yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PositionMapLineDTO.java

@@ -6,6 +6,8 @@ import lombok.Builder;
 import lombok.Data;
 import lombok.NoArgsConstructor;
 
+import java.math.BigDecimal;
+
 @Data
 @Builder
 @NoArgsConstructor
@@ -102,27 +104,20 @@ public class PositionMapLineDTO {
     @Schema(description = "终点高")
     private Double endHigh;
 
-    @Schema(description = "车头朝向(0:正正 1:正反 2:反正 3:反反)", example = "15890")
+    @Schema(description = "车头朝向( 0:正正 1:正反 2:反正 3:反反)", example = "15890")
     private Integer toward;
 
-    @Schema(description = "发送给路径规划 车头朝向(0正 1反)", example = "15890")
-    private Integer ppToward;
-
-
     /**
      * 双向车道 反向行走变更车头朝向
-     *
      * @param toward
      * @return
      */
     public Integer changeToward(Integer toward) {
         if (toward == 0) {
-            return 0;
+            return 3;
         } else if (toward == 1) {
-            return 1;
+            return 2;
         } else if (toward == 2) {
-            return 0;
-        } else if (toward == 3) {
             return 1;
         } else {
             return 0;

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-dev.yaml

@@ -1,44 +0,0 @@
-spring:
-  cloud:
-    nacos:
-      server-addr: 127.0.0.1:8848 # Nacos 服务器地址
-      username: # Nacos 账号
-      password: # Nacos 密码
-      discovery: # 【配置中心】配置项
-        namespace: dev # 命名空间。这里使用 dev 开发环境
-        group: DEFAULT_GROUP # 使用的 Nacos 配置分组，默认为 DEFAULT_GROUP
-        metadata:
-          version: 1.0.0 # 服务实例的版本号，可用于灰度发布
-      config: # 【注册中心】配置项
-        namespace: dev # 命名空间。这里使用 dev 开发环境
-        group: DEFAULT_GROUP # 使用的 Nacos 配置分组，默认为 DEFAULT_GROUP
-
-# Lock4j 配置项
-lock4j:
-  acquire-timeout: 3000 # 获取分布式锁超时时间，默认为 3000 毫秒
-  expire: 30000 # 分布式锁的超时时间，默认为 30 毫秒
-
---- #################### 监控相关配置 ####################
-
-# Actuator 监控端点的配置项
-management:
-  endpoints:
-    web:
-      base-path: /actuator # Actuator 提供的 API 接口的根目录。默认为 /actuator
-      exposure:
-        include: '*' # 需要开放的端点。默认值只打开 health 和 info 两个端点。通过设置 * ，可以开放所有端点。
-
-
-# MQTT
-mqtt:
-#  host: tcp://192.168.0.54:1883
-  host: tcp://127.0.0.1:1883
-  username: adminuser
-  password: adminuser
-  qos: 0
-  clientId: mqttx_b82345a52
-  maxInflight: 10
-  timeout: 10
-  keepalive: 20
-
-

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

@@ -17,6 +17,7 @@ import javax.annotation.Resource;
 import javax.annotation.security.PermitAll;
 import javax.servlet.http.HttpServletResponse;
 import java.io.IOException;
+import java.util.Collections;
 import java.util.List;
 import java.util.Map;
 import java.util.stream.Collectors;
@@ -50,16 +51,6 @@ public class PositionMapController {
         return success(BeanUtils.toBean(positionMap, PositionMapRespVO.class));
     }
 
-
-    @GetMapping("/emergencyStopOrRecovery")
-    @Operation(summary = "一键急停or一键恢复地图上所有AGV")
-    @Parameter(name = "id", description = "编号", required = true, example = "1024")
-    @PreAuthorize("@ss.hasPermission('system:position-map:emergencyStopOrRecovery')")
-    public CommonResult<Boolean> emergencyStopOrRecovery(@RequestParam("id") Long id) {
-        positionMapService.emergencyStopOrRecovery(id);
-        return success(true);
-    }
-
     @GetMapping("/getMap")
     @Operation(summary = "获得仓库点位地图Map")
     @PreAuthorize("@ss.hasPermission('system:position-map:query')")

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

@@ -15,6 +15,7 @@ import cn.iocoder.yudao.module.system.controller.admin.robot.task.TaskAssignDTO;
 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;
@@ -32,6 +33,8 @@ import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
 import java.util.Map;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
 import java.util.stream.Collectors;
 
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
@@ -173,10 +176,10 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         for (PositionMapLineDTO positionMapLineDO : positionMapLineDOS) {
             list.add(positionMapLineDO);
             if (DirectionEnum.ONE_WAY.getType().equals(positionMapLineDO.getDirection())) {
-                positionMapLineDO.setPpToward(positionMapLineDO.changeToward(positionMapLineDO.getToward()));
+                continue;
-            } else {
-                list.add(setPositionMapLineDTOData(positionMapLineDO));
             }
+
+            list.add(setPositionMapLineDTOData(positionMapLineDO));
         }
 
         PositionMapLinePathDTO relatedPathNode = new PositionMapLinePathDTO();
@@ -248,10 +251,10 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         for (PositionMapLineDTO positionMapLineDO : positionMapLineDOS) {
             list.add(positionMapLineDO);
             if (DirectionEnum.ONE_WAY.getType().equals(positionMapLineDO.getDirection())) {
-                positionMapLineDO.setPpToward(positionMapLineDO.changeToward(positionMapLineDO.getToward()));
+                continue;
-            } else {
-                list.add(setPositionMapLineDTOData(positionMapLineDO));
             }
+
+            list.add(setPositionMapLineDTOData(positionMapLineDO));
         }
 
         PositionMapLinePathDTO relatedPathNode = new PositionMapLinePathDTO();
@@ -443,10 +446,10 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         for (PositionMapLineDTO positionMapLineDO : positionMapLineDOS) {
             list.add(positionMapLineDO);
             if (DirectionEnum.ONE_WAY.getType().equals(positionMapLineDO.getDirection())) {
-                positionMapLineDO.setPpToward(positionMapLineDO.changeToward(positionMapLineDO.getToward()));
+                continue;
-            } else {
-                list.add(setPositionMapLineDTOData(positionMapLineDO));
             }
+
+            list.add(setPositionMapLineDTOData(positionMapLineDO));
         }
 
         relatedPathNode.setControl_nodes(list);

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

@@ -10,6 +10,8 @@ import org.springframework.web.multipart.MultipartFile;
 import javax.servlet.http.HttpServletResponse;
 import javax.validation.Valid;
 import java.io.IOException;
+import java.util.List;
+import java.util.Map;
 
 /**
  * 仓库点位地图 Service 接口
@@ -88,10 +90,4 @@ public interface PositionMapService extends IService<PositionMapDO> {
      */
     String downloadPngBase64(Integer floor, String area);
 
-    /**
-     * 一键急停or一键恢复
-     *
-     * @param id
-     */
-    void emergencyStopOrRecovery(Long id);
 }

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

@@ -297,10 +297,4 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
     }
 
 
-    @Override
-    public void emergencyStopOrRecovery(Long id) {
-        // 先获取当前地图上的所有AGV信息
-
-    }
-
 }

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

@@ -56,21 +56,20 @@ spring:
       primary: master
       datasource:
         master:
-          url: jdbc:mysql://127.0.0.1:3306/zn_wcs?useSSL=false&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true&nullCatalogMeansCurrent=true&rewriteBatchedStatements=true&allowMultiQueries=true # MySQL Connector/J 8.X 连接的示例
+          url: jdbc:mysql://127.0.0.1:3306/ruoyi-vue-pro?useSSL=false&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true&nullCatalogMeansCurrent=true&rewriteBatchedStatements=true # MySQL Connector/J 8.X 连接的示例
           username: root
-          password: yhtkj@2024!
+          password: 123456
         slave: # 模拟从库，可根据自己需要修改 # 模拟从库，可根据自己需要修改
           lazy: true # 开启懒加载，保证启动速度
-          url: jdbc:mysql://127.0.0.1:3306/zn_wcs?useSSL=false&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true&nullCatalogMeansCurrent=true&rewriteBatchedStatements=true&allowMultiQueries=true # MySQL Connector/J 8.X 连接的示例
+          url: jdbc:mysql://127.0.0.1:3306/ruoyi-vue-pro?useSSL=false&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true&nullCatalogMeansCurrent=true&rewriteBatchedStatements=true # MySQL Connector/J 8.X 连接的示例
           username: root
-          password: yhtkj@2024!
+          password: 123456
 
   # Redis 配置。Redisson 默认的配置足够使用，一般不需要进行调优
   redis:
-    host: 127.0.0.1 # 地址
+    host: 400-infra.server.iocoder.cn # 地址
     port: 6379 # 端口
-    database: 3 # 数据库索引
+    database: 1 # 数据库索引
-    password: yhtkj@2024! # 密码，建议生产环境开启
 #    password: 123456 # 密码，建议生产环境开启
 
 --- #################### MQ 消息队列相关配置 ####################