opt:1.取消任务逻辑修改。2.新增拖动点云重定位功能。

src/main/java/org/nl/apt15e/apt/anomalyInfo/controller/AnomalyInfoController.java

@@ -1,14 +1,17 @@
 package org.nl.apt15e.apt.anomalyInfo.controller;
 
 import com.alibaba.excel.EasyExcel;
+import lombok.Value;
 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.apt.vehicle.ProcessZip;
 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.file.FileProperties;
 import org.nl.apt15e.config.language.LangProcess;
 import org.springframework.http.HttpStatus;
 import org.springframework.http.ResponseEntity;
@@ -20,6 +23,7 @@ import org.springframework.web.bind.annotation.RestController;
 import org.springframework.web.multipart.MultipartFile;
 
 import javax.annotation.Resource;
+import java.io.File;
 import java.io.IOException;
 
 /**
@@ -39,6 +43,12 @@ public class AnomalyInfoController {
     @Resource
     private ErrorHandlingService errorHandlingService;
 
+    @Resource
+    private FileProperties properties;
+
+    @Resource
+    private ProcessZip processZip;
+
     @PostMapping("/queryErrorDataByCode")
     public ResponseEntity<Object> queryErrorDataByCode(@RequestParam("code") String code) {
         return new ResponseEntity<>(anomalyInfoService.queryErrorDataByCode(code), HttpStatus.OK);
@@ -80,4 +90,34 @@ public class AnomalyInfoController {
         return new ResponseEntity<>(LangProcess.msg("successful"),HttpStatus.OK);
     }
 
+    @PostMapping("/importErrorImage")
+    public ResponseEntity<Object> importErrorImage(@RequestParam("file") MultipartFile file) throws IOException {
+        if (file.isEmpty()) {
+            throw new BadRequestException("文件不能为空");
+        }
+
+        String originalFilename = file.getOriginalFilename();
+        if (originalFilename == null ||
+                (!originalFilename.toLowerCase().endsWith(".zip"))) {
+            throw new BadRequestException("目前只支持ZIP格式");
+        }
+
+        try {
+            // 创建上传目录
+            File uploadDir = new File(properties.getPath().getPath());
+            if (!uploadDir.exists()) {
+                uploadDir.mkdirs();
+            }
+
+            // 处理压缩文件
+            processZip.processCompressedFile(file);
+
+
+            return new ResponseEntity<>("上传成功!",HttpStatus.OK);
+
+        } catch (Exception e) {
+            throw new BadRequestException("处理文件失败:{}"+e.getMessage());
+        }
+    }
+
 }

src/main/java/org/nl/apt15e/apt/taskOperate/service/impl/TaskManageServiceImpl.java

@@ -91,7 +91,7 @@ public class TaskManageServiceImpl implements TaskManageService {
 
         // 当前叉腿载货状态(Ascend或者Descend)
 //        String currentType = VehicleInfoServiceImpl.vehicleInfo.getVehiclePayloads() == 1? StationTypeEnum.ASCEND.getCode():StationTypeEnum.DESCEND.getCode();
-        String currentType = Objects.equals(VehicleInfoServiceImpl.vehicleInfo.getVehiclePayloads(), 1)? StationTypeEnum.ASCEND.getCode():StationTypeEnum.DESCEND.getCode();
+        String currentType = Objects.equals(VehicleInfoServiceImpl.vehicleInfo.getVehiclePayloads(), "1")? StationTypeEnum.ASCEND.getCode():StationTypeEnum.DESCEND.getCode();
 
         for (int i = 0; i < staList.size(); i++) {
             String proposedAction = staList.get(i).getAction_type();
@@ -170,18 +170,23 @@ public class TaskManageServiceImpl implements TaskManageService {
                 new QueryWrapper<Task>().lambda()
                         .lt(Task::getTask_status, TaskStatus.FINISHED.getCode())
         );
-        if (ObjectUtil.isEmpty(task)) {
+//        if (ObjectUtil.isEmpty(task)) {
-            throw new BadRequestException(LangProcess.msg("task_Is_not_exist"));
+//            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 param = new JSONObject();
+            param.put("amrId", VehicleInfoServiceImpl.vehicleInfo.getId());
+            //取消调度任务
+            HttpResponse response = HTTPUtil.post(URLConstant.RCS_IP_PORT, URLConstant.VEHICLE_ID_CANCEL_TASK_URL, param);
             JSONObject result = JSONObject.parseObject(response.body());
             if (result.getBoolean("state").equals(false)) {
                 throw new BadRequestException(LangProcess.msg("error_request_rcs") + result.getString("errMsg"));
             }
-            // 取消任务
+            // 取消当前任务
-            task.setTask_status(TaskStatus.CANCELED.getCode());
+            if (ObjectUtil.isNotEmpty(task)) {
-            iTaskService.updateById(task);
+                task.setTask_status(TaskStatus.CANCELED.getCode());
+                iTaskService.updateById(task);
+            }
         } catch (Exception e) {
             throw new BadRequestException(LangProcess.msg("error_request_rcs") + e.getMessage());
         }

src/main/java/org/nl/apt15e/apt/teaching/rest/TeachingController.java

@@ -104,7 +104,7 @@ public class TeachingController {
     }
 
     @PostMapping("/sendAutoBack")
-    private ResponseEntity<Object> sendAutoBack() {
+    private ResponseEntity<Object> sendAutoBack(@RequestParam("isBack") Integer isBack) {
-        return new ResponseEntity<>(teachingService.sendAutoBack(), HttpStatus.OK);
+        return new ResponseEntity<>(teachingService.sendAutoBack(isBack), HttpStatus.OK);
     }
 }

src/main/java/org/nl/apt15e/apt/teaching/service/TeachingService.java

@@ -101,5 +101,5 @@ public interface TeachingService {
     /**
      * 打点后 自动回到上一个点
      */
-    Map<String,Object> sendAutoBack();
+    Map<String,Object> sendAutoBack(Integer isBack);
 }

src/main/java/org/nl/apt15e/apt/teaching/service/impl/TeachingServiceImpl.java

@@ -460,10 +460,13 @@ public class TeachingServiceImpl implements TeachingService {
     }
 
     @Override
-    public Map<String, Object> sendAutoBack() {
+    public Map<String, Object> sendAutoBack(Integer isBack) {
+        if (ObjectUtil.isEmpty(isBack)){
+            throw new BadRequestException(LangProcess.msg("param_is_null"));
+        }
         JSONObject params = new JSONObject();
         String attach = "{"+
-                "'sub_command':0,"+
+                "'sub_command':"+isBack+","+
                 "'param':''"+
                 "}";
         params.put("cmd", 2212);

src/main/java/org/nl/apt15e/apt/vehicle/ProcessZip.java

@@ -22,6 +22,7 @@ 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;
+import org.springframework.web.multipart.MultipartFile;
 import org.yaml.snakeyaml.Yaml;
 
 import javax.annotation.Resource;
@@ -32,6 +33,9 @@ import java.awt.image.DataBufferByte;
 import java.io.*;
 import java.nio.ByteBuffer;
 import java.nio.charset.StandardCharsets;
+import java.nio.file.Files;
+import java.nio.file.StandardCopyOption;
+import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
 import java.util.Map;
@@ -398,4 +402,106 @@ public class ProcessZip {
             log.info("保存PNG失败: {}",e.getMessage());
         }
     }
+
+    /**
+     * 处理上传的异常文件
+     * @param file
+     * @throws IOException
+     */
+    public void processCompressedFile(MultipartFile file) throws IOException {
+        List<String> skippedFiles = new ArrayList<>();
+
+        String filename = file.getOriginalFilename();
+        String extension = filename.substring(filename.lastIndexOf("."));
+
+        try (InputStream inputStream = file.getInputStream()) {
+            if (extension.toLowerCase().equals(".zip")) {
+                extractZipFile(inputStream, skippedFiles);
+            } else {
+                throw new BadRequestException("不支持的压缩格式: " + extension);
+            }
+        }
+    }
+
+    /**
+     * 解压上传异常图片压缩文件
+     * @param inputStream
+     * @param skippedFiles
+     * @throws IOException
+     */
+    private void extractZipFile(InputStream inputStream, List<String> skippedFiles)
+            throws IOException {
+        int processedCount = 0;
+        int skippedCount = 0;
+
+        try (ZipInputStream zipInputStream = new ZipInputStream(inputStream)) {
+            ZipEntry entry;
+            while ((entry = zipInputStream.getNextEntry()) != null) {
+                if (!entry.isDirectory() && isImageFile(entry.getName())) {
+                    String filename = new File(entry.getName()).getName();
+
+                    if (isFileExists(filename)) {
+                        skippedFiles.add(filename);
+                        skippedCount++;
+                        continue;
+                    }
+
+                    if (saveImageFile(zipInputStream, filename)) {
+                        processedCount++;
+                    }
+                }
+                zipInputStream.closeEntry();
+            }
+        }
+        log.info("处理文件数:{},跳过文件数:{},跳过文件名称集合:{}",processedCount,skippedCount,skippedFiles);
+    }
+
+    /**
+     * 判断是否是图片文件
+     * @param filename
+     * @return
+     */
+    private boolean isImageFile(String filename) {
+        String lowerCaseFilename = filename.toLowerCase();
+        return lowerCaseFilename.endsWith(".jpg") ||
+                lowerCaseFilename.endsWith(".jpeg") ||
+                lowerCaseFilename.endsWith(".png") ||
+                lowerCaseFilename.endsWith(".gif") ||
+                lowerCaseFilename.endsWith(".bmp") ||
+                lowerCaseFilename.endsWith(".webp");
+    }
+
+    /**
+     * 查看文件名是否有重名
+     * @param filename
+     * @return
+     */
+    private boolean isFileExists(String filename) {
+        File targetFile = new File(properties.getPath().getPath() + filename);
+        return targetFile.exists();
+    }
+
+    /**
+     * 保存图片文件到目录
+     * @param inputStream
+     * @param filename
+     * @return
+     */
+    private boolean saveImageFile(InputStream inputStream, String filename) {
+        try {
+            File outputFile = new File(properties.getPath().getPath() + filename);
+
+            // 确保目录存在
+            File parentDir = outputFile.getParentFile();
+            if (!parentDir.exists()) {
+                parentDir.mkdirs();
+            }
+
+            Files.copy(inputStream, outputFile.toPath(), StandardCopyOption.REPLACE_EXISTING);
+            return true;
+        } catch (IOException e) {
+            log.error("保存文件失败: " + filename, e);
+            return false;
+        }
+    }
 }

src/main/java/org/nl/apt15e/apt/vehicle/dao/VehicleInfo.java

@@ -142,6 +142,6 @@ public class VehicleInfo implements Serializable {
     /**
      * 车辆载货状态 0未载货 1载货
      */
-    private Integer vehiclePayloads;
+    private String vehiclePayloads;
 
 }

src/main/java/org/nl/apt15e/apt/vehicle/service/impl/VehicleInfoServiceImpl.java

@@ -78,7 +78,9 @@ public class VehicleInfoServiceImpl implements VehicleInfoService {
 
     public static VehicleInfo vehicleInfo = new VehicleInfo();
 
-    public static Set<PointCloudDataDto> pointCloudData = new HashSet<>();
+    public static Set<PointCloudDataDto> currentPointCloudData = new HashSet<>();
+
+    public static Set<PointCloudDataDto> globalPointCloudData = new HashSet<>();
 
     @Override
     public VehicleInfo getVehicleInfo() {
@@ -295,7 +297,8 @@ public class VehicleInfoServiceImpl implements VehicleInfoService {
         if (webSocketSet.size() > 0) {
             webSocketSet.forEach(c -> {
                 Map<String, Object> vehicleInfoMap = new HashMap<>();
-                vehicleInfoMap.put("data", pointCloudData);
+                vehicleInfoMap.put("globalData", globalPointCloudData);
+                vehicleInfoMap.put("currentData", currentPointCloudData);
                 c.sendDataToClient(vehicleInfoMap);
             });
         }

src/main/java/org/nl/apt15e/config/thread/ProtobufWebSocketHandler.java

@@ -61,7 +61,7 @@ public class ProtobufWebSocketHandler extends BinaryWebSocketHandler {
                     // 自动回退状态标识 0 不处理 1 自动回退成功 2 自动回退失败
                     VehicleInfoServiceImpl.vehicleInfo.setAuto_back_finish(data_pool.getString("auto_back_finish"));
                     // 车辆载货状态 0未载货 1载货
-                    VehicleInfoServiceImpl.vehicleInfo.setVehiclePayloads(robotBase.getPayloads());
+                    VehicleInfoServiceImpl.vehicleInfo.setVehiclePayloads(data_pool.getString("carry_status"));
                     String ready = data_pool.getString("ready");
                     TeachingServiceImpl.teachingMappingStatus.put("mapping_return", mapping_return);
                     TeachingServiceImpl.teachingMappingStatus.put("mapping_percent", mapping_percent);
@@ -98,7 +98,8 @@ public class ProtobufWebSocketHandler extends BinaryWebSocketHandler {
                     Robottype.LaserData laser = datagram.getLaserScan();
                     // 9顶部激光
                     if (laser.getLocation() == 9){
-                        Set<PointCloudDataDto> data = new HashSet<>();
+                        Set<PointCloudDataDto> globalData = new HashSet<>();
+                        Set<PointCloudDataDto> currentData = new HashSet<>();
                         for (Robottype.Point point: laser.getScanList()){
                             double cosYaw = cos(VehicleInfoServiceImpl.vehicleInfo.getTheta());
                             double sinYaw = sin(VehicleInfoServiceImpl.vehicleInfo.getTheta());
@@ -110,12 +111,26 @@ public class ProtobufWebSocketHandler extends BinaryWebSocketHandler {
                             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 globalPointCloudDataDto = new PointCloudDataDto();
-                            pointCloudDataDto.setX(x_globalNum);
+                            globalPointCloudDataDto.setX(x_globalNum);
-                            pointCloudDataDto.setY(y_globalNum);
+                            globalPointCloudDataDto.setY(y_globalNum);
-                            data.add(pointCloudDataDto);
+                            globalData.add(globalPointCloudDataDto);
+
+                            double x_current = point.getX();
+                            DecimalFormat x_currentDF = new DecimalFormat("#.#");
+                            String x_CurrentResult = x_currentDF.format(x_current);
+                            double x_currentNum = Double.parseDouble(x_CurrentResult);
+                            double y_current = point.getY();
+                            DecimalFormat y_currentDF = new DecimalFormat("#.#");
+                            String y_CurrentResult = y_currentDF.format(y_current);
+                            double y_currentNum = Double.parseDouble(y_CurrentResult);
+                            PointCloudDataDto currentPointCloudDataDto = new PointCloudDataDto();
+                            currentPointCloudDataDto.setX(x_currentNum);
+                            currentPointCloudDataDto.setY(y_currentNum);
+                            currentData.add(currentPointCloudDataDto);
                         }
-                        VehicleInfoServiceImpl.pointCloudData =  data;
+                        VehicleInfoServiceImpl.globalPointCloudData =  globalData;
+                        VehicleInfoServiceImpl.currentPointCloudData =  currentData;
                     }
 //                    System.out.println("Received laser_scan: " + list);
                     break;

src/main/java/org/nl/apt15e/util/URLConstant.java

@@ -26,8 +26,13 @@ public class URLConstant {
     public final static String SEND_TASK_URL = "/task/add";
 
     /**
-     * 取消任务URL
+     * 根据任务ID取消任务URL + 任务ID
      */
     public final static String CANCEL_TASK_URL = "/task/cancel/";
 
+    /**
+     * 根据车号ID取消任务URL
+     */
+    public final static String VEHICLE_ID_CANCEL_TASK_URL = "/task/batchCancel";
+
 }