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10 changed files with 13 additions and 34 deletions
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14
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapIdNumMapVO.java
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@ -1,14 +0,0 @@
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;
}

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java
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@ -8,10 +8,12 @@ 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
@ -57,13 +59,13 @@ 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
*/
@ -71,14 +73,12 @@ 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
*/

12
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/NodeProcessingContext.java
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@ -2,21 +2,20 @@ 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.Collections;
import java.util.HashMap;
import java.util.List;
import java.util.Map;
import java.util.*;
@Slf4j
@Component
@ -24,6 +23,8 @@ public class NodeProcessingContext {
private final Map<Integer, NodeProcessingStrategy> strategyMap = new HashMap<>();
@Autowired
private PositionMapItemService positionMapItemService;
@Autowired
private MapNodeStrategyImpl mapNodeStrategyImpl;
@Autowired
private ChangeNodeStrategyImpl changeNodeStrategyImpl;
@ -32,7 +33,6 @@ public class NodeProcessingContext {
@Autowired
private ParkingSpotStrategyImpl parkingSpotStrategyImpl;
@Autowired
@Lazy
private DeviceStrategyImpl deviceStrategyImpl;
/**

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/HouseLocationStrategyImpl.java
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@ -13,7 +13,6 @@ 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;
@ -35,7 +34,6 @@ 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

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/config/CommonConfigServiceImpl.java
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@ -21,7 +21,6 @@ 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;
@ -48,7 +47,6 @@ public class CommonConfigServiceImpl implements CommonConfigService {
private CommonConfigMapper configMapper;
@Resource
@Lazy
private ToolsService toolsService;
@Resource

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
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@ -58,7 +58,6 @@ 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;
@ -119,7 +118,6 @@ public class PathPlanningServiceImpl implements PathPlanningService {
private CommonConfigService configService;
@Resource
@Lazy
private PositionMapService positionMapService;
@Resource
@ -132,7 +130,6 @@ public class PathPlanningServiceImpl implements PathPlanningService {
private PositionChangePointBindingService positionChangePointBindingService;
@Resource
@Lazy
private RemoteControllerInformationService controllerInformationService;
@Resource

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapLineServiceImpl.java
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@ -6,7 +6,6 @@ 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;

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java
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@ -6,6 +6,7 @@ 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;
@ -104,7 +105,6 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
private RobotMapStopService robotMapStopService;
@Resource
@Lazy
private RobotTaskDetailService taskDetailService;
@Resource

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java
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@ -28,6 +28,7 @@ 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;

2
yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
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@ -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