refactor(robot): 重构机器人状态数据处理逻辑

- 引入 RobotStatisticsTypeEnum 枚举类，用于机器人统计类型
- 添加 ArrayList 导入，用于数据处理- 修改 RobotStatusApiImpl 中的数据处理逻辑，优化数据合并和请求处理

yudao-framework/yudao-common/src/main/java/cn/iocoder/yudao/framework/common/enums/NodeTypeEnum.java

@@ -16,7 +16,8 @@ public enum NodeTypeEnum {
     DEVICE(3, "设备点"),
     PARKING(4, "停车点"),
     CHANGE(5, "区域变更点"),
-    WAIT(6, "等待点");
+    WAIT(6, "等待点"),
+    TEXT(7, "文字点");
 
     /**
      * 类型

yudao-framework/yudao-spring-boot-starter-websocket/src/main/java/cn/iocoder/yudao/framework/websocket/core/sender/AbstractWebSocketMessageSender.java

@@ -57,6 +57,12 @@ public abstract class AbstractWebSocketMessageSender implements WebSocketMessage
             WebSocketSession session = sessionManager.getSession(sessionId);
             if (session != null) {
                 sessions = Collections.singletonList(session);
+            } else {
+                // -- 这里用于获取地图的webSocket
+                session = sessionManager.getMapSession(sessionId);
+                if (session != null){
+                    sessions = Collections.singletonList(session);
+                }
             }
         } else if (userType != null && userId != null) {
             sessions = (List<WebSocketSession>) sessionManager.getSessionList(userType, userId);

yudao-framework/yudao-spring-boot-starter-websocket/src/main/java/cn/iocoder/yudao/framework/websocket/core/session/WebSocketSessionManager.java

@@ -33,6 +33,14 @@ public interface WebSocketSessionManager {
      */
     WebSocketSession getSession(String id);
 
+    /**
+     * 根据 地图 楼+"_"+区 获取session
+     *
+     * @param key
+     * @return
+     */
+    WebSocketSession getMapSession(String key);
+
     /**
      * 获得指定用户类型的 Session 列表
      *

yudao-framework/yudao-spring-boot-starter-websocket/src/main/java/cn/iocoder/yudao/framework/websocket/core/session/WebSocketSessionManagerImpl.java

@@ -1,15 +1,14 @@
 package cn.iocoder.yudao.framework.websocket.core.session;
 
 import cn.hutool.core.collection.CollUtil;
+import cn.hutool.http.HttpUtil;
 import cn.iocoder.yudao.framework.security.core.LoginUser;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.framework.websocket.core.util.WebSocketFrameworkUtils;
 import org.springframework.web.socket.WebSocketSession;
 
-import java.util.ArrayList;
+import java.nio.charset.StandardCharsets;
-import java.util.Collection;
+import java.util.*;
-import java.util.LinkedList;
-import java.util.List;
 import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.ConcurrentMap;
 import java.util.concurrent.CopyOnWriteArrayList;
@@ -23,22 +22,37 @@ public class WebSocketSessionManagerImpl implements WebSocketSessionManager {
 
     /**
      * id 与 WebSocketSession 映射
-     *
+     * <p>
      * key：Session 编号
      */
     private final ConcurrentMap<String, WebSocketSession> idSessions = new ConcurrentHashMap<>();
 
     /**
      * user 与 WebSocketSession 映射
-     *
+     * <p>
      * key1：用户类型
      * key2：用户编号
      */
     private final ConcurrentMap<Integer, ConcurrentMap<Long, CopyOnWriteArrayList<WebSocketSession>>> userSessions
             = new ConcurrentHashMap<>();
 
+
+    /**
+     * 地图 与 WebSocketSession 映射
+     * <p>
+     * key：地图地址 楼+'_'+区
+     */
+    private final ConcurrentMap<String, WebSocketSession> mapSessions = new ConcurrentHashMap<>();
+
     @Override
     public void addSession(WebSocketSession session) {
+        // 解析 session Url 中参数
+        Map<String, String> paramMap = HttpUtil.decodeParamMap(String.valueOf(session.getUri()), StandardCharsets.UTF_8);
+        String type = paramMap.get("type");
+        // -- 如果是地图里面过来的
+        if ("map".equals(type)) {
+            mapSessions.put(paramMap.get("floor") + "_" + paramMap.get("area"), session);
+        } else {
             // 添加到 idSessions 中
             idSessions.put(session.getId(), session);
             // 添加到 userSessions 中
@@ -62,9 +76,17 @@ public class WebSocketSessionManagerImpl implements WebSocketSessionManager {
             }
             sessions.add(session);
         }
+    }
 
     @Override
     public void removeSession(WebSocketSession session) {
+        // 解析 session Url 中参数
+        Map<String, String> paramMap = HttpUtil.decodeParamMap(String.valueOf(session.getUri()), StandardCharsets.UTF_8);
+        String type = paramMap.get("type");
+        // -- 如果是地图里面过来的
+        if ("map".equals(type)) {
+            mapSessions.remove(paramMap.get("floor") + "_" + paramMap.get("area"), session);
+        } else {
             // 移除从 idSessions 中
             idSessions.remove(session.getId());
             // 移除从 idSessions 中
@@ -82,12 +104,18 @@ public class WebSocketSessionManagerImpl implements WebSocketSessionManager {
                 userSessionsMap.remove(user.getId(), sessions);
             }
         }
+    }
 
     @Override
     public WebSocketSession getSession(String id) {
         return idSessions.get(id);
     }
 
+    @Override
+    public WebSocketSession getMapSession(String key) {
+        return mapSessions.get(key);
+    }
+
     @Override
     public Collection<WebSocketSession> getSessionList(Integer userType) {
         ConcurrentMap<Long, CopyOnWriteArrayList<WebSocketSession>> userSessionsMap = userSessions.get(userType);

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/FloorZoneDTO.java

@@ -0,0 +1,14 @@
+package cn.iocoder.yudao.module.system.api.robot.dto;
+
+import lombok.Data;
+
+/**
+ * 楼层区域
+ */
+@Data
+public class FloorZoneDTO {
+    //地图所在楼
+    public String floor;
+    //地图所在区
+    public String area;
+}

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataDTO.java

@@ -9,6 +9,11 @@ import java.util.List;
  */
 @Data
 public class RobotStatusDataDTO {
+    /**
+     * 楼层区域
+     */
+    public FloorZoneDTO floor_zone;
+
     /**
      * 机器人位姿
      */

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java

@@ -9,6 +9,7 @@ import lombok.Data;
 public class RobotStatusDataPoseDTO {
     public String y;
     public String x;
+    //弧度
     public String yaw;
     //楼层
     public String floor;

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RequestProcessor.java

@@ -0,0 +1,61 @@
+package cn.iocoder.yudao.module.system.api.robot;
+
+import cn.hutool.core.map.MapUtil;
+import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.PreDestroy;
+import javax.annotation.Resource;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
+
+@Component
+@Slf4j
+public class RequestProcessor {
+    private final ConcurrentHashMap<String, ConcurrentHashMap<String, String>> cache = new ConcurrentHashMap<>();
+    private final ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(1);
+
+    @Resource
+    public WebSocketSenderApi webSocketSenderApi;
+
+    public RequestProcessor() {
+        // 每秒执行一次 - 处理并发送数据 - 避免数据丢失
+        scheduler.scheduleAtFixedRate(this::processAndSend, 1, 1, TimeUnit.SECONDS);
+    }
+
+    public void handleRequest(String map, String mac, String data) {
+        cache.computeIfAbsent(map, k -> new ConcurrentHashMap<>()).put(mac, data);
+    }
+
+
+    private void processAndSend() {
+        Map<String, ConcurrentHashMap<String, String>> snapshot = new ConcurrentHashMap<>(cache); // 创建快照
+        cache.clear(); // 先清理缓存
+        for (Map.Entry<String, ConcurrentHashMap<String, String>> entry : snapshot.entrySet()) {
+            if (!MapUtil.isEmpty(entry.getValue())) {
+                sendData(entry.getKey(), entry.getValue());
+            }
+        }
+    }
+
+    private void sendData(String map, Map<String, String> data) {
+        // -- 发送给对应的websocket
+//        System.out.println("key:" + map + "发送数据：" + data);
+        log.info("key:" + map + "发送数据：" + data);
+        webSocketSenderApi.sendObject(map, "map_push", data);
+    }
+
+    public void shutdown() {
+        scheduler.shutdown();
+    }
+
+    @PreDestroy
+    public void destroy() {
+        // 在Bean销毁前关闭去啊
+        shutdown();
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java

@@ -54,8 +54,12 @@ public class RobotStatusApiImpl implements RobotStatusApi {
     @Value("${zn.robot_error_level_time:30}")
     private Long robotErrorLevelTime;
 
+    @Resource
+    private RequestProcessor processor;
+
     /**
      * 更新机器人点位/异常/能否做任务
+     *
      * @param robotStatusDataDTO
      * @return
      */
@@ -79,10 +83,15 @@ public class RobotStatusApiImpl implements RobotStatusApi {
         robotStatusDataPoseDTO.setX(robotStatusDataDTO.getData().getPose2d().getX());
         robotStatusDataPoseDTO.setY(robotStatusDataDTO.getData().getPose2d().getY());
         robotStatusDataPoseDTO.setYaw(robotStatusDataDTO.getData().getPose2d().getYaw());
-        robotStatusDataPoseDTO.setFloor(robotStatusDataDTO.getData().getPose2d().getFloor());
+        robotStatusDataPoseDTO.setFloor(robotStatusDataDTO.getData().getFloor_zone().getFloor());
-        robotStatusDataPoseDTO.setArea(robotStatusDataDTO.getData().getPose2d().getArea());
+        robotStatusDataPoseDTO.setArea(robotStatusDataDTO.getData().getFloor_zone().getArea());
         redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime);
 
+        // 合并请求 - 这里接受到的数据都丢给 RequestProcessor - 再整合数据通过WebSocket丢给前端
+        processor.handleRequest(robotStatusDataPoseDTO.getFloor() + "_" + robotStatusDataPoseDTO.getArea(),
+                robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(robotStatusDataDTO.getData().getPose2d()));
+
+
         if (ObjectUtil.isNotNull(robotStatusDataDTO.getData().getErr_code())) {
             List<RobotStatusDataErrorDTO> errCode = robotStatusDataDTO.getData().getErr_code();
             String robotNo = robotInformationService.getRobotNoByMac(robotStatusDataDTO.getMac());
@@ -138,5 +147,4 @@ public class RobotStatusApiImpl implements RobotStatusApi {
     }
 
 
-
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/housearea/HouseAreaController.java

@@ -82,8 +82,8 @@ public class HouseAreaController {
     @GetMapping("/getHouseAreaList")
     @Operation(summary = "获得全部库区")
     @PreAuthorize("@ss.hasPermission('ware:house-area:query')")
-    public CommonResult<List<HouseAreaRespVO>> getHouseAreaList() {
+    public CommonResult<List<HouseAreaRespVO>> getHouseAreaList(@RequestParam Long positionMapId) {
-        List<HouseAreaDO> list = houseAreaService.getHouseAreaList();
+        List<HouseAreaDO> list = houseAreaService.getHouseAreaList(positionMapId);
         return success(BeanUtils.toBean(list, HouseAreaRespVO.class));
     }
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/DeviceInformationController.java

@@ -84,7 +84,7 @@ public class DeviceInformationController {
 
     @PostMapping("/mapBindDeviceInfo")
     @Operation(summary = "地图绑定设备")
-    public CommonResult<Boolean> mapBindDeviceInfo(@Valid MapBindDeviceInfoDTO dto) {
+    public CommonResult<Boolean> mapBindDeviceInfo(@Valid @RequestBody MapBindDeviceInfoDTO dto) {
         informationService.mapBindDeviceInfo(dto);
         return success(true);
     }

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

@@ -13,6 +13,7 @@ import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMa
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
 import cn.iocoder.yudao.module.system.handler.mapnode.NodeProcessingContext;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
+import com.baomidou.mybatisplus.core.toolkit.IdWorker;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.Parameter;
 import io.swagger.v3.oas.annotations.tags.Tag;
@@ -43,6 +44,12 @@ public class PositionMapItemController {
     @Resource
     private NodeProcessingContext nodeProcessingContext;
 
+    @GetMapping("/getMapItemId")
+    @Operation(summary = "获取节点id")
+    public CommonResult<String> getMapItemId() {
+        return success(String.valueOf(IdWorker.getId()));
+    }
+
     // -- 前端给所有的节点信息 -
     @PostMapping("/batchSaveOrEditOrDel")
     @Operation(summary = "批量新增编辑删除节点")

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

@@ -2,7 +2,6 @@ package cn.iocoder.yudao.module.system.controller.admin.positionmap;
 
 import cn.iocoder.yudao.framework.common.pojo.CommonResult;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
-import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLineRespVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLineSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO;

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

@@ -1,11 +1,12 @@
 package cn.iocoder.yudao.module.system.controller.admin.positionmap.vo;
 
-import com.alibaba.excel.annotation.ExcelProperty;
-import lombok.*;
-import java.util.*;
-import io.swagger.v3.oas.annotations.media.Schema;
 import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+import lombok.EqualsAndHashCode;
+import lombok.ToString;
 import org.springframework.format.annotation.DateTimeFormat;
+
 import java.time.LocalDateTime;
 
 import static cn.iocoder.yudao.framework.common.util.date.DateUtils.FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND;

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

@@ -1,6 +1,7 @@
 package cn.iocoder.yudao.module.system.controller.admin.positionmap.vo;
 
 import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import com.alibaba.excel.annotation.ExcelProperty;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 import lombok.EqualsAndHashCode;
@@ -27,6 +28,30 @@ public class PositionMapLinePageReqVO extends PageParam {
     @Schema(description = "结束点id(点位子表id)", example = "15890")
     private Long endPointId;
 
+    @Schema(description = "开始控制点x轴", example = "15890")
+    private String beginControlX;
+
+    @Schema(description = "开始控制点y轴", example = "15890")
+    private String beginControlY;
+
+    @Schema(description = "结束控制点x轴", example = "15890")
+    private String endControlX;
+
+    @Schema(description = "结束控制点y轴", example = "15890")
+    private String endControlY;
+
+    @Schema(description = "膨胀区域前", example = "15890")
+    private BigDecimal expansionZoneFront;
+
+    @Schema(description = "膨胀区域后", example = "15890")
+    private BigDecimal expansionZoneAfter;
+
+    @Schema(description = "膨胀区域左", example = "15890")
+    private BigDecimal expansionZoneLeft;
+
+    @Schema(description = "膨胀区域右", example = "15890")
+    private BigDecimal expansionZoneRight;
+
     @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;
 

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

@@ -29,6 +29,38 @@ public class PositionMapLineRespVO {
     @ExcelProperty("结束点id(点位子表id)")
     private Long endPointId;
 
+    @Schema(description = "开始控制点x轴", example = "15890")
+    @ExcelProperty("开始控制点x轴")
+    private String beginControlX;
+
+    @Schema(description = "开始控制点y轴", example = "15890")
+    @ExcelProperty("开始控制点y轴")
+    private String beginControlY;
+
+    @Schema(description = "结束控制点x轴", example = "15890")
+    @ExcelProperty("结束控制点x轴")
+    private String endControlX;
+
+    @Schema(description = "结束控制点y轴", example = "15890")
+    @ExcelProperty("结束控制点y轴")
+    private String endControlY;
+
+    @Schema(description = "膨胀区域前", example = "15890")
+    @ExcelProperty("膨胀区域前")
+    private BigDecimal expansionZoneFront;
+
+    @Schema(description = "膨胀区域后", example = "15890")
+    @ExcelProperty("膨胀区域后")
+    private BigDecimal expansionZoneAfter;
+
+    @Schema(description = "膨胀区域左", example = "15890")
+    @ExcelProperty("膨胀区域左")
+    private BigDecimal expansionZoneLeft;
+
+    @Schema(description = "膨胀区域右", example = "15890")
+    @ExcelProperty("膨胀区域右")
+    private BigDecimal expansionZoneRight;
+
     @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")
     @ExcelProperty("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;

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

@@ -1,5 +1,6 @@
 package cn.iocoder.yudao.module.system.controller.admin.positionmap.vo;
 
+import com.alibaba.excel.annotation.ExcelProperty;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 
@@ -24,6 +25,30 @@ public class PositionMapLineSaveReqVO {
     @Schema(description = "结束点id(点位子表id)", example = "15890")
     private Long endPointId;
 
+    @Schema(description = "开始控制点x轴", example = "15890")
+    private String beginControlX;
+
+    @Schema(description = "开始控制点y轴", example = "15890")
+    private String beginControlY;
+
+    @Schema(description = "结束控制点x轴", example = "15890")
+    private String endControlX;
+
+    @Schema(description = "结束控制点y轴", example = "15890")
+    private String endControlY;
+
+    @Schema(description = "膨胀区域前", example = "15890")
+    private BigDecimal expansionZoneFront;
+
+    @Schema(description = "膨胀区域后", example = "15890")
+    private BigDecimal expansionZoneAfter;
+
+    @Schema(description = "膨胀区域左", example = "15890")
+    private BigDecimal expansionZoneLeft;
+
+    @Schema(description = "膨胀区域右", example = "15890")
+    private BigDecimal expansionZoneRight;
+
     @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;
 

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

@@ -1,32 +1,30 @@
 package cn.iocoder.yudao.module.system.controller.admin.robot;
 
+import cn.iocoder.yudao.framework.apilog.core.annotation.ApiAccessLog;
+import cn.iocoder.yudao.framework.common.pojo.CommonResult;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
-import org.springframework.web.bind.annotation.*;
-import javax.annotation.Resource;
-import org.springframework.validation.annotation.Validated;
-import org.springframework.security.access.prepost.PreAuthorize;
-import io.swagger.v3.oas.annotations.tags.Tag;
-import io.swagger.v3.oas.annotations.Parameter;
 import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.Parameter;
+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.*;
 
-import javax.validation.*;
+import javax.annotation.Resource;
-import javax.servlet.http.*;
+import javax.servlet.http.HttpServletResponse;
-import java.util.*;
+import javax.validation.Valid;
 import java.io.IOException;
+import java.util.List;
 
-import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.EXPORT;
-import cn.iocoder.yudao.framework.common.pojo.PageResult;
-import cn.iocoder.yudao.framework.common.pojo.CommonResult;
-import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
 
-import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils;
-
-import cn.iocoder.yudao.framework.apilog.core.annotation.ApiAccessLog;
-import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.*;
-
 
 @Tag(name = "管理后台 - 车辆信息")
 @RestController

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/sms/SmsCallbackController.java

@@ -6,7 +6,10 @@ import cn.iocoder.yudao.module.system.framework.sms.core.enums.SmsChannelEnum;
 import cn.iocoder.yudao.module.system.service.sms.SmsSendService;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.tags.Tag;
-import org.springframework.web.bind.annotation.*;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
 
 import javax.annotation.Resource;
 import javax.annotation.security.PermitAll;
@@ -30,7 +33,6 @@ public class SmsCallbackController {
         smsSendService.receiveSmsStatus(SmsChannelEnum.ALIYUN.getCode(), text);
         return success(true);
     }
-
     @PostMapping("/tencent")
     @PermitAll
     @Operation(summary = "腾讯云短信的回调", description = "参见 https://cloud.tencent.com/document/product/382/52077 文档")

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

@@ -5,6 +5,7 @@ import com.baomidou.mybatisplus.annotation.IdType;
 import com.baomidou.mybatisplus.annotation.KeySequence;
 import com.baomidou.mybatisplus.annotation.TableId;
 import com.baomidou.mybatisplus.annotation.TableName;
+import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 
 import java.math.BigDecimal;
@@ -41,6 +42,38 @@ public class PositionMapLineDO extends BaseDO {
      * 结束点id(点位子表id)
      */
     private Long endPointId;
+    /**
+     * 开始控制点x轴
+     */
+    private String beginControlX;
+    /**
+     * 开始控制点y轴
+     */
+    private String beginControlY;
+    /**
+     * 结束控制点x轴
+     */
+    private String endControlX;
+    /**
+     * 结束控制点y轴
+     */
+    private String endControlY;
+    /**
+     * 膨胀区域前
+     */
+    private BigDecimal expansionZoneFront;
+    /**
+     * 膨胀区域后
+     */
+    private BigDecimal expansionZoneAfter;
+    /**
+     * 膨胀区域左
+     */
+    private BigDecimal expansionZoneLeft;
+    /**
+     * 膨胀区域右
+     */
+    private BigDecimal expansionZoneRight;
     /**
      * 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
      */

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

@@ -50,6 +50,8 @@ public class NodeProcessingContext {
         strategyMap.put(NodeTypeEnum.CHANGE.getType(), mapNodeStrategyImpl);
         // 等待点
         strategyMap.put(NodeTypeEnum.WAIT.getType(), mapNodeStrategyImpl);
+        // 文字点
+        strategyMap.put(NodeTypeEnum.TEXT.getType(), mapNodeStrategyImpl);
         // todo 可以继续添加更多的策略 - 新增实现即可
     }
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/housearea/HouseAreaService.java

@@ -64,5 +64,5 @@ public interface HouseAreaService {
      * 获得全部库区
      * @return
      */
-    List<HouseAreaDO> getHouseAreaList();
+    List<HouseAreaDO> getHouseAreaList(Long positionMapId);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/housearea/HouseAreaServiceImpl.java

@@ -14,7 +14,6 @@ import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionM
 import cn.iocoder.yudao.module.system.dal.dataobject.housearea.HouseAreaDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotModelDO;
 import cn.iocoder.yudao.module.system.dal.mysql.housearea.HouseAreaMapper;
 import cn.iocoder.yudao.module.system.service.houselocation.HouseLocationService;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
@@ -157,10 +156,10 @@ public class HouseAreaServiceImpl implements HouseAreaService {
     }
 
     @Override
-    public List<HouseAreaDO> getHouseAreaList() {
+    public List<HouseAreaDO> getHouseAreaList(Long positionMapId) {
-        List<HouseAreaDO> list = houseAreaMapper.selectList(new LambdaQueryWrapper<HouseAreaDO>()
+        return houseAreaMapper.selectList(new LambdaQueryWrapper<HouseAreaDO>()
+                .eq(HouseAreaDO::getPositionMapId, positionMapId)
                 .orderByAsc(HouseAreaDO::getId));
-        return list;
     }
 
 }

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

@@ -72,9 +72,11 @@ public class PositionMapItemServiceImpl extends ServiceImpl<PositionMapItemMappe
     public void batchSaveOrEditOrDel(Long positionMapId, List<List<PositionMapItemDO>> list) {
         //批量添加、修改、删除
         if (isNotEmpty(list.get(0))) {
+            list.get(0).forEach(a -> a.setPositionMapId(positionMapId));
             positionMapItemMapper.insertBatch(list.get(0));
         }
         if (isNotEmpty(list.get(1))) {
+            list.get(1).forEach(a -> a.setPositionMapId(positionMapId));
             positionMapItemMapper.updateBatch(list.get(1));
         }
         if (isNotEmpty(list.get(2))) {

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

@@ -1,12 +1,12 @@
 package cn.iocoder.yudao.module.system.service.robot;
 
-import java.util.*;
-import javax.validation.*;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
-import cn.iocoder.yudao.framework.common.pojo.PageParam;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 
+import javax.validation.Valid;
+import java.util.List;
+
 /**
  * 车辆信息 Service 接口
  *
@@ -54,27 +54,30 @@ public interface RobotInformationService {
 
     /**
      * 统计车辆待命/任务中/离线
+     *
      * @return
      */
     RobotInformationStatisticsVO statisticsInformation();
 
     /**
      * 查询能正常使用的车辆
+     *
      * @return
      */
     List<RobotInformationDO> getCanUseRobot();
 
     /**
      * 查询所有车辆
+     *
      * @return
      */
     List<RobotInformationDO> getAllRobot();
 
     /**
      * 查询机器人编号
+     *
      * @param mac
      * @return
      */
     String getRobotNoByMac(String mac);
-
 }

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

@@ -3,6 +3,8 @@ package cn.iocoder.yudao.module.system.service.robot;
 import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.json.JSONUtil;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 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.robot.vo.*;
@@ -19,13 +21,12 @@ import cn.iocoder.yudao.module.system.enums.robot.information.RobotStatisticsTyp
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import org.springframework.stereotype.Service;
-import javax.annotation.Resource;
 import org.springframework.validation.annotation.Validated;
 
-import java.util.*;
+import javax.annotation.Resource;
-import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import java.util.ArrayList;
-import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import java.util.List;
-
+import java.util.Set;
 
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
 import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
@@ -200,6 +201,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
 
     /**
      * 设置状态和信息
+     *
      * @param v
      */
     private void setMsgAndRobotStatus(RobotInformationPageRespVO v) {
@@ -251,6 +253,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
 
     /**
      * 统计车辆待命/任务中/离线
+     *
      * @return
      */
     @Override
@@ -308,7 +311,6 @@ public class RobotInformationServiceImpl implements RobotInformationService {
     }
 
     /**
-     *
      * @return
      */
     @Override
@@ -326,6 +328,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
 
     /**
      * 根据mac查询机器人编号
+     *
      * @param mac
      * @return
      */

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

@@ -58,7 +58,7 @@ spring:
       primary: master
       datasource:
         master:
-          url: jdbc:mysql://47.97.8.94:3306/zn_wcs?useSSL=false&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true&nullCatalogMeansCurrent=true&rewriteBatchedStatements=true # MySQL Connector/J 8.X 连接的示例
+          url: jdbc:mysql://47.97.8.94:3306/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=true&allowPublicKeyRetrieval=true&useUnicode=true&characterEncoding=UTF-8&serverTimezone=Asia/Shanghai&rewriteBatchedStatements=true # MySQL Connector/J 5.X 连接的示例
           #          url: jdbc:postgresql://127.0.0.1:5432/ruoyi-vue-pro # PostgreSQL 连接的示例
           #          url: jdbc:oracle:thin:@127.0.0.1:1521:xe # Oracle 连接的示例
@@ -72,7 +72,7 @@ spring:
         #          password: SYSDBA # DM 连接的示例
         slave: # 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://47.97.8.94:3306/zn_wcs?useSSL=false&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true&nullCatalogMeansCurrent=true&rewriteBatchedStatements=true
+          url: jdbc:mysql://47.97.8.94:3306/zn_wcs?useSSL=false&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true&nullCatalogMeansCurrent=true&rewriteBatchedStatements=true&allowMultiQueries=true
           username: root
           password: yhtkj@2024!