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

- 新增 BulletinBoardController、BulletinBoardService 和 BulletinBoardServiceImpl 类
- 实现获取整体看板信息的功能，包括任务状态、正在执行的任务、待执行任务、车辆状态和车辆异常信息
- 新增 RobotElectricityLevelVO 和 TaskStatusVO 类用于展示机器人电量和任务状态
- 在 DeviceInformationDO、ParkingSpotDO、WareHouse

yudao-framework/yudao-common/src/main/java/cn/iocoder/yudao/framework/common/util/collection/CollectionUtils.java

@@ -213,6 +213,7 @@ public class CollectionUtils {
         return builder.build();
     }
 
+
     /**
      * 对比老、新两个列表，找出新增、修改、删除的数据
      *
@@ -253,6 +254,39 @@ public class CollectionUtils {
         return asList(createList, updateList, deleteList);
     }
 
+    public static <T> List<List<T>> compareLists(List<T> oldList, List<T> newList, BiPredicate<T, T> sameFunc) {
+        List<T> added = new ArrayList<>();
+        List<T> modified = new ArrayList<>();
+        List<T> removed = new ArrayList<>(oldList); // 初始化为旧列表（后续动态移除匹配项）
+
+        // 单次双重循环：处理新增、修改，并动态计算删除列表
+        for (T newItem : newList) {
+            boolean isFound = false;
+            T matchedOldItem = null;
+            Iterator<T> it = removed.iterator(); // 指向待删除列表的迭代器
+
+            // 在待删除列表中查找匹配项
+            while (it.hasNext()) {
+                T oldItem = it.next();
+                if (sameFunc.test(oldItem, newItem)) {
+                    isFound = true;
+                    matchedOldItem = oldItem;
+                    it.remove(); // 移除匹配的旧元素（表示它未被删除）
+                    break;
+                }
+            }
+
+            if (!isFound) {
+                added.add(newItem);    // 未找到匹配，加入新增列表
+            } else if (!newItem.equals(matchedOldItem)) {
+                modified.add(newItem); // 找到匹配但内容不同，加入修改列表
+            }
+        }
+
+        // 此时removed中剩余的元素即为需删除的项
+        return Arrays.asList(added, modified, removed);
+    }
+
     public static boolean containsAny(Collection<?> source, Collection<?> candidates) {
         return org.springframework.util.CollectionUtils.containsAny(source, candidates);
     }

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

@@ -0,0 +1,22 @@
+package cn.iocoder.yudao.module.mqtt.api.path;
+
+import cn.iocoder.yudao.module.mqtt.api.path.dto.RelatedPathNode;
+import cn.iocoder.yudao.module.mqtt.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 org.springframework.web.bind.annotation.RequestParam;
+
+import javax.validation.Valid;
+
+@FeignClient(name = ApiConstants.NAME) // TODO 芋艿：fallbackFactory =
+@Tag(name = "MQTT 服务 - 参数配置")
+public interface PathPlanningApi {
+    String PREFIX = ApiConstants.PREFIX + "/config";
+
+    @PostMapping(PREFIX + "/synchronousPoint")
+    @Operation(summary = "下发任务给车机")
+    void synchronousPointToPP( @RequestBody RelatedPathNode relatedPathNode, @RequestParam("topic") String topic);
+}

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

@@ -0,0 +1,67 @@
+package cn.iocoder.yudao.module.mqtt.api.path.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.math.BigDecimal;
+import java.time.LocalDateTime;
+
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class PositionMapLineDTO {
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "28062")
+    private Long id;
+
+    @Schema(description = "地图id", example = "20863")
+    private Long positionMapId;
+
+    @Schema(description = "出发点id(点位子表id)", example = "20863")
+    private Long startingPointId;
+
+    @Schema(description = "结束点id(点位子表id)", example = "15890")
+    private Long endPointId;
+
+    @Schema(description = "行走方法 0.直线 1.上左曲线2.上右曲线3.下左曲线 4.下右曲线")
+    private Integer method;
+
+    @Schema(description = "方向 1.单向 2.双向", example = "15890")
+    private Integer direction;
+
+    @Schema(description = "正向限速(m/s)", example = "15890")
+    private BigDecimal forwardSpeedLimit;
+
+    @Schema(description = "反向限速(m/s)", example = "15890")
+    private BigDecimal reverseSpeedLimit;
+
+    @Schema(description = "开始控制点x轴")
+    private String beginControlX;
+
+    @Schema(description = "开始控制点y轴")
+    private String beginControlY;
+
+    @Schema(description = "结束控制点x轴")
+    private String endControlX;
+
+    @Schema(description = "结束控制点y轴")
+    private String endControlY;
+
+    @Schema(description = "膨胀区域前")
+    private BigDecimal expansionZoneFront;
+
+    @Schema(description = "膨胀区域后")
+    private BigDecimal expansionZoneAfter;
+
+    @Schema(description = "膨胀区域左")
+    private BigDecimal expansionZoneLeft;
+
+    @Schema(description = "膨胀区域右")
+    private BigDecimal expansionZoneRight;
+
+    @Schema(description = "车头朝向( 0:正向 1:反向)", example = "15890")
+    private Integer toward;
+}

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

@@ -0,0 +1,25 @@
+package cn.iocoder.yudao.module.mqtt.api.path.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.util.List;
+
+@Data
+@NoArgsConstructor
+@AllArgsConstructor
+public class RelatedPathNode {
+
+    @Schema(description = "楼层", example = "20863")
+    private Integer floor;
+
+    @Schema(description = "区域", example = "20863")
+    private String area;
+
+    @Schema(description = "点位状态(0:新增、1:删除、2：更新)", example = "20863")
+    private Integer pointStatus = 0;
+
+    private List<PositionMapLineDTO> control_nodes;
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/RobotTaskApi.java

@@ -20,5 +20,5 @@ public interface RobotTaskApi {
 
     @PostMapping(PREFIX + "/distribute/tasks")
     @Operation(summary = "下发任务给车机")
-    CommonResult<String> sendTaskToRobot(@Valid @RequestBody List<RobotAcceptTaskDTO> robotTaskDOS );
+    void sendTaskToRobot(@Valid @RequestBody List<RobotAcceptTaskDTO> robotTaskDOS );
 }

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/path/PathPlanningApiImpl.java

@@ -0,0 +1,30 @@
+package cn.iododer.yudao.module.mqtt.api.path;
+
+import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
+import cn.iocoder.yudao.module.mqtt.api.path.dto.RelatedPathNode;
+import cn.iododer.yudao.module.mqtt.util.MqttUtils;
+import com.alibaba.fastjson.JSON;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttException;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.web.bind.annotation.RestController;
+
+@RestController // 提供 RESTful API 接口，给 Feign 调用
+@Validated
+@Slf4j
+public class PathPlanningApiImpl implements PathPlanningApi {
+
+    @Autowired
+    private MqttUtils mqttUtils;
+
+    @Override
+    public void synchronousPointToPP(RelatedPathNode relatedPathNode, String topic) {
+        try {
+            mqttUtils.pub(topic, JSON.toJSONString(relatedPathNode));
+            log.info("同步给路径规划完成 :{}", topic);
+        } catch (MqttException e) {
+            log.info("同步点位信息给路径规划异常 :{}",e);
+        }
+    }
+}

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/task/RobotTaskApiImpl.java

@@ -24,18 +24,14 @@ public class RobotTaskApiImpl implements RobotTaskApi {
     private MqttUtils mqttUtils;
 
     @Override
-    public CommonResult<String> sendTaskToRobot(List<RobotAcceptTaskDTO> robotTaskDOS) {
-        String str ="SUCCESS";
+    public void sendTaskToRobot(List<RobotAcceptTaskDTO> robotTaskDOS) {
         for (RobotAcceptTaskDTO robotTaskDO : robotTaskDOS) {
             log.info("发送MQTT消息 :{}",JSON.toJSONString(robotTaskDO));
             try {
                 mqttUtils.pub( robotTaskDO.getTopic(), JSON.toJSONString(robotTaskDO));
             } catch (Exception e) {
                 log.info("消息发送异常 :{}",e.getMessage());
-                str ="FAIL";
             }
         }
-
-        return success(str);
     }
 }

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java

@@ -229,4 +229,7 @@ public interface ErrorCodeConstants {
     // ========== 车辆充电记录 1_002_043_001 ==========
     ErrorCode CHARGE_LOG_NOT_EXISTS = new ErrorCode(1_002_043_001, "车辆充电记录不存在");
 
+    // ========== 路径规划 1_002_044_001 ==========
+    ErrorCode PATH_PLANNING_NOT_EXISTS = new ErrorCode(1_002_044_001, "不存在需要同步给路径规划的数据");
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java

@@ -0,0 +1,29 @@
+package cn.iocoder.yudao.module.system.constant.path;
+
+/**
+ * 下发给PP的TOPIC
+ */
+public class PathPlanningTopicConstant {
+    /**
+     * 同步全部地图点位
+     */
+    public static String SYNCHRONOUS_ALL_MAP_POINT = "SYNCHRONOUS_MAP_POINT";
+
+    /**
+     * 添加地图点位给PP
+     */
+    public static String ADD_MAP_POINT = "ADD_MAP_POINT";
+
+    /**
+     * 删除地图点位
+     */
+    public static String DELETE_MAP_POINT = "DELETE_MAP_POINT";
+
+    /**
+     * 更新地图点位
+     */
+    public static String UPDATE_MAP_POINT = "UPDATE_MAP_POINT";
+
+
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTopicConstant.java

@@ -0,0 +1,11 @@
+package cn.iocoder.yudao.module.system.constant.robot;
+
+/**
+ * 下发给车机的TOPIC
+ */
+public class RobotTopicConstant {
+    /**
+     * 下发任务给车机的topic （拼接mac地址）
+     */
+    public static String ROBOT_TASK_TOPIC = "ROBOT_TASK_";
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/bulletinboard/BulletinBoardController.java

@@ -0,0 +1,32 @@
+package cn.iocoder.yudao.module.system.controller.admin.bulletinboard;
+
+import cn.iocoder.yudao.framework.common.pojo.CommonResult;
+import cn.iocoder.yudao.module.system.controller.admin.bulletinboard.vo.BulletinBoardVO;
+import cn.iocoder.yudao.module.system.service.bulletinboard.BulletinBoardService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import javax.annotation.Resource;
+import javax.annotation.security.PermitAll;
+
+import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
+
+@Tag(name = "管理后台 - 整体看板")
+@RestController
+@RequestMapping("/system/bulletinBoard")
+public class BulletinBoardController {
+
+    @Resource
+    private BulletinBoardService bulletinBoardService;
+
+    @GetMapping({"/get"})
+    @Operation(summary = "获取整体看板信息")
+    @PermitAll
+    public CommonResult<BulletinBoardVO> get() {
+        BulletinBoardVO vo = bulletinBoardService.getBulletinBoard();
+        return success(vo);
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/bulletinboard/vo/BulletinBoardVO.java

@@ -0,0 +1,25 @@
+package cn.iocoder.yudao.module.system.controller.admin.bulletinboard.vo;
+
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationStatisticsVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnMsgDO;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.ToString;
+
+import java.util.List;
+
+@Data
+@ToString(callSuper = true)
+public class BulletinBoardVO {
+    @Schema(description = "任务状态")
+    private TaskStatusVO taskStatusVO;
+    @Schema(description = "正在执行任务")
+    private List<RobotTaskDO> underway;
+    @Schema(description = "待执行任务")
+    private List<RobotTaskDO> pendingExecution;
+    @Schema(description = "车辆状态")
+    private RobotInformationStatisticsVO statistics;
+    @Schema(description = "车辆异常信息")
+    private List<RobotWarnMsgDO> robotWarnMsgDOS;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/bulletinboard/vo/RobotElectricityLevelVO.java

@@ -0,0 +1,16 @@
+package cn.iocoder.yudao.module.system.controller.admin.bulletinboard.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.ToString;
+
+@Data
+@ToString(callSuper = true)
+public class RobotElectricityLevelVO {
+    @Schema(description = "AGV编号")
+    private String robotNo;
+    @Schema(description = "状态")
+    private String status;
+    @Schema(description = "电量")
+    private String batSoc;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/bulletinboard/vo/TaskStatusVO.java

@@ -0,0 +1,23 @@
+package cn.iocoder.yudao.module.system.controller.admin.bulletinboard.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.ToString;
+
+@Data
+@ToString(callSuper = true)
+public class TaskStatusVO {
+    @Schema(description = "待执行")
+    private Integer pendingExecutionNum;
+    @Schema(description = "正在进行")
+    private Integer underwayNum;
+    @Schema(description = "已完成")
+    private Integer completedNum;
+    @Schema(description = "已取消")
+    private Integer cancelledNum;
+    @Schema(description = "异常")
+    private Integer abnormalNum;
+    @Schema(description = "当日任务数")
+    private Integer tasksNumber;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/path/PathPlanningController.java

@@ -1,16 +1,14 @@
 package cn.iocoder.yudao.module.system.controller.admin.path;
 
 import cn.iocoder.yudao.framework.common.pojo.CommonResult;
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationSaveReqVO;
 import cn.iocoder.yudao.module.system.service.path.PathPlanningService;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.tags.Tag;
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.validation.annotation.Validated;
-import org.springframework.web.bind.annotation.PutMapping;
-import org.springframework.web.bind.annotation.RequestBody;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
+import org.springframework.web.bind.annotation.*;
 
 import javax.annotation.Resource;
 import javax.validation.Valid;
@@ -26,11 +24,11 @@ public class PathPlanningController {
     @Resource
     private PathPlanningService pathPlanningService;
 
-    @PutMapping("/synchronousPoint")
+    @PostMapping("/synchronousPoint")
     @Operation(summary = "同步全部的点位信息")
     @PreAuthorize("@ss.hasPermission('robot:information:synchronousPoint')")
-    public CommonResult<String> synchronousPoint() {
-        pathPlanningService.synchronousPoint();
+    public CommonResult<String> synchronousPoint(@RequestBody PositionMapSaveReqVO positionMapSaveReqVO) {
+        pathPlanningService.synchronousPoint(positionMapSaveReqVO);
         return success("同步完成");
     }
 

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

@@ -25,6 +25,12 @@ public class NodeBaseDTO {
     @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 = "类型 1.路径点位 2.库位点 3.充电桩 4.停车点 5.区域变更点 6.等待点 --- 后续补充", example = "1")
     private Integer type;
 

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

@@ -0,0 +1,64 @@
+package cn.iocoder.yudao.module.system.controller.admin.positionmap.dto;
+
+import com.alibaba.excel.annotation.ExcelProperty;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Builder;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.time.LocalDateTime;
+
+@Data
+@Builder
+public class PositionMapLineDTO {
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "28062")
+    private Long id;
+
+    @Schema(description = "地图id", example = "20863")
+    private Long positionMapId;
+
+    @Schema(description = "出发点id(点位子表id)", example = "20863")
+    private Long startingPointId;
+
+    @Schema(description = "结束点id(点位子表id)", example = "15890")
+    private Long endPointId;
+
+    @Schema(description = "行走方法 0.直线 1.上左曲线2.上右曲线3.下左曲线 4.下右曲线")
+    private Integer method;
+
+    @Schema(description = "方向 1.单向 2.双向", example = "15890")
+    private Integer direction;
+
+    @Schema(description = "正向限速(m/s)", example = "15890")
+    private BigDecimal forwardSpeedLimit;
+
+    @Schema(description = "反向限速(m/s)", example = "15890")
+    private BigDecimal reverseSpeedLimit;
+
+    @Schema(description = "开始控制点x轴")
+    private String beginControlX;
+
+    @Schema(description = "开始控制点y轴")
+    private String beginControlY;
+
+    @Schema(description = "结束控制点x轴")
+    private String endControlX;
+
+    @Schema(description = "结束控制点y轴")
+    private String endControlY;
+
+    @Schema(description = "膨胀区域前")
+    private BigDecimal expansionZoneFront;
+
+    @Schema(description = "膨胀区域后")
+    private BigDecimal expansionZoneAfter;
+
+    @Schema(description = "膨胀区域左")
+    private BigDecimal expansionZoneLeft;
+
+    @Schema(description = "膨胀区域右")
+    private BigDecimal expansionZoneRight;
+
+    @Schema(description = "车头朝向( 0:正向 1:反向)")
+    private Integer toward;
+}

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

@@ -28,6 +28,15 @@ public class PositionMapLinePageReqVO extends PageParam {
     @Schema(description = "结束点id(点位子表id)", example = "15890")
     private Long endPointId;
 
+    @Schema(description = "开始点位x轴", example = "15890")
+    private String startPointX;
+    @Schema(description = "开始点位y轴", example = "15890")
+    private String startPointY;
+    @Schema(description = "结束点位x轴", example = "15890")
+    private String endPointX;
+    @Schema(description = "结束点位y轴", example = "15890")
+    private String endPointY;
+
     @Schema(description = "开始控制点x轴", example = "15890")
     private String beginControlX;
 
@@ -68,4 +77,8 @@ public class PositionMapLinePageReqVO extends PageParam {
     @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
     private LocalDateTime[] createTime;
 
+
+    @Schema(description = "车头朝向( 0:正向 1:反向)", example = "15890")
+    private Integer toward;
+
 }

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

@@ -29,6 +29,15 @@ public class PositionMapLineRespVO {
     @ExcelProperty("结束点id(点位子表id)")
     private Long endPointId;
 
+    @Schema(description = "开始点位x轴", example = "15890")
+    private String startPointX;
+    @Schema(description = "开始点位y轴", example = "15890")
+    private String startPointY;
+    @Schema(description = "结束点位x轴", example = "15890")
+    private String endPointX;
+    @Schema(description = "结束点位y轴", example = "15890")
+    private String endPointY;
+
     @Schema(description = "开始控制点x轴", example = "15890")
     @ExcelProperty("开始控制点x轴")
     private String beginControlX;
@@ -81,4 +90,8 @@ public class PositionMapLineRespVO {
     @ExcelProperty("创建时间")
     private LocalDateTime createTime;
 
+    @Schema(description = "车头朝向( 0:正向 1:反向)", example = "15890")
+    @ExcelProperty("车头朝向( 0:正向 1:反向)")
+    private Integer toward;
+
 }

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

@@ -25,6 +25,15 @@ public class PositionMapLineSaveReqVO {
     @Schema(description = "结束点id(点位子表id)", example = "15890")
     private Long endPointId;
 
+    @Schema(description = "开始点位x轴", example = "15890")
+    private String startPointX;
+    @Schema(description = "开始点位y轴", example = "15890")
+    private String startPointY;
+    @Schema(description = "结束点位x轴", example = "15890")
+    private String endPointX;
+    @Schema(description = "结束点位y轴", example = "15890")
+    private String endPointY;
+
     @Schema(description = "开始控制点x轴", example = "15890")
     private String beginControlX;
 
@@ -61,4 +70,8 @@ public class PositionMapLineSaveReqVO {
     @Schema(description = "反向限速(m/s)", example = "15890")
     private BigDecimal reverseSpeedLimit;
 
+
+    @Schema(description = "车头朝向( 0:正向 1:反向)", example = "15890")
+    private Integer toward;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationStatisticsVO.java

@@ -24,4 +24,7 @@ public class RobotInformationStatisticsVO {
     @Schema(description = "故障")
     private Integer fault = 0;
 
+    @Schema(description = "总数")
+    private Integer total = 0;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationDO.java

@@ -94,6 +94,14 @@ public class WareHouseLocationDO extends BaseDO {
      * 库位坐标y轴
      */
     private String locationY;
+    /**
+     * 实际坐标x轴
+     */
+    private String actualLocationX;
+    /**
+     * 实际坐标y轴
+     */
+    private String actualLocationY;
     /**
      * 宽度
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java

@@ -50,6 +50,14 @@ public class DeviceInformationDO extends BaseDO {
      * 库位坐标y轴
      */
     private String locationY;
+    /**
+     * 实际坐标x轴
+     */
+    private String actualLocationX;
+    /**
+     * 实际坐标y轴
+     */
+    private String actualLocationY;
     /**
      * 宽度
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/parkingspot/ParkingSpotDO.java

@@ -45,6 +45,14 @@ public class ParkingSpotDO extends BaseDO {
      * 库位坐标y轴
      */
     private String locationY;
+    /**
+     * 实际坐标x轴
+     */
+    private String actualLocationX;
+    /**
+     * 实际坐标y轴
+     */
+    private String actualLocationY;
     /**
      * 宽度
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapItemDO.java

@@ -2,6 +2,7 @@ package cn.iocoder.yudao.module.system.dal.dataobject.positionmap;
 
 import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
 import com.baomidou.mybatisplus.annotation.*;
+import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 
 /**
@@ -45,6 +46,14 @@ public class PositionMapItemDO extends BaseDO {
      * 坐标y轴
      */
     private String locationY;
+    /**
+     * 实际坐标x轴
+     */
+    private String actualLocationX;
+    /**
+     * 实际坐标y轴
+     */
+    private String actualLocationY;
     /**
      * 类型 1.路径点位 2.库位点 3.充电桩 4.停车点 5.区域变更点 6.等待点 --- 后续补充
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapLineDO.java

@@ -42,6 +42,22 @@ public class PositionMapLineDO extends BaseDO {
      * 结束点id(点位子表id)
      */
     private Long endPointId;
+    /**
+     * 开始点位x轴
+     */
+    private String startPointX;
+    /**
+     * 开始点位y轴
+     */
+    private String startPointY;
+    /**
+     * 结束点位x轴
+     */
+    private String endPointX;
+    /**
+     * 结束点位y轴
+     */
+    private String endPointY;
     /**
      * 开始控制点x轴
      */
@@ -91,4 +107,8 @@ public class PositionMapLineDO extends BaseDO {
      */
     private BigDecimal reverseSpeedLimit;
 
+    /**
+     * 车头朝向( 0:正向 1:反向)
+     */
+    private Integer toward;
 }

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

@@ -3,10 +3,13 @@ package cn.iocoder.yudao.module.system.dal.mysql.positionmap;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.module.mqtt.api.path.dto.PositionMapLineDTO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLinePageReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO;
 import org.apache.ibatis.annotations.Mapper;
 
+import java.util.List;
+
 /**
  * 仓库点位地图连线 Mapper
  *
@@ -24,4 +27,9 @@ public interface PositionMapLineMapper extends BaseMapperX<PositionMapLineDO> {
                 .orderByDesc(PositionMapLineDO::getId));
     }
 
+    /**
+     * 查看所有的点位地图连线
+     * @return
+     */
+    List<PositionMapLineDTO> getAllPositionMapLine(PositionMapLineDO positionMapLineDO);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/line/DirectionEnum.java

@@ -0,0 +1,21 @@
+package cn.iocoder.yudao.module.system.enums.line;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * ware_position_map_line表的direction
+ */
+@Getter
+@AllArgsConstructor
+public enum DirectionEnum {
+
+    ONE_WAY(1,"单向"),
+    TWO_WAY(2,"双向");
+    /**
+     * 类型
+     */
+    private final Integer type;
+
+    private final String msg;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTaskDetailStatusEnum.java

@@ -12,7 +12,8 @@ public enum RobotTaskDetailStatusEnum {
     NEW(0),//未开始
     DOING(1),//执行中
     DONE(2),//已完成
-    CLOSE(3); //已取消
+    CLOSE(3), //已取消
+    ABNORMAL(4); //异常
     /**
      * 类型
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotTopicEnum.java

@@ -1,14 +0,0 @@
-package cn.iocoder.yudao.module.system.enums.robot;
-
-import lombok.AllArgsConstructor;
-import lombok.Getter;
-
-@Getter
-@AllArgsConstructor
-public enum RobotTopicEnum {
-    ROBOT_TASK("ROBOT_TASK_"); //下发指令给车机
-    /**
-     * 类型
-     */
-    private final String topic;
-}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/framework/mqtt/MqttConfiguration.java

@@ -1,10 +1,11 @@
 package cn.iocoder.yudao.module.system.framework.mqtt;
 
+import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
 import cn.iocoder.yudao.module.mqtt.api.task.RobotTaskApi;
 import org.springframework.cloud.openfeign.EnableFeignClients;
 import org.springframework.context.annotation.Configuration;
 
 @Configuration(proxyBeanMethods = false)
-@EnableFeignClients(clients = {RobotTaskApi.class})
+@EnableFeignClients(clients = {RobotTaskApi.class, PathPlanningApi.class})
 public class MqttConfiguration {
 }

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

@@ -14,6 +14,7 @@ import org.springframework.stereotype.Component;
 import org.springframework.transaction.annotation.Transactional;
 
 import javax.annotation.PostConstruct;
+import java.util.ArrayList;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
@@ -66,7 +67,7 @@ public class NodeProcessingContext {
         strategy.processNodes(positionMapId, nodeBaseDTOS);
 
         List<PositionMapItemDO> newList = BeanUtil.copyToList(nodeBaseDTOS, PositionMapItemDO.class);
-        List<List<PositionMapItemDO>> list = CollectionUtils.diffList(oldItemList, newList,
+        List<List<PositionMapItemDO>> list = CollectionUtils.compareLists(oldItemList, newList,
                 (oldVal, newVal) -> ObjectUtil.equal(oldVal.getId(), newVal.getId()));
         positionMapItemService.batchSaveOrEditOrDel(positionMapId, list);
     }

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

@@ -32,6 +32,8 @@ public class DeviceStrategyImpl implements NodeProcessingStrategy {
             DeviceInformationDO deviceInformationDO = JSONUtil.toBean(item.getDataJson(), DeviceInformationDO.class);
             deviceInformationDO.setLocationX(item.getLocationX());
             deviceInformationDO.setLocationY(item.getLocationY());
+            deviceInformationDO.setActualLocationX(item.getActualLocationX());
+            deviceInformationDO.setActualLocationY(item.getActualLocationY());
 
             deviceInformationDO.setPositionMapId(positionMapId);
             deviceInformationDO.setPositionMapItemId(item.getId());

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

@@ -38,6 +38,8 @@ public class HouseLocationStrategyImpl implements NodeProcessingStrategy {
             for (WareHouseLocationDO wareHouseLocationDO : wareHouseLocationDOS) {
                 wareHouseLocationDO.setLocationX(item.getLocationX());
                 wareHouseLocationDO.setLocationY(item.getLocationY());
+                wareHouseLocationDO.setActualLocationX(item.getActualLocationX());
+                wareHouseLocationDO.setActualLocationY(item.getActualLocationY());
                 if (wareHouseLocationDO.getId() == null) {
                     wareHouseLocationDO.setId(getId());
                 }

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

@@ -36,6 +36,8 @@ public class ParkingSpotStrategyImpl implements NodeProcessingStrategy {
             }
             parkingSpotDO.setLocationX(item.getLocationX());
             parkingSpotDO.setLocationY(item.getLocationY());
+            parkingSpotDO.setActualLocationX(item.getLocationX());
+            parkingSpotDO.setActualLocationY(item.getLocationY());
 
             parkingSpotDO.setPositionMapId(positionMapId);
             parkingSpotDO.setPositionMapItemId(item.getId());

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/bulletinboard/BulletinBoardService.java

@@ -0,0 +1,18 @@
+package cn.iocoder.yudao.module.system.service.bulletinboard;
+
+import cn.iocoder.yudao.module.system.controller.admin.bulletinboard.vo.BulletinBoardVO;
+
+/**
+ * 获取看板信息 Service 接口
+ *
+ * @author 陈宾顺
+ */
+public interface BulletinBoardService {
+
+    /**
+     * 获取看板信息
+     *
+     * @return
+     */
+    BulletinBoardVO getBulletinBoard();
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/bulletinboard/BulletinBoardServiceImpl.java

@@ -0,0 +1,114 @@
+package cn.iocoder.yudao.module.system.service.bulletinboard;
+
+import cn.hutool.core.collection.CollectionUtil;
+import cn.hutool.core.date.LocalDateTimeUtil;
+import cn.hutool.json.JSONUtil;
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
+import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
+import cn.iocoder.yudao.module.system.controller.admin.bulletinboard.vo.BulletinBoardVO;
+import cn.iocoder.yudao.module.system.controller.admin.bulletinboard.vo.RobotElectricityLevelVO;
+import cn.iocoder.yudao.module.system.controller.admin.bulletinboard.vo.TaskStatusVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationStatisticsVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnMsgDO;
+import cn.iocoder.yudao.module.system.enums.robot.RobotTaskDetailStatusEnum;
+import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
+import cn.iocoder.yudao.module.system.service.robot.RobotTaskService;
+import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
+import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
+import org.springframework.stereotype.Service;
+import org.springframework.validation.annotation.Validated;
+
+import javax.annotation.Resource;
+import java.time.LocalDateTime;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+import java.util.stream.Collectors;
+
+/**
+ * 获取看板信息 Service 实现类
+ *
+ * @author 艾楷
+ */
+@Service
+@Validated
+public class BulletinBoardServiceImpl implements BulletinBoardService {
+    @Resource
+    private RobotTaskService taskService;
+    @Resource
+    private RobotWarnMsgService robotWarnMsgService;
+    @Resource
+    private RobotInformationService robotInformationService;
+    @Resource
+    private RedisUtil redisUtil;
+
+    @Override
+    public BulletinBoardVO getBulletinBoard() {
+        BulletinBoardVO vo = new BulletinBoardVO();
+        LocalDateTime now = LocalDateTime.now();
+        List<RobotTaskDO> list = taskService.list(new LambdaQueryWrapperX<RobotTaskDO>()
+                .ge(RobotTaskDO::getCreateTime, LocalDateTimeUtil.beginOfDay(now)));
+        Map<Integer, List<RobotTaskDO>> taskMap = list.stream().collect(Collectors.groupingBy(RobotTaskDO::getTaskStatus));
+        // 任务状态
+        TaskStatusVO taskStatusVO = new TaskStatusVO();
+
+        // 正在执行
+        List<RobotTaskDO> underway = taskMap.get(RobotTaskDetailStatusEnum.DOING.getType());
+        //根据时间降序
+        if (CollectionUtil.isNotEmpty(underway)) {
+            underway.sort((o1, o2) -> o2.getStartTime().compareTo(o1.getStartTime()));
+        }
+        // 待执行
+        List<RobotTaskDO> pendingExecution = taskMap.get(RobotTaskDetailStatusEnum.NEW.getType());
+        //根据时间降序
+        if (CollectionUtil.isNotEmpty(pendingExecution)) {
+            pendingExecution.sort((o1, o2) -> o2.getCreateTime().compareTo(o1.getCreateTime()));
+        }
+        // 已完成
+        List<RobotTaskDO> completed = taskMap.get(RobotTaskDetailStatusEnum.DONE.getType());
+        // 已取消
+        List<RobotTaskDO> cancelled = taskMap.get(RobotTaskDetailStatusEnum.CLOSE.getType());
+        taskStatusVO.setPendingExecutionNum(CollectionUtil.isEmpty(pendingExecution) ? 0 : pendingExecution.size());
+        taskStatusVO.setUnderwayNum(CollectionUtil.isEmpty(underway) ? 0 : underway.size());
+        taskStatusVO.setCompletedNum(CollectionUtil.isEmpty(completed) ? 0 : completed.size());
+        taskStatusVO.setCancelledNum(CollectionUtil.isEmpty(cancelled) ? 0 : cancelled.size());
+        int abnormalNum = CollectionUtil.isEmpty(taskMap.get(RobotTaskDetailStatusEnum.ABNORMAL.getType())) ? 0 : taskMap.get(RobotTaskDetailStatusEnum.ABNORMAL.getType()).size();
+        taskStatusVO.setAbnormalNum(abnormalNum);
+        taskStatusVO.setTasksNumber(list.size());
+        vo.setTaskStatusVO(taskStatusVO);
+
+        // 获取车辆异常信息
+        List<RobotWarnMsgDO> robotWarnMsgDOS = robotWarnMsgService.list(new LambdaQueryWrapperX<RobotWarnMsgDO>()
+                .ge(RobotWarnMsgDO::getCreateTime, LocalDateTimeUtil.beginOfDay(now)));
+
+        // 正在执行任务
+        vo.setUnderway(underway);
+        // 待执行任务
+        vo.setPendingExecution(pendingExecution);
+
+        // 车辆状态
+        RobotInformationStatisticsVO statisticsVO = robotInformationService.statisticsInformation();
+        vo.setStatistics(statisticsVO);
+        // 车辆异常信息
+        vo.setRobotWarnMsgDOS(robotWarnMsgDOS);
+
+        List<RobotElectricityLevelVO> robotElectricityLevelVOS = new ArrayList<>();
+        List<RobotInformationDO> allRobot = robotInformationService.getAllRobot();
+        for (RobotInformationDO robotInformationDO : allRobot) {
+            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robotInformationDO.getMacAddress();
+            Object object = redisUtil.get(pose2dKey);
+            RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
+            if (robotStatusDataPoseDTO != null) {
+                RobotElectricityLevelVO robotElectricityLevelVO = new RobotElectricityLevelVO();
+                robotElectricityLevelVO.setRobotNo(robotInformationDO.getRobotNo());
+                robotElectricityLevelVO.setBatSoc(robotStatusDataPoseDTO.getBat_soc());
+                robotElectricityLevelVOS.add(robotElectricityLevelVO);
+            }
+        }
+        return null;
+    }
+
+}

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

@@ -1,5 +1,7 @@
 package cn.iocoder.yudao.module.system.service.path;
 
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapSaveReqVO;
+
 public interface PathPlanningService {
-    void synchronousPoint();
+    void synchronousPoint(PositionMapSaveReqVO positionMapSaveReqVO);
 }

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

@@ -1,8 +1,30 @@
 package cn.iocoder.yudao.module.system.service.path;
 
+import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
+import cn.iocoder.yudao.module.mqtt.api.path.dto.PositionMapLineDTO;
+import cn.iocoder.yudao.module.mqtt.api.path.dto.RelatedPathNode;
+import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO;
+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.enums.line.DirectionEnum;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
-import org.springframework.validation.annotation.Validated;
+
+import javax.annotation.Resource;
+import java.util.ArrayList;
+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;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.PATH_PLANNING_NOT_EXISTS;
 
 /**
  * 同步信息给车辆
@@ -12,11 +34,120 @@ import org.springframework.validation.annotation.Validated;
 public class PathPlanningServiceImpl implements PathPlanningService {
 
 
+    @Resource
+    private PositionMapLineMapper positionMapLineMapper;
+
+    @Resource
+    private PositionMapMapper positionMapMapper;
+
+    public static ExecutorService executor = Executors.newFixedThreadPool(5);
+
+    @Resource
+    private PathPlanningApi pathPlanningApi;
+
     /**
      * 同步全部的点位信息
      */
     @Override
-    public void synchronousPoint() {
+    public void synchronousPoint(PositionMapSaveReqVO data) {
+
+        List<PositionMapDO> positionMapDOS = positionMapMapper.selectList(new LambdaQueryWrapperX<PositionMapDO>()
+        .eq(ObjectUtil.isNotEmpty(data.getFloor()), PositionMapDO::getFloor, data.getFloor())
+        .eq(ObjectUtil.isNotEmpty(data.getArea()), PositionMapDO::getArea, data.getArea()));
+
+        PositionMapLineDO positionMapLineDO = new PositionMapLineDO();
+        List<PositionMapLineDTO> positionLines = positionMapLineMapper.getAllPositionMapLine(positionMapLineDO);
+
+//        List<PositionMapLineDO> positionLines = positionMapLineMapper.selectList(new LambdaQueryWrapperX<PositionMapLineDO>());
+        if (ObjectUtil.isEmpty(positionMapDOS) || ObjectUtil.isEmpty(positionLines)) {
+            throw exception(PATH_PLANNING_NOT_EXISTS);
+        }
+
+        Map<Long, List<PositionMapLineDTO>> positionMapLineMap = positionLines.stream()
+                .collect(Collectors.groupingBy(PositionMapLineDTO::getPositionMapId));
+        for (PositionMapDO positionMapDO : positionMapDOS) {
+            RelatedPathNode relatedPathNode = new RelatedPathNode();
+            relatedPathNode.setFloor(positionMapDO.getFloor());
+            relatedPathNode.setArea(positionMapDO.getArea());
+            List<PositionMapLineDTO> positionMapLineDOS = positionMapLineMap.get(positionMapDO.getId());
+            if (ObjectUtil.isEmpty(positionMapLineDOS)) {
+                continue;
+            }
+
+            assembleDataToPP(relatedPathNode,positionMapLineDOS);
+        }
 
     }
+
+    /**
+     * 组装数据发送到PP
+     * @param relatedPathNode
+     * @param positionMapLineDOS
+     */
+    private void assembleDataToPP(RelatedPathNode relatedPathNode, List<PositionMapLineDTO> positionMapLineDOS) {
+        executor.execute(() -> {
+            List<PositionMapLineDTO> list = new ArrayList<>();
+            for (PositionMapLineDTO positionMapLineDO : positionMapLineDOS) {
+                list.add(positionMapLineDO);
+                if (DirectionEnum.ONE_WAY.getType().equals(positionMapLineDO.getDirection())) {
+                    continue;
+                }
+
+                PositionMapLineDTO build = PositionMapLineDTO.builder()
+                        .id(positionMapLineDO.getId())
+                        .positionMapId(positionMapLineDO.getPositionMapId())
+                        .startingPointId(positionMapLineDO.getEndPointId())
+                        .endPointId(positionMapLineDO.getStartingPointId())
+                        .direction(1)
+                        .forwardSpeedLimit(positionMapLineDO.getReverseSpeedLimit())
+                        .reverseSpeedLimit(positionMapLineDO.getForwardSpeedLimit())
+                        .beginControlX(positionMapLineDO.getEndControlX())
+                        .beginControlY(positionMapLineDO.getEndControlY())
+                        .endControlX(positionMapLineDO.getBeginControlX())
+                        .endControlY(positionMapLineDO.getBeginControlY())
+                        .expansionZoneFront(positionMapLineDO.getExpansionZoneAfter())
+                        .expansionZoneAfter(positionMapLineDO.getExpansionZoneFront())
+                        .expansionZoneLeft(positionMapLineDO.getExpansionZoneRight())
+                        .expansionZoneRight(positionMapLineDO.getExpansionZoneLeft())
+                        .toward(positionMapLineDO.getToward())
+                        .build();
+                list.add(build);
+            }
+
+            relatedPathNode.setControl_nodes(list);
+
+            pathPlanningApi.synchronousPointToPP(relatedPathNode, PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_POINT);
+        });
+    }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java

@@ -181,7 +181,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
                 }
 
                 if (RobotStatisticsTypeEnum.OFFLINE.getType().equals(pageReqVO.getRobotStatisticsType())
-                        && v.getOnlineStatus().equals(1)) {
+                        && v.getOnlineStatus().equals(0)) {
                     resultList.add(v);
                     continue;
                 }
@@ -216,8 +216,6 @@ public class RobotInformationServiceImpl implements RobotInformationService {
             v.setElectricity(robotStatusDataPoseDTO.getBat_soc());
             v.setFloor(robotStatusDataPoseDTO.getFloor());
             v.setArea(robotStatusDataPoseDTO.getArea());
-        } else if (ObjectUtil.isEmpty(object)) {
-            //离线
             v.setOnlineStatus(1);
         }
 
@@ -273,32 +271,35 @@ public class RobotInformationServiceImpl implements RobotInformationService {
         Integer fault = 0;
         //0：待命、1：任务中、2：锁定、3：离线、4:充电中、5:故障
         for (RobotInformationDO v : existRobot) {
-            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + v.getMacAddress();
+            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +v.getMacAddress();
             Object object = redisUtil.get(pose2dKey);
-            if (ObjectUtil.isEmpty(object)) {
-                offline++;
-            } else if (RobotTaskModelEnum.REJECTION.getType().equals(v.getRobotTaskModel())) {
-                doLock++;
-            } else if (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())) {
 
-                //查看机器人最后做的任务是不是充电
-                RobotTaskDetailDO robotTaskDetailDO = taskDetailMapper.selectOne(new LambdaQueryWrapper<RobotTaskDetailDO>()
-                        .eq(RobotTaskDetailDO::getRobotNo, v.getRobotNo())
-                        .orderByDesc(RobotTaskDetailDO::getCreateTime)
-                        .last("limit 1"));
-                if (ObjectUtil.isNotEmpty(robotTaskDetailDO)
-                        && RobotTaskTypeEnum.CHARGE.getType().equals(robotTaskDetailDO.getTaskType())
-                        && RobotTaskStatusEnum.DOING.getType().equals(robotTaskDetailDO.getTaskStatus())) {
-                    charge++;
-                } else {
-                    standby++;
+            if (ObjectUtil.isEmpty(object)) {
+                //离线
+                offline++;
             }
 
-            } else if (RobotStatusEnum.DOING.getType().equals(v.getRobotStatus())) {
-                inTask++;
-            } else {
+            if (RobotTaskModelEnum.REJECTION.getType().equals(v.getRobotTaskModel())) {
+                //锁定
+                doLock++;
+            }
+            //设置异常
+            String errorLevelKey = RobotTaskChcheConstant.ROBOT_ERROR_LEVEL +v.getMacAddress();
+            Object errorLevel = redisUtil.get(errorLevelKey);
+            if (ObjectUtil.isNotEmpty(errorLevel) && Integer.valueOf(errorLevel.toString()).intValue() >= 3) {
                 fault++;
             }
+
+            if (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())) {
+                //待命中
+                standby++;
+            }else if (RobotStatusEnum.CHARGE.getType().equals(v.getRobotStatus())) {
+                //充电中
+                charge++;
+            }else {
+                //任务中
+                inTask++;
+            }
         }
         info.setStandby(standby);
         info.setInTask(inTask);
@@ -306,6 +307,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
         info.setOffline(offline);
         info.setCharge(charge);
         info.setFault(fault);
+        info.setTotal(existRobot.size());
 
         return info;
     }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskService.java

@@ -8,13 +8,14 @@ import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskPageReq
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskRespVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
+import com.baomidou.mybatisplus.extension.service.IService;
 
 /**
  * 机器人任务主表 Service 接口
  *
  * @author 陈宾顺
  */
-public interface RobotTaskService {
+public interface RobotTaskService extends IService<RobotTaskDO> {
 
     /**
      * 创建机器人任务主表

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java

@@ -2,7 +2,9 @@ package cn.iocoder.yudao.module.system.service.robot;
 
 import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.date.DateUtils;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.mybatis.core.util.MyBatisUtils;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
@@ -19,24 +21,23 @@ import cn.iocoder.yudao.module.system.enums.robot.*;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import cn.iocoder.yudao.module.system.util.redis.RedissonUtils;
 import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.google.common.collect.Lists;
 import lombok.extern.slf4j.Slf4j;
 import org.redisson.api.RLock;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
-import javax.annotation.Resource;
-
 import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
 
-import java.util.*;
+import javax.annotation.Resource;
+import java.util.ArrayList;
+import java.util.HashSet;
+import java.util.List;
+import java.util.Set;
 import java.util.concurrent.TimeUnit;
 import java.util.stream.Collectors;
 
-import cn.iocoder.yudao.framework.common.pojo.PageResult;
-import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
-
-
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception0;
 import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
@@ -49,7 +50,7 @@ import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
 @Slf4j
 @Service
 @Validated
-public class RobotTaskServiceImpl implements RobotTaskService {
+public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskDO> implements RobotTaskService {
 
     private final String RESULT = "SUCCESS";
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnMsgService.java

@@ -7,13 +7,14 @@ import cn.iocoder.yudao.framework.common.pojo.PageParam;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnMsgPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnMsgSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnMsgDO;
+import com.baomidou.mybatisplus.extension.service.IService;
 
 /**
  * 机器人告警信息 Service 接口
  *
  * @author 陈宾顺
  */
-public interface RobotWarnMsgService {
+public interface RobotWarnMsgService extends IService<RobotWarnMsgDO> {
 
     /**
      * 创建机器人告警信息

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnMsgServiceImpl.java

@@ -1,18 +1,16 @@
 package cn.iocoder.yudao.module.system.service.robot;
 
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnMsgPageReqVO;
 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.dal.mysql.robot.RobotWarnMsgMapper;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 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 javax.annotation.Resource;
 
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
 import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.WARN_MSG_NOT_EXISTS;
@@ -24,7 +22,7 @@ import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.WARN_MSG_N
  */
 @Service
 @Validated
-public class RobotWarnMsgServiceImpl implements RobotWarnMsgService {
+public class RobotWarnMsgServiceImpl extends ServiceImpl<RobotWarnMsgMapper, RobotWarnMsgDO> implements RobotWarnMsgService {
 
     @Resource
     private RobotWarnMsgMapper warnMsgMapper;

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java

@@ -11,6 +11,7 @@ import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskData;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.constant.robot.RobotStatusCodeConstant;
 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.dal.dataobject.config.CommonConfigDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
@@ -405,7 +406,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         RobotAcceptTaskDTO robotTaskDO = new RobotAcceptTaskDTO();
         robotTaskDO.setOrder_id(taskDetailDO.getId().toString());
         robotTaskDO.setOrder_type("出库");//未定
-        robotTaskDO.setTopic(RobotTopicEnum.ROBOT_TASK.getTopic()+macAddress);
+        robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC+macAddress);
 
         //1
         RobotAcceptTaskData taskOne = new RobotAcceptTaskData();
@@ -473,7 +474,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         RobotAcceptTaskDTO robotTaskDO = new RobotAcceptTaskDTO();
         robotTaskDO.setOrder_id(taskDetailDO.getId().toString());
         robotTaskDO.setOrder_type("出库");//未定
-        robotTaskDO.setTopic(RobotTopicEnum.ROBOT_TASK.getTopic()+macAddress);
+        robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC+macAddress);
 
         RobotAcceptTaskData taskOne = new RobotAcceptTaskData();
         taskOne.setSerial("1");
@@ -532,7 +533,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         RobotAcceptTaskDTO robotTaskDO = new RobotAcceptTaskDTO();
         robotTaskDO.setOrder_id(taskDetailDO.getId().toString());
         robotTaskDO.setOrder_type("出库");//未定
-        robotTaskDO.setTopic(RobotTopicEnum.ROBOT_TASK.getTopic()+macAddress);
+        robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC+macAddress);
 
         //1
         RobotAcceptTaskData taskOne = new RobotAcceptTaskData();

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapLineMapper.xml

@@ -2,11 +2,358 @@
 <!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.positionmap.PositionMapLineMapper">
 
-    <!--
-        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/
-     -->
+    <resultMap id="BaseResultMap" type="cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO">
+        <!--@Table ware_position_map_line-->
+        <result property="id" column="id" jdbcType="INTEGER"/>
+        <result property="positionMapId" column="position_map_id" jdbcType="INTEGER"/>
+        <result property="startingPointId" column="starting_point_id" jdbcType="INTEGER"/>
+        <result property="endPointId" column="end_point_id" jdbcType="INTEGER"/>
+        <result property="beginControlX" column="begin_control_x" jdbcType="VARCHAR"/>
+        <result property="beginControlY" column="begin_control_y" jdbcType="VARCHAR"/>
+        <result property="endControlX" column="end_control_x" jdbcType="VARCHAR"/>
+        <result property="endControlY" column="end_control_y" jdbcType="VARCHAR"/>
+        <result property="expansionZoneFront" column="expansion_zone_front" jdbcType="NUMERIC"/>
+        <result property="expansionZoneAfter" column="expansion_zone_after" jdbcType="NUMERIC"/>
+        <result property="expansionZoneLeft" column="expansion_zone_left" jdbcType="NUMERIC"/>
+        <result property="expansionZoneRight" column="expansion_zone_right" jdbcType="NUMERIC"/>
+        <result property="method" column="method" jdbcType="INTEGER"/>
+        <result property="direction" column="direction" jdbcType="INTEGER"/>
+        <result property="forwardSpeedLimit" column="forward_speed_limit" jdbcType="NUMERIC"/>
+        <result property="reverseSpeedLimit" column="reverse_speed_limit" jdbcType="NUMERIC"/>
+        <result property="creator" column="creator" jdbcType="VARCHAR"/>
+        <result property="createTime" column="create_time" jdbcType="TIMESTAMP"/>
+        <result property="updater" column="updater" jdbcType="VARCHAR"/>
+        <result property="updateTime" column="update_time" jdbcType="TIMESTAMP"/>
+        <result property="deleted" column="deleted" jdbcType="INTEGER"/>
+        <result property="toward" column="toward" jdbcType="INTEGER"/>
+    </resultMap>
+
+    <!--查询单个-->
+    <select id="queryById" resultMap="BaseResultMap">
+        select
+            id, position_map_id, starting_point_id, end_point_id, begin_control_x, begin_control_y, end_control_x, end_control_y, expansion_zone_front, expansion_zone_after, expansion_zone_left, expansion_zone_right, method, direction, forward_speed_limit, reverse_speed_limit, creator, create_time, updater, update_time, deleted, tenant_id, toward
+        from ware_position_map_line
+        where id = #{id}
+    </select>
+
+    <!--查询指定行数据-->
+    <select id="queryAllByLimit" resultMap="BaseResultMap">
+        select
+        id, position_map_id, starting_point_id, end_point_id, begin_control_x, begin_control_y, end_control_x, end_control_y, expansion_zone_front, expansion_zone_after, expansion_zone_left, expansion_zone_right, method, direction, forward_speed_limit, reverse_speed_limit, creator, create_time, updater, update_time, deleted, tenant_id, toward
+        from ware_position_map_line
+        <where>
+            <if test="id != null">
+                and id = #{id}
+            </if>
+            <if test="positionMapId != null">
+                and position_map_id = #{positionMapId}
+            </if>
+            <if test="startingPointId != null">
+                and starting_point_id = #{startingPointId}
+            </if>
+            <if test="endPointId != null">
+                and end_point_id = #{endPointId}
+            </if>
+            <if test="beginControlX != null and beginControlX != ''">
+                and begin_control_x = #{beginControlX}
+            </if>
+            <if test="beginControlY != null and beginControlY != ''">
+                and begin_control_y = #{beginControlY}
+            </if>
+            <if test="endControlX != null and endControlX != ''">
+                and end_control_x = #{endControlX}
+            </if>
+            <if test="endControlY != null and endControlY != ''">
+                and end_control_y = #{endControlY}
+            </if>
+            <if test="expansionZoneFront != null">
+                and expansion_zone_front = #{expansionZoneFront}
+            </if>
+            <if test="expansionZoneAfter != null">
+                and expansion_zone_after = #{expansionZoneAfter}
+            </if>
+            <if test="expansionZoneLeft != null">
+                and expansion_zone_left = #{expansionZoneLeft}
+            </if>
+            <if test="expansionZoneRight != null">
+                and expansion_zone_right = #{expansionZoneRight}
+            </if>
+            <if test="method != null">
+                and method = #{method}
+            </if>
+            <if test="direction != null">
+                and direction = #{direction}
+            </if>
+            <if test="forwardSpeedLimit != null">
+                and forward_speed_limit = #{forwardSpeedLimit}
+            </if>
+            <if test="reverseSpeedLimit != null">
+                and reverse_speed_limit = #{reverseSpeedLimit}
+            </if>
+            <if test="creator != null and creator != ''">
+                and creator = #{creator}
+            </if>
+            <if test="createTime != null">
+                and create_time = #{createTime}
+            </if>
+            <if test="updater != null and updater != ''">
+                and updater = #{updater}
+            </if>
+            <if test="updateTime != null">
+                and update_time = #{updateTime}
+            </if>
+            <if test="deleted != null">
+                and deleted = #{deleted}
+            </if>
+            <if test="toward != null">
+                and toward = #{toward}
+            </if>
+        </where>
+        limit #{pageable.offset}, #{pageable.pageSize}
+    </select>
+
+    <!--通过实体作为筛选条件查询-->
+    <sql id="base_sql" >
+      id,
+      position_map_id,
+      starting_point_id,
+      end_point_id,
+      begin_control_x,
+      begin_control_y,
+      end_control_x,
+      end_control_y,
+      expansion_zone_front,
+      expansion_zone_after,
+      expansion_zone_left,
+      expansion_zone_right,
+      method,
+      direction,
+      forward_speed_limit,
+      reverse_speed_limit,
+      creator,
+      toward
+    </sql>
+    <!--统计总行数-->
+    <select id="count" resultType="java.lang.Long">
+        select count(1)
+        from ware_position_map_line
+        <where>
+            <if test="id != null">
+                and id = #{id}
+            </if>
+            <if test="positionMapId != null">
+                and position_map_id = #{positionMapId}
+            </if>
+            <if test="startingPointId != null">
+                and starting_point_id = #{startingPointId}
+            </if>
+            <if test="endPointId != null">
+                and end_point_id = #{endPointId}
+            </if>
+            <if test="beginControlX != null and beginControlX != ''">
+                and begin_control_x = #{beginControlX}
+            </if>
+            <if test="beginControlY != null and beginControlY != ''">
+                and begin_control_y = #{beginControlY}
+            </if>
+            <if test="endControlX != null and endControlX != ''">
+                and end_control_x = #{endControlX}
+            </if>
+            <if test="endControlY != null and endControlY != ''">
+                and end_control_y = #{endControlY}
+            </if>
+            <if test="expansionZoneFront != null">
+                and expansion_zone_front = #{expansionZoneFront}
+            </if>
+            <if test="expansionZoneAfter != null">
+                and expansion_zone_after = #{expansionZoneAfter}
+            </if>
+            <if test="expansionZoneLeft != null">
+                and expansion_zone_left = #{expansionZoneLeft}
+            </if>
+            <if test="expansionZoneRight != null">
+                and expansion_zone_right = #{expansionZoneRight}
+            </if>
+            <if test="method != null">
+                and method = #{method}
+            </if>
+            <if test="direction != null">
+                and direction = #{direction}
+            </if>
+            <if test="forwardSpeedLimit != null">
+                and forward_speed_limit = #{forwardSpeedLimit}
+            </if>
+            <if test="reverseSpeedLimit != null">
+                and reverse_speed_limit = #{reverseSpeedLimit}
+            </if>
+            <if test="creator != null and creator != ''">
+                and creator = #{creator}
+            </if>
+            <if test="createTime != null">
+                and create_time = #{createTime}
+            </if>
+            <if test="updater != null and updater != ''">
+                and updater = #{updater}
+            </if>
+            <if test="updateTime != null">
+                and update_time = #{updateTime}
+            </if>
+            <if test="deleted != null">
+                and deleted = #{deleted}
+            </if>
+            <if test="toward != null">
+                and toward = #{toward}
+            </if>
+        </where>
+    </select>
+
+    <select id="getAllPositionMapLine"
+            resultType="cn.iocoder.yudao.module.mqtt.api.path.dto.PositionMapLineDTO">
+        select
+            <include refid="base_sql"></include>
+        from
+            ware_position_map_line
+        <where>
+            <if test="id != null">
+                and id = #{id}
+            </if>
+            <if test="positionMapId != null">
+                and position_map_id = #{positionMapId}
+            </if>
+            <if test="startingPointId != null">
+                and starting_point_id = #{startingPointId}
+            </if>
+            <if test="endPointId != null">
+                and end_point_id = #{endPointId}
+            </if>
+            <if test="beginControlX != null and beginControlX != ''">
+                and begin_control_x = #{beginControlX}
+            </if>
+            <if test="beginControlY != null and beginControlY != ''">
+                and begin_control_y = #{beginControlY}
+            </if>
+            <if test="endControlX != null and endControlX != ''">
+                and end_control_x = #{endControlX}
+            </if>
+            <if test="endControlY != null and endControlY != ''">
+                and end_control_y = #{endControlY}
+            </if>
+            <if test="expansionZoneFront != null">
+                and expansion_zone_front = #{expansionZoneFront}
+            </if>
+            <if test="expansionZoneAfter != null">
+                and expansion_zone_after = #{expansionZoneAfter}
+            </if>
+            <if test="expansionZoneLeft != null">
+                and expansion_zone_left = #{expansionZoneLeft}
+            </if>
+            <if test="expansionZoneRight != null">
+                and expansion_zone_right = #{expansionZoneRight}
+            </if>
+            <if test="method != null">
+                and method = #{method}
+            </if>
+            <if test="direction != null">
+                and direction = #{direction}
+            </if>
+            <if test="forwardSpeedLimit != null">
+                and forward_speed_limit = #{forwardSpeedLimit}
+            </if>
+            <if test="reverseSpeedLimit != null">
+                and reverse_speed_limit = #{reverseSpeedLimit}
+            </if>
+            <if test="creator != null and creator != ''">
+                and creator = #{creator}
+            </if>
+            <if test="createTime != null">
+                and create_time = #{createTime}
+            </if>
+            <if test="updater != null and updater != ''">
+                and updater = #{updater}
+            </if>
+            <if test="updateTime != null">
+                and update_time = #{updateTime}
+            </if>
+            <if test="deleted != null">
+                and deleted = #{deleted}
+            </if>
+            <if test="toward != null">
+                and toward = #{toward}
+            </if>
+        </where>
+    </select>
+
+
+    <!--通过主键修改数据-->
+    <update id="updateBySelect">
+        update ware_position_map_line
+        <set>
+            <if test="positionMapId != null">
+                position_map_id = #{positionMapId},
+            </if>
+            <if test="startingPointId != null">
+                starting_point_id = #{startingPointId},
+            </if>
+            <if test="endPointId != null">
+                end_point_id = #{endPointId},
+            </if>
+            <if test="beginControlX != null and beginControlX != ''">
+                begin_control_x = #{beginControlX},
+            </if>
+            <if test="beginControlY != null and beginControlY != ''">
+                begin_control_y = #{beginControlY},
+            </if>
+            <if test="endControlX != null and endControlX != ''">
+                end_control_x = #{endControlX},
+            </if>
+            <if test="endControlY != null and endControlY != ''">
+                end_control_y = #{endControlY},
+            </if>
+            <if test="expansionZoneFront != null">
+                expansion_zone_front = #{expansionZoneFront},
+            </if>
+            <if test="expansionZoneAfter != null">
+                expansion_zone_after = #{expansionZoneAfter},
+            </if>
+            <if test="expansionZoneLeft != null">
+                expansion_zone_left = #{expansionZoneLeft},
+            </if>
+            <if test="expansionZoneRight != null">
+                expansion_zone_right = #{expansionZoneRight},
+            </if>
+            <if test="method != null">
+                method = #{method},
+            </if>
+            <if test="direction != null">
+                direction = #{direction},
+            </if>
+            <if test="forwardSpeedLimit != null">
+                forward_speed_limit = #{forwardSpeedLimit},
+            </if>
+            <if test="reverseSpeedLimit != null">
+                reverse_speed_limit = #{reverseSpeedLimit},
+            </if>
+            <if test="creator != null and creator != ''">
+                creator = #{creator},
+            </if>
+            <if test="createTime != null">
+                create_time = #{createTime},
+            </if>
+            <if test="updater != null and updater != ''">
+                updater = #{updater},
+            </if>
+            <if test="updateTime != null">
+                update_time = #{updateTime},
+            </if>
+            <if test="deleted != null">
+                deleted = #{deleted},
+            </if>
+            <if test="toward != null">
+                toward = #{toward},
+            </if>
+        </set>
+        where id = #{id}
+    </update>
+
 
 </mapper>