskDetailService;
 import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.lang3.StringUtils;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Component;
 
 import javax.annotation.Resource;
@@ -34,6 +35,7 @@ public class HouseLocationStrategyImpl implements NodeProcessingStrategy {
     private HouseLocationService houseLocationService;
 
     @Resource
+    @Lazy
     private RobotTaskDetailService taskDetailService;
 
     //库位编号格式 - 第一个通配符为地图id 第二个通配符为随机数四位最后一个通配符为库位点层数

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

@@ -21,6 +21,7 @@ import com.alibaba.fastjson.TypeReference;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.google.gson.Gson;
 import com.google.gson.reflect.TypeToken;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
@@ -47,6 +48,7 @@ public class CommonConfigServiceImpl implements CommonConfigService {
     private CommonConfigMapper configMapper;
 
     @Resource
+    @Lazy
     private ToolsService toolsService;
 
     @Resource

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

@@ -58,6 +58,7 @@ import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.BeanUtils;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
 import javax.annotation.Resource;
@@ -118,6 +119,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
     private CommonConfigService configService;
 
     @Resource
+    @Lazy
     private PositionMapService positionMapService;
 
     @Resource
@@ -130,6 +132,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
     private PositionChangePointBindingService positionChangePointBindingService;
 
     @Resource
+    @Lazy
     private RemoteControllerInformationService controllerInformationService;
 
     @Resource

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

@@ -6,6 +6,7 @@ import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.collection.CollectionUtils;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapIdNumMapVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLinePageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLineSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;

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

@@ -6,7 +6,6 @@ import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 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.task.dto.RobotSimulationPoseDTO;
 import cn.iocoder.yudao.module.system.api.path.PathApi;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotDTO;
@@ -105,6 +104,7 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
     private RobotMapStopService robotMapStopService;
 
     @Resource
+    @Lazy
     private RobotTaskDetailService taskDetailService;
 
     @Resource

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java

@@ -28,7 +28,6 @@ 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.robot.RobotWarnType;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
-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;

yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml

@@ -279,4 +279,4 @@ mqtt:
   # 表示允许同时在传输中的最大消息数量
   maxInflight: 1000
   timeout: 10
-  keepalive: 20
+  keepalive: 20