From 30dad1a294c506900c1f06862fcefe44f48f4b14 Mon Sep 17 00:00:00 2001 From: liejiu946 Date: Thu, 28 Aug 2025 16:00:27 +0800 Subject: [PATCH] =?UTF-8?q?opt:=E6=B7=BB=E5=8A=A0=E5=9B=BD=E9=99=85?= =?UTF-8?q?=E5=8C=96=E7=AD=89?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- pom.xml | 22 +++ .../java/org/nl/apt15e/Apt15EApplication.java | 7 + .../controller/AnomalyInfoController.java | 83 +++++++++ .../apt/anomalyInfo/dao/ErrorHandling.java | 64 +++++++ .../apt15e/apt/anomalyInfo/dao/ErrorInfo.java | 77 +++++++++ .../apt/anomalyInfo/dto/ErrorDataDto.java | 26 +++ .../service/AnomalyInfoService.java | 17 ++ .../service/ErrorHandlingService.java | 12 ++ .../anomalyInfo/service/ErrorInfoService.java | 11 ++ .../service/impl/AnomalyInfoServiceImpl.java | 47 ++++++ .../impl/ErrorHandlingServiceImpl.java | 15 ++ .../service/impl/ErrorInfoServiceImpl.java | 17 ++ .../service/mapper/ErrorHandlingMapper.java | 15 ++ .../service/mapper/ErrorInfoMapper.java | 16 ++ .../org/nl/apt15e/apt/dto/WebResponse.java | 5 +- .../ext/service/impl/RcsToAptServiceImpl.java | 3 +- .../apt/map/rest/MapInfoController.java | 10 +- .../apt/map/service/MapInfoService.java | 6 + .../map/service/impl/MapInfoServiceImpl.java | 44 +++++ .../service/impl/TaskManageServiceImpl.java | 25 ++- .../taskchain/service/ITaskchainService.java | 5 + .../service/dao/mapper/TaskchainMapper.java | 12 ++ .../service/dao/mapper/TaskchainMapper.xml | 12 ++ .../service/impl/TaskchainServiceImpl.java | 16 ++ .../service/impl/TeachingServiceImpl.java | 95 +++++------ .../org/nl/apt15e/apt/vehicle/ProcessZip.java | 44 +++-- .../apt/vehicle/dao/VehicleException.java | 2 +- .../apt15e/apt/vehicle/dao/VehicleInfo.java | 18 ++ .../vehicle/rest/VehicleInfoController.java | 13 +- .../vehicle/service/VehicleInfoService.java | 20 ++- .../service/impl/VehicleInfoServiceImpl.java | 158 +++++++++++++++++- .../apt/websocket/WebSocketVehicleServer.java | 26 ++- .../common/excel/ErrorHandlingListener.java | 92 ++++++++++ .../common/excel/ErrorInfoListener.java | 92 ++++++++++ .../java/org/nl/apt15e/config/CallBack.java | 20 +++ src/main/java/org/nl/apt15e/config/MapOf.java | 20 +++ .../nl/apt15e/config/SpringContextHolder.java | 141 ++++++++++++++++ .../org/nl/apt15e/config/WebMvcConfig.java | 21 +++ .../config/language/InitLocaleResolver.java | 44 +++++ .../apt15e/config/language/LangProcess.java | 23 +++ .../nl/apt15e/config/language/RcsLang.java | 21 +++ .../thread/ProtobufWebSocketHandler.java | 41 +++-- .../java/org/nl/apt15e/util/HTTPUtil.java | 7 +- .../java/org/nl/apt15e/util/URLConstant.java | 4 +- src/main/resources/config/application-dev.yml | 2 + .../resources/config/application-prod.yml | 2 + src/main/resources/config/application.yml | 13 +- .../resources/language/buss/buss.properties | 6 + .../language/buss/buss_en_US.properties | 6 + .../language/buss/buss_zh_CN.properties | 6 + .../resources/language/error/error.properties | 28 ++++ .../language/error/error_en_US.properties | 27 +++ .../language/error/error_zh_CN.properties | 27 +++ .../resources/language/task/task.properties | 4 + .../language/task/task_en_US.properties | 4 + .../language/task/task_zh_CN.properties | 4 + 56 files changed, 1481 insertions(+), 117 deletions(-) create mode 100644 src/main/java/org/nl/apt15e/apt/anomalyInfo/controller/AnomalyInfoController.java create mode 100644 src/main/java/org/nl/apt15e/apt/anomalyInfo/dao/ErrorHandling.java create mode 100644 src/main/java/org/nl/apt15e/apt/anomalyInfo/dao/ErrorInfo.java create mode 100644 src/main/java/org/nl/apt15e/apt/anomalyInfo/dto/ErrorDataDto.java create mode 100644 src/main/java/org/nl/apt15e/apt/anomalyInfo/service/AnomalyInfoService.java create mode 100644 src/main/java/org/nl/apt15e/apt/anomalyInfo/service/ErrorHandlingService.java create mode 100644 src/main/java/org/nl/apt15e/apt/anomalyInfo/service/ErrorInfoService.java create mode 100644 src/main/java/org/nl/apt15e/apt/anomalyInfo/service/impl/AnomalyInfoServiceImpl.java create mode 100644 src/main/java/org/nl/apt15e/apt/anomalyInfo/service/impl/ErrorHandlingServiceImpl.java create mode 100644 src/main/java/org/nl/apt15e/apt/anomalyInfo/service/impl/ErrorInfoServiceImpl.java create mode 100644 src/main/java/org/nl/apt15e/apt/anomalyInfo/service/mapper/ErrorHandlingMapper.java create mode 100644 src/main/java/org/nl/apt15e/apt/anomalyInfo/service/mapper/ErrorInfoMapper.java create mode 100644 src/main/java/org/nl/apt15e/common/excel/ErrorHandlingListener.java create mode 100644 src/main/java/org/nl/apt15e/common/excel/ErrorInfoListener.java create mode 100644 src/main/java/org/nl/apt15e/config/CallBack.java create mode 100644 src/main/java/org/nl/apt15e/config/MapOf.java create mode 100644 src/main/java/org/nl/apt15e/config/SpringContextHolder.java create mode 100644 src/main/java/org/nl/apt15e/config/WebMvcConfig.java create mode 100644 src/main/java/org/nl/apt15e/config/language/InitLocaleResolver.java create mode 100644 src/main/java/org/nl/apt15e/config/language/LangProcess.java create mode 100644 src/main/java/org/nl/apt15e/config/language/RcsLang.java create mode 100644 src/main/resources/language/buss/buss.properties create mode 100644 src/main/resources/language/buss/buss_en_US.properties create mode 100644 src/main/resources/language/buss/buss_zh_CN.properties create mode 100644 src/main/resources/language/error/error.properties create mode 100644 src/main/resources/language/error/error_en_US.properties create mode 100644 src/main/resources/language/error/error_zh_CN.properties create mode 100644 src/main/resources/language/task/task.properties create mode 100644 src/main/resources/language/task/task_en_US.properties create mode 100644 src/main/resources/language/task/task_zh_CN.properties diff --git a/pom.xml b/pom.xml index 32af4e1..fb40057 100644 --- a/pom.xml +++ b/pom.xml @@ -104,6 +104,13 @@ 1.1.22 + + + com.alibaba + easyexcel + 3.1.1 + + org.projectlombok lombok @@ -196,6 +203,21 @@ + + + ${basedir}/src/main/java + + **/*.* + + + + + ${basedir}/src/main/resources + + **/*.* + + + diff --git a/src/main/java/org/nl/apt15e/Apt15EApplication.java b/src/main/java/org/nl/apt15e/Apt15EApplication.java index a122d26..7019673 100644 --- a/src/main/java/org/nl/apt15e/Apt15EApplication.java +++ b/src/main/java/org/nl/apt15e/Apt15EApplication.java @@ -1,8 +1,10 @@ package org.nl.apt15e; import org.mybatis.spring.annotation.MapperScan; +import org.nl.apt15e.config.SpringContextHolder; import org.springframework.boot.SpringApplication; import org.springframework.boot.autoconfigure.SpringBootApplication; +import org.springframework.context.annotation.Bean; import org.springframework.scheduling.annotation.EnableAsync; import org.springframework.scheduling.annotation.EnableScheduling; import org.springframework.transaction.annotation.EnableTransactionManagement; @@ -22,6 +24,11 @@ public class Apt15EApplication { SpringApplication.run(Apt15EApplication.class, args); } + @Bean + public SpringContextHolder springContextHolder() { + return new SpringContextHolder(); + } + /** * 访问首页提示 * diff --git a/src/main/java/org/nl/apt15e/apt/anomalyInfo/controller/AnomalyInfoController.java b/src/main/java/org/nl/apt15e/apt/anomalyInfo/controller/AnomalyInfoController.java new file mode 100644 index 0000000..7853394 --- /dev/null +++ b/src/main/java/org/nl/apt15e/apt/anomalyInfo/controller/AnomalyInfoController.java @@ -0,0 +1,83 @@ +package org.nl.apt15e.apt.anomalyInfo.controller; + +import com.alibaba.excel.EasyExcel; +import org.nl.apt15e.apt.anomalyInfo.dao.ErrorHandling; +import org.nl.apt15e.apt.anomalyInfo.dao.ErrorInfo; +import org.nl.apt15e.apt.anomalyInfo.service.AnomalyInfoService; +import org.nl.apt15e.apt.anomalyInfo.service.ErrorHandlingService; +import org.nl.apt15e.apt.anomalyInfo.service.ErrorInfoService; +import org.nl.apt15e.common.BadRequestException; +import org.nl.apt15e.common.excel.ErrorHandlingListener; +import org.nl.apt15e.common.excel.ErrorInfoListener; +import org.nl.apt15e.config.language.LangProcess; +import org.springframework.http.HttpStatus; +import org.springframework.http.ResponseEntity; +import org.springframework.stereotype.Controller; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RequestParam; +import org.springframework.web.bind.annotation.RestController; +import org.springframework.web.multipart.MultipartFile; + +import javax.annotation.Resource; +import java.io.IOException; + +/** + * @author dsh + * 2025/8/26 + */ +@RestController +@RequestMapping("/anomalyInfo") +public class AnomalyInfoController { + + @Resource + private AnomalyInfoService anomalyInfoService; + + @Resource + private ErrorInfoService errorInfoService; + + @Resource + private ErrorHandlingService errorHandlingService; + + @PostMapping("/queryErrorDataByCode") + public ResponseEntity queryErrorDataByCode(@RequestParam("code") String code) { + return new ResponseEntity<>(anomalyInfoService.queryErrorDataByCode(code), HttpStatus.OK); + } + + @PostMapping("/importErrorInfoExcel") + public ResponseEntity importErrorInfoExcel(@RequestParam("file") MultipartFile file) throws IOException { + if (file.isEmpty()) { + throw new BadRequestException("请选择文件上传"); + } + + // 创建监听器实例，传入所需的Service + ErrorInfoListener listener = new ErrorInfoListener(errorInfoService); + + // 读取Excel文件 + // withFile(file.getInputStream())... 也可以 + + EasyExcel.read(file.getInputStream(), ErrorInfo.class, listener) + .sheet() // 默认读取第一个sheet + .doRead(); + return new ResponseEntity<>(LangProcess.msg("successful"),HttpStatus.OK); + } + + @PostMapping("/importErrorHandlingExcel") + public ResponseEntity importErrorHandlingExcel(@RequestParam("file") MultipartFile file) throws IOException { + if (file.isEmpty()) { + throw new BadRequestException("请选择文件上传"); + } + + // 创建监听器实例，传入所需的Service + ErrorHandlingListener listener = new ErrorHandlingListener(errorHandlingService); + + // 读取Excel文件 + // withFile(file.getInputStream())... 也可以 + + EasyExcel.read(file.getInputStream(), ErrorHandling.class, listener) + .sheet() // 默认读取第一个sheet + .doRead(); + return new ResponseEntity<>(LangProcess.msg("successful"),HttpStatus.OK); + } + +} diff --git a/src/main/java/org/nl/apt15e/apt/anomalyInfo/dao/ErrorHandling.java b/src/main/java/org/nl/apt15e/apt/anomalyInfo/dao/ErrorHandling.java new file mode 100644 index 0000000..1727269 --- /dev/null +++ b/src/main/java/org/nl/apt15e/apt/anomalyInfo/dao/ErrorHandling.java @@ -0,0 +1,64 @@ +package org.nl.apt15e.apt.anomalyInfo.dao; + +import com.alibaba.excel.annotation.ExcelProperty; +import com.baomidou.mybatisplus.annotation.TableId; +import com.baomidou.mybatisplus.annotation.TableName; +import lombok.Data; + +/** + * @author dsh + * 2025/8/20 + */ +@Data +@TableName("error_handling") +public class ErrorHandling { + + /** + * 异常处理标识 + */ + @TableId + @ExcelProperty(index = 0,value = "标识") + private String error_handling_id; + + /** + * 异常信息编码 + */ + @ExcelProperty(index = 1,value = "异常编码") + private String error_code; + + /** + * 异常处理类型(1 图文说明 2视频说明) + */ + @ExcelProperty(index = 2,value = "异常处理类型(1图文说明2视频说明)") + private Integer error_handling_type; + + /** + * 异常处理说明 + */ + @ExcelProperty(index = 3,value = "异常处理说明") + private String error_handling_title; + + /** + * 中文异常处理说明 + */ + @ExcelProperty(index = 4,value = "异常处理说明(中文)") + private String zh_error_handling_title; + + /** + * 英文异常处理说明 + */ + @ExcelProperty(index = 5,value = "异常处理说明(英文)") + private String en_error_handling_title; + + /** + * 异常处理排序 + */ + @ExcelProperty(index = 6,value = "异常处理排序") + private Integer error_handling_seq; + + /** + * 异常处理地址(图片 或 视频地址) + */ + @ExcelProperty(index = 7,value = "异常处理地址(图片或视频地址)") + private String error_handling_addre; +} diff --git a/src/main/java/org/nl/apt15e/apt/anomalyInfo/dao/ErrorInfo.java b/src/main/java/org/nl/apt15e/apt/anomalyInfo/dao/ErrorInfo.java new file mode 100644 index 0000000..cb10f72 --- /dev/null +++ b/src/main/java/org/nl/apt15e/apt/anomalyInfo/dao/ErrorInfo.java @@ -0,0 +1,77 @@ +package org.nl.apt15e.apt.anomalyInfo.dao; + +import com.alibaba.excel.annotation.ExcelProperty; +import com.baomidou.mybatisplus.annotation.IdType; +import com.baomidou.mybatisplus.annotation.TableId; +import com.baomidou.mybatisplus.annotation.TableName; +import lombok.Data; + +/** + * @author dsh + * 2025/8/20 + */ +@Data +@TableName("error_info") +public class ErrorInfo { + + /** + * 异常信息标识 + */ + @TableId + @ExcelProperty(index = 0,value = "唯一标识") + private String error_id; + + /** + * 异常信息名称 + */ + @ExcelProperty(index = 1,value = "异常名称") + private String error_name; + + /** + * 中文异常信息名称 + */ + @ExcelProperty(index = 2,value = "异常名称(中文)") + private String zh_error_name; + + /** + * 英文异常信息名称 + */ + @ExcelProperty(index = 3,value = "异常名称(英文)") + private String en_error_name; + + /** + * 异常信息编码 + */ + @ExcelProperty(index = 4,value = "异常编号") + private String error_code; + + /** + * 异常信息类别(1普通故障 2严重故障) + */ + @ExcelProperty(index = 5,value = "异常类别(1普通故障,2严重故障)") + private Integer error_category; + + /** + * 异常说明 + */ + @ExcelProperty(index = 6,value = "异常说明") + private String error_description; + + /** + * 中文异常说明 + */ + @ExcelProperty(index = 7,value = "异常说明(中文)") + private String zh_error_description; + + /** + * 英文异常说明 + */ + @ExcelProperty(index = 8,value = "异常说明(英文)") + private String en_error_description; + + /** + * 异常信息类型(1电气 2导航) + */ + @ExcelProperty(index = 9,value = "异常类型(1电气,2导航)") + private Integer error_type; +} diff --git a/src/main/java/org/nl/apt15e/apt/anomalyInfo/dto/ErrorDataDto.java b/src/main/java/org/nl/apt15e/apt/anomalyInfo/dto/ErrorDataDto.java new file mode 100644 index 0000000..52634e9 --- /dev/null +++ b/src/main/java/org/nl/apt15e/apt/anomalyInfo/dto/ErrorDataDto.java @@ -0,0 +1,26 @@ +package org.nl.apt15e.apt.anomalyInfo.dto; + +import lombok.Data; +import org.nl.apt15e.apt.anomalyInfo.dao.ErrorHandling; +import org.nl.apt15e.apt.anomalyInfo.dao.ErrorInfo; + +import java.util.List; + +/** + * @author dsh + * 2025/8/26 + */ +@Data +public class ErrorDataDto extends ErrorInfo { + + /** + * 图文异常处理 + */ + private List graphicDescription; + + /** + * 视频异常处理 + */ + private List videoDescription; + +} diff --git a/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/AnomalyInfoService.java b/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/AnomalyInfoService.java new file mode 100644 index 0000000..bd5d09b --- /dev/null +++ b/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/AnomalyInfoService.java @@ -0,0 +1,17 @@ +package org.nl.apt15e.apt.anomalyInfo.service; + +import org.nl.apt15e.apt.anomalyInfo.dto.ErrorDataDto; + +/** + * @author dsh + * 2025/8/26 + */ +public interface AnomalyInfoService { + + /** + * 根据异常编码查询处理方法 + * @param code + * @return + */ + ErrorDataDto queryErrorDataByCode(String code); +} diff --git a/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/ErrorHandlingService.java b/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/ErrorHandlingService.java new file mode 100644 index 0000000..c3fe429 --- /dev/null +++ b/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/ErrorHandlingService.java @@ -0,0 +1,12 @@ +package org.nl.apt15e.apt.anomalyInfo.service; + +import com.baomidou.mybatisplus.extension.service.IService; +import org.nl.apt15e.apt.anomalyInfo.dao.ErrorHandling; + +/** + * @author dsh + * 2025/8/27 + */ +public interface ErrorHandlingService extends IService { + +} diff --git a/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/ErrorInfoService.java b/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/ErrorInfoService.java new file mode 100644 index 0000000..7f98114 --- /dev/null +++ b/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/ErrorInfoService.java @@ -0,0 +1,11 @@ +package org.nl.apt15e.apt.anomalyInfo.service; + +import com.baomidou.mybatisplus.extension.service.IService; +import org.nl.apt15e.apt.anomalyInfo.dao.ErrorInfo; + +/** + * @author dsh + * 2025/8/26 + */ +public interface ErrorInfoService extends IService { +} diff --git a/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/impl/AnomalyInfoServiceImpl.java b/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/impl/AnomalyInfoServiceImpl.java new file mode 100644 index 0000000..f02a168 --- /dev/null +++ b/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/impl/AnomalyInfoServiceImpl.java @@ -0,0 +1,47 @@ +package org.nl.apt15e.apt.anomalyInfo.service.impl; + +import cn.hutool.core.bean.BeanUtil; +import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; +import org.nl.apt15e.apt.anomalyInfo.dao.ErrorHandling; +import org.nl.apt15e.apt.anomalyInfo.dao.ErrorInfo; +import org.nl.apt15e.apt.anomalyInfo.dto.ErrorDataDto; +import org.nl.apt15e.apt.anomalyInfo.service.AnomalyInfoService; +import org.nl.apt15e.apt.anomalyInfo.service.mapper.ErrorHandlingMapper; +import org.nl.apt15e.apt.anomalyInfo.service.mapper.ErrorInfoMapper; +import org.springframework.stereotype.Service; + +import javax.annotation.Resource; +import java.util.List; +import java.util.stream.Collectors; + +/** + * @author dsh + * 2025/8/26 + */ +@Service +public class AnomalyInfoServiceImpl implements AnomalyInfoService { + + @Resource + private ErrorHandlingMapper errorHandlingMapper; + + @Resource + private ErrorInfoMapper errorInfoMapper; + + @Override + public ErrorDataDto queryErrorDataByCode(String code) { + + ErrorDataDto errorDataDto = new ErrorDataDto(); + // 异常信息 + ErrorInfo errorInfo = errorInfoMapper.selectOne(new LambdaQueryWrapper<>(ErrorInfo.class).eq(ErrorInfo::getError_code,code)); + BeanUtil.copyProperties(errorInfo,errorDataDto); + // 异常处理 + List errorHandlingList = errorHandlingMapper.selectList(new LambdaQueryWrapper<>(ErrorHandling.class).eq(ErrorHandling::getError_code,code)); + // 图文说明 + List graphicDescription = errorHandlingList.stream().filter(errorHandling -> errorHandling.getError_handling_type() == 1).collect(Collectors.toList()); + // 视频说明 + List videoDescription = errorHandlingList.stream().filter(errorHandling -> errorHandling.getError_handling_type() == 2).collect(Collectors.toList()); + errorDataDto.setGraphicDescription(graphicDescription); + errorDataDto.setVideoDescription(videoDescription); + return errorDataDto; + } +} diff --git a/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/impl/ErrorHandlingServiceImpl.java b/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/impl/ErrorHandlingServiceImpl.java new file mode 100644 index 0000000..efe2c9c --- /dev/null +++ b/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/impl/ErrorHandlingServiceImpl.java @@ -0,0 +1,15 @@ +package org.nl.apt15e.apt.anomalyInfo.service.impl; + +import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; +import org.nl.apt15e.apt.anomalyInfo.dao.ErrorHandling; +import org.nl.apt15e.apt.anomalyInfo.service.ErrorHandlingService; +import org.nl.apt15e.apt.anomalyInfo.service.mapper.ErrorHandlingMapper; +import org.springframework.stereotype.Service; + +/** + * @author dsh + * 2025/8/27 + */ +@Service +public class ErrorHandlingServiceImpl extends ServiceImpl implements ErrorHandlingService { +} diff --git a/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/impl/ErrorInfoServiceImpl.java b/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/impl/ErrorInfoServiceImpl.java new file mode 100644 index 0000000..1a4c3eb --- /dev/null +++ b/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/impl/ErrorInfoServiceImpl.java @@ -0,0 +1,17 @@ +package org.nl.apt15e.apt.anomalyInfo.service.impl; + +import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; +import org.apache.ibatis.annotations.Mapper; +import org.nl.apt15e.apt.anomalyInfo.dao.ErrorInfo; +import org.nl.apt15e.apt.anomalyInfo.service.ErrorInfoService; +import org.nl.apt15e.apt.anomalyInfo.service.mapper.ErrorInfoMapper; +import org.springframework.stereotype.Service; + +/** + * @author dsh + * 2025/8/26 + */ +@Service +public class ErrorInfoServiceImpl extends ServiceImpl implements ErrorInfoService { + +} diff --git a/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/mapper/ErrorHandlingMapper.java b/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/mapper/ErrorHandlingMapper.java new file mode 100644 index 0000000..ed4a4bb --- /dev/null +++ b/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/mapper/ErrorHandlingMapper.java @@ -0,0 +1,15 @@ +package org.nl.apt15e.apt.anomalyInfo.service.mapper; + +import com.baomidou.mybatisplus.core.mapper.BaseMapper; +import org.apache.ibatis.annotations.Mapper; +import org.nl.apt15e.apt.anomalyInfo.dao.ErrorHandling; +import org.nl.apt15e.apt.anomalyInfo.dao.ErrorInfo; + +/** + * @author dsh + * 2025/8/26 + */ +@Mapper +public interface ErrorHandlingMapper extends BaseMapper { + +} diff --git a/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/mapper/ErrorInfoMapper.java b/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/mapper/ErrorInfoMapper.java new file mode 100644 index 0000000..daf3971 --- /dev/null +++ b/src/main/java/org/nl/apt15e/apt/anomalyInfo/service/mapper/ErrorInfoMapper.java @@ -0,0 +1,16 @@ +package org.nl.apt15e.apt.anomalyInfo.service.mapper; + +import com.baomidou.mybatisplus.core.mapper.BaseMapper; +import org.apache.ibatis.annotations.Mapper; +import org.apache.ibatis.annotations.Param; +import org.nl.apt15e.apt.anomalyInfo.dao.ErrorInfo; +import org.nl.apt15e.apt.anomalyInfo.dto.ErrorDataDto; + +/** + * @author dsh + * 2025/8/26 + */ +@Mapper +public interface ErrorInfoMapper extends BaseMapper { + +} diff --git a/src/main/java/org/nl/apt15e/apt/dto/WebResponse.java b/src/main/java/org/nl/apt15e/apt/dto/WebResponse.java index 2988d94..c3f1fe5 100644 --- a/src/main/java/org/nl/apt15e/apt/dto/WebResponse.java +++ b/src/main/java/org/nl/apt15e/apt/dto/WebResponse.java @@ -2,6 +2,7 @@ package org.nl.apt15e.apt.dto; import lombok.Builder; import lombok.Data; +import org.nl.apt15e.config.language.LangProcess; /** *

@@ -31,7 +32,7 @@ public class WebResponse { */ public static WebResponse requestOk() { return WebResponse.builder() - .message("操作成功!") + .message(LangProcess.msg("successful")) .build(); } @@ -41,7 +42,7 @@ public class WebResponse { */ public static WebResponse requestParamOk(T data) { return WebResponse.builder() - .message("操作成功!") + .message(LangProcess.msg("successful")) .data(data) .build(); } 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 7ce811d..1e0d25f 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 @@ -16,6 +16,7 @@ import org.nl.apt15e.apt.station.service.StationService; 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.config.language.LangProcess; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; @@ -56,7 +57,7 @@ public class RcsToAptServiceImpl implements RcsToAptService { ); if (ObjectUtil.isEmpty(task)) { result.put("receive", "1"); - result.put("message", "任务不存在!【"+rcsToAptTaskChainPoDto.getId()+"】"); + result.put("message", LangProcess.msg("task_Id_isNull",rcsToAptTaskChainPoDto.getId().toString())); log.info("RCS上报任务信息输出参数{}", result.toString()); return result; } diff --git a/src/main/java/org/nl/apt15e/apt/map/rest/MapInfoController.java b/src/main/java/org/nl/apt15e/apt/map/rest/MapInfoController.java index b2316e5..1e1251d 100644 --- a/src/main/java/org/nl/apt15e/apt/map/rest/MapInfoController.java +++ b/src/main/java/org/nl/apt15e/apt/map/rest/MapInfoController.java @@ -4,10 +4,7 @@ import org.nl.apt15e.apt.map.dao.MapInfo; import org.nl.apt15e.apt.map.service.MapInfoService; import org.springframework.http.HttpStatus; import org.springframework.http.ResponseEntity; -import org.springframework.web.bind.annotation.GetMapping; -import org.springframework.web.bind.annotation.RequestMapping; -import org.springframework.web.bind.annotation.RequestParam; -import org.springframework.web.bind.annotation.RestController; +import org.springframework.web.bind.annotation.*; import javax.annotation.Resource; @@ -26,4 +23,9 @@ public class MapInfoController { public ResponseEntity getMapInfoByCode() { return new ResponseEntity<>(mapInfoService.getMapInfoByCode(), HttpStatus.OK); } + + @PostMapping("/synchronizedMap") + public ResponseEntity synchronizedMap() { + return new ResponseEntity<>(mapInfoService.synchronizedMap(), HttpStatus.OK); + } } diff --git a/src/main/java/org/nl/apt15e/apt/map/service/MapInfoService.java b/src/main/java/org/nl/apt15e/apt/map/service/MapInfoService.java index aa86b19..9c50b4e 100644 --- a/src/main/java/org/nl/apt15e/apt/map/service/MapInfoService.java +++ b/src/main/java/org/nl/apt15e/apt/map/service/MapInfoService.java @@ -17,4 +17,10 @@ public interface MapInfoService extends IService { */ MapInfo getMapInfoByCode(); + /** + * 获取当前车辆地图同步到本地 + * @return + */ + boolean synchronizedMap(); + } diff --git a/src/main/java/org/nl/apt15e/apt/map/service/impl/MapInfoServiceImpl.java b/src/main/java/org/nl/apt15e/apt/map/service/impl/MapInfoServiceImpl.java index 4eba9f5..5396f79 100644 --- a/src/main/java/org/nl/apt15e/apt/map/service/impl/MapInfoServiceImpl.java +++ b/src/main/java/org/nl/apt15e/apt/map/service/impl/MapInfoServiceImpl.java @@ -2,6 +2,8 @@ package org.nl.apt15e.apt.map.service.impl; import cn.hutool.core.util.ObjectUtil; import cn.hutool.core.util.StrUtil; +import cn.hutool.http.HttpResponse; +import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONObject; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; @@ -9,10 +11,15 @@ import lombok.extern.slf4j.Slf4j; import org.nl.apt15e.apt.map.dao.MapInfo; import org.nl.apt15e.apt.map.service.MapInfoService; import org.nl.apt15e.apt.map.service.mapper.MapInfoMapper; +import org.nl.apt15e.apt.teaching.service.TeachingService; import org.nl.apt15e.common.BadRequestException; +import org.nl.apt15e.config.language.LangProcess; +import org.nl.apt15e.util.HTTPUtil; +import org.nl.apt15e.util.URLConstant; import org.springframework.http.HttpStatus; import org.springframework.stereotype.Service; +import javax.annotation.Resource; import java.util.List; /** @@ -23,8 +30,45 @@ import java.util.List; @Service public class MapInfoServiceImpl extends ServiceImpl implements MapInfoService { + @Resource + private MapInfoMapper mapInfoMapper; + + @Resource + private TeachingService teachingService; + @Override public MapInfo getMapInfoByCode() { return this.getOne(new LambdaQueryWrapper<>(MapInfo.class)); } + + @Override + public boolean synchronizedMap() { + HttpResponse response = null; + try { + response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/getVehicle", new JSONObject()); + if (response!=null && response.isOk()) { + // 获取响应体内容 + JSONObject body = JSON.parseObject(response.body()); + // 如:"../map/apt_map_20250814141523" + String mapId = body.getJSONObject("data").getString("mapId"); + if (StrUtil.isEmpty(mapId)) { + throw new BadRequestException(LangProcess.msg("param_is_null")); + } + String mapName = mapId.substring(mapId.lastIndexOf('/') + 1); + MapInfo mapInfo = mapInfoMapper.selectOne(new LambdaQueryWrapper<>(MapInfo.class)); + // 如果数据库地图数据为空 或者 地图数据和车辆后台数据不一致 执行同步数据操作 + if (ObjectUtil.isEmpty(mapInfo) || !mapName.equals(mapInfo.getMapName())) { + teachingService.getRunMapZip(mapName); + return true; + }else { + throw new BadRequestException(LangProcess.msg("latest")); + } + }else { + throw new BadRequestException(LangProcess.msg("error_request_vehicle")); + } + } catch (Exception e) { + log.info("同步地图失败:{}",e.getMessage()); + throw new BadRequestException(LangProcess.msg("failed")); + } + } } diff --git a/src/main/java/org/nl/apt15e/apt/taskOperate/service/impl/TaskManageServiceImpl.java b/src/main/java/org/nl/apt15e/apt/taskOperate/service/impl/TaskManageServiceImpl.java index f771c8d..41ada41 100644 --- a/src/main/java/org/nl/apt15e/apt/taskOperate/service/impl/TaskManageServiceImpl.java +++ b/src/main/java/org/nl/apt15e/apt/taskOperate/service/impl/TaskManageServiceImpl.java @@ -17,6 +17,7 @@ import org.nl.apt15e.apt.taskOperate.service.TaskManageService; import org.nl.apt15e.apt.taskchain.service.ITaskchainService; import org.nl.apt15e.apt.taskchain.service.dao.Taskchain; import org.nl.apt15e.common.BadRequestException; +import org.nl.apt15e.config.language.LangProcess; import org.nl.apt15e.util.HTTPUtil; import org.nl.apt15e.util.IdUtil; import org.nl.apt15e.util.URLConstant; @@ -68,7 +69,7 @@ public class TaskManageServiceImpl implements TaskManageService { .lt(Task::getTask_status, TaskStatus.FINISHED.getCode()) ); if (ObjectUtil.isNotEmpty(list)) { - throw new BadRequestException("当前有正在执行中的任务！"); + throw new BadRequestException(LangProcess.msg("task_Is_exist")); } List staList = whereJson.getJSONArray("data").toJavaList(Station.class); @@ -84,7 +85,7 @@ public class TaskManageServiceImpl implements TaskManageService { .eq(Station::getStation_type, "Breaks") ); if (ObjectUtil.isEmpty(breakPoint)) { - throw new BadRequestException("请先设置返回点！"); + throw new BadRequestException(LangProcess.msg("not_return_point")); } staList.add(breakPoint); } @@ -100,11 +101,11 @@ public class TaskManageServiceImpl implements TaskManageService { JSONObject result = JSONObject.parseObject(response.body()); log.info("下发RCS任务输出参数{}", result.toString()); if (result.getBoolean("state").equals(false)) { - throw new BadRequestException("访问调度报错:" + result.getString("errMsg")); + throw new BadRequestException(LangProcess.msg("error_request_rcs") + result.getString("errMsg")); } task_id = result.getString("data"); } catch (Exception e) { - throw new BadRequestException("访问调度报错:" + e.getMessage()); + throw new BadRequestException(LangProcess.msg("error_request_rcs") + e.getMessage()); } // 创建任务 @@ -114,7 +115,7 @@ public class TaskManageServiceImpl implements TaskManageService { task.setTask_seq( staList.stream() .map(Station::getStation_name) - .collect(Collectors.joining("-")) + .collect(Collectors.joining(",")) ); task.setTask_status(TaskStatus.CREATE.getCode()); task.setCreate_time(DateUtil.now()); @@ -153,26 +154,26 @@ public class TaskManageServiceImpl implements TaskManageService { .lt(Task::getTask_status, TaskStatus.FINISHED.getCode()) ); if (ObjectUtil.isEmpty(task)) { - throw new BadRequestException("当前没有任务在执行中!"); + throw new BadRequestException(LangProcess.msg("task_Is_not_exist")); } try { HttpResponse response = HTTPUtil.post(URLConstant.RCS_IP_PORT, URLConstant.CANCEL_TASK_URL + task.getTask_id(), null); JSONObject result = JSONObject.parseObject(response.body()); if (result.getBoolean("state").equals(false)) { - throw new BadRequestException("访问调度报错:" + result.getString("errMsg")); + throw new BadRequestException(LangProcess.msg("error_request_rcs") + result.getString("errMsg")); } // 取消任务 task.setTask_status(TaskStatus.CANCELED.getCode()); iTaskService.updateById(task); } catch (Exception e) { - throw new BadRequestException("访问调度报错:" + e.getMessage()); + throw new BadRequestException(LangProcess.msg("error_request_rcs") + e.getMessage()); } return WebResponse.requestOk(); } @Override public WebResponse queryTaskChain() { - List taskList = iTaskchainService.list(); + List taskList = iTaskchainService.queryAllTaskchain(); // 根据任务链id分组 Map> mapTask = taskList.stream() .collect(Collectors.groupingBy(Taskchain::getChain_id)); @@ -220,10 +221,6 @@ public class TaskManageServiceImpl implements TaskManageService { @Override public WebResponse TaskChainDtl(JSONObject whereJson) { - return WebResponse.requestParamOk(iTaskchainService.list( - new QueryWrapper().lambda() - .eq(Taskchain::getChain_id, whereJson.getString("chain_id")) - .orderByAsc(Taskchain::getOrder_num) - )); + return WebResponse.requestParamOk(iTaskchainService.queryTaskchainById(whereJson.getString("chain_id"))); } } diff --git a/src/main/java/org/nl/apt15e/apt/taskchain/service/ITaskchainService.java b/src/main/java/org/nl/apt15e/apt/taskchain/service/ITaskchainService.java index f04b49c..d955580 100644 --- a/src/main/java/org/nl/apt15e/apt/taskchain/service/ITaskchainService.java +++ b/src/main/java/org/nl/apt15e/apt/taskchain/service/ITaskchainService.java @@ -3,6 +3,8 @@ package org.nl.apt15e.apt.taskchain.service; import com.baomidou.mybatisplus.extension.service.IService; import org.nl.apt15e.apt.taskchain.service.dao.Taskchain; +import java.util.List; + /** *

* 服务类 @@ -13,4 +15,7 @@ import org.nl.apt15e.apt.taskchain.service.dao.Taskchain; */ public interface ITaskchainService extends IService { + List queryAllTaskchain(); + + List queryTaskchainById(String chain_id); } diff --git a/src/main/java/org/nl/apt15e/apt/taskchain/service/dao/mapper/TaskchainMapper.java b/src/main/java/org/nl/apt15e/apt/taskchain/service/dao/mapper/TaskchainMapper.java index 52ce84c..d0db5d4 100644 --- a/src/main/java/org/nl/apt15e/apt/taskchain/service/dao/mapper/TaskchainMapper.java +++ b/src/main/java/org/nl/apt15e/apt/taskchain/service/dao/mapper/TaskchainMapper.java @@ -1,8 +1,12 @@ package org.nl.apt15e.apt.taskchain.service.dao.mapper; import com.baomidou.mybatisplus.core.mapper.BaseMapper; +import org.apache.ibatis.annotations.Mapper; +import org.apache.ibatis.annotations.Param; import org.nl.apt15e.apt.taskchain.service.dao.Taskchain; +import java.util.List; + /** *

* Mapper 接口 @@ -11,6 +15,14 @@ import org.nl.apt15e.apt.taskchain.service.dao.Taskchain; * @author Liuxy * @since 2025-07-09 */ +@Mapper public interface TaskchainMapper extends BaseMapper { + /** + * 查询所有任务链 + * @return + */ + List queryAllTaskchain(); + + List queryTaskchainById(@Param("chain_id") String chain_id); } diff --git a/src/main/java/org/nl/apt15e/apt/taskchain/service/dao/mapper/TaskchainMapper.xml b/src/main/java/org/nl/apt15e/apt/taskchain/service/dao/mapper/TaskchainMapper.xml index c542db7..87aea0c 100644 --- a/src/main/java/org/nl/apt15e/apt/taskchain/service/dao/mapper/TaskchainMapper.xml +++ b/src/main/java/org/nl/apt15e/apt/taskchain/service/dao/mapper/TaskchainMapper.xml @@ -1,5 +1,17 @@ + + + + diff --git a/src/main/java/org/nl/apt15e/apt/taskchain/service/impl/TaskchainServiceImpl.java b/src/main/java/org/nl/apt15e/apt/taskchain/service/impl/TaskchainServiceImpl.java index 383d3fb..d55d9ac 100644 --- a/src/main/java/org/nl/apt15e/apt/taskchain/service/impl/TaskchainServiceImpl.java +++ b/src/main/java/org/nl/apt15e/apt/taskchain/service/impl/TaskchainServiceImpl.java @@ -6,6 +6,10 @@ import org.nl.apt15e.apt.taskchain.service.dao.Taskchain; import org.nl.apt15e.apt.taskchain.service.dao.mapper.TaskchainMapper; import org.springframework.stereotype.Service; +import javax.annotation.Resource; +import java.util.Collections; +import java.util.List; + /** *

* 服务实现类 @@ -17,4 +21,16 @@ import org.springframework.stereotype.Service; @Service public class TaskchainServiceImpl extends ServiceImpl implements ITaskchainService { + @Resource + private TaskchainMapper taskchainMapper; + + @Override + public List queryAllTaskchain() { + return taskchainMapper.queryAllTaskchain(); + } + + @Override + public List queryTaskchainById(String chain_id) { + return taskchainMapper.queryTaskchainById(chain_id); + } } 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 198b063..c4c10ac 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 @@ -16,6 +16,7 @@ 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.language.LangProcess; import org.nl.apt15e.config.thread.ProtobufWebSocketHandler; import org.nl.apt15e.util.HTTPUtil; import org.nl.apt15e.util.URLConstant; @@ -57,7 +58,7 @@ public class TeachingServiceImpl implements TeachingService { @Override public Map startMapping(String mapName) { if (StrUtil.isBlank(mapName)){ - throw new BadRequestException("mapName is empty"); + throw new BadRequestException(LangProcess.msg("param_is_null")); } // 开始建图时清除一下 打点记录 teachingStationMap.clear(); @@ -68,7 +69,7 @@ public class TeachingServiceImpl implements TeachingService { 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"); + throw new BadRequestException(LangProcess.msg("error_starting_mapping")); } // 检查响应状态码 if (response.isOk()) { @@ -77,13 +78,13 @@ public class TeachingServiceImpl implements TeachingService { log.info("开始建图:{}",body); if ("200".equals(body.getString("code"))){ // body =(JSONObject) this.startManual(); - body.put("message","开始建图成功"); + body.put("message",LangProcess.msg("successful")); return body; } } log.info("开始建图失败"); - throw new BadRequestException("开始建图失败"); + throw new BadRequestException(LangProcess.msg("error_starting_mapping")); } @Override @@ -93,7 +94,7 @@ public class TeachingServiceImpl implements TeachingService { 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"); + throw new BadRequestException(LangProcess.msg("error_cut_manually")); } // 检查响应状态码 if (response.isOk() && response.body() != null) { @@ -101,12 +102,12 @@ public class TeachingServiceImpl implements TeachingService { JSONObject body = JSON.parseObject(response.body()); log.info("切手动:{}",body); if ("200".equals(body.getString("code"))){ - body.put("message","切自动成功"); + body.put("message",LangProcess.msg("successful")); return body; } } log.info("切手动失败"); - throw new BadRequestException("切手动失败"); + throw new BadRequestException(LangProcess.msg("error_cut_manually")); } @Override @@ -116,7 +117,7 @@ public class TeachingServiceImpl implements TeachingService { 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"); + throw new BadRequestException(LangProcess.msg("error_cut_automatically")); } // 检查响应状态码 if (response.isOk() && response.body() != null) { @@ -124,12 +125,12 @@ public class TeachingServiceImpl implements TeachingService { JSONObject body = JSON.parseObject(response.body()); log.info("切自动:{}",body); if ("200".equals(body.getString("code"))){ - body.put("message","切自动成功"); + body.put("message",LangProcess.msg("successful")); } return body; } log.info("切自动失败"); - throw new BadRequestException("切自动失败"); + throw new BadRequestException(LangProcess.msg("error_cut_automatically")); } @Override @@ -139,7 +140,7 @@ public class TeachingServiceImpl implements TeachingService { 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"); + throw new BadRequestException(LangProcess.msg("error_end_mapping")); } // 检查响应状态码 if (response.isOk() && response.body() != null) { @@ -148,18 +149,18 @@ public class TeachingServiceImpl implements TeachingService { log.info("结束建图:{}",body); if ("200".equals(body.getString("code"))){ // body =(JSONObject) this.stopManual(); - body.put("message","结束建图成功"); + body.put("message",LangProcess.msg("successful")); return body; } } log.info("结束建图失败"); - throw new BadRequestException("结束建图失败"); + throw new BadRequestException(LangProcess.msg("error_end_mapping")); } @Override public Map setStation(String stationName,String stationCode) { if (StrUtil.isBlank(stationCode) || StrUtil.isBlank(stationName)){ - throw new BadRequestException("spotCode is empty"); + throw new BadRequestException(LangProcess.msg("param_is_null")); } // 记录打点时站点数据 teachingStationMap.put(stationCode,stationName); @@ -170,7 +171,7 @@ public class TeachingServiceImpl implements TeachingService { 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"); + throw new BadRequestException(LangProcess.msg("error_set_station")); } // 检查响应状态码 if (response.isOk() && response.body() != null) { @@ -178,22 +179,22 @@ public class TeachingServiceImpl implements TeachingService { JSONObject body = JSON.parseObject(response.body()); log.info("设置站点:{}",body); if ("200".equals(body.getString("code"))){ - body.put("message","设置站点成功"); + body.put("message",LangProcess.msg("successful")); return body; } } log.info("设置站点失败"); - throw new BadRequestException("设置站点失败"); + throw new BadRequestException(LangProcess.msg("error_set_station")); } @Override public JSONObject getLocalMaps() { HttpResponse response = null; try { - response = HTTPUtil.get(URLConstant.VEHICLE_IP_PORT,"/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"); + throw new BadRequestException(LangProcess.msg("error_get_Maps")); } // 检查响应状态码 if (response.isOk() && response.body() != null) { @@ -201,18 +202,18 @@ public class TeachingServiceImpl implements TeachingService { JSONObject body = JSON.parseObject(response.body()); log.info("获取地图列表:{}",body); if ("200".equals(body.getString("code"))){ - body.put("message","获取地图列表成功"); + body.put("message",LangProcess.msg("successful")); return body; } } log.info("获取地图列表失败"); - throw new BadRequestException("获取地图列表失败"); + throw new BadRequestException(LangProcess.msg("error_get_Maps")); } @Override public Map deployRunMap(String mapName) { if (StrUtil.isBlank(mapName)){ - throw new BadRequestException("mapName is empty"); + throw new BadRequestException(LangProcess.msg("param_is_null")); } JSONObject params = new JSONObject(); params.put("id", mapName); @@ -221,7 +222,7 @@ public class TeachingServiceImpl implements TeachingService { 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"); + throw new BadRequestException(LangProcess.msg("error_deploy_maps")); } // 检查响应状态码 if (response.isOk() && response.body() != null) { @@ -229,18 +230,18 @@ public class TeachingServiceImpl implements TeachingService { JSONObject body = JSON.parseObject(response.body()); log.info("部署地图:{}",body); if ("200".equals(body.getString("code"))){ - body.put("message","部署地图成功"); + body.put("message",LangProcess.msg("successful")); return body; } } log.info("部署地图失败"); - throw new BadRequestException("部署地图失败"); + throw new BadRequestException(LangProcess.msg("error_deploy_maps")); } @Override public Map changeCurrentRunMap(String mapName) { if (StrUtil.isBlank(mapName)){ - throw new BadRequestException("mapName is empty"); + throw new BadRequestException(LangProcess.msg("param_is_null")); } JSONObject params = new JSONObject(); params.put("name", mapName); @@ -249,7 +250,7 @@ public class TeachingServiceImpl implements TeachingService { 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"); + throw new BadRequestException(LangProcess.msg("error_app_maps")); } // 检查响应状态码 if (response.isOk() && response.body() != null) { @@ -257,18 +258,18 @@ public class TeachingServiceImpl implements TeachingService { JSONObject body = JSON.parseObject(response.body()); log.info("应用地图:{}",body); if ("200".equals(body.getString("code"))){ - body.put("message","应用地图成功"); + body.put("message",LangProcess.msg("successful")); return body; } } log.info("应用地图失败"); - throw new BadRequestException("应用地图失败"); + throw new BadRequestException(LangProcess.msg("error_app_maps")); } @Override public byte[] getRunMapZip(String mapName) { if (StrUtil.isBlank(mapName)){ - throw new BadRequestException("mapName is empty"); + throw new BadRequestException(LangProcess.msg("param_is_null")); } JSONObject params = new JSONObject(); params.put("name", mapName); @@ -277,7 +278,7 @@ public class TeachingServiceImpl implements TeachingService { 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"); + throw new BadRequestException(LangProcess.msg("error_get_map_pack")); } // 检查响应状态码 if (response.isOk() && response.body() != null) { @@ -290,7 +291,7 @@ public class TeachingServiceImpl implements TeachingService { return zipBytes; } log.info("获取地图包失败"); - throw new BadRequestException("获取地图包失败"); + throw new BadRequestException(LangProcess.msg("error_get_map_pack")); } @Override @@ -309,7 +310,7 @@ public class TeachingServiceImpl implements TeachingService { .execute(); } catch (Exception e) { log.info("同步地图到调度接口报错:{}",e.getMessage()); - throw new BadRequestException("同步地图失败"); + throw new BadRequestException(LangProcess.msg("error_synchronized_map")); } // 检查响应状态码 if (response.isOk() && response.body() != null) { @@ -317,18 +318,18 @@ public class TeachingServiceImpl implements TeachingService { JSONObject body = JSON.parseObject(response.body()); log.info("同步地图:{}",body); if (body.getBoolean("state")){ - body.put("message","同步地图成功"); + body.put("message",LangProcess.msg("successful")); return body; } } log.info("同步地图失败"); - throw new BadRequestException("同步地图失败"); + throw new BadRequestException(LangProcess.msg("error_synchronized_map")); } @Override public Map relocate(Double x, Double y, Double angle) { if (ObjectUtil.isEmpty(x) || ObjectUtil.isEmpty(y) || ObjectUtil.isEmpty(angle)){ - throw new BadRequestException("params is empty"); + throw new BadRequestException(LangProcess.msg("param_is_null")); } log.info(angle.toString()); angle = (angle * 180) / Math.PI; @@ -346,7 +347,7 @@ public class TeachingServiceImpl implements TeachingService { 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"); + throw new BadRequestException(LangProcess.msg("error_relocate")); } // 检查响应状态码 if (response.isOk() && response.body() != null) { @@ -354,12 +355,12 @@ public class TeachingServiceImpl implements TeachingService { JSONObject body = JSON.parseObject(response.body()); log.info("重定位:{}",body); if ("200".equals(body.getString("code"))){ - body.put("message","重定位指令下发成功,正在重新定位中。"); + body.put("message",LangProcess.msg("successful")); return body; } } log.info("重定位指令下发失败"); - throw new BadRequestException("重定位指令下发失败"); + throw new BadRequestException(LangProcess.msg("error_relocate")); } @Override @@ -369,7 +370,7 @@ public class TeachingServiceImpl implements TeachingService { 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"); + throw new BadRequestException(LangProcess.msg("error_restart")); } // 检查响应状态码 if (response.isOk() && response.body() != null) { @@ -377,18 +378,18 @@ public class TeachingServiceImpl implements TeachingService { JSONObject body = JSON.parseObject(response.body()); log.info("车体程序重启:{}",body); if ("200".equals(body.getString("code"))){ - body.put("message","车体程序重启成功"); + body.put("message",LangProcess.msg("successful")); return body; } } log.info("车体程序重启失败"); - throw new BadRequestException("车体程序重启失败"); + throw new BadRequestException(LangProcess.msg("error_restart")); } @Override public Map oneClickDeployment(String mapName) { if (StrUtil.isBlank(mapName)){ - throw new BadRequestException("mapName is empty"); + throw new BadRequestException(LangProcess.msg("param_is_null")); } JSONObject response = new JSONObject(); // 获取地图列表 @@ -419,7 +420,7 @@ public class TeachingServiceImpl implements TeachingService { ); this.relocate(station.getX(),station.getY(),station.getAngle()); response.put("code", 200); - response.put("message", "部署成功"); + response.put("message", LangProcess.msg("successful")); return response; } @@ -437,7 +438,7 @@ public class TeachingServiceImpl implements TeachingService { 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"); + throw new BadRequestException(LangProcess.msg("error_abandon_mapping")); } // 检查响应状态码 if (response.isOk() && response.body() != null) { @@ -445,12 +446,12 @@ public class TeachingServiceImpl implements TeachingService { JSONObject body = JSON.parseObject(response.body()); log.info("放弃示教建图:{}",body); if ("200".equals(body.getString("code"))){ - body.put("message","放弃示教建图成功"); + body.put("message",LangProcess.msg("successful")); return body; } } log.info("放弃示教建图失败"); - throw new BadRequestException("放弃示教建图失败"); + throw new BadRequestException(LangProcess.msg("error_abandon_mapping")); } @Override 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 7d779bb..0a4a8a8 100644 --- a/src/main/java/org/nl/apt15e/apt/vehicle/ProcessZip.java +++ b/src/main/java/org/nl/apt15e/apt/vehicle/ProcessZip.java @@ -7,15 +7,18 @@ import lombok.extern.slf4j.Slf4j; import org.nl.apt15e.apt.map.dao.MapInfo; import org.nl.apt15e.apt.map.dto.ProcessMapYamlDto; import org.nl.apt15e.apt.map.service.MapInfoService; +import org.nl.apt15e.apt.map.service.mapper.MapInfoMapper; import org.nl.apt15e.apt.route.dao.RouteInfo; import org.nl.apt15e.apt.route.service.RouteInfoService; 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.taskchain.service.ITaskchainService; import org.nl.apt15e.apt.teaching.service.impl.TeachingServiceImpl; import org.nl.apt15e.common.BadRequestException; import org.nl.apt15e.config.file.FileProperties; +import org.nl.apt15e.config.language.LangProcess; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; @@ -48,11 +51,14 @@ public class ProcessZip { private StationService stationService; @Resource - private MapInfoService mapInfoService; + private MapInfoMapper mapInfoMapper; @Resource private RouteInfoService routeInfoService; + @Resource + private ITaskchainService taskchainService; + @Resource private FileProperties properties; @@ -69,7 +75,8 @@ public class ProcessZip { //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<>()); + mapInfoMapper.delete(new LambdaQueryWrapper<>()); + taskchainService.remove(new LambdaQueryWrapper<>()); ZipEntry entry; // 遍历ZIP文件中的每个条目 @@ -92,7 +99,7 @@ public class ProcessZip { processLine(line, lineNumber); } if (lineNumber == 0) { - throw new BadRequestException("地图包数据为空，扫描失败。请重新建图"); + throw new BadRequestException(LangProcess.msg("error_map_pack_isNull")); } } // 点云图 .pgm 文件转换 .png @@ -115,17 +122,18 @@ public class ProcessZip { mapInfo.setHeight((double) pngImage.getHeight()); if (ObjectUtil.isEmpty(pngImage)) { log.info("PGM转换失败: {}", entryName); - throw new BadRequestException("地图PGM转换失败: "); + throw new BadRequestException(LangProcess.msg("error_map_pgm")); } // 将灰度图转换为透明背景图 pngImage = convertToTransparentBackground(pngImage); + String mapName = entryName.substring(0, entryName.lastIndexOf('.')); // 保存PNG文件 - String pngFileName = entryName.substring(0, entryName.lastIndexOf('.')) + ".png"; + String pngFileName = mapName + ".png"; // 记录地图编码、名称 - mapInfo.setMapCode(pngFileName); - mapInfo.setMapName(pngFileName); + mapInfo.setMapCode(mapName); + mapInfo.setMapName(mapName); mapInfo.setMapImageAddress("/file/"+pngFileName); savePngImage(pngImage, pngFileName); } @@ -155,14 +163,14 @@ public class ProcessZip { line = reader.readLine(); } if (!flag){ - throw new BadRequestException(".YAML文件内容为空"); + throw new BadRequestException(LangProcess.msg("error_yaml_isNull")); } // 解析YAML内容 String yamlContent = contentBuilder.toString(); ProcessMapYamlDto processMapYamlDto = new Yaml().loadAs(yamlContent, ProcessMapYamlDto.class); log.info(".yaml数据: {}", processMapYamlDto); if (ObjectUtil.isEmpty(processMapYamlDto) || processMapYamlDto.getOrigin().length<3){ - throw new BadRequestException(".yaml数据信息格式错误"); + throw new BadRequestException(LangProcess.msg("error_formatting_error")); } // 记录像素比例和图片左下角像素坐标 mapInfo.setResolution(processMapYamlDto.getResolution()); @@ -170,18 +178,18 @@ public class ProcessZip { mapInfo.setY(processMapYamlDto.getOrigin()[1]); mapInfo.setAngle(processMapYamlDto.getOrigin()[2]); } catch (IOException e) { - throw new BadRequestException("YAML解析失败:"+ e.getMessage()); + throw new BadRequestException(LangProcess.msg("error_parsing")+ e.getMessage()); } } } // 保存地图信息 if (ObjectUtil.isNotEmpty(mapInfo)) { log.info("地图信息:{}",mapInfo); - mapInfoService.save(mapInfo); + mapInfoMapper.insert(mapInfo); } } catch (Exception e) { - throw new BadRequestException("处理地图包数据失败:"+e.getMessage()); + throw new BadRequestException(LangProcess.msg("error_process_map_pack")+e.getMessage()); } } @@ -246,7 +254,7 @@ public class ProcessZip { return transparentImage; }catch (Exception e) { log.info(".png点云图将灰度图像转换为透明背景图像失败:{}",e.getMessage()); - throw new BadRequestException(".png点云图将灰度图像转换为透明背景图像失败:"+e.getMessage()); + throw new BadRequestException(LangProcess.msg("error_png_convert_transparency")+e.getMessage()); } } @@ -273,9 +281,9 @@ public class ProcessZip { station.setStation_id(Integer.valueOf(processData[1])); String stationName = ""; if ("A".equals(processData[2])){ - stationName = "起点"; + stationName = LangProcess.msg("starting_point"); }else if ("C".equals(processData[2])){ - stationName = "终点"; + stationName = LangProcess.msg("end_point"); }else { // 判断是否存在打点记录里 if (TeachingServiceImpl.teachingStationMap.containsKey(processData[2])){ @@ -338,7 +346,7 @@ public class ProcessZip { magic.append(c); } if (!magic.toString().equals(PGM_MAGIC_NUMBER)) { - throw new BadRequestException("不支持的PGM格式，仅支持P5二进制格式"); + throw new BadRequestException(LangProcess.msg("error_p5")); } // 解析宽度和高度 @@ -348,7 +356,7 @@ public class ProcessZip { } String[] dimensions = dimensionBuilder.toString().trim().split("\\s+"); if (dimensions.length < 2) { - throw new BadRequestException("无效的尺寸格式"); + throw new BadRequestException(LangProcess.msg("error_invalid_size")); } int width = Integer.parseInt(dimensions[0]); int height = Integer.parseInt(dimensions[1]); @@ -370,7 +378,7 @@ public class ProcessZip { return image; } catch (Exception e) { log.info("PGM解析错误: {}", e.getMessage()); - throw new BadRequestException("PGM解析错误: "+e.getMessage()); + throw new BadRequestException(LangProcess.msg("error_pgm_parse")+e.getMessage()); } } diff --git a/src/main/java/org/nl/apt15e/apt/vehicle/dao/VehicleException.java b/src/main/java/org/nl/apt15e/apt/vehicle/dao/VehicleException.java index 8ae64f1..2d6a97f 100644 --- a/src/main/java/org/nl/apt15e/apt/vehicle/dao/VehicleException.java +++ b/src/main/java/org/nl/apt15e/apt/vehicle/dao/VehicleException.java @@ -21,6 +21,6 @@ public class VehicleException implements Serializable { /** * 错误码 */ - private List exceptionCodes; + private List exceptionCodes; } 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 1718641..71fd2b1 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 @@ -1,8 +1,10 @@ package org.nl.apt15e.apt.vehicle.dao; import lombok.Data; +import org.nl.apt15e.apt.anomalyInfo.dao.ErrorInfo; import java.io.Serializable; +import java.util.List; /** * @author dsh @@ -96,4 +98,20 @@ public class VehicleInfo implements Serializable { * 是否重启完成 1重启完成 */ private String ready; + + /** + * 叉间避障 + */ + private String forkTipObstacles; + + /** + * 当前异常列表 + */ + private List errorData; + + /** + * 异常等级 0无异常(绿灯) 1普通异常(黄灯) 2严重异常(红灯) + */ + private Integer anomalyLevel; + } 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 9be8f47..b83e947 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 @@ -4,6 +4,8 @@ import lombok.extern.slf4j.Slf4j; import org.nl.apt15e.apt.vehicle.dao.VehicleInfo; import org.nl.apt15e.apt.vehicle.service.VehicleInfoService; import org.nl.apt15e.common.logging.annotation.Log; +import org.springframework.http.HttpStatus; +import org.springframework.http.ResponseEntity; import org.springframework.web.bind.annotation.GetMapping; import org.springframework.web.bind.annotation.RequestMapping; import org.springframework.web.bind.annotation.RestController; @@ -30,7 +32,14 @@ public class VehicleInfoController { @GetMapping("/rebootVehicle") @Log("重启车辆系统") - public void rebootVehicle() { - vehicleInfoService.rebootVehicle(); + public ResponseEntity rebootVehicle() { + return new ResponseEntity<>(vehicleInfoService.rebootVehicle(), HttpStatus.OK); } + + @GetMapping("/setForkLegsObstacles") + @Log("设置叉腿避障") + public ResponseEntity setForkLegsObstacles() { + return new ResponseEntity<>(vehicleInfoService.setForkLegsObstacles(), HttpStatus.OK); + } + } 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 72d1c62..7ec5ec9 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 @@ -2,16 +2,34 @@ package org.nl.apt15e.apt.vehicle.service; import org.nl.apt15e.apt.vehicle.dao.VehicleInfo; +import java.util.Map; + /** * @author dsh * 2025/7/2 */ public interface VehicleInfoService { + /** + * 获取车辆基础信息 + * @return + */ VehicleInfo getVehicleInfo(); void setVehicleInfo(VehicleInfo vehicleInfo); - void rebootVehicle(); + /** + * 车辆系统重启 + */ + Map rebootVehicle(); + /** + * 系统初始化 + */ + void systemInitialization(); + + /** + * 设置叉尖避障 + */ + Map setForkLegsObstacles(); } 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 1282359..9ee7513 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 @@ -1,24 +1,34 @@ package org.nl.apt15e.apt.vehicle.service.impl; import cn.hutool.core.util.ObjectUtil; +import cn.hutool.core.util.StrUtil; import cn.hutool.http.HttpResponse; +import com.alibaba.fastjson.JSON; 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.anomalyInfo.dao.ErrorInfo; +import org.nl.apt15e.apt.anomalyInfo.service.ErrorInfoService; import org.nl.apt15e.apt.map.dto.PointCloudDataDto; +import org.nl.apt15e.apt.map.service.MapInfoService; +import org.nl.apt15e.apt.route.service.RouteInfoService; +import org.nl.apt15e.apt.station.service.StationService; 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.taskchain.service.ITaskchainService; 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.config.language.LangProcess; +import org.nl.apt15e.config.language.RcsLang; import org.nl.apt15e.system.enums.ParamCodeConstant; import org.nl.apt15e.system.service.ParamService; import org.nl.apt15e.util.HTTPUtil; @@ -47,6 +57,21 @@ public class VehicleInfoServiceImpl implements VehicleInfoService { @Resource private TaskMapper taskMapper; + @Resource + private StationService stationService; + + @Resource + private MapInfoService mapInfoService; + + @Resource + private RouteInfoService routeInfoService; + + @Resource + private ITaskchainService taskchainService; + + @Resource + private ErrorInfoService errorInfoService; + @Resource private ParamService paramService; @@ -65,21 +90,75 @@ public class VehicleInfoServiceImpl implements VehicleInfoService { } @Override - public void rebootVehicle() { + public JSONObject rebootVehicle() { HttpResponse response = null; + JSONObject result = new JSONObject(); + result.put("status", LangProcess.msg("failed")); try { response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/reboot", new JSONObject()); + if (response.isOk()){ + result.put("status", LangProcess.msg("successful")); + } + return result; } catch (Exception e) { log.info("重启系统失败:{}",e.getMessage()); - throw new BadRequestException("重启系统失败"); + throw new BadRequestException(LangProcess.msg("error_restart_system")); } } + @Override + public void systemInitialization() { + HttpResponse response = null; + try { + response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/recover", new JSONObject()); + } catch (Exception e) { + log.info("初始化底层系统失败:{}",e.getMessage()); + throw new BadRequestException(LangProcess.msg("error_initializing_system")); + } + + // 暂时缺少 调度系统初始化接口 + + // 清除本地数据 + taskMapper.delete(new LambdaQueryWrapper<>()); + stationService.remove(new LambdaQueryWrapper<>()); + routeInfoService.remove(new LambdaQueryWrapper<>()); + mapInfoService.remove(new LambdaQueryWrapper<>()); + taskchainService.remove(new LambdaQueryWrapper<>()); + } + + @Override + public Map setForkLegsObstacles() { +// if (StrUtil.isBlank(stationCode) || StrUtil.isBlank(stationName)){ +// throw new BadRequestException("spotCode is empty"); +// } + JSONObject params = new JSONObject(); + params.put("enable_back_tof", true); + HttpResponse response = null; + try { + response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/setStates", params); + } catch (Exception e) { + log.info("访问车体关闭叉腿避障接口报错:{}",e.getMessage()); + throw new BadRequestException(LangProcess.msg("error_set_forkLegs")); + } + // 检查响应状态码 + if (response.isOk() && response.body() != null) { + // 获取响应体内容 + JSONObject body = JSON.parseObject(response.body()); + log.info("操作叉腿避障:{}",body); + if ("200".equals(body.getString("code"))){ + body.put("message",LangProcess.msg("successful")); + return body; + } + } + log.info("关闭叉腿避障失败"); + throw new BadRequestException(LangProcess.msg("error_set_forkLegs")); + } + @Async("asynchronousTasks") public void queryVehicleInfo() { HttpResponse response = null; try { - response = HTTPUtil.get(URLConstant.RCS_IP_PORT,"/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 @@ -98,9 +177,24 @@ public class VehicleInfoServiceImpl implements VehicleInfoService { vehicleInfo.setStateId(data.getLong("stateId")); vehicleInfo.setState(data.getString("state")); vehicleInfo.setAreaId(data.getLong("areaId")); + vehicleInfo.setErrorData(new ArrayList<>()); //上报的异常信息 - VehicleException vehicleException = JSONObject.toJavaObject(data.getJSONObject("amrException"), VehicleException.class); + JSONObject amrException = data.getJSONObject("amrException"); + VehicleException vehicleException = JSONObject.toJavaObject(amrException, VehicleException.class); vehicleInfo.setExceptionInfo(vehicleException); + List errorInfoList = new ArrayList<>(); + // 消息列表 + if (ObjectUtil.isNotEmpty(vehicleException.getExceptionCodes())){ + errorInfoList = errorInfoService.list(new LambdaQueryWrapper().in(ErrorInfo::getError_code,vehicleException.getExceptionCodes())); + } + // 异常等级 0无异常 1普通异常 2严重异常 + OptionalInt maxLevel = errorInfoList.stream().mapToInt(ErrorInfo::getError_category).max(); + int anomalyLevel = 0; + if (maxLevel.isPresent()) { + anomalyLevel = maxLevel.getAsInt(); + } + vehicleInfo.setAnomalyLevel(anomalyLevel); + vehicleInfo.setErrorData(errorInfoList); System.out.println("vehicleInfo: " + vehicleInfo); } } else { @@ -114,6 +208,53 @@ public class VehicleInfoServiceImpl implements VehicleInfoService { } } + public VehicleInfo queryVehicleInfoI18n(String lang,VehicleInfo vehicleInfo) { + HttpResponse response = null; + try { + response = HTTPUtil.get(URLConstant.RCS_IP_PORT,"/amr/onlineAmr",null,RcsLang.getRcsLanguage(lang)); + // 检查响应状态码 + if (response!=null && response.isOk()) { + // 获取响应体内容 + String body = response.body(); + JSONArray jsonArray = JSONObject.parseObject(body).getJSONArray("data"); + if (jsonArray.isEmpty()) { + log.info("车辆数据为空"); + } + for (int i = 0; i < jsonArray.size(); i++) { + JSONObject data = jsonArray.getJSONObject(i); + vehicleInfo.setId(data.getString("id")); + vehicleInfo.setName(data.getString("name")); + vehicleInfo.setIp(data.getString("ip")); + vehicleInfo.setMapId(data.getLong("mapId")); + vehicleInfo.setMapName(data.getString("mapName")); + vehicleInfo.setStateId(data.getLong("stateId")); + vehicleInfo.setState(data.getString("state")); + vehicleInfo.setAreaId(data.getLong("areaId")); + vehicleInfo.setErrorData(new ArrayList<>()); + //上报的异常信息 + JSONObject amrException = data.getJSONObject("amrException"); + VehicleException vehicleException = JSONObject.toJavaObject(amrException, VehicleException.class); + vehicleInfo.setExceptionInfo(vehicleException); + List errorInfoList = new ArrayList<>(); + // 消息列表 + if (ObjectUtil.isNotEmpty(vehicleException.getExceptionCodes())){ + errorInfoList = errorInfoService.list(new LambdaQueryWrapper().in(ErrorInfo::getError_code,vehicleException.getExceptionCodes())); + } + vehicleInfo.setErrorData(errorInfoList); + System.out.println("vehicleInfo: " + vehicleInfo); + } + } else { + log.info("查询调度车辆信息失败:{}",response); + } + } catch (Exception e) { + log.info("访问调度报错{}", e.getMessage()); + } + if (response != null) { + response.close(); + } + return vehicleInfo; + } + @Async("asynchronousTasks") public void sendVehicleInfo() { CopyOnWriteArraySet webSocketSet = @@ -129,7 +270,10 @@ public class VehicleInfoServiceImpl implements VehicleInfoService { } webSocketSet.forEach(c -> { Map vehicleInfoMap = new HashMap<>(); - vehicleInfoMap.put("data", vehicleInfo); + log.info("websocket标识:{}",c.getLang()); + VehicleInfo webVehicleInfo = vehicleInfo; + webVehicleInfo = this.queryVehicleInfoI18n(c.getLang(),webVehicleInfo); + vehicleInfoMap.put("data", webVehicleInfo); c.sendDataToClient(vehicleInfoMap); }); } @@ -153,8 +297,8 @@ public class VehicleInfoServiceImpl implements VehicleInfoService { // 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::queryVehicleInfo,1000); + scheduler.scheduleAtFixedRate(this::sendVehicleInfo, 1000); scheduler.scheduleAtFixedRate(this::sendPointCloudData, 1000); } } diff --git a/src/main/java/org/nl/apt15e/apt/websocket/WebSocketVehicleServer.java b/src/main/java/org/nl/apt15e/apt/websocket/WebSocketVehicleServer.java index 43149c2..e8ddee7 100644 --- a/src/main/java/org/nl/apt15e/apt/websocket/WebSocketVehicleServer.java +++ b/src/main/java/org/nl/apt15e/apt/websocket/WebSocketVehicleServer.java @@ -41,12 +41,31 @@ public class WebSocketVehicleServer { */ private String sid = ""; + /** + * 默认语言 + */ + private String lang = "zh"; + /** * 连接建立成功调用的方法 */ @OnOpen public void onOpen(Session session, @PathParam("sid") String sid) { this.session = session; + + // 获取查询参数中的语言设置 + String queryString = session.getRequestURI().getQuery(); + if (queryString != null) { + String[] params = queryString.split("&"); + for (String param : params) { + if (param.startsWith("lang=")) { + // 获取lang参数值 + this.lang = param.substring(5); + break; + } + } + } + //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); @@ -88,7 +107,12 @@ public class WebSocketVehicleServer { return session; } - // 发送消息，在定时任务中会调用此方法 + // 获取语言的方法 + public String getLang() { + return lang; + } + + // 推送方法 public void sendMessage(String message) throws IOException { this.session.getBasicRemote().sendText(message); } diff --git a/src/main/java/org/nl/apt15e/common/excel/ErrorHandlingListener.java b/src/main/java/org/nl/apt15e/common/excel/ErrorHandlingListener.java new file mode 100644 index 0000000..d5bd136 --- /dev/null +++ b/src/main/java/org/nl/apt15e/common/excel/ErrorHandlingListener.java @@ -0,0 +1,92 @@ +package org.nl.apt15e.common.excel; + +import com.alibaba.excel.context.AnalysisContext; +import com.alibaba.excel.event.AnalysisEventListener; +import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper; +import com.baomidou.mybatisplus.extension.service.IService; +import lombok.extern.slf4j.Slf4j; +import org.nl.apt15e.apt.anomalyInfo.dao.ErrorHandling; +import org.nl.apt15e.apt.anomalyInfo.dao.ErrorInfo; +import org.nl.apt15e.common.BadRequestException; +import org.nl.apt15e.config.language.LangProcess; +import org.springframework.transaction.annotation.Transactional; + +import java.util.ArrayList; +import java.util.List; + +/** + * @author dsh + * 2025/8/27 + */ +@Slf4j +public class ErrorHandlingListener extends AnalysisEventListener { + /** + * 每隔 BATCH_COUNT 条存储数据库，然后清理list，方便内存回收 + */ + private static final int BATCH_COUNT = 1000; // 批处理阈值:cite[2]:cite[5] + + private List cachedDataList = new ArrayList<>(BATCH_COUNT); + + /** + * 假设我们需要Service进行批量插入 + * 也可以使用Mapper，但Service层封装批量操作更常见 + */ + private IService service; + + /** + * 通过构造器传入需要的Service或Mapper + */ + public ErrorHandlingListener(IService service) { + this.service = service; + } + + /** + * 每读一行数据，都会调用此方法 + * @param data 一行数据，类型是泛型T + * @param context + */ + @Override + public void invoke(ErrorHandling data, AnalysisContext context) { + cachedDataList.add(data); + // 达到BATCH_COUNT了，需要去存储一次数据库，防止数据几万条数据在内存，容易OOM + if (cachedDataList.size() >= BATCH_COUNT) { + saveData(); + // 存储完成清理 list + cachedDataList.clear(); + } + } + + /** + * 所有数据解析完成后，会调用此方法 + * @param context + */ + @Override + public void doAfterAllAnalysed(AnalysisContext context) { + // 确保最后一批数据也持久化到数据库 + if (!cachedDataList.isEmpty()) { + saveData(); + cachedDataList.clear(); + } + log.info("所有Excel数据解析并导入完成！"); + } + + /** + * 批量保存数据到数据库 + * 使用MyBatis-Plus的saveBatch方法 + */ + @Transactional(rollbackFor = Exception.class) + public void saveData() { + if (!cachedDataList.isEmpty()) { + // 清除所有异常信息 重新导入 + service.remove(new QueryWrapper()); + // 第二个参数是批次大小 + boolean saveResult = service.saveBatch(cachedDataList, BATCH_COUNT); + if (saveResult) { + log.info("成功批量插入 {} 条数据。", cachedDataList.size()); + } else { + log.error("批量插入数据失败！"); + throw new BadRequestException(LangProcess.msg("failed")); + } + } + } +} diff --git a/src/main/java/org/nl/apt15e/common/excel/ErrorInfoListener.java b/src/main/java/org/nl/apt15e/common/excel/ErrorInfoListener.java new file mode 100644 index 0000000..4b192c0 --- /dev/null +++ b/src/main/java/org/nl/apt15e/common/excel/ErrorInfoListener.java @@ -0,0 +1,92 @@ +package org.nl.apt15e.common.excel; + +import com.alibaba.excel.context.AnalysisContext; +import com.alibaba.excel.event.AnalysisEventListener; +import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper; +import com.baomidou.mybatisplus.extension.service.IService; +import lombok.extern.slf4j.Slf4j; +import org.nl.apt15e.apt.anomalyInfo.dao.ErrorInfo; +import org.nl.apt15e.common.BadRequestException; +import org.nl.apt15e.config.language.LangProcess; +import org.springframework.transaction.annotation.Transactional; + +import java.util.ArrayList; +import java.util.List; + +/** + * @author dsh + * 2025/8/26 + */ +@Slf4j +public class ErrorInfoListener extends AnalysisEventListener { + + /** + * 每隔 BATCH_COUNT 条存储数据库，然后清理list，方便内存回收 + */ + private static final int BATCH_COUNT = 1000; // 批处理阈值:cite[2]:cite[5] + + private List cachedDataList = new ArrayList<>(BATCH_COUNT); + + /** + * 假设我们需要Service进行批量插入 + * 也可以使用Mapper，但Service层封装批量操作更常见 + */ + private IService service; + + /** + * 通过构造器传入需要的Service或Mapper + */ + public ErrorInfoListener(IService service) { + this.service = service; + } + + /** + * 每读一行数据，都会调用此方法 + * @param data 一行数据，类型是泛型T + * @param context + */ + @Override + public void invoke(ErrorInfo data, AnalysisContext context) { + cachedDataList.add(data); + // 达到BATCH_COUNT了，需要去存储一次数据库，防止数据几万条数据在内存，容易OOM + if (cachedDataList.size() >= BATCH_COUNT) { + saveData(); + // 存储完成清理 list + cachedDataList.clear(); + } + } + + /** + * 所有数据解析完成后，会调用此方法 + * @param context + */ + @Override + public void doAfterAllAnalysed(AnalysisContext context) { + // 确保最后一批数据也持久化到数据库 + if (!cachedDataList.isEmpty()) { + saveData(); + cachedDataList.clear(); + } + log.info("所有Excel数据解析并导入完成！"); + } + + /** + * 批量保存数据到数据库 + * 使用MyBatis-Plus的saveBatch方法 + */ + @Transactional(rollbackFor = Exception.class) + public void saveData() { + if (!cachedDataList.isEmpty()) { + // 清除所有异常信息 重新导入 + service.remove(new QueryWrapper()); + // 第二个参数是批次大小 + boolean saveResult = service.saveBatch(cachedDataList, BATCH_COUNT); + if (saveResult) { + log.info("成功批量插入 {} 条数据。", cachedDataList.size()); + } else { + log.error("批量插入数据失败！"); + throw new BadRequestException(LangProcess.msg("failed")); + } + } + } +} diff --git a/src/main/java/org/nl/apt15e/config/CallBack.java b/src/main/java/org/nl/apt15e/config/CallBack.java new file mode 100644 index 0000000..411bfad --- /dev/null +++ b/src/main/java/org/nl/apt15e/config/CallBack.java @@ -0,0 +1,20 @@ +package org.nl.apt15e.config; + +/** + * @author dsh + * 2025/8/25 + */ +public interface CallBack { + /** + * 回调执行方法 + */ + void executor(); + + /** + * 本回调任务名称 + * @return / + */ + default String getCallBackName() { + return Thread.currentThread().getId() + ":" + this.getClass().getName(); + } +} diff --git a/src/main/java/org/nl/apt15e/config/MapOf.java b/src/main/java/org/nl/apt15e/config/MapOf.java new file mode 100644 index 0000000..4ea0345 --- /dev/null +++ b/src/main/java/org/nl/apt15e/config/MapOf.java @@ -0,0 +1,20 @@ +package org.nl.apt15e.config; + + +import java.io.Serializable; +import java.util.HashMap; + +/* + * @author ZZQ + * @Date 2022/11/29 2:55 下午 + */ +public class MapOf implements Serializable { + + public static HashMap of(K... key){ + HashMap map = new HashMap<>(); + for (int i = 0; i < (key.length & ~1); i=i+2) { + map.put(key[i],key[i+1]); + } + return map; + } +} diff --git a/src/main/java/org/nl/apt15e/config/SpringContextHolder.java b/src/main/java/org/nl/apt15e/config/SpringContextHolder.java new file mode 100644 index 0000000..57e4d29 --- /dev/null +++ b/src/main/java/org/nl/apt15e/config/SpringContextHolder.java @@ -0,0 +1,141 @@ +package org.nl.apt15e.config; + +import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.BeansException; +import org.springframework.beans.factory.DisposableBean; +import org.springframework.context.ApplicationContext; +import org.springframework.context.ApplicationContextAware; +import org.springframework.core.env.Environment; + +import java.util.ArrayList; +import java.util.List; + +/** + * @author dsh + * 2025/8/25 + */ +@Slf4j +public class SpringContextHolder implements ApplicationContextAware, DisposableBean { + private static ApplicationContext applicationContext = null; + //数据库连接的bean名字 + public static String dataSourceBeanName="dataSource"; + private static final List CALL_BACKS = new ArrayList<>(); + private static boolean addCallback = true; + + /** + * 针对 某些初始化方法，在SpringContextHolder 未初始化时 提交回调方法。 + * 在SpringContextHolder 初始化后，进行回调使用 + * + * @param callBack 回调函数 + */ + public synchronized static void addCallBacks(CallBack callBack) { + if (addCallback) { + SpringContextHolder.CALL_BACKS.add(callBack); + } else { + log.warn("CallBack：{} 已无法添加！立即执行", callBack.getCallBackName()); + callBack.executor(); + } + } + public static ApplicationContext getApplicationContext() { + try { + + } catch (Exception e) { + e.printStackTrace(); + } + return applicationContext; + + } + + /** + * 从静态变量applicationContext中取得Bean, 自动转型为所赋值对象的类型. + */ + @SuppressWarnings("unchecked") + public static T getBean(String name) { + assertContextInjected(); + return (T) applicationContext.getBean(name); + } + + /** + * 从静态变量applicationContext中取得Bean, 自动转型为所赋值对象的类型. + */ + public static T getBean(Class requiredType) { + assertContextInjected(); + return applicationContext.getBean(requiredType); + } + + /** + * 获取SpringBoot 配置信息 + * + * @param property 属性key + * @param defaultValue 默认值 + * @param requiredType 返回类型 + * @return / + */ + public static T getProperties(String property, T defaultValue, Class requiredType) { + T result = defaultValue; + try { + result = getBean(Environment.class).getProperty(property, requiredType); + } catch (Exception ignored) {} + return result; + } + + /** + * 获取SpringBoot 配置信息 + * + * @param property 属性key + * @return / + */ + public static String getProperties(String property) { + return getProperties(property, null, String.class); + } + + /** + * 获取SpringBoot 配置信息 + * + * @param property 属性key + * @param requiredType 返回类型 + * @return / + */ + public static T getProperties(String property, Class requiredType) { + return getProperties(property, null, requiredType); + } + + /** + * 检查ApplicationContext不为空. + */ + private static void assertContextInjected() { + if (applicationContext == null) { + throw new IllegalStateException("applicaitonContext属性未注入, 请在applicationContext" + + ".xml中定义SpringContextHolder或在SpringBoot启动类中注册SpringContextHolder."); + } + } + + /** + * 清除SpringContextHolder中的ApplicationContext为Null. + */ + private static void clearHolder() { + log.debug("清除SpringContextHolder中的ApplicationContext:" + + applicationContext); + applicationContext = null; + } + + @Override + public void destroy() { + SpringContextHolder.clearHolder(); + } + + @Override + public void setApplicationContext(ApplicationContext applicationContext) throws BeansException { + if (SpringContextHolder.applicationContext != null) { + log.warn("SpringContextHolder中的ApplicationContext被覆盖, 原有ApplicationContext为:" + SpringContextHolder.applicationContext); + } + SpringContextHolder.applicationContext = applicationContext; + if (addCallback) { + for (CallBack callBack : SpringContextHolder.CALL_BACKS) { + callBack.executor(); + } + CALL_BACKS.clear(); + } + SpringContextHolder.addCallback = false; + } +} diff --git a/src/main/java/org/nl/apt15e/config/WebMvcConfig.java b/src/main/java/org/nl/apt15e/config/WebMvcConfig.java new file mode 100644 index 0000000..e57da24 --- /dev/null +++ b/src/main/java/org/nl/apt15e/config/WebMvcConfig.java @@ -0,0 +1,21 @@ +package org.nl.apt15e.config; + +import org.nl.apt15e.config.language.InitLocaleResolver; +import org.springframework.context.annotation.Bean; +import org.springframework.context.annotation.Configuration; +import org.springframework.web.servlet.LocaleResolver; +import org.springframework.web.servlet.config.annotation.WebMvcConfigurer; + +/** + * @author dsh + * 2025/8/25 + */ +@Configuration +public class WebMvcConfig implements WebMvcConfigurer { + + @Bean + public LocaleResolver localeResolver(){ + return new InitLocaleResolver(); + } + +} diff --git a/src/main/java/org/nl/apt15e/config/language/InitLocaleResolver.java b/src/main/java/org/nl/apt15e/config/language/InitLocaleResolver.java new file mode 100644 index 0000000..d9b8914 --- /dev/null +++ b/src/main/java/org/nl/apt15e/config/language/InitLocaleResolver.java @@ -0,0 +1,44 @@ +package org.nl.apt15e.config.language; + +import cn.hutool.core.util.StrUtil; +import org.nl.apt15e.config.MapOf; +import org.springframework.web.servlet.LocaleResolver; + +import javax.servlet.http.HttpServletRequest; +import javax.servlet.http.HttpServletResponse; +import java.util.Locale; +import java.util.Map; + +/** + * @author dsh + * 2025/8/25 + */ +public class InitLocaleResolver implements LocaleResolver { + + public static Map Language_Country = MapOf.of("vi","vi-VN","id","in-ID","in","in-ID","en-US,en;q=0.9","en-US","en","en-US","zh","zh-CN","ko","ko-KR"); + public static String language = ""; + + @Override + public Locale resolveLocale(HttpServletRequest request) { + String header = request.getHeader("Accept-Language"); + if (StrUtil.isNotEmpty(header)){ + String lang = Language_Country.get(header); + language = lang; + if (StrUtil.isNotEmpty(lang)){ + String[] l = lang.split("-"); + //印尼的ISO标准国家代码为id-ID + return new Locale(l[0], l[1]); + } + } + return Locale.getDefault(); + } + + @Override + public void setLocale(HttpServletRequest request, HttpServletResponse response, Locale locale) { + + } + + public String getLanguage(){ + return language; + } +} diff --git a/src/main/java/org/nl/apt15e/config/language/LangProcess.java b/src/main/java/org/nl/apt15e/config/language/LangProcess.java new file mode 100644 index 0000000..779c9fe --- /dev/null +++ b/src/main/java/org/nl/apt15e/config/language/LangProcess.java @@ -0,0 +1,23 @@ +package org.nl.apt15e.config.language; + +import cn.hutool.core.util.StrUtil; +import org.nl.apt15e.config.SpringContextHolder; +import org.springframework.context.MessageSource; +import org.springframework.context.i18n.LocaleContextHolder; + +/** + * @author dsh + * 2025/8/25 + */ +public class LangProcess { + + public static String msg(String code,String...args){ + MessageSource bean = SpringContextHolder.getBean(MessageSource.class); + if (StrUtil.isEmpty(code)){ + return " "; + } + String message = bean.getMessage(code, args, LocaleContextHolder.getLocale()); + return message; + } + +} diff --git a/src/main/java/org/nl/apt15e/config/language/RcsLang.java b/src/main/java/org/nl/apt15e/config/language/RcsLang.java new file mode 100644 index 0000000..1445b0c --- /dev/null +++ b/src/main/java/org/nl/apt15e/config/language/RcsLang.java @@ -0,0 +1,21 @@ +package org.nl.apt15e.config.language; + +import lombok.AllArgsConstructor; +import lombok.Getter; +import org.nl.apt15e.config.MapOf; + +import java.util.Map; + +/** + * @author dsh + * 2025/8/27 + */ +@Getter +@AllArgsConstructor +public class RcsLang { + public static Map Language_Country = MapOf.of("en","EN","zh","ZH"); + + public static String getRcsLanguage(String language) { + return Language_Country.get(language); + } +} 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 c712761..076a0fa 100644 --- a/src/main/java/org/nl/apt15e/config/thread/ProtobufWebSocketHandler.java +++ b/src/main/java/org/nl/apt15e/config/thread/ProtobufWebSocketHandler.java @@ -18,6 +18,7 @@ import org.springframework.web.socket.WebSocketSession; import org.springframework.web.socket.client.WebSocketConnectionManager; import org.springframework.web.socket.handler.BinaryWebSocketHandler; +import java.text.DecimalFormat; import java.util.HashSet; import java.util.Set; @@ -52,10 +53,17 @@ public class ProtobufWebSocketHandler extends BinaryWebSocketHandler { 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); + // 叉尖避障 + String back_io_status = data_pool.getString("back_io_status"); + VehicleInfoServiceImpl.vehicleInfo.setForkTipObstacles(back_io_status); + // 手自动模式 1手动 0自动 + boolean isManual = "0".equals(data_pool.getString("have_hard_manual")); + VehicleInfoServiceImpl.vehicleInfo.setIsManual(isManual); VehicleInfoServiceImpl.vehicleInfo.setReady(ready); // 电量 VehicleInfoServiceImpl.vehicleInfo.setBatteryPower((int)robotBase.getBatteryInfo().getSoc()); @@ -63,8 +71,6 @@ public class ProtobufWebSocketHandler extends BinaryWebSocketHandler { VehicleInfoServiceImpl.vehicleInfo.setX(robotBase.getLocate().getCurrentState().getX()); VehicleInfoServiceImpl.vehicleInfo.setY(robotBase.getLocate().getCurrentState().getY()); VehicleInfoServiceImpl.vehicleInfo.setTheta(robotBase.getLocate().getCurrentState().getTheta()); - // 手自动模式 - VehicleInfoServiceImpl.vehicleInfo.setIsManual(robotBase.getRobotInactive()); // System.out.println("vehicleInfo2: " + VehicleInfoServiceImpl.vehicleInfo); break; @@ -75,18 +81,27 @@ public class ProtobufWebSocketHandler extends BinaryWebSocketHandler { case LASER_SCAN: 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); + // 9顶部激光 + if (laser.getLocation() == 9){ + 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(); + DecimalFormat x_globalDF = new DecimalFormat("#.#"); + String x_result = x_globalDF.format(x_global); + double x_globalNum = Double.parseDouble(x_result); + double y_global = VehicleInfoServiceImpl.vehicleInfo.getY() + sinYaw * point.getX() + cosYaw * point.getY(); + DecimalFormat y_globalDF = new DecimalFormat("#.#"); + String y_result = y_globalDF.format(y_global); + double y_globalNum = Double.parseDouble(y_result); + PointCloudDataDto pointCloudDataDto = new PointCloudDataDto(); + pointCloudDataDto.setX(x_globalNum); + pointCloudDataDto.setY(y_globalNum); + data.add(pointCloudDataDto); + } + VehicleInfoServiceImpl.pointCloudData = data; } - VehicleInfoServiceImpl.pointCloudData = data; // System.out.println("Received laser_scan: " + list); break; } diff --git a/src/main/java/org/nl/apt15e/util/HTTPUtil.java b/src/main/java/org/nl/apt15e/util/HTTPUtil.java index e79a4d8..00ffbec 100644 --- a/src/main/java/org/nl/apt15e/util/HTTPUtil.java +++ b/src/main/java/org/nl/apt15e/util/HTTPUtil.java @@ -4,6 +4,7 @@ import cn.hutool.http.HttpRequest; import cn.hutool.http.HttpResponse; import com.alibaba.fastjson.JSONObject; import lombok.extern.slf4j.Slf4j; +import org.springframework.context.i18n.LocaleContextHolder; /** * @author dsh @@ -14,18 +15,19 @@ public class HTTPUtil { public static HttpResponse post(String url, String method, JSONObject params)throws Exception{ String sendUrl = url + method; + String lang = LocaleContextHolder.getLocale().getLanguage(); return HttpRequest.post(sendUrl) .setConnectionTimeout(10000) .setReadTimeout(10000) .header("token", "admin123") .header("name", "lx-script") .header("Content-Type", "application/json") + .header("Lang", "en".equals(lang)?"EN":"ZH") .body(String.valueOf(params)) .execute(); - } - public static HttpResponse get(String url, String method, JSONObject params)throws Exception{ + public static HttpResponse get(String url, String method, JSONObject params,String lang)throws Exception{ String sendUrl = url + method; return HttpRequest.get(sendUrl) .setConnectionTimeout(10000) @@ -33,6 +35,7 @@ public class HTTPUtil { .header("token", "admin123") .header("name", "lx-script") .header("Content-Type", "application/json") + .header("Lang", lang) .form(params) .execute(); diff --git a/src/main/java/org/nl/apt15e/util/URLConstant.java b/src/main/java/org/nl/apt15e/util/URLConstant.java index 74ec060..7659638 100644 --- a/src/main/java/org/nl/apt15e/util/URLConstant.java +++ b/src/main/java/org/nl/apt15e/util/URLConstant.java @@ -13,12 +13,12 @@ public class URLConstant { /** * RCS调度IP及端口 */ - public static String RCS_IP_PORT = "192.168.100.82:8081"; + public static String RCS_IP_PORT = "192.168.100.201:8081"; /** * 车体后台IP及端口 */ - public static String VEHICLE_IP_PORT = "192.168.100.82:9998"; + public static String VEHICLE_IP_PORT = "192.168.100.201:9998"; /** * 下发任务URL diff --git a/src/main/resources/config/application-dev.yml b/src/main/resources/config/application-dev.yml index b3d8bf9..b2cd20c 100644 --- a/src/main/resources/config/application-dev.yml +++ b/src/main/resources/config/application-dev.yml @@ -1,6 +1,8 @@ server: # 端口 port: 8011 + tomcat: + max-swallow-size: 100MB spring: datasource: druid: diff --git a/src/main/resources/config/application-prod.yml b/src/main/resources/config/application-prod.yml index a733162..dd45a23 100644 --- a/src/main/resources/config/application-prod.yml +++ b/src/main/resources/config/application-prod.yml @@ -1,6 +1,8 @@ server: # 端口 port: 8011 + tomcat: + max-swallow-size: 100MB spring: datasource: druid: diff --git a/src/main/resources/config/application.yml b/src/main/resources/config/application.yml index 1557389..5c5d82e 100644 --- a/src/main/resources/config/application.yml +++ b/src/main/resources/config/application.yml @@ -1,6 +1,15 @@ spring: + servlet: + multipart: + max-file-size: 100MB + max-request-size: 100MB + main: + allow-bean-definition-overriding: true + messages: + basename: language/task/task,language/error/error,language/buss/buss + encoding: UTF-8 profiles: - active: dev + active: prod jackson: time-zone: GMT+8 @@ -8,7 +17,7 @@ mybatis-plus: configuration: map-underscore-to-camel-case: false log-impl: org.apache.ibatis.logging.stdout.StdOutImpl - mapper-locations: classpath*:/mapper/**/*.xml + mapper-locations: classpath*:org/nl/apt15e/**/mapper/*.xml global-config: banner: false diff --git a/src/main/resources/language/buss/buss.properties b/src/main/resources/language/buss/buss.properties new file mode 100644 index 0000000..0acf73e --- /dev/null +++ b/src/main/resources/language/buss/buss.properties @@ -0,0 +1,6 @@ +starting_point = 起点 +end_point = 终点 +successful = 操作成功! +failed = 操作失败! +latest = 已经是最新的! +param_is_null = 参数为空! \ No newline at end of file diff --git a/src/main/resources/language/buss/buss_en_US.properties b/src/main/resources/language/buss/buss_en_US.properties new file mode 100644 index 0000000..64cfc46 --- /dev/null +++ b/src/main/resources/language/buss/buss_en_US.properties @@ -0,0 +1,6 @@ +starting_point = Starting Point +end_point = End Point +successful = successful! +failed = Failed! +latest = Already up to date! +param_is_null = The parameter is empty! \ No newline at end of file diff --git a/src/main/resources/language/buss/buss_zh_CN.properties b/src/main/resources/language/buss/buss_zh_CN.properties new file mode 100644 index 0000000..0acf73e --- /dev/null +++ b/src/main/resources/language/buss/buss_zh_CN.properties @@ -0,0 +1,6 @@ +starting_point = 起点 +end_point = 终点 +successful = 操作成功! +failed = 操作失败! +latest = 已经是最新的! +param_is_null = 参数为空! \ No newline at end of file diff --git a/src/main/resources/language/error/error.properties b/src/main/resources/language/error/error.properties new file mode 100644 index 0000000..528ebdf --- /dev/null +++ b/src/main/resources/language/error/error.properties @@ -0,0 +1,28 @@ +error_request_vehicle = 访问车体接口异常: +error_request_rcs = 访问RCS接口异常: +error_starting_mapping = 开始建图失败 +error_cut_manually = 切手动失败 +error_cut_automatically = 切自动失败 +error_end_mapping = 结束建图失败 +error_set_station = 设置站点失败 +error_get_Maps = 获取地图列表失败 +error_deploy_maps = 部署地图失败 +error_app_maps = 应用地图失败 +error_get_map_pack = 获取地图包失败 +error_map_pack_isNull = "地图包数据为空，扫描失败。请重新建图" +error_map_pgm = 地图PGM转换失败 +error_yaml_isNull = .YAML文件内容为空 +error_formatting_error = 格式错误 +error_parsing = YAML解析失败: +error_process_map_pack = 处理地图包数据失败: +error_png_convert_transparency = .png点云图将灰度图像转换为透明背景图像失败: +error_p5 = 不支持的PGM格式，仅支持P5二进制格式 +error_invalid_size = 无效的尺寸格式 +error_pgm_parse = PGM解析错误: +error_synchronized_map = 同步地图失败 +error_relocate = 重定位指令下发失败 +error_restart = 车体程序重启失败 +error_abandon_mapping = 放弃建图失败 +error_restart_system = 重启系统失败 +error_initializing_system = 初始化底层系统失败 +error_set_forkLegs= 操作叉腿避障失败 \ No newline at end of file diff --git a/src/main/resources/language/error/error_en_US.properties b/src/main/resources/language/error/error_en_US.properties new file mode 100644 index 0000000..daf4eec --- /dev/null +++ b/src/main/resources/language/error/error_en_US.properties @@ -0,0 +1,27 @@ +error_request_vehicle = Abnormal access to the vehicle body interface +error_request_rcs = Accessing the RCS interface is abnormal +error_starting_mapping = Failed to start mapping +error_cut_manually = Cut manual failure +error_cut_automatically = Cut automatically fails +error_end_mapping = End mapping failed +error_set_station = Setting up the site failed +error_get_Maps = Failed to get the map list +error_deploy_maps = Deploying the map failed +error_app_maps = Applying the map failed +error_get_map_pack = Failed to get the map package +error_map_pack_isNull = The map package data is empty and the scan fails. Please rebuild the map +error_map_pgm = Map PGM conversion failed +error_yaml_isNull = .yaml file content is empty +error_parsing = YAML parsing failed: +error_process_map_pack = Failed to process map packet data: +error_png_convert_transparency = Converting a grayscale image to a transparent background image .png a point cloud plot fails: +error_p5 = PGM format is not supported, only P5 binary format is supported +error_invalid_size = Invalid size format +error_pgm_parse = PGM parsing error: +error_synchronized_map = Syncing maps failed +error_relocate = The relocation instruction failed to be issued +error_restart = The body program restarts failed +error_abandon_mapping = Abandoned mapping failed +error_restart_system = Rebooting the system failed +error_initializing_system = Initializing the underlying system failed +error_set_forkLegs= The operation of the fork leg to avoid obstacles failed \ No newline at end of file diff --git a/src/main/resources/language/error/error_zh_CN.properties b/src/main/resources/language/error/error_zh_CN.properties new file mode 100644 index 0000000..ff17451 --- /dev/null +++ b/src/main/resources/language/error/error_zh_CN.properties @@ -0,0 +1,27 @@ +error_request_vehicle = 访问车体接口异常 +error_request_rcs = 访问RCS接口异常 +error_starting_mapping = 开始建图失败 +error_cut_manually = 切手动失败 +error_cut_automatically = 切自动失败 +error_end_mapping = 结束建图失败 +error_set_station = 设置站点失败 +error_get_Maps = 获取地图列表失败 +error_deploy_maps = 部署地图失败 +error_app_maps = 应用地图失败 +error_get_map_pack = 获取地图包失败 +error_map_pack_isNull = "地图包数据为空，扫描失败。请重新建图" +error_map_pgm = 地图PGM转换失败 +error_yaml_isNull = .YAML文件内容为空 +error_parsing = YAML解析失败: +error_process_map_pack = 处理地图包数据失败: +error_png_convert_transparency = .png点云图将灰度图像转换为透明背景图像失败: +error_p5 = 不支持的PGM格式，仅支持P5二进制格式 +error_invalid_size = 无效的尺寸格式 +error_pgm_parse = PGM解析错误: +error_synchronized_map = 同步地图失败 +error_relocate = 重定位指令下发失败 +error_restart = 车体程序重启失败 +error_abandon_mapping = 放弃建图失败 +error_restart_system = 重启系统失败 +error_initializing_system = 初始化底层系统失败 +error_set_forkLegs= 操作叉腿避障失败 \ No newline at end of file diff --git a/src/main/resources/language/task/task.properties b/src/main/resources/language/task/task.properties new file mode 100644 index 0000000..a726baa --- /dev/null +++ b/src/main/resources/language/task/task.properties @@ -0,0 +1,4 @@ +task_Id_isNull=任务不存在!【{0}】 +task_Is_exist=当前有正在执行中的任务! +task_Is_not_exist=当前没有任务在执行中! +not_return_point = 没有返回点! \ No newline at end of file diff --git a/src/main/resources/language/task/task_en_US.properties b/src/main/resources/language/task/task_en_US.properties new file mode 100644 index 0000000..701769c --- /dev/null +++ b/src/main/resources/language/task/task_en_US.properties @@ -0,0 +1,4 @@ +task_Id_isNull=The task with the task code of {0} was not found +task_Is_exist=There are tasks in progress! +task_Is_not_exist=No tasks are currently in progress! +not_return_point = There is no return point! \ No newline at end of file diff --git a/src/main/resources/language/task/task_zh_CN.properties b/src/main/resources/language/task/task_zh_CN.properties new file mode 100644 index 0000000..86c0ed2 --- /dev/null +++ b/src/main/resources/language/task/task_zh_CN.properties @@ -0,0 +1,4 @@ +task_Id_isNull=未找到任务编码为{0}的任务 +task_Is_exist=当前有正在执行中的任务! +task_Is_not_exist=当前没有任务在执行中! +not_return_point = 没有返回点! \ No newline at end of file