diff --git a/pom.xml b/pom.xml index b202374..32af4e1 100644 --- a/pom.xml +++ b/pom.xml @@ -146,13 +146,21 @@ UTF-8 + + + org.apache.maven.plugins + maven-surefire-plugin + + true + + org.springframework.boot spring-boot-maven-plugin ${spring-boot.version} org.nl.apt15e.Apt15EApplication - true + diff --git a/src/main/java/org/nl/apt15e/Apt15EApplication.java b/src/main/java/org/nl/apt15e/Apt15EApplication.java index 31667dc..a122d26 100644 --- a/src/main/java/org/nl/apt15e/Apt15EApplication.java +++ b/src/main/java/org/nl/apt15e/Apt15EApplication.java @@ -8,6 +8,7 @@ import org.springframework.scheduling.annotation.EnableScheduling; import org.springframework.transaction.annotation.EnableTransactionManagement; import org.springframework.web.bind.annotation.GetMapping; import org.springframework.web.bind.annotation.RestController; +import org.springframework.web.socket.config.annotation.EnableWebSocket; @EnableAsync @EnableScheduling diff --git a/src/main/java/org/nl/apt15e/apt/ext/controller/RcsToAptController.java b/src/main/java/org/nl/apt15e/apt/ext/controller/RcsToAptController.java index fabeb76..9134f72 100644 --- a/src/main/java/org/nl/apt15e/apt/ext/controller/RcsToAptController.java +++ b/src/main/java/org/nl/apt15e/apt/ext/controller/RcsToAptController.java @@ -13,6 +13,8 @@ import org.springframework.web.bind.annotation.RequestBody; import org.springframework.web.bind.annotation.RequestMapping; import org.springframework.web.bind.annotation.RestController; +import java.util.Map; + /** *

* RCS调用APT控制层 diff --git a/src/main/java/org/nl/apt15e/apt/ext/dto/RcsToAptTaskChainPoDto.java b/src/main/java/org/nl/apt15e/apt/ext/dto/RcsToAptTaskChainPoDto.java new file mode 100644 index 0000000..f2857f7 --- /dev/null +++ b/src/main/java/org/nl/apt15e/apt/ext/dto/RcsToAptTaskChainPoDto.java @@ -0,0 +1,42 @@ +package org.nl.apt15e.apt.ext.dto; + +import lombok.Data; + +/** + * @author dsh + * 2025/7/30 + * 任务链信息 + */ +@Data +public class RcsToAptTaskChainPoDto { + + /** + * 车辆 ID + */ + private Long amrId; + + /** + * 任务链开始时间 + */ + private Long startTime; + + /** + * 任务链id + */ + private Long id; + + /** + * 区域 ID + */ + private Long areaId; + + /** + * 任务链创建时间 + */ + private Long createTime; + + /** + * 任务链状态 0未执行 1正在执行 2已完成 3取消 4异常 5跳过 6暂停 + */ + private Integer status; +} diff --git a/src/main/java/org/nl/apt15e/apt/ext/dto/RcsToAptTaskDto.java b/src/main/java/org/nl/apt15e/apt/ext/dto/RcsToAptTaskDto.java index 2e972f0..b9c1108 100644 --- a/src/main/java/org/nl/apt15e/apt/ext/dto/RcsToAptTaskDto.java +++ b/src/main/java/org/nl/apt15e/apt/ext/dto/RcsToAptTaskDto.java @@ -14,76 +14,80 @@ import lombok.Data; @Data public class RcsToAptTaskDto { - /** - * 任务链 ID - */ - private String taskChainId; +// /** +// * 任务链 ID +// */ +// private String taskChainId; +// +// /** +// * 区域 ID +// */ +// private String areaId; +// +// /** +// * 任务创建时间 +// */ +// private String createTime; +// +// /** +// * 任务链开始时间 +// */ +// private String chainStartTime; +// +// /** +// * 任务链结束时间 +// */ +// private String chainFinishTime; +// +// /** +// * 车辆 ID +// */ +// private String amrId; +// +// /** +// * 任务状态 +// * 0-未执行，1-子任务正在执行，2-子任务已完成，3-任务链取消 +// * 4-子任务异常，5-任务链跳过，6-任务链异常，7-任务链完成 +// */ +// private String status; +// +// /** +// * 子任务 ID +// */ +// private String taskId; +// +// /** +// * 小车实际动作类型 +// */ +// private String action; +// +// /** +// * 子任务类型 +// */ +// private String taskType; +// +// /** +// * 目标点编号 +// */ +// private String endPointCode; +// +// /** +// * 地图 id +// */ +// private String mapId; +// +// /** +// * 小车状态 id +// */ +// private String stateId; +// +// /** +// * 小车状态名称 +// */ +// private String state; - /** - * 区域 ID - */ - private String areaId; + private RcsToAptTaskPo taskPo; - /** - * 任务创建时间 - */ - private String createTime; - - /** - * 任务链开始时间 - */ - private String chainStartTime; - - /** - * 任务链结束时间 - */ - private String chainFinishTime; - - /** - * 车辆 ID - */ - private String amrId; - - /** - * 任务状态 - * 0-未执行，1-子任务正在执行，2-子任务已完成，3-任务链取消 - * 4-子任务异常，5-任务链跳过，6-任务链异常，7-任务链完成 - */ - private String status; - - /** - * 子任务 ID - */ - private String taskId; - - /** - * 小车实际动作类型 - */ - private String action; - - /** - * 子任务类型 - */ - private String taskType; - - /** - * 目标点编号 - */ - private String endPointCode; - - /** - * 地图 id - */ - private String mapId; - - /** - * 小车状态 id - */ - private String stateId; - - /** - * 小车状态名称 - */ - private String state; + private RcsToAptTaskChainPoDto taskChainPo; } diff --git a/src/main/java/org/nl/apt15e/apt/ext/dto/RcsToAptTaskPo.java b/src/main/java/org/nl/apt15e/apt/ext/dto/RcsToAptTaskPo.java new file mode 100644 index 0000000..0e70580 --- /dev/null +++ b/src/main/java/org/nl/apt15e/apt/ext/dto/RcsToAptTaskPo.java @@ -0,0 +1,54 @@ +package org.nl.apt15e.apt.ext.dto; + +import lombok.Data; + +/** + * @author dsh + * 2025/7/30 + * 单任务信息 + */ +@Data +public class RcsToAptTaskPo { + + /** + * 动作类型 O0 移动任务 O12 直接上料任务 O13 直接下料任务 + */ + private String taskType; + + /** + * 小车实际动作类型 + */ + private Integer action; + + /** + * 开始时间 + */ + private Long startTime; + + /** + * 任务编号 + */ + private Integer id; + + /** + * 完成时间 + */ + private Long finishTime; + + /** + * 目标点编号 + */ + private String endPointCode; + + /** + * 地图 id + */ + private Long mapId; + + /** + * 任务状态 + * 0-未执行，1-子任务正在执行，2-子任务已完成，3-任务链取消 + * 4-子任务异常，5-任务链跳过，6-任务链异常，7-任务链完成 + */ + private Integer status; +} diff --git a/src/main/java/org/nl/apt15e/apt/ext/enums/RcsTaskChainStatus.java b/src/main/java/org/nl/apt15e/apt/ext/enums/RcsTaskChainStatus.java new file mode 100644 index 0000000..5454a16 --- /dev/null +++ b/src/main/java/org/nl/apt15e/apt/ext/enums/RcsTaskChainStatus.java @@ -0,0 +1,52 @@ +package org.nl.apt15e.apt.ext.enums; + +import lombok.Data; +import lombok.Getter; + +/** + * @author dsh + * 2025/7/30 + */ +@Getter +public enum RcsTaskChainStatus { + /** + * 未执行 + */ + CREATE("0", "未执行", "未执行"), + /** + * 正在执行 + */ + EXECUTING("1", "正在执行", "正在执行"), + /** + * 已完成 + */ + FINISHED("2", "已完成", "已完成"), + /** + * 取消 + */ + CANCELED("3", "取消", "取消"), + /** + * 异常 + */ + UNUSUAL("4", "异常", "异常"), + /** + * 任务链跳过 + */ + SKIP("5", "跳过", "跳过"), + /** + * 暂停 + */ + PAUSED("6", "暂停", "暂停") + ; + + + RcsTaskChainStatus(String code, String name, String desc) { + this.code = code; + this.name = name; + this.desc = desc; + } + + private final String code; + private final String name; + private final String desc; +} diff --git a/src/main/java/org/nl/apt15e/apt/ext/service/impl/RcsToAptServiceImpl.java b/src/main/java/org/nl/apt15e/apt/ext/service/impl/RcsToAptServiceImpl.java index 45adc6d..7ce811d 100644 --- a/src/main/java/org/nl/apt15e/apt/ext/service/impl/RcsToAptServiceImpl.java +++ b/src/main/java/org/nl/apt15e/apt/ext/service/impl/RcsToAptServiceImpl.java @@ -2,9 +2,13 @@ package org.nl.apt15e.apt.ext.service.impl; import cn.hutool.core.util.ObjectUtil; import com.alibaba.fastjson.JSONObject; +import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper; import lombok.extern.slf4j.Slf4j; +import org.nl.apt15e.apt.ext.dto.RcsToAptTaskChainPoDto; import org.nl.apt15e.apt.ext.dto.RcsToAptTaskDto; +import org.nl.apt15e.apt.ext.dto.RcsToAptTaskPo; +import org.nl.apt15e.apt.ext.enums.RcsTaskChainStatus; import org.nl.apt15e.apt.ext.enums.RcsTaskStatus; import org.nl.apt15e.apt.ext.service.RcsToAptService; import org.nl.apt15e.apt.station.dao.Station; @@ -43,31 +47,44 @@ public class RcsToAptServiceImpl implements RcsToAptService { public JSONObject reportTaskInfo(RcsToAptTaskDto dto) { log.info("RCS上报任务信息输入参数{}", dto.toString()); JSONObject result = new JSONObject(); + RcsToAptTaskPo rcsToAptTaskPo = dto.getTaskPo(); + RcsToAptTaskChainPoDto rcsToAptTaskChainPoDto = dto.getTaskChainPo(); Task task = iTaskService.getOne( new QueryWrapper().lambda() - .eq(Task::getTask_id, dto.getTaskChainId()) + .eq(Task::getTask_id, rcsToAptTaskChainPoDto.getId().toString()) ); if (ObjectUtil.isEmpty(task)) { result.put("receive", "1"); - result.put("message", "任务不存在!【"+dto.getTaskChainId()+"】"); + result.put("message", "任务不存在!【"+rcsToAptTaskChainPoDto.getId()+"】"); log.info("RCS上报任务信息输出参数{}", result.toString()); return result; } // 更新任务状态 - String status = dto.getStatus(); - if (status.equals(RcsTaskStatus.SON_EXECUTING.getCode()) || status.equals(RcsTaskStatus.SON_FINISHED.getCode())) { - task.setTask_status(TaskStatus.EXECUTING.getCode()); - } else if (status.equals(RcsTaskStatus.TASK_FINISHED.getCode())) { + String taskChainPoStatus = rcsToAptTaskChainPoDto.getStatus().toString(); +// if (taskPoStatus.equals(RcsTaskStatus.SON_EXECUTING.getCode()) || taskPoStatus.equals(RcsTaskStatus.SON_FINISHED.getCode())) { +// task.setTask_status(TaskStatus.EXECUTING.getCode()); +// } else if (taskChainPoStatus.equals(RcsTaskStatus.TASK_FINISHED.getCode())) { +// task.setTask_status(TaskStatus.FINISHED.getCode()); +// } + if (RcsTaskChainStatus.FINISHED.getCode().equals(taskChainPoStatus)) { task.setTask_status(TaskStatus.FINISHED.getCode()); + } else if (RcsTaskChainStatus.EXECUTING.getCode().equals(taskChainPoStatus)) { + task.setTask_status(TaskStatus.EXECUTING.getCode()); + } else if (RcsTaskChainStatus.CANCELED.getCode().equals(taskChainPoStatus)) { + task.setTask_status(TaskStatus.CANCELED.getCode()); } // 更新当前执行点位 - String endPointCode = dto.getEndPointCode(); - if (ObjectUtil.isNotEmpty(endPointCode)) { - Station staDao = stationService.getById(endPointCode); - task.setTask_point(staDao.getStation_name()); + if (ObjectUtil.isNotEmpty(rcsToAptTaskPo)){ + String endPointCode = rcsToAptTaskPo.getEndPointCode(); + if (ObjectUtil.isNotEmpty(endPointCode)) { + Station staDao = stationService.getOne(new LambdaQueryWrapper<>(Station.class) + .eq(Station::getStation_code, endPointCode)); + task.setTask_point(staDao.getStation_name()); + } } + iTaskService.updateById(task); result.put("receive", "1"); diff --git a/src/main/java/org/nl/apt15e/apt/map/dto/PointCloudDataDto.java b/src/main/java/org/nl/apt15e/apt/map/dto/PointCloudDataDto.java new file mode 100644 index 0000000..233988e --- /dev/null +++ b/src/main/java/org/nl/apt15e/apt/map/dto/PointCloudDataDto.java @@ -0,0 +1,26 @@ +package org.nl.apt15e.apt.map.dto; + +import lombok.Data; + +/** + * @author dsh + * 2025/7/25 + */ +@Data +public class PointCloudDataDto { + + /** + * 点云x坐标 + */ + private double x; + + /** + * 点云y坐标 + */ + private double y; + + /** + * 点云强度 + */ + private double intensity; +} diff --git a/src/main/java/org/nl/apt15e/apt/task/service/impl/TaskServiceImpl.java b/src/main/java/org/nl/apt15e/apt/task/service/impl/TaskServiceImpl.java index a63894f..737b05f 100644 --- a/src/main/java/org/nl/apt15e/apt/task/service/impl/TaskServiceImpl.java +++ b/src/main/java/org/nl/apt15e/apt/task/service/impl/TaskServiceImpl.java @@ -39,6 +39,8 @@ public class TaskServiceImpl extends ServiceImpl implements IT JSONObject taskChain = new JSONObject(); taskChain.put("areaId", vehicleInfo.getAreaId()); taskChain.put("amrId", vehicleInfo.getId()); + // 1需要RCS回传,0不需要回传 + taskChain.put("isReturn", 1); result.put("taskChain",taskChain); // 组织站点信息 diff --git a/src/main/java/org/nl/apt15e/apt/teaching/rest/TeachingController.java b/src/main/java/org/nl/apt15e/apt/teaching/rest/TeachingController.java index 6c4a43e..c7d44a4 100644 --- a/src/main/java/org/nl/apt15e/apt/teaching/rest/TeachingController.java +++ b/src/main/java/org/nl/apt15e/apt/teaching/rest/TeachingController.java @@ -37,8 +37,8 @@ public class TeachingController { } @PostMapping("/setStation") - private ResponseEntity setStation(@RequestParam("stationName") String stationName) { - return new ResponseEntity<>(teachingService.setStation(stationName), HttpStatus.OK); + private ResponseEntity setStation(@RequestParam("stationName") String stationName,@RequestParam("stationCode") String stationCode) { + return new ResponseEntity<>(teachingService.setStation(stationName,stationCode), HttpStatus.OK); } @PostMapping("/deployRunMap") @@ -63,10 +63,10 @@ public class TeachingController { return new ResponseEntity<>(teachingService.getRunMapZip(mapName), HttpStatus.OK); } - @PostMapping("/synchronizeMap") - private ResponseEntity synchronizeMap(@RequestParam("mapName") String mapName) { - return new ResponseEntity<>(teachingService.synchronizeMap(mapName), HttpStatus.OK); - } +// @PostMapping("/synchronizeMap") +// private ResponseEntity synchronizeMap(@RequestParam("mapName") String mapName) { +// return new ResponseEntity<>(teachingService.synchronizeMap(mapName), HttpStatus.OK); +// } @PostMapping("/restart") private ResponseEntity restart() { @@ -87,4 +87,19 @@ public class TeachingController { private ResponseEntity abandonMapping() { return new ResponseEntity<>(teachingService.abandonMapping(),HttpStatus.OK); } + + @PostMapping("/startManual") + private ResponseEntity startManual() { + return new ResponseEntity<>(teachingService.startManual(), HttpStatus.OK); + } + + @PostMapping("/stopManual") + private ResponseEntity stopManual() { + return new ResponseEntity<>(teachingService.stopManual(), HttpStatus.OK); + } + + @PostMapping("/getMappingStatus") + private ResponseEntity getMappingStatus() { + return new ResponseEntity<>(teachingService.getMappingStatus(), HttpStatus.OK); + } } diff --git a/src/main/java/org/nl/apt15e/apt/teaching/service/TeachingService.java b/src/main/java/org/nl/apt15e/apt/teaching/service/TeachingService.java index ac56596..76be873 100644 --- a/src/main/java/org/nl/apt15e/apt/teaching/service/TeachingService.java +++ b/src/main/java/org/nl/apt15e/apt/teaching/service/TeachingService.java @@ -17,12 +17,12 @@ public interface TeachingService { Map startMapping(String mapName); /** - * 切手动 + * 切软手动,可远程控制 */ Map startManual(); /** - * 切自动 + * 停止软手动，关闭远程控制 */ Map stopManual(); @@ -34,7 +34,7 @@ public interface TeachingService { /** * 建图过程中设置站点 */ - Map setStation(String stationName); + Map setStation(String stationName,String stationCode); /** * 获取后台地图列表 @@ -65,7 +65,7 @@ public interface TeachingService { /** * 同步地图到调度 */ - Map synchronizeMap(String mapName); + Map synchronizeMap(String mapName, byte[] zipFile); /** * 重定位 @@ -92,4 +92,9 @@ public interface TeachingService { * @return */ Map abandonMapping(); + + /** + * 获取后台地图列表 + */ + Map getMappingStatus(); } diff --git a/src/main/java/org/nl/apt15e/apt/teaching/service/impl/TeachingServiceImpl.java b/src/main/java/org/nl/apt15e/apt/teaching/service/impl/TeachingServiceImpl.java index 047c802..198b063 100644 --- a/src/main/java/org/nl/apt15e/apt/teaching/service/impl/TeachingServiceImpl.java +++ b/src/main/java/org/nl/apt15e/apt/teaching/service/impl/TeachingServiceImpl.java @@ -16,15 +16,20 @@ import org.nl.apt15e.apt.teaching.service.TeachingService; import org.nl.apt15e.apt.vehicle.ProcessZip; import org.nl.apt15e.apt.vehicle.service.impl.VehicleInfoServiceImpl; import org.nl.apt15e.common.BadRequestException; +import org.nl.apt15e.config.thread.ProtobufWebSocketHandler; import org.nl.apt15e.util.HTTPUtil; +import org.nl.apt15e.util.URLConstant; import org.springframework.stereotype.Service; import javax.annotation.Resource; import java.io.File; import java.util.Collections; +import java.util.HashMap; import java.util.Map; import java.util.stream.IntStream; +import static org.nl.apt15e.util.URLConstant.RCS_IP_PORT; + /** * @author dsh * 2025/7/3 @@ -39,16 +44,28 @@ public class TeachingServiceImpl implements TeachingService { @Resource private StationService stationService; + /** + * 建图状态和进度条 + */ + public static Map teachingMappingStatus = new HashMap<>(); + + /** + * 打点 站点编号:站点名称 + */ + public static Map teachingStationMap = new HashMap<>(); + @Override public Map startMapping(String mapName) { if (StrUtil.isBlank(mapName)){ throw new BadRequestException("mapName is empty"); } + // 开始建图时清除一下 打点记录 + teachingStationMap.clear(); JSONObject params = new JSONObject(); params.put("name", mapName); HttpResponse response = null; try { - response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/startMapping", params); + response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/startMapping", params); } catch (Exception e) { log.info("访问车体开始建图接口报错:{}",e.getMessage()); throw new BadRequestException("开始建图失败"); @@ -59,7 +76,7 @@ public class TeachingServiceImpl implements TeachingService { JSONObject body = JSON.parseObject(response.body()); log.info("开始建图:{}",body); if ("200".equals(body.getString("code"))){ - body =(JSONObject) this.startManual(); +// body =(JSONObject) this.startManual(); body.put("message","开始建图成功"); return body; } @@ -73,7 +90,7 @@ public class TeachingServiceImpl implements TeachingService { public Map startManual() { HttpResponse response = null; try { - response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/startManual", new JSONObject()); + response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/startManual", new JSONObject()); } catch (Exception e) { log.info("访问车体切手动接口报错:{}",e.getMessage()); throw new BadRequestException("切手动失败"); @@ -96,7 +113,7 @@ public class TeachingServiceImpl implements TeachingService { public Map stopManual() { HttpResponse response = null; try { - response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/stopManual", new JSONObject()); + response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/stopManual", new JSONObject()); } catch (Exception e) { log.info("访问车体切自动接口报错:{}",e.getMessage()); throw new BadRequestException("切自动失败"); @@ -119,7 +136,7 @@ public class TeachingServiceImpl implements TeachingService { public Map stopMapping() { HttpResponse response = null; try { - response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/stopMapping", new JSONObject()); + response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/stopMapping", new JSONObject()); } catch (Exception e) { log.info("访问车体结束建图接口报错:{}",e.getMessage()); throw new BadRequestException("结束建图失败"); @@ -130,7 +147,7 @@ public class TeachingServiceImpl implements TeachingService { JSONObject body = JSON.parseObject(response.body()); log.info("结束建图:{}",body); if ("200".equals(body.getString("code"))){ - body =(JSONObject) this.stopManual(); +// body =(JSONObject) this.stopManual(); body.put("message","结束建图成功"); return body; } @@ -140,15 +157,17 @@ public class TeachingServiceImpl implements TeachingService { } @Override - public Map setStation(String stationName) { - if (StrUtil.isBlank(stationName)){ + public Map setStation(String stationName,String stationCode) { + if (StrUtil.isBlank(stationCode) || StrUtil.isBlank(stationName)){ throw new BadRequestException("spotCode is empty"); } + // 记录打点时站点数据 + teachingStationMap.put(stationCode,stationName); JSONObject params = new JSONObject(); - params.put("spotCode", stationName); + params.put("spotCode", stationCode); HttpResponse response = null; try { - response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/setStates", params); + response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/setStates", params); } catch (Exception e) { log.info("访问车体设置站点接口报错:{}",e.getMessage()); throw new BadRequestException("设置站点失败"); @@ -171,7 +190,7 @@ public class TeachingServiceImpl implements TeachingService { public JSONObject getLocalMaps() { HttpResponse response = null; try { - response = HTTPUtil.get("http://192.168.100.82:9998","/tool/editor/getLocalMaps", new JSONObject()); + response = HTTPUtil.get(URLConstant.VEHICLE_IP_PORT,"/tool/editor/getLocalMaps", new JSONObject()); } catch (Exception e) { log.info("访问车体地图列表接口报错:{}",e.getMessage()); throw new BadRequestException("获取地图列表失败"); @@ -199,7 +218,7 @@ public class TeachingServiceImpl implements TeachingService { params.put("id", mapName); HttpResponse response = null; try { - response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/deployRunMap", params); + response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/deployRunMap", params); } catch (Exception e) { log.info("访问车体部署地图接口报错:{}",e.getMessage()); throw new BadRequestException("部署地图失败"); @@ -227,7 +246,7 @@ public class TeachingServiceImpl implements TeachingService { params.put("name", mapName); HttpResponse response = null; try { - response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/changeCurrentRunMap", params); + response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/changeCurrentRunMap", params); } catch (Exception e) { log.info("访问车体应用地图接口报错:{}",e.getMessage()); throw new BadRequestException("应用地图失败"); @@ -255,7 +274,7 @@ public class TeachingServiceImpl implements TeachingService { params.put("name", mapName); HttpResponse response = null; try { - response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/getRunMapZip", params); + response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/getRunMapZip", params); } catch (Exception e) { log.info("访问车体地图包接口报错:{}",e.getMessage()); throw new BadRequestException("获取地图包失败"); @@ -275,12 +294,11 @@ public class TeachingServiceImpl implements TeachingService { } @Override - public Map synchronizeMap(String mapName) { - byte[] zipFile = this.getRunMapZip(mapName); + public Map synchronizeMap(String mapName,byte[] zipFile) { HttpResponse response = null; try { - response = HttpRequest.post("http://192.168.100.82:8081/map/uploadFile") + response = HttpRequest.post(URLConstant.RCS_IP_PORT+"/map/uploadFile") .setConnectionTimeout(3000) .setReadTimeout(3000) .header("token", "admin123") @@ -325,7 +343,7 @@ public class TeachingServiceImpl implements TeachingService { log.info(params.getString("angle")); HttpResponse response = null; try { - response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/relocate", params); + response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/relocate", params); } catch (Exception e) { log.info("访问车体重定位接口报错:{}",e.getMessage()); throw new BadRequestException("重定位指令下发失败"); @@ -348,7 +366,7 @@ public class TeachingServiceImpl implements TeachingService { public Map restart() { HttpResponse response = null; try { - response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/restart", new JSONObject()); + response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/restart", new JSONObject()); } catch (Exception e) { log.info("访问车体程序重启接口报错:{}",e.getMessage()); throw new BadRequestException("车体程序重启失败"); @@ -373,42 +391,35 @@ public class TeachingServiceImpl implements TeachingService { throw new BadRequestException("mapName is empty"); } JSONObject response = new JSONObject(); + // 获取地图列表 + this.getLocalMaps(); + // 解析地图数据 + byte[] zipFile = this.getRunMapZip(mapName); // 部署地图 this.deployRunMap(mapName); // 应用地图 this.changeCurrentRunMap(mapName); // 解析地图包并同步到调度 - this.synchronizeMap(mapName); + this.synchronizeMap(mapName,zipFile); // 重启本体程序 this.restart(); // 重定位，需要等待一会 - try { - Thread.sleep(5000); - } catch (InterruptedException e) { - throw new RuntimeException(e); + while (!"1".equals(VehicleInfoServiceImpl.vehicleInfo.getReady())){ + log.info("建图 重启本体程序中,还未接收到本体重启信号"); + try { + Thread.sleep(1000); + } catch (InterruptedException e) { + throw new RuntimeException(e); + } } + log.info("接收到本体重启信号，发送重定位指令"); Station station = stationService.getOne(new LambdaQueryWrapper<>(Station.class) .eq(Station::getStation_code,"C") ); this.relocate(station.getX(),station.getY(),station.getAngle()); response.put("code", 200); response.put("message", "部署成功"); -// try { -// Thread.sleep(10000); -// } catch (InterruptedException e) { -// throw new RuntimeException(e); -// } -// Station station = stationService.getOne(new LambdaQueryWrapper<>(Station.class) -// .eq(Station::getStation_code,"C") -// ); -// log.info("station:{}",station); -// response = (JSONObject) this.relocate(station.getX(), station.getY(), station.getAngle()); -// if (response.getIntValue("code") != 200){ -// response.put("code", response.getIntValue("code")); -// response.put("message","重定位失败"); -// return response; -// } return response; } @@ -423,7 +434,7 @@ public class TeachingServiceImpl implements TeachingService { params.put("attach", JSON.parseObject(attach)); HttpResponse response = null; try { - response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/sendCMD", params); + response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/sendCMD", params); } catch (Exception e) { log.info("访问车体放弃示教建图接口报错:{}",e.getMessage()); throw new BadRequestException("车体放弃示教建图失败"); @@ -441,4 +452,9 @@ public class TeachingServiceImpl implements TeachingService { log.info("放弃示教建图失败"); throw new BadRequestException("放弃示教建图失败"); } + + @Override + public Map getMappingStatus() { + return teachingMappingStatus; + } } diff --git a/src/main/java/org/nl/apt15e/apt/vehicle/ProcessZip.java b/src/main/java/org/nl/apt15e/apt/vehicle/ProcessZip.java index a86b773..7d779bb 100644 --- a/src/main/java/org/nl/apt15e/apt/vehicle/ProcessZip.java +++ b/src/main/java/org/nl/apt15e/apt/vehicle/ProcessZip.java @@ -1,6 +1,7 @@ package org.nl.apt15e.apt.vehicle; import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import lombok.extern.slf4j.Slf4j; import org.nl.apt15e.apt.map.dao.MapInfo; @@ -12,6 +13,7 @@ import org.nl.apt15e.apt.station.StationTypeEnum; import org.nl.apt15e.apt.station.dao.Station; import org.nl.apt15e.apt.station.service.StationService; import org.nl.apt15e.apt.station.service.impl.StationServiceImpl; +import org.nl.apt15e.apt.teaching.service.impl.TeachingServiceImpl; import org.nl.apt15e.common.BadRequestException; import org.nl.apt15e.config.file.FileProperties; import org.springframework.beans.factory.annotation.Autowired; @@ -64,7 +66,7 @@ public class ProcessZip { MapInfo mapInfo = new MapInfo(); - //存储之前先清除站点表中数据和路径表中的数据 + //存储之前先清除站点表、路径表、地图信息表的数据 stationService.remove(new LambdaQueryWrapper<>()); routeInfoService.remove(new LambdaQueryWrapper<>()); mapInfoService.remove(new LambdaQueryWrapper<>()); @@ -269,8 +271,21 @@ public class ProcessZip { System.out.printf("行号 %d - 有效点位数据: %s%n", lineNumber, Arrays.toString(processData)); Station station = new Station(); station.setStation_id(Integer.valueOf(processData[1])); + String stationName = ""; + if ("A".equals(processData[2])){ + stationName = "起点"; + }else if ("C".equals(processData[2])){ + stationName = "终点"; + }else { + // 判断是否存在打点记录里 + if (TeachingServiceImpl.teachingStationMap.containsKey(processData[2])){ + stationName = TeachingServiceImpl.teachingStationMap.get(processData[2]); + }else { + stationName = processData[2]; + } + } station.setStation_code(processData[2]); - station.setStation_name(processData[2]); + station.setStation_name(stationName); station.setX(Double.valueOf(processData[5])); station.setY(Double.valueOf(processData[6])); station.setAngle(Double.valueOf(processData[7])); diff --git a/src/main/java/org/nl/apt15e/apt/vehicle/dao/VehicleInfo.java b/src/main/java/org/nl/apt15e/apt/vehicle/dao/VehicleInfo.java index 3b00bdf..1718641 100644 --- a/src/main/java/org/nl/apt15e/apt/vehicle/dao/VehicleInfo.java +++ b/src/main/java/org/nl/apt15e/apt/vehicle/dao/VehicleInfo.java @@ -55,7 +55,7 @@ public class VehicleInfo implements Serializable { /** * 电量 */ - private Double batteryPower; + private Integer batteryPower; /** * 异常信息 @@ -65,20 +65,35 @@ public class VehicleInfo implements Serializable { /** * 车辆x坐标 */ - private Double x; + private double x; /** * 车辆y坐标 */ - private Double y; + private double y; /** * 车辆角度 */ - private Double theta; + private double theta; /** * 是否是手动模式 */ private Boolean isManual; + + /** + * 车辆当前执行的任务链 + */ + private String task_seq; + + /** + * 车辆任务链中当前点位 + */ + private String task_point; + + /** + * 是否重启完成 1重启完成 + */ + private String ready; } diff --git a/src/main/java/org/nl/apt15e/apt/vehicle/rest/VehicleInfoController.java b/src/main/java/org/nl/apt15e/apt/vehicle/rest/VehicleInfoController.java index 2e236f5..9be8f47 100644 --- a/src/main/java/org/nl/apt15e/apt/vehicle/rest/VehicleInfoController.java +++ b/src/main/java/org/nl/apt15e/apt/vehicle/rest/VehicleInfoController.java @@ -27,4 +27,10 @@ public class VehicleInfoController { public VehicleInfo getVehicleInfo() { return vehicleInfoService.getVehicleInfo(); } + + @GetMapping("/rebootVehicle") + @Log("重启车辆系统") + public void rebootVehicle() { + vehicleInfoService.rebootVehicle(); + } } diff --git a/src/main/java/org/nl/apt15e/apt/vehicle/service/VehicleInfoService.java b/src/main/java/org/nl/apt15e/apt/vehicle/service/VehicleInfoService.java index 5329cbf..72d1c62 100644 --- a/src/main/java/org/nl/apt15e/apt/vehicle/service/VehicleInfoService.java +++ b/src/main/java/org/nl/apt15e/apt/vehicle/service/VehicleInfoService.java @@ -12,4 +12,6 @@ public interface VehicleInfoService { void setVehicleInfo(VehicleInfo vehicleInfo); + void rebootVehicle(); + } diff --git a/src/main/java/org/nl/apt15e/apt/vehicle/service/impl/VehicleInfoServiceImpl.java b/src/main/java/org/nl/apt15e/apt/vehicle/service/impl/VehicleInfoServiceImpl.java index 04b14bd..1282359 100644 --- a/src/main/java/org/nl/apt15e/apt/vehicle/service/impl/VehicleInfoServiceImpl.java +++ b/src/main/java/org/nl/apt15e/apt/vehicle/service/impl/VehicleInfoServiceImpl.java @@ -1,22 +1,36 @@ package org.nl.apt15e.apt.vehicle.service.impl; +import cn.hutool.core.util.ObjectUtil; import cn.hutool.http.HttpResponse; import com.alibaba.fastjson.JSONArray; import com.alibaba.fastjson.JSONObject; +import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; +import comm_protocol.Robottype; import lombok.extern.slf4j.Slf4j; +import org.nl.apt15e.apt.map.dto.PointCloudDataDto; +import org.nl.apt15e.apt.task.enums.TaskStatus; +import org.nl.apt15e.apt.task.service.ITaskService; +import org.nl.apt15e.apt.task.service.dao.Task; +import org.nl.apt15e.apt.task.service.dao.mapper.TaskMapper; +import org.nl.apt15e.apt.task.service.impl.TaskServiceImpl; import org.nl.apt15e.apt.vehicle.dao.VehicleException; import org.nl.apt15e.apt.vehicle.dao.VehicleInfo; import org.nl.apt15e.apt.vehicle.service.VehicleInfoService; +import org.nl.apt15e.apt.websocket.WebSocketPointCloudDataServer; import org.nl.apt15e.apt.websocket.WebSocketVehicleServer; +import org.nl.apt15e.common.BadRequestException; +import org.nl.apt15e.system.enums.ParamCodeConstant; +import org.nl.apt15e.system.service.ParamService; import org.nl.apt15e.util.HTTPUtil; +import org.nl.apt15e.util.URLConstant; +import org.springframework.beans.factory.annotation.Autowired; import org.springframework.scheduling.TaskScheduler; import org.springframework.scheduling.annotation.Async; import org.springframework.stereotype.Service; import javax.annotation.PostConstruct; import javax.annotation.Resource; -import java.util.HashMap; -import java.util.Map; +import java.util.*; import java.util.concurrent.CopyOnWriteArraySet; /** @@ -30,8 +44,16 @@ public class VehicleInfoServiceImpl implements VehicleInfoService { @Resource private TaskScheduler scheduler; + @Resource + private TaskMapper taskMapper; + + @Resource + private ParamService paramService; + public static VehicleInfo vehicleInfo = new VehicleInfo(); + public static Set pointCloudData = new HashSet<>(); + @Override public VehicleInfo getVehicleInfo() { return vehicleInfo; @@ -42,11 +64,22 @@ public class VehicleInfoServiceImpl implements VehicleInfoService { } + @Override + public void rebootVehicle() { + HttpResponse response = null; + try { + response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/reboot", new JSONObject()); + } catch (Exception e) { + log.info("重启系统失败:{}",e.getMessage()); + throw new BadRequestException("重启系统失败"); + } + } + @Async("asynchronousTasks") public void queryVehicleInfo() { HttpResponse response = null; try { - response = HTTPUtil.get("http://192.168.100.82:8081","/amr/onlineAmr",null); + response = HTTPUtil.get(URLConstant.RCS_IP_PORT,"/amr/onlineAmr",null); // 检查响应状态码 if (response!=null && response.isOk()) { // 获取响应体内容 @@ -86,6 +119,14 @@ public class VehicleInfoServiceImpl implements VehicleInfoService { CopyOnWriteArraySet webSocketSet = WebSocketVehicleServer.getWebSocketSet(); if (webSocketSet.size() > 0) { + Task task = taskMapper.selectOne(new LambdaQueryWrapper<>(Task.class).eq(Task::getTask_status, TaskStatus.CREATE.getCode()).or().eq(Task::getTask_status, TaskStatus.EXECUTING.getCode())); + if (ObjectUtil.isNotEmpty(task)){ + vehicleInfo.setTask_seq(task.getTask_seq()); + vehicleInfo.setTask_point(task.getTask_point()); + }else { + vehicleInfo.setTask_seq(""); + vehicleInfo.setTask_point(""); + } webSocketSet.forEach(c -> { Map vehicleInfoMap = new HashMap<>(); vehicleInfoMap.put("data", vehicleInfo); @@ -94,9 +135,26 @@ public class VehicleInfoServiceImpl implements VehicleInfoService { } } + @Async("asynchronousTasks") + public void sendPointCloudData() { + CopyOnWriteArraySet webSocketSet = + WebSocketPointCloudDataServer.getWebSocketSet(); + if (webSocketSet.size() > 0) { + webSocketSet.forEach(c -> { + Map vehicleInfoMap = new HashMap<>(); + vehicleInfoMap.put("data", pointCloudData); + c.sendDataToClient(vehicleInfoMap); + }); + } + } + @PostConstruct public void init() { - scheduler.scheduleAtFixedRate(this::queryVehicleInfo,4000); - scheduler.scheduleAtFixedRate(this::sendVehicleInfo, 4000); + // 初始化车辆IP和调度IP + URLConstant.RCS_IP_PORT = paramService.queryParamObjectByCode(ParamCodeConstant.RCS_URL).getValue(); + URLConstant.VEHICLE_IP_PORT = paramService.queryParamObjectByCode(ParamCodeConstant.VEHICLE_URL).getValue(); + scheduler.scheduleAtFixedRate(this::queryVehicleInfo,1500); + scheduler.scheduleAtFixedRate(this::sendVehicleInfo, 2000); + scheduler.scheduleAtFixedRate(this::sendPointCloudData, 1000); } } diff --git a/src/main/java/org/nl/apt15e/apt/websocket/WebSocketPointCloudDataServer.java b/src/main/java/org/nl/apt15e/apt/websocket/WebSocketPointCloudDataServer.java new file mode 100644 index 0000000..c7d6bac --- /dev/null +++ b/src/main/java/org/nl/apt15e/apt/websocket/WebSocketPointCloudDataServer.java @@ -0,0 +1,126 @@ +package org.nl.apt15e.apt.websocket; + +import cn.hutool.core.map.MapUtil; +import com.alibaba.fastjson.JSON; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import javax.websocket.*; +import javax.websocket.server.PathParam; +import javax.websocket.server.ServerEndpoint; +import java.io.IOException; +import java.util.Map; +import java.util.concurrent.CopyOnWriteArraySet; + +/** + * @author dsh + * 2025/7/25 + */ +@Slf4j +@ServerEndpoint("/webSocket/PointCloudData/{sid}") +@Component +public class WebSocketPointCloudDataServer { + + /** + * concurrent包的线程安全Set，用来存放每个客户端对应的MyWebSocket对象。 + */ + private static CopyOnWriteArraySet webSocketSet = new CopyOnWriteArraySet<>(); + + /** + * 静态变量，用来记录当前在线连接数。应该把它设计成线程安全的。 + */ + private static int onlineCount = 0; + + + /** + * 与某个客户端的连接会话，需要通过它来给客户端发送数据 + */ + private Session session; + /** + * 接收userId + */ + private String sid = ""; + + /** + * 连接建立成功调用的方法 + */ + @OnOpen + public void onOpen(Session session, @PathParam("sid") String sid) { + this.session = session; + //如果存在就先删除一个，防止重复推送消息 + webSocketSet.removeIf(webSocket -> webSocket.sid.equals(sid)); + webSocketSet.add(this); + //在线数加1 + addOnlineCount(); + log.info("PointCloudDataWS:sid{}连接成功,当前在线人数为{}", sid, getOnlineCount()); + this.sid = sid; + } + + /** + * 连接关闭调用的方法 + */ + @OnClose + public void onClose() { + webSocketSet.remove(this); + //在线数减1 + subOnlineCount(); + log.info("PointCloudDataWS:sid{}关闭连接！当前在线人数为{}", sid, getOnlineCount()); + } + + /** + * 收到客户端消息后调用的方法 + * + * @param message 客户端发送过来的消息 + */ + @OnMessage + public void onMessage(String message, Session session) { + //System.out.println(webSocketSet.size() + "_接收到消息_" + session.getId()); + } + + @OnError + public void onError(Session session, Throwable error) { + //log.error("发生错误"); + webSocketSet.remove(session); + error.printStackTrace(); + } + + public Session getSession() { + return session; + } + + // 发送消息，在定时任务中会调用此方法 + public void sendMessage(String message) throws IOException { + this.session.getBasicRemote().sendText(message); + } + + + public void sendDataToClient(Map data) { + try { + if (this.session != null&& MapUtil.isNotEmpty(data)) { + this.session.getBasicRemote().sendText(JSON.toJSONString(data)); + } + } catch (IOException e) { + log.error("发送消息给客户端失败", e); + } + } + public static synchronized int getOnlineCount() { + return onlineCount; + } + + public static CopyOnWriteArraySet getWebSocketSet() { + return webSocketSet; + } + + + public void setSession(Session session) { + this.session = session; + } + + public static synchronized void addOnlineCount() { + WebSocketPointCloudDataServer.onlineCount++; + } + + public static synchronized void subOnlineCount() { + WebSocketPointCloudDataServer.onlineCount--; + } +} diff --git a/src/main/java/org/nl/apt15e/config/thread/ProtobufWebSocketHandler.java b/src/main/java/org/nl/apt15e/config/thread/ProtobufWebSocketHandler.java index 1d93d08..c712761 100644 --- a/src/main/java/org/nl/apt15e/config/thread/ProtobufWebSocketHandler.java +++ b/src/main/java/org/nl/apt15e/config/thread/ProtobufWebSocketHandler.java @@ -1,8 +1,11 @@ package org.nl.apt15e.config.thread; +import com.alibaba.fastjson.JSONObject; import comm_protocol.Robottype; import comm_protocol.Uidata; import lombok.extern.slf4j.Slf4j; +import org.nl.apt15e.apt.map.dto.PointCloudDataDto; +import org.nl.apt15e.apt.teaching.service.impl.TeachingServiceImpl; import org.nl.apt15e.apt.vehicle.service.impl.VehicleInfoServiceImpl; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.scheduling.annotation.EnableScheduling; @@ -15,10 +18,11 @@ import org.springframework.web.socket.WebSocketSession; import org.springframework.web.socket.client.WebSocketConnectionManager; import org.springframework.web.socket.handler.BinaryWebSocketHandler; -import javax.annotation.Resource; -import java.util.concurrent.atomic.AtomicBoolean; +import java.util.HashSet; +import java.util.Set; -import static comm_protocol.Uidata.UiDatagram.ItemCase.*; +import static java.lang.Math.cos; +import static java.lang.Math.sin; /** * @author dsh @@ -29,7 +33,7 @@ import static comm_protocol.Uidata.UiDatagram.ItemCase.*; @EnableScheduling public class ProtobufWebSocketHandler extends BinaryWebSocketHandler { - private static Boolean isConnected = false; + public static Boolean isConnected = false; @Autowired private WebSocketConnectionManager connectionManager; private WebSocketSession currentSession; @@ -45,8 +49,16 @@ public class ProtobufWebSocketHandler extends BinaryWebSocketHandler { switch (datagram.getItemCase()) { case ROBOT_BASE: Robottype.RobotBase robotBase = datagram.getRobotBase(); + JSONObject data_pool = JSONObject.parseObject(robotBase.getDataPool()); + String mapping_return = data_pool.getString("mapping_return"); + String mapping_percent = data_pool.getString("mapping_percent"); + String ready = data_pool.getString("ready"); + TeachingServiceImpl.teachingMappingStatus.put("mapping_return", mapping_return); + TeachingServiceImpl.teachingMappingStatus.put("mapping_percent", mapping_percent); +// log.info("建图状态mapping_return:{}，建图进度条mapping_percent:{},teachingMappingStatus:{}", mapping_return, mapping_percent,TeachingServiceImpl.teachingMappingStatus); + VehicleInfoServiceImpl.vehicleInfo.setReady(ready); // 电量 - VehicleInfoServiceImpl.vehicleInfo.setBatteryPower(robotBase.getBatteryInfo().getSoc()); + VehicleInfoServiceImpl.vehicleInfo.setBatteryPower((int)robotBase.getBatteryInfo().getSoc()); //x，y，theta VehicleInfoServiceImpl.vehicleInfo.setX(robotBase.getLocate().getCurrentState().getX()); VehicleInfoServiceImpl.vehicleInfo.setY(robotBase.getLocate().getCurrentState().getY()); @@ -62,8 +74,20 @@ public class ProtobufWebSocketHandler extends BinaryWebSocketHandler { break; case LASER_SCAN: -// Robottype.LaserData laser = datagram.getLaserScan(); -// System.out.println("Received laser_scan: " + laser.getScanList()); + Robottype.LaserData laser = datagram.getLaserScan(); + Set data = new HashSet<>(); + for (Robottype.Point point: laser.getScanList()){ + double cosYaw = cos(VehicleInfoServiceImpl.vehicleInfo.getTheta()); + double sinYaw = sin(VehicleInfoServiceImpl.vehicleInfo.getTheta()); + double x_global = VehicleInfoServiceImpl.vehicleInfo.getX() + cosYaw * point.getX() - sinYaw * point.getY(); + double y_global = VehicleInfoServiceImpl.vehicleInfo.getY() + sinYaw * point.getX() + cosYaw * point.getY(); + PointCloudDataDto pointCloudDataDto = new PointCloudDataDto(); + pointCloudDataDto.setX(x_global); + pointCloudDataDto.setY(y_global); + data.add(pointCloudDataDto); + } + VehicleInfoServiceImpl.pointCloudData = data; +// System.out.println("Received laser_scan: " + list); break; } } catch (Exception e) { @@ -92,8 +116,8 @@ public class ProtobufWebSocketHandler extends BinaryWebSocketHandler { currentSession = null; } - @Scheduled(fixedDelay = 5000) - public synchronized void reconnectTask() { + @Scheduled(fixedDelay = 3000) + public void reconnectTask() { if (!isConnected) { try { log.info("websocket 正在进行重连.."); diff --git a/src/main/java/org/nl/apt15e/config/thread/WebsocketClientConfig.java b/src/main/java/org/nl/apt15e/config/thread/WebsocketClientConfig.java index 66fac17..f827c2f 100644 --- a/src/main/java/org/nl/apt15e/config/thread/WebsocketClientConfig.java +++ b/src/main/java/org/nl/apt15e/config/thread/WebsocketClientConfig.java @@ -1,6 +1,7 @@ package org.nl.apt15e.config.thread; import lombok.extern.slf4j.Slf4j; +import org.nl.apt15e.util.URLConstant; import org.springframework.context.annotation.Bean; import org.springframework.context.annotation.Configuration; import org.springframework.scheduling.annotation.EnableScheduling; @@ -37,7 +38,7 @@ public class WebsocketClientConfig { @Bean public WebSocketConnectionManager webSocketConnectionManager() { - String serverUrl = "ws://192.168.100.82:9998/ws/AGVInfo"; + String serverUrl = "ws://"+ URLConstant.VEHICLE_IP_PORT+"/ws/AGVInfo"; WebSocketConnectionManager manager = new WebSocketConnectionManager( this.webSocketClient(), diff --git a/src/main/java/org/nl/apt15e/system/controller/ParamController.java b/src/main/java/org/nl/apt15e/system/controller/ParamController.java new file mode 100644 index 0000000..caad550 --- /dev/null +++ b/src/main/java/org/nl/apt15e/system/controller/ParamController.java @@ -0,0 +1,29 @@ +package org.nl.apt15e.system.controller; + +import org.nl.apt15e.system.dao.Param; +import org.nl.apt15e.system.service.ParamService; +import org.springframework.web.bind.annotation.*; + +import javax.annotation.Resource; + +/** + * @author dsh + * 2025/8/7 + */ +@RestController +@RequestMapping("/param") +public class ParamController { + + @Resource + private ParamService paramService; + + @GetMapping("/queryParamObjectByCode") + public Param queryParamObjectByCode(@RequestParam("code") String code){ + return paramService.queryParamObjectByCode(code); + } + + @PostMapping("/updateByCode") + public Boolean updateByCode(@RequestBody Param param){ + return paramService.updateByCode(param); + } +} diff --git a/src/main/java/org/nl/apt15e/system/dao/Param.java b/src/main/java/org/nl/apt15e/system/dao/Param.java new file mode 100644 index 0000000..84e1ab9 --- /dev/null +++ b/src/main/java/org/nl/apt15e/system/dao/Param.java @@ -0,0 +1,93 @@ +package org.nl.apt15e.system.dao; + +import com.baomidou.mybatisplus.annotation.TableId; +import com.baomidou.mybatisplus.annotation.TableName; +import lombok.Data; + +import java.io.Serializable; + +/** + * @author dsh + * 2025/8/4 + */ +@Data +@TableName("sys_param") +public class Param implements Serializable { + + private static final long serialVersionUID = 1L; + + /** + * 标识 + */ + @TableId + private String id; + + /** + * 编码 + */ + private String code; + + /** + * 名称 + */ + private String name; + /** + * 中文名称 + */ + private String zh_name; + /** + * us名称 + */ + private String en_name; + + /** + * 值 + */ + private String value; + + /** + * 备注 + */ + private String remark; + + /** + * 是否启用 + */ + private Boolean is_active; + + /** + * 是否删除 + */ + private Boolean is_delete; + + /** + * 创建者ID + */ + private String create_id; + + /** + * 创建者 + */ + private String create_name; + + /** + * 创建时间 + */ + private String create_time; + + /** + * 修改者ID + */ + private String update_id; + + /** + * 修改者 + */ + private String update_name; + + /** + * 修改时间 + */ + private String update_time; + +} diff --git a/src/main/java/org/nl/apt15e/system/dao/mapper/ParamMapper.java b/src/main/java/org/nl/apt15e/system/dao/mapper/ParamMapper.java new file mode 100644 index 0000000..57bc7a5 --- /dev/null +++ b/src/main/java/org/nl/apt15e/system/dao/mapper/ParamMapper.java @@ -0,0 +1,13 @@ +package org.nl.apt15e.system.dao.mapper; + +import com.baomidou.mybatisplus.core.mapper.BaseMapper; +import org.apache.ibatis.annotations.Mapper; +import org.nl.apt15e.system.dao.Param; + +/** + * @author dsh + * 2025/8/7 + */ +@Mapper +public interface ParamMapper extends BaseMapper { +} diff --git a/src/main/java/org/nl/apt15e/system/enums/ParamCodeConstant.java b/src/main/java/org/nl/apt15e/system/enums/ParamCodeConstant.java new file mode 100644 index 0000000..5d239e4 --- /dev/null +++ b/src/main/java/org/nl/apt15e/system/enums/ParamCodeConstant.java @@ -0,0 +1,12 @@ +package org.nl.apt15e.system.enums; + +/** + * @author dsh + * 2025/8/7 + */ +public class ParamCodeConstant { + + public static final String RCS_URL = "rcs_url"; + + public static final String VEHICLE_URL = "vehicle_url"; +} diff --git a/src/main/java/org/nl/apt15e/system/service/ParamService.java b/src/main/java/org/nl/apt15e/system/service/ParamService.java new file mode 100644 index 0000000..dd88341 --- /dev/null +++ b/src/main/java/org/nl/apt15e/system/service/ParamService.java @@ -0,0 +1,15 @@ +package org.nl.apt15e.system.service; + +import com.baomidou.mybatisplus.extension.service.IService; +import org.nl.apt15e.system.dao.Param; + +/** + * @author dsh + * 2025/8/7 + */ +public interface ParamService extends IService { + + Param queryParamObjectByCode(String code); + + Boolean updateByCode(Param param); +} diff --git a/src/main/java/org/nl/apt15e/system/service/impl/ParamServiceImpl.java b/src/main/java/org/nl/apt15e/system/service/impl/ParamServiceImpl.java new file mode 100644 index 0000000..5b2752e --- /dev/null +++ b/src/main/java/org/nl/apt15e/system/service/impl/ParamServiceImpl.java @@ -0,0 +1,42 @@ +package org.nl.apt15e.system.service.impl; + +import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; +import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; +import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper; +import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper; +import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; +import org.nl.apt15e.common.BadRequestException; +import org.nl.apt15e.system.dao.Param; +import org.nl.apt15e.system.dao.mapper.ParamMapper; +import org.nl.apt15e.system.service.ParamService; +import org.springframework.stereotype.Service; + +/** + * @author dsh + * 2025/8/7 + */ +@Service +public class ParamServiceImpl extends ServiceImpl implements ParamService { + + @Override + public Param queryParamObjectByCode(String code) { + if (StrUtil.isBlank(code)) { + throw new BadRequestException("code is Null"); + } + return this.getOne(new LambdaQueryWrapper<>(Param.class).eq(Param::getCode, code)); + } + + @Override + public Boolean updateByCode(Param param) { + if(ObjectUtil.isNull(param)){ + throw new BadRequestException("参数不能为空"); + } + boolean results = this.update(new LambdaUpdateWrapper<>(Param.class) + .set(StrUtil.isNotBlank(param.getName()),Param::getName,param.getName()) + .eq(Param::getCode,param.getCode())); + return results; + } + + +} diff --git a/src/main/java/org/nl/apt15e/util/HTTPUtil.java b/src/main/java/org/nl/apt15e/util/HTTPUtil.java index 4013b6f..e79a4d8 100644 --- a/src/main/java/org/nl/apt15e/util/HTTPUtil.java +++ b/src/main/java/org/nl/apt15e/util/HTTPUtil.java @@ -15,8 +15,8 @@ public class HTTPUtil { public static HttpResponse post(String url, String method, JSONObject params)throws Exception{ String sendUrl = url + method; return HttpRequest.post(sendUrl) - .setConnectionTimeout(3000) - .setReadTimeout(3000) + .setConnectionTimeout(10000) + .setReadTimeout(10000) .header("token", "admin123") .header("name", "lx-script") .header("Content-Type", "application/json") @@ -28,8 +28,8 @@ public class HTTPUtil { public static HttpResponse get(String url, String method, JSONObject params)throws Exception{ String sendUrl = url + method; return HttpRequest.get(sendUrl) - .setConnectionTimeout(3000) - .setReadTimeout(3000) + .setConnectionTimeout(10000) + .setReadTimeout(10000) .header("token", "admin123") .header("name", "lx-script") .header("Content-Type", "application/json") diff --git a/src/main/java/org/nl/apt15e/util/URLConstant.java b/src/main/java/org/nl/apt15e/util/URLConstant.java index b292f7e..74ec060 100644 --- a/src/main/java/org/nl/apt15e/util/URLConstant.java +++ b/src/main/java/org/nl/apt15e/util/URLConstant.java @@ -13,7 +13,12 @@ public class URLConstant { /** * RCS调度IP及端口 */ - public final static String RCS_IP_PORT = "192.168.100.82:8081"; + public static String RCS_IP_PORT = "192.168.100.82:8081"; + + /** + * 车体后台IP及端口 + */ + public static String VEHICLE_IP_PORT = "192.168.100.82:9998"; /** * 下发任务URL diff --git a/src/main/resources/config/application-pro.yml b/src/main/resources/config/application-prod.yml similarity index 88% rename from src/main/resources/config/application-pro.yml rename to src/main/resources/config/application-prod.yml index 97b9e65..a733162 100644 --- a/src/main/resources/config/application-pro.yml +++ b/src/main/resources/config/application-prod.yml @@ -1,12 +1,12 @@ server: # 端口 - port: 8081 + port: 8011 spring: datasource: druid: db-type: com.alibaba.druid.pool.DruidDataSource driver-class-name: com.mysql.cj.jdbc.Driver - url: jdbc:mysql://localhost:3306/apt_data?serverTimezone=GMT%2B8&characterEncoding=utf-8&userSSL=false + url: jdbc:mysql://192.168.100.201:3307/nl_apt15e?serverTimezone=GMT%2B8&characterEncoding=utf-8&userSSL=false username: root password: 123456 # 初始连接数 @@ -57,8 +57,8 @@ file: path: ~/file/ avatar: ~/avatar/ linux: - path: /home/eladmin/file/ - avatar: /home/eladmin/avatar/ + path: /home/fr1511b/nlapt15e/file/ + avatar: /home/fr1511b/nlapt15e/avatar/ windows: path: C:\eladmin\file\ avatar: C:\eladmin\avatar\