add:解析地图相关数据

pom.xml

@@ -48,6 +48,18 @@
             <artifactId>spring-boot-starter-websocket</artifactId>
         </dependency>
 
+        <dependency>
+            <groupId>org.springframework.boot</groupId>
+            <artifactId>spring-boot-starter-aop</artifactId>
+        </dependency>
+
+        <!-- Protocol Buffers -->
+        <dependency>
+            <groupId>com.google.protobuf</groupId>
+            <artifactId>protobuf-java</artifactId>
+            <version>3.21.12</version>
+        </dependency>
+
         <dependency>
             <groupId>com.baomidou</groupId>
             <artifactId>mybatis-plus-boot-starter</artifactId>
@@ -116,6 +128,13 @@
     </dependencyManagement>
 
     <build>
+        <extensions>
+            <extension>
+                <groupId>kr.motd.maven</groupId>
+                <artifactId>os-maven-plugin</artifactId>
+                <version>1.7.0</version>
+            </extension>
+        </extensions>
         <plugins>
             <plugin>
                 <groupId>org.apache.maven.plugins</groupId>
@@ -144,6 +163,30 @@
                     </execution>
                 </executions>
             </plugin>
+            <!-- Protobuf 自动生成插件 -->
+            <plugin>
+                <groupId>org.xolstice.maven.plugins</groupId>
+                <artifactId>protobuf-maven-plugin</artifactId>
+                <version>0.6.1</version> <!-- 使用最新版本 -->
+                <configuration>
+                    <!-- Proto 文件目录 -->
+                    <protoSourceRoot>${project.basedir}/src/main/proto</protoSourceRoot>
+                    <!-- Java 输出目录 -->
+                    <outputDirectory>${project.build.directory}/generated-sources/protobuf/java</outputDirectory>
+                    <!-- 显式指定 protoc 版本（自动下载）exe:根据不同系统来填写 -->
+                    <protocArtifact>com.google.protobuf:protoc:3.21.12:exe:windows-x86_64</protocArtifact>
+                    <!-- 是否清空输出目录 -->
+                    <clearOutputDirectory>true</clearOutputDirectory>
+                </configuration>
+                <executions>
+                    <execution>
+                        <goals>
+                            <goal>compile</goal>
+                            <goal>test-compile</goal>
+                        </goals>
+                    </execution>
+                </executions>
+            </plugin>
         </plugins>
     </build>
 

src/main/java/org/nl/apt15e/apt/map/dao/MapInfo.java

@@ -0,0 +1,55 @@
+package org.nl.apt15e.apt.map.dao;
+
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import lombok.Data;
+
+/**
+ * @author dsh
+ * 2025/7/17
+ */
+@Data
+@TableName("map_info")
+public class MapInfo {
+
+    /**
+     * 地图编号
+     */
+    @TableId
+    private String mapCode;
+
+    /**
+     * 地图名称
+     */
+    private String mapName;
+
+    /**
+     * 图片像素宽
+     */
+    private Double width;
+
+    /**
+     * 图片像素高
+     */
+    private Double height;
+
+    /**
+     * 点云图像素比例 如：一个像素0.05 就是5cm
+     */
+    private Double resolution;
+
+    /**
+     * 左下角x坐标
+     */
+    private Double x;
+
+    /**
+     * 左下角y坐标
+     */
+    private Double y;
+
+    /**
+     * 左下角 角度
+     */
+    private Double angle;
+}

src/main/java/org/nl/apt15e/apt/map/dto/ProcessMapYamlDto.java

@@ -0,0 +1,31 @@
+package org.nl.apt15e.apt.map.dto;
+
+import lombok.Data;
+
+/**
+ * @author dsh
+ * 2025/7/17
+ */
+@Data
+public class ProcessMapYamlDto {
+
+    /**
+     * 点云图名称
+     */
+    private String image;
+
+    /**
+     * 点云图像素比例 如：一个像素0.05 就是5cm
+     */
+    private Double resolution;
+
+    /**
+     * 地图左下角像素的坐标 [x,y,angle]
+     */
+    private Double[] origin;
+
+    private Double negate;
+    private Double occupied_thresh;
+    private Double free_thresh;
+    private Double main_normal;
+}

src/main/java/org/nl/apt15e/apt/map/rest/MapInfoController.java

@@ -0,0 +1,28 @@
+package org.nl.apt15e.apt.map.rest;
+
+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.RequestMapping;
+import org.springframework.web.bind.annotation.RequestParam;
+import org.springframework.web.bind.annotation.RestController;
+
+import javax.annotation.Resource;
+
+/**
+ * @author dsh
+ * 2025/7/17
+ */
+@RestController
+@RequestMapping("/mapInfo")
+public class MapInfoController {
+
+    @Resource
+    private MapInfoService mapInfoService;
+
+    @RequestMapping("/getMapInfoByCode")
+    public ResponseEntity<Object> getMapInfoByCode(@RequestParam("mapCode") String mapCode) {
+        return new ResponseEntity<>(mapInfoService.getMapInfoByCode(mapCode), HttpStatus.OK);
+    }
+}

src/main/java/org/nl/apt15e/apt/map/service/MapInfoService.java

@@ -0,0 +1,15 @@
+package org.nl.apt15e.apt.map.service;
+
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.extension.service.IService;
+import org.nl.apt15e.apt.map.dao.MapInfo;
+
+/**
+ * @author dsh
+ * 2025/7/17
+ */
+public interface MapInfoService extends IService<MapInfo> {
+
+    JSONObject getMapInfoByCode(String mapCode);
+
+}

src/main/java/org/nl/apt15e/apt/map/service/impl/MapInfoServiceImpl.java

@@ -0,0 +1,34 @@
+package org.nl.apt15e.apt.map.service.impl;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+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.common.BadRequestException;
+import org.springframework.http.HttpStatus;
+import org.springframework.stereotype.Service;
+
+/**
+ * @author dsh
+ * 2025/7/17
+ */
+@Slf4j
+@Service
+public class MapInfoServiceImpl extends ServiceImpl<MapInfoMapper, MapInfo> implements MapInfoService {
+
+    @Override
+    public JSONObject getMapInfoByCode(String mapCode) {
+        if (StrUtil.isEmpty(mapCode)) {
+            throw new BadRequestException("mapCode is null");
+        }
+        JSONObject jsonObject = new JSONObject();
+        jsonObject.put("code", HttpStatus.OK.value());
+        jsonObject.put("data", this.getOne(new LambdaQueryWrapper<>(MapInfo.class).eq(MapInfo::getMapCode,mapCode)));
+        return jsonObject;
+    }
+}

src/main/java/org/nl/apt15e/apt/map/service/mapper/MapInfoMapper.java

@@ -0,0 +1,13 @@
+package org.nl.apt15e.apt.map.service.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import org.apache.ibatis.annotations.Mapper;
+import org.nl.apt15e.apt.map.dao.MapInfo;
+
+/**
+ * @author dsh
+ * 2025/7/17
+ */
+@Mapper
+public interface MapInfoMapper extends BaseMapper<MapInfo> {
+}

src/main/java/org/nl/apt15e/apt/route/dao/RouteInfo.java

@@ -0,0 +1,61 @@
+package org.nl.apt15e.apt.route.dao;
+
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import lombok.Data;
+
+/**
+ * @author dsh
+ * 2025/7/17
+ */
+@Data
+@TableName("route_info")
+public class RouteInfo {
+
+    /**
+     * 路径标识
+     */
+    @TableId
+    private Integer route_id;
+
+    /**
+     * 起点ID
+     */
+    private Integer start_id;
+
+    /**
+     * 终点ID
+     */
+    private Integer end_id;
+
+    /**
+     * 起点x坐标
+     */
+    private Double start_x;
+
+    /**
+     * 起点y坐标
+     */
+    private Double start_y;
+
+    /**
+     * 终点x坐标
+     */
+    private Double end_x;
+
+    /**
+     * 终点y坐标
+     */
+    private Double end_y;
+
+    /**
+     * 导航模式 前进模式, 后退模式 ,无头模式
+     */
+    private Integer navigation_mode;
+
+    /**
+     * 路线类型 直行，转弯
+     */
+    private Integer route_type;
+
+}

src/main/java/org/nl/apt15e/apt/route/service/RouteInfoService.java

@@ -0,0 +1,14 @@
+package org.nl.apt15e.apt.route.service;
+
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.extension.service.IService;
+import org.nl.apt15e.apt.route.dao.RouteInfo;
+
+/**
+ * @author dsh
+ * 2025/7/18
+ */
+public interface RouteInfoService extends IService<RouteInfo> {
+
+    JSONObject getAllRouteInfo();
+}

src/main/java/org/nl/apt15e/apt/route/service/impl/RouteInfoServiceImpl.java

@@ -0,0 +1,33 @@
+package org.nl.apt15e.apt.route.service.impl;
+
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import org.nl.apt15e.apt.route.dao.RouteInfo;
+import org.nl.apt15e.apt.route.service.RouteInfoService;
+import org.nl.apt15e.apt.route.service.mapper.RouteInfoMapper;
+import org.nl.apt15e.apt.station.StationTypeEnum;
+import org.nl.apt15e.apt.station.dao.Station;
+import org.springframework.http.HttpStatus;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+/**
+ * @author dsh
+ * 2025/7/18
+ */
+@Service
+public class RouteInfoServiceImpl extends ServiceImpl<RouteInfoMapper, RouteInfo> implements RouteInfoService {
+
+    @Resource
+    private RouteInfoMapper routeInfoMapper;
+
+    @Override
+    public JSONObject getAllRouteInfo() {
+        JSONObject jsonObject = new JSONObject();
+        jsonObject.put("code", HttpStatus.OK.value());
+        jsonObject.put("data", routeInfoMapper.selectList(null));
+        return jsonObject;
+    }
+}

src/main/java/org/nl/apt15e/apt/route/service/mapper/RouteInfoMapper.java

@@ -0,0 +1,13 @@
+package org.nl.apt15e.apt.route.service.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import org.apache.ibatis.annotations.Mapper;
+import org.nl.apt15e.apt.route.dao.RouteInfo;
+
+/**
+ * @author dsh
+ * 2025/7/18
+ */
+@Mapper
+public interface RouteInfoMapper  extends BaseMapper<RouteInfo> {
+}

src/main/java/org/nl/apt15e/apt/route/service/rest/RouteInfoController.java

@@ -0,0 +1,26 @@
+package org.nl.apt15e.apt.route.service.rest;
+
+import org.nl.apt15e.apt.route.service.RouteInfoService;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import javax.annotation.Resource;
+
+/**
+ * @author dsh
+ * 2025/7/18
+ */
+@RestController
+@RequestMapping("/routeInfo")
+public class RouteInfoController {
+
+    @Resource
+    private RouteInfoService routeInfoService;
+
+    @RequestMapping("/getRouteInfo")
+    public ResponseEntity<Object> getRouteInfo(){
+        return new ResponseEntity<>(routeInfoService.getAllRouteInfo(), HttpStatus.OK);
+    }
+}

src/main/java/org/nl/apt15e/apt/station/StationTypeEnum.java

@@ -11,11 +11,12 @@ import lombok.Getter;
 @AllArgsConstructor
 public enum StationTypeEnum {
 
-    //站点类型 Station工位点 Charge充电点 Breaks休息点 Docking对接点
+    //站点类型 Station工位点 Charge充电点 Breaks休息点 Docking对接点 System系统自动生成点
     STATION(1, "STATION", "工位点"),
     CHARGE(2, "CHARGE", "充电点"),
     BREAKS(3, "BREAKS", "休息点"),
     DOCKING(4, "DOCKING", "对接点"),
+    SYSTEM(5, "SYSTEM", "系统自动生成点"),
 
 
     //动作类型 Ascend升叉 Descend降叉 Move移动 Customize自定义

src/main/java/org/nl/apt15e/apt/station/dao/Station.java

@@ -16,10 +16,12 @@ import java.io.Serializable;
 public class Station implements Serializable {
     private static final long serialVersionUID = 1L;
 
+    @TableId
+    private Integer station_id;
+
     /**
      * 站点编码 对应地图上站点
      */
-    @TableId
     private String station_code;
 
     /**
@@ -28,7 +30,7 @@ public class Station implements Serializable {
     private String station_name;
 
     /**
-     * 站点类型 (Station工位点 Charge充电点 Breaks休息点 Docking对接点)
+     * 站点类型 (Station工位点 Charge充电点 Breaks休息点 Docking对接点 System系统自动生成点)
      */
     private String station_type;
 

src/main/java/org/nl/apt15e/apt/station/service/impl/StationServiceImpl.java

@@ -1,7 +1,9 @@
 package org.nl.apt15e.apt.station.service.impl;
 
 import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+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.mapper.StationMapper;
@@ -25,6 +27,7 @@ public class StationServiceImpl extends ServiceImpl<StationMapper, Station> impl
 
     @Override
     public List<Station> queryAllStation() {
-        return stationMapper.selectList(null);
+        return stationMapper.selectList(stationMapper.selectList(new LambdaQueryWrapper<>(Station.class)
+                .eq(Station::getStation_type, StationTypeEnum.STATION.getCode())));
     }
 }

src/main/java/org/nl/apt15e/apt/teaching/dto/TeachingRequest.java

@@ -0,0 +1,36 @@
+package org.nl.apt15e.apt.teaching.dto;
+
+import lombok.Data;
+
+/**
+ * @author dsh
+ * 2025/7/14
+ */
+@Data
+public class TeachingRequest {
+
+    /**
+     * 地图名称
+     */
+    private String mapName;
+
+    /**
+     * 站点名称
+     */
+    private String stationName;
+
+    /**
+     * x坐标
+     */
+    private Double x;
+
+    /**
+     * y坐标
+     */
+    private Double y;
+
+    /**
+     * 角度
+     */
+    private Double z;
+}

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

@@ -1,5 +1,6 @@
 package org.nl.apt15e.apt.teaching.rest;
 
+import com.alibaba.fastjson.JSONObject;
 import lombok.extern.slf4j.Slf4j;
 import org.apache.ibatis.annotations.Param;
 import org.nl.apt15e.apt.teaching.service.TeachingService;
@@ -51,8 +52,10 @@ public class TeachingController {
     }
 
     @PostMapping("/getLocalMaps")
-    private ResponseEntity<Object> getLocalMaps() {
+//    @Log("获取地图列表")
-        return new ResponseEntity<>(teachingService.getLocalMaps(), HttpStatus.OK);
+    private JSONObject getLocalMaps() {
+//        return new ResponseEntity<>(teachingService.getLocalMaps(), HttpStatus.OK);
+        return teachingService.getLocalMaps();
     }
 
     @PostMapping("/getRunMapZip")
@@ -74,4 +77,9 @@ public class TeachingController {
     private ResponseEntity<Object> relocate(@RequestParam("x") Double x, @RequestParam("y") Double y, @RequestParam("angle") Double angle) {
         return new ResponseEntity<>(teachingService.relocate(x, y, angle), HttpStatus.OK);
     }
+
+    @PostMapping("/oneClickDeployment")
+    private ResponseEntity<Object> oneClickDeployment(@RequestParam("mapName") String mapName) {
+        return new ResponseEntity<>(teachingService.oneClickDeployment(mapName), HttpStatus.OK);
+    }
 }

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

@@ -1,5 +1,7 @@
 package org.nl.apt15e.apt.teaching.service;
 
+import com.alibaba.fastjson.JSONObject;
+
 import java.io.File;
 import java.util.Map;
 
@@ -37,7 +39,7 @@ public interface TeachingService {
     /**
      * 获取后台地图列表
      */
-    Map<String, Object> getLocalMaps();
+    JSONObject getLocalMaps();
 
     /**
      * 部署地图
@@ -78,4 +80,10 @@ public interface TeachingService {
      * 重启车辆后台程序
      */
     Map<String, Object> restart();
+
+    /**
+     * 一键部署地图
+     * @return
+     */
+    Map<String, Object> oneClickDeployment(String mapName);
 }

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

@@ -2,11 +2,16 @@ package org.nl.apt15e.apt.teaching.service.impl;
 
 import cn.hutool.core.io.FileUtil;
 import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.core.util.StrUtil;
 import cn.hutool.http.HttpRequest;
 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 lombok.extern.slf4j.Slf4j;
+import org.nl.apt15e.apt.station.dao.Station;
+import org.nl.apt15e.apt.station.service.StationService;
 import org.nl.apt15e.apt.teaching.service.TeachingService;
 import org.nl.apt15e.apt.vehicle.ProcessZip;
 import org.nl.apt15e.apt.vehicle.service.impl.VehicleInfoServiceImpl;
@@ -16,7 +21,9 @@ import org.springframework.stereotype.Service;
 
 import javax.annotation.Resource;
 import java.io.File;
+import java.util.Collections;
 import java.util.Map;
+import java.util.stream.IntStream;
 
 /**
  * @author dsh
@@ -29,9 +36,12 @@ public class TeachingServiceImpl implements TeachingService {
     @Resource
     private ProcessZip processZip;
 
+    @Resource
+    private StationService stationService;
+
     @Override
     public Map<String, Object> startMapping(String mapName) {
-        if ("".equals(mapName)){
+        if (StrUtil.isBlank(mapName)){
             throw new BadRequestException("mapName is empty");
         }
         JSONObject params = new JSONObject();
@@ -50,8 +60,10 @@ 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");
+                return body;
             }
-            return body;
+
         }
         log.info("开始建图失败");
         throw new BadRequestException("开始建图失败");
@@ -67,11 +79,14 @@ public class TeachingServiceImpl implements TeachingService {
             throw new BadRequestException("切手动失败");
         }
         // 检查响应状态码
-        if (response.isOk()) {
+        if (response.isOk() && response.body() != null) {
             // 获取响应体内容
             JSONObject body = JSON.parseObject(response.body());
             log.info("切手动:{}",body);
-            return body;
+            if ("200".equals(body.getString("code"))){
+                body.put("message","切自动成功");
+                return body;
+            }
         }
         log.info("切手动失败");
         throw new BadRequestException("切手动失败");
@@ -87,10 +102,13 @@ public class TeachingServiceImpl implements TeachingService {
             throw new BadRequestException("切自动失败");
         }
         // 检查响应状态码
-        if (response.isOk()) {
+        if (response.isOk() && response.body() != null) {
             // 获取响应体内容
             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");
+            }
             return body;
         }
         log.info("切自动失败");
@@ -107,14 +125,15 @@ public class TeachingServiceImpl implements TeachingService {
             throw new BadRequestException("结束建图失败");
         }
         // 检查响应状态码
-        if (response.isOk()) {
+        if (response.isOk() && response.body() != null) {
             // 获取响应体内容
             JSONObject body = JSON.parseObject(response.body());
             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");
+                return body;
             }
-            return body;
         }
         log.info("结束建图失败");
         throw new BadRequestException("结束建图失败");
@@ -122,7 +141,7 @@ public class TeachingServiceImpl implements TeachingService {
 
     @Override
     public Map<String, Object> setStation(String stationName) {
-        if ("".equals(stationName)){
+        if (StrUtil.isBlank(stationName)){
             throw new BadRequestException("spotCode is empty");
         }
         JSONObject params = new JSONObject();
@@ -135,18 +154,21 @@ public class TeachingServiceImpl implements TeachingService {
             throw new BadRequestException("设置站点失败");
         }
         // 检查响应状态码
-        if (response.isOk()) {
+        if (response.isOk() && response.body() != null) {
             // 获取响应体内容
             JSONObject body = JSON.parseObject(response.body());
             log.info("设置站点:{}",body);
-            return body;
+            if ("200".equals(body.getString("code"))){
+                body.put("message","设置站点成功");
+                return body;
+            }
         }
         log.info("设置站点失败");
         throw new BadRequestException("设置站点失败");
     }
 
     @Override
-    public Map<String, Object> getLocalMaps() {
+    public JSONObject getLocalMaps() {
         HttpResponse response = null;
         try {
             response = HTTPUtil.get("http://192.168.100.82:9998","/tool/editor/getLocalMaps", new JSONObject());
@@ -155,11 +177,14 @@ public class TeachingServiceImpl implements TeachingService {
             throw new BadRequestException("获取地图列表失败");
         }
         // 检查响应状态码
-        if (response.isOk()) {
+        if (response.isOk() && response.body() != null) {
             // 获取响应体内容
             JSONObject body = JSON.parseObject(response.body());
             log.info("获取地图列表:{}",body);
-            return body;
+            if ("200".equals(body.getString("code"))){
+                body.put("message","获取地图列表成功");
+                return body;
+            }
         }
         log.info("获取地图列表失败");
         throw new BadRequestException("获取地图列表失败");
@@ -167,7 +192,7 @@ public class TeachingServiceImpl implements TeachingService {
 
     @Override
     public Map<String, Object> deployRunMap(String mapName) {
-        if ("".equals(mapName)){
+        if (StrUtil.isBlank(mapName)){
             throw new BadRequestException("mapName is empty");
         }
         JSONObject params = new JSONObject();
@@ -180,11 +205,14 @@ public class TeachingServiceImpl implements TeachingService {
             throw new BadRequestException("部署地图失败");
         }
         // 检查响应状态码
-        if (response.isOk()) {
+        if (response.isOk() && response.body() != null) {
             // 获取响应体内容
             JSONObject body = JSON.parseObject(response.body());
             log.info("部署地图:{}",body);
-            return body;
+            if ("200".equals(body.getString("code"))){
+                body.put("message","部署地图成功");
+                return body;
+            }
         }
         log.info("部署地图失败");
         throw new BadRequestException("部署地图失败");
@@ -192,7 +220,7 @@ public class TeachingServiceImpl implements TeachingService {
 
     @Override
     public Map<String, Object> changeCurrentRunMap(String mapName) {
-        if ("".equals(mapName)){
+        if (StrUtil.isBlank(mapName)){
             throw new BadRequestException("mapName is empty");
         }
         JSONObject params = new JSONObject();
@@ -205,11 +233,14 @@ public class TeachingServiceImpl implements TeachingService {
             throw new BadRequestException("应用地图失败");
         }
         // 检查响应状态码
-        if (response.isOk()) {
+        if (response.isOk() && response.body() != null) {
             // 获取响应体内容
             JSONObject body = JSON.parseObject(response.body());
             log.info("应用地图:{}",body);
-            return body;
+            if ("200".equals(body.getString("code"))){
+                body.put("message","应用地图成功");
+                return body;
+            }
         }
         log.info("应用地图失败");
         throw new BadRequestException("应用地图失败");
@@ -217,7 +248,7 @@ public class TeachingServiceImpl implements TeachingService {
 
     @Override
     public byte[] getRunMapZip(String mapName) {
-        if ("".equals(mapName)){
+        if (StrUtil.isBlank(mapName)){
             throw new BadRequestException("mapName is empty");
         }
         JSONObject params = new JSONObject();
@@ -230,12 +261,11 @@ public class TeachingServiceImpl implements TeachingService {
             throw new BadRequestException("获取地图包失败");
         }
         // 检查响应状态码
-        if (response.isOk()) {
+        if (response.isOk() && response.body() != null) {
             // 获取zip包
             byte[] zipBytes = response.bodyBytes();
+            log.info("解析地图包数据");
             processZip.processZipResponse(zipBytes);
-
-            log.info("获取地图包");
             return zipBytes;
         }
         log.info("获取地图包失败");
@@ -254,7 +284,7 @@ public class TeachingServiceImpl implements TeachingService {
                     .header("token", "admin123")
                     .header("name", "lx-script")
                     .header("Content-Type", "multipart/form-data;charset=UTF-8")
-                    .form("areaId", VehicleInfoServiceImpl.vehicleInfo.getAreaId())
+                    .form("areaId", 1)
                     .form("file",zipFile,mapName+".zip")
                     .execute();
         } catch (Exception e) {
@@ -262,11 +292,14 @@ public class TeachingServiceImpl implements TeachingService {
             throw new BadRequestException("同步地图失败");
         }
         // 检查响应状态码
-        if (response.isOk()) {
+        if (response.isOk() && response.body() != null) {
             // 获取响应体内容
             JSONObject body = JSON.parseObject(response.body());
             log.info("同步地图:{}",body);
-            return body;
+            if (body.getBoolean("state")){
+                body.put("message","同步地图成功");
+                return body;
+            }
         }
         log.info("同步地图失败");
         throw new BadRequestException("同步地图失败");
@@ -277,6 +310,9 @@ public class TeachingServiceImpl implements TeachingService {
         if (ObjectUtil.isEmpty(x) || ObjectUtil.isEmpty(y) || ObjectUtil.isEmpty(angle)){
             throw new BadRequestException("params is empty");
         }
+        log.info(angle.toString());
+        angle = (angle * 180) / Math.PI;
+        log.info(angle.toString());
         JSONObject params = new JSONObject();
         params.put("x", x);
         params.put("y", y);
@@ -284,22 +320,26 @@ public class TeachingServiceImpl implements TeachingService {
         params.put("noisyX", 0.5);
         params.put("noisyY", 0.5);
         params.put("noisyAngle", Math.PI);
+        log.info(params.getString("angle"));
         HttpResponse response = null;
         try {
             response = HTTPUtil.post("http://192.168.100.82:9998","/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("重定位失败");
+            throw new BadRequestException("重定位指令下发失败");
         }
         // 检查响应状态码
-        if (response.isOk()) {
+        if (response.isOk() && response.body() != null) {
             // 获取响应体内容
             JSONObject body = JSON.parseObject(response.body());
             log.info("重定位:{}",body);
-            return 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。");
+                return body;
+            }
         }
-        log.info("重定位失败");
+        log.info("重定位指令下发失败");
-        throw new BadRequestException("重定位失败");
+        throw new BadRequestException("重定位指令下发失败");
     }
 
     @Override
@@ -312,13 +352,61 @@ public class TeachingServiceImpl implements TeachingService {
             throw new BadRequestException("车体程序重启失败");
         }
         // 检查响应状态码
-        if (response.isOk()) {
+        if (response.isOk() && response.body() != null) {
             // 获取响应体内容
             JSONObject body = JSON.parseObject(response.body());
             log.info("车体程序重启:{}",body);
-            return body;
+            if ("200".equals(body.getString("code"))){
+                body.put("message","车体程序重启成功");
+                return body;
+            }
         }
         log.info("车体程序重启失败");
         throw new BadRequestException("车体程序重启失败");
     }
+
+    @Override
+    public Map<String, Object> oneClickDeployment(String mapName) {
+        if (StrUtil.isBlank(mapName)){
+            throw new BadRequestException("mapName is empty");
+        }
+        JSONObject response = new JSONObject();
+        // 部署地图
+        this.deployRunMap(mapName);
+        // 应用地图
+        this.changeCurrentRunMap(mapName);
+        // 解析地图包并同步到调度
+        this.synchronizeMap(mapName);
+        // 重启本体程序
+        this.restart();
+
+        // 重定位，需要等待一会
+        try {
+            Thread.sleep(5000);
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+        Station station = stationService.getOne(new LambdaQueryWrapper<>(Station.class)
+              .eq(Station::getStation_code,"C")
+        );
+        this.relocate(station.getX(),station.getY(),station.getAngle());
+        response.put("code", 200);
+        response.put("message", "部署成功");
+//        try {
+//            Thread.sleep(10000);
+//        } catch (InterruptedException e) {
+//            throw new RuntimeException(e);
+//        }
+//        Station station = stationService.getOne(new LambdaQueryWrapper<>(Station.class)
+//                .eq(Station::getStation_code,"C")
+//        );
+//        log.info("station:{}",station);
+//        response = (JSONObject) this.relocate(station.getX(), station.getY(), station.getAngle());
+//        if (response.getIntValue("code") != 200){
+//            response.put("code", response.getIntValue("code"));
+//            response.put("message","重定位失败");
+//            return response;
+//        }
+        return response;
+    }
 }

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

@@ -1,19 +1,32 @@
 package org.nl.apt15e.apt.vehicle;
 
+import cn.hutool.core.util.ObjectUtil;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+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.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.common.BadRequestException;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+import org.yaml.snakeyaml.Yaml;
 
 import javax.annotation.Resource;
-import java.io.BufferedReader;
+import javax.imageio.ImageIO;
-import java.io.ByteArrayInputStream;
+import java.awt.image.BufferedImage;
-import java.io.InputStreamReader;
+import java.awt.image.DataBufferByte;
+import java.io.*;
+import java.nio.ByteBuffer;
 import java.nio.charset.StandardCharsets;
 import java.util.Arrays;
 import java.util.List;
+import java.util.Map;
 import java.util.zip.ZipEntry;
 import java.util.zip.ZipInputStream;
 
@@ -22,31 +35,46 @@ import java.util.zip.ZipInputStream;
  * @author dsh
  * 2025/7/7
  */
+@Slf4j
 @Service
 public class ProcessZip {
 
     @Resource
-    private StationServiceImpl stationService;
+    private StationService stationService;
 
+    @Resource
+    private MapInfoService mapInfoService;
+
+    @Resource
+    private RouteInfoService routeInfoService;
+
+
+    private static final String PGM_MAGIC_NUMBER = "P5";
+    private static final String OUTPUT_DIR = "/logs";
+
+    @Transactional(rollbackFor = Exception.class)
     public void processZipResponse(byte[] zipBytes) {
         try (ByteArrayInputStream bais = new ByteArrayInputStream(zipBytes);
              ZipInputStream zis = new ZipInputStream(bais, StandardCharsets.UTF_8)) {
 
+            MapInfo mapInfo = new MapInfo();
+
             ZipEntry entry;
             // 遍历ZIP文件中的每个条目
             while ((entry = zis.getNextEntry()) != null) {
                 String entryName = entry.getName();
 
-                // 3. 筛选.lxmap文件
+                // 处理.lxmap文件，获取点位信息和路径信息
                 if (entryName.toLowerCase().endsWith(".lxmap")) {
-                    System.out.println("解析文件: " + entryName);
+                    log.info("解析文件: {}", entryName);
 
-                    // 4. 读取文件内容（使用BufferedReader按行处理）
+                    // 读取文件内容（使用BufferedReader按行处理）
                     BufferedReader reader = new BufferedReader(
                             new InputStreamReader(zis, StandardCharsets.UTF_8));
 
-                    //存储站点之前先清除站点表中数据
+                    //存储站点之前先清除站点表中数据和路径表中的数据
                     stationService.remove(new LambdaQueryWrapper<>());
+                    routeInfoService.remove(new LambdaQueryWrapper<>());
 
                     String line;
                     int lineNumber = 0;
@@ -55,11 +83,93 @@ public class ProcessZip {
                         // 5. 处理每一行数据
                         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");
+                    }
                 }
+                // 点云图 .pgm 文件转换 .png
+                if (entryName.toLowerCase().endsWith(".pgm")) {
+                    log.info("处理PGM文件: {}",entryName);
+
+                    // 读取整个PGM文件到字节数组
+                    try (ByteArrayOutputStream baos = new ByteArrayOutputStream()) {
+                        byte[] buffer = new byte[1024];
+                        int len;
+                        while ((len = zis.read(buffer)) > 0) {
+                            baos.write(buffer, 0, len);
+                        }
+                        byte[] pgmData = baos.toByteArray();
+
+                        // 转换PGM为PNG
+                        BufferedImage pngImage = convertPgmToPng(pgmData);
+                        // 记录地图图片像素高、宽
+                        mapInfo.setWidth((double) pngImage.getWidth());
+                        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: ");
+                        }
+
+                        // 保存PNG文件
+                        String pngFileName = entryName.substring(0, entryName.lastIndexOf('.')) + ".png";
+                        // 记录地图编码、名称
+                        mapInfo.setMapCode(pngFileName);
+                        mapInfo.setMapName(pngFileName);
+                        savePngImage(pngImage, pngFileName);
+                    }
+                }
+                // 解析.yaml点云图信息(像素比例,点云图左下角像素坐标信息)
+                if (entryName.toLowerCase().endsWith(".yaml")) {
+                    log.info("处理.yaml文件地图信息: {}",entryName);
+
+                    try{
+                        BufferedReader reader = new BufferedReader(new InputStreamReader(zis, StandardCharsets.UTF_8));
+                        // 检查并处理YAML头部
+                        StringBuilder contentBuilder = new StringBuilder();
+                        String line = reader.readLine();
+                        // 读取内容标识
+                        boolean flag = false;
+                        // 跳过以%开头的指令行
+                        if (line != null && line.startsWith("%")) {
+                            log.info("跳过YAML指令: {}" , line);
+                            // 读取下一行
+                            line = reader.readLine();
+                        }
+
+                        // 读取剩余内容
+                        while (line != null) {
+                            flag = true;
+                            contentBuilder.append(line).append("\n");
+                            line = reader.readLine();
+                        }
+                        if (!flag){
+                            throw new BadRequestException(".YAML文件内容为空");
+                        }
+                        // 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");
+                        }
+                        // 记录像素比例和图片左下角像素坐标
+                        mapInfo.setResolution(processMapYamlDto.getResolution());
+                        mapInfo.setX(processMapYamlDto.getOrigin()[0]);
+                        mapInfo.setY(processMapYamlDto.getOrigin()[1]);
+                        mapInfo.setAngle(processMapYamlDto.getOrigin()[2]);
+                    } catch (IOException e) {
+                        throw new BadRequestException("YAML解析失败:"+ e.getMessage());
+                    }
+                }
+            }
+            // 保存地图信息
+            if (ObjectUtil.isNotEmpty(mapInfo)) {
+                log.info("地图信息:{}",mapInfo);
+                mapInfoService.save(mapInfo);
             }
         }
         catch (Exception e) {
-            throw new RuntimeException("处理ZIP文件失败", e);
+            throw new BadRequestException("处理地图包数据失败:"+e.getMessage());
         }
     }
 
@@ -69,7 +179,7 @@ public class ProcessZip {
             return;
         }
 
-        // 检查是否以"Cairn: Goal"开头
+        // 检查是否以"Cairn"开头
         if (line.startsWith("Cairn:")) {
             // 截取开头后面的数据（6个字符长度）
             String dataPart = line.substring(6).trim();
@@ -78,20 +188,44 @@ public class ProcessZip {
                 // 按空格分割字段（多个连续空格视为一个分隔符）
                 String[] processData = dataPart.split("\\s+");
 
-                //判断数据是否是点位数据 && 数据长度正常 && 点位类型是1工位点(站点)
+                //判断数据是否是点位数据 && 数据长度正常
-                //满足以上条件 目前只记录站点
+                // Goal点位标识
-                if ("Goal".equals(processData[0]) && processData.length > 9 && "1".equals(processData[8])) {
+                if ("Goal".equals(processData[0]) && processData.length > 9) {
-                    System.out.printf("行号 %d - 有效数据: %s%n", lineNumber, Arrays.toString(processData));
+                    System.out.printf("行号 %d - 有效点位数据: %s%n", lineNumber, Arrays.toString(processData));
                     Station station = new Station();
+                    station.setStation_id(Integer.valueOf(processData[1]));
                     station.setStation_code(processData[2]);
                     station.setStation_name(processData[2]);
                     station.setX(Double.valueOf(processData[5]));
                     station.setY(Double.valueOf(processData[6]));
                     station.setAngle(Double.valueOf(processData[7]));
-                    station.setAction_type(StationTypeEnum.CUSTOMIZE.getCode());
+                    // 1类型手动设置站点： 工位点、自定义
-                    station.setStation_type(StationTypeEnum.STATION.getCode());
+                    if ("1".equals(processData[8])) {
+                        station.setAction_type(StationTypeEnum.CUSTOMIZE.getCode());
+                        station.setStation_type(StationTypeEnum.STATION.getCode());
+                    // 0类型系统自动生成： 系统自动生成点、只移动
+                    }else if ("0".equals(processData[8])) {
+                        station.setAction_type(StationTypeEnum.MOVE.getCode());
+                        station.setStation_type(StationTypeEnum.SYSTEM.getCode());
+                    }
                     stationService.save(station);
                     System.out.printf("行号 %d - 有效数据: %s%n", lineNumber, station);
+                //Route路径标识
+                }else if ("Route".equals(processData[0]) && processData.length > 23){
+                    System.out.printf("行号 %d - 有效路径数据: %s%n", lineNumber, Arrays.toString(processData));
+                    RouteInfo routeInfo = new RouteInfo();
+                    routeInfo.setRoute_id(Integer.valueOf(processData[1]));
+                    routeInfo.setStart_id(Integer.valueOf(processData[2]));
+                    routeInfo.setEnd_id(Integer.valueOf(processData[3]));
+                    routeInfo.setStart_x(Double.valueOf(processData[4]));
+                    routeInfo.setStart_y(Double.valueOf(processData[5]));
+                    routeInfo.setEnd_x(Double.valueOf(processData[6]));
+                    routeInfo.setEnd_y(Double.valueOf(processData[7]));
+                    routeInfo.setNavigation_mode(Integer.valueOf(processData[16]));
+                    routeInfo.setRoute_type(Integer.valueOf(processData[17]));
+                    routeInfoService.save(routeInfo);
+
+                    System.out.printf("行号 %d - 有效数据: %s%n", lineNumber, routeInfo);
                 }
             } else {
                 System.out.printf("行号 %d - 警告: 'Cairn: Goal'后无内容%n", lineNumber);
@@ -101,4 +235,69 @@ public class ProcessZip {
             System.out.printf("行号 %d - 忽略: %s%n", lineNumber, line);
         }
     }
+
+    private BufferedImage convertPgmToPng(byte[] pgmData) {
+        try {
+            // 使用字节缓冲区方便解析
+            ByteBuffer buffer = ByteBuffer.wrap(pgmData);
+
+            // 解析魔术数字 (P5)
+            StringBuilder magic = new StringBuilder();
+            char c;
+            while ((c = (char) buffer.get()) != '\n') {
+                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");
+            }
+
+            // 解析宽度和高度
+            StringBuilder dimensionBuilder = new StringBuilder();
+            while ((c = (char) buffer.get()) != '\n') {
+                dimensionBuilder.append(c);
+            }
+            String[] dimensions = dimensionBuilder.toString().trim().split("\\s+");
+            if (dimensions.length < 2) {
+                throw new BadRequestException("无效的尺寸格式");
+            }
+            int width = Integer.parseInt(dimensions[0]);
+            int height = Integer.parseInt(dimensions[1]);
+
+            // 解析最大灰度值 (通常255)
+            StringBuilder maxValBuilder = new StringBuilder();
+            while ((c = (char) buffer.get()) != '\n') {
+                maxValBuilder.append(c);
+            }
+            int maxVal = Integer.parseInt(maxValBuilder.toString().trim());
+
+            // 创建BufferedImage (灰度图像)
+            BufferedImage image = new BufferedImage(width, height, BufferedImage.TYPE_BYTE_GRAY);
+            byte[] imageData = ((DataBufferByte) image.getRaster().getDataBuffer()).getData();
+
+            // 复制图像数据 (跳过头部)
+            buffer.get(imageData);
+
+            return image;
+        } catch (Exception e) {
+            log.info("PGM解析错误: {}", e.getMessage());
+            throw new BadRequestException("PGM解析错误: "+e.getMessage());
+        }
+    }
+
+    private void savePngImage(BufferedImage image, String fileName) {
+        try {
+            // 确保输出目录存在
+            File outputDir = new File(OUTPUT_DIR);
+            if (!outputDir.exists()) {
+                outputDir.mkdirs();
+            }
+
+            // 写入PNG文件
+            File outputFile = new File(outputDir, fileName);
+            ImageIO.write(image, "png", outputFile);
+            log.info("PNG文件已保存: {}", outputFile.getAbsolutePath());
+        } catch (IOException e) {
+            log.info("保存PNG失败: {}",e.getMessage());
+        }
+    }
 }

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

@@ -62,4 +62,18 @@ public class VehicleInfo implements Serializable {
      */
     private VehicleException exceptionInfo;
 
+    /**
+     * 车辆x坐标
+     */
+    private Double x;
+
+    /**
+     * 车辆y坐标
+     */
+    private Double y;
+
+    /**
+     * 车辆角度
+     */
+    private Double theta;
 }

src/main/java/org/nl/apt15e/apt/vehicle/rest/VehicleInfoController.java

@@ -3,6 +3,7 @@ package org.nl.apt15e.apt.vehicle.rest;
 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.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
@@ -22,7 +23,7 @@ public class VehicleInfoController {
     private VehicleInfoService vehicleInfoService;
 
     @GetMapping("/getVehicleInfo")
-//    @Log("获取车辆信息")
+    @Log("获取车辆信息")
     public VehicleInfo getVehicleInfo() {
         return vehicleInfoService.getVehicleInfo();
     }

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

@@ -58,6 +58,11 @@ public class VehicleInfoServiceImpl implements VehicleInfoService {
                     //上报的异常信息
                     VehicleException vehicleException = JSONObject.toJavaObject(data.getJSONObject("amrException"), VehicleException.class);
                     vehicleInfo.setExceptionInfo(vehicleException);
+                    //x，y，theta
+                    JSONObject coordinate = data.getJSONObject("coordinate");
+                    vehicleInfo.setX(coordinate.getDouble("x"));
+                    vehicleInfo.setY(coordinate.getDouble("y"));
+                    vehicleInfo.setTheta(coordinate.getDouble("theta"));
                     System.out.println("Response Body: " + data);
                     System.out.println("vehicleInfo: " + vehicleInfo);
                 }

src/main/java/org/nl/apt15e/common/logging/annotation/Log.java

@@ -1,9 +1,6 @@
 package org.nl.apt15e.common.logging.annotation;
 
-import java.lang.annotation.ElementType;
+import java.lang.annotation.*;
-import java.lang.annotation.Retention;
-import java.lang.annotation.RetentionPolicy;
-import java.lang.annotation.Target;
 
 /**
  * @author dsh
@@ -11,6 +8,7 @@ import java.lang.annotation.Target;
  */
 @Target(ElementType.METHOD)
 @Retention(RetentionPolicy.RUNTIME)
+@Documented
 public @interface Log {
     String value() default "";
 

src/main/java/org/nl/apt15e/common/logging/aspect/LogAspect.java

@@ -4,10 +4,12 @@ import cn.hutool.core.util.StrUtil;
 import cn.hutool.json.JSONUtil;
 import com.alibaba.fastjson.JSONObject;
 import lombok.extern.slf4j.Slf4j;
+import org.aspectj.lang.JoinPoint;
 import org.aspectj.lang.ProceedingJoinPoint;
 import org.aspectj.lang.Signature;
 import org.aspectj.lang.annotation.Around;
 import org.aspectj.lang.annotation.Aspect;
+import org.aspectj.lang.annotation.Before;
 import org.aspectj.lang.annotation.Pointcut;
 import org.aspectj.lang.reflect.MethodSignature;
 import org.springframework.stereotype.Component;
@@ -49,18 +51,16 @@ public class LogAspect {
     @Around("logPointCut()")
     public Object logAround(ProceedingJoinPoint joinPoint) throws Throwable {
 //        MethodSignature signature = (MethodSignature) joinPoint.getSignature();
-//        Method method = signature.getMethod();
+
-//        String className = joinPoint.getTarget().getClass().getName();
-        // 方法路径
-//        String methodName = joinPoint.getTarget().getClass().getName() + "." + signature.getName() + "()";
 //        String params = JSONObject.toJSONString(joinPoint.getArgs());
-
+//
-
+//
         Object result;
-//        log.info("【日志注解】开始执行 -- {}:{} {}", className, "111", params);
+//        log.info("【日志注解】开始执行 -- {}:{} {}", className, methodName, params);
         result = joinPoint.proceed();
 //        log.info("返回参数：{}" ,JSONObject.toJSONString(result));
         return result;
     }
 
+
 }

src/main/java/org/nl/apt15e/config/CorsConfig.java

@@ -0,0 +1,23 @@
+package org.nl.apt15e.config;
+
+import org.springframework.context.annotation.Configuration;
+import org.springframework.web.cors.CorsConfiguration;
+import org.springframework.web.servlet.config.annotation.CorsRegistry;
+import org.springframework.web.servlet.config.annotation.WebMvcConfigurer;
+
+/**
+ * @author dsh
+ * 2025/7/14
+ */
+@Configuration
+public class CorsConfig implements WebMvcConfigurer {
+    @Override
+    public void addCorsMappings(CorsRegistry registry) {
+        registry.addMapping("/**")
+                .allowedOriginPatterns("*")
+                .allowedHeaders(CorsConfiguration.ALL)
+                .allowedMethods(CorsConfiguration.ALL)
+                .allowCredentials(true)
+                .maxAge(3600);
+    }
+}

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

@@ -0,0 +1,73 @@
+//package org.nl.apt15e.config.thread;
+//
+//import comm_protocol.Robottype;
+//import comm_protocol.Uidata;
+//import lombok.extern.slf4j.Slf4j;
+//import org.springframework.stereotype.Component;
+//import org.springframework.web.socket.BinaryMessage;
+//import org.springframework.web.socket.CloseStatus;
+//import org.springframework.web.socket.TextMessage;
+//import org.springframework.web.socket.WebSocketSession;
+//import org.springframework.web.socket.handler.BinaryWebSocketHandler;
+//
+//import static comm_protocol.Uidata.UiDatagram.ItemCase.*;
+//
+///**
+// * @author dsh
+// * 2025/7/9
+// */
+//@Slf4j
+//@Component
+//public class ProtobufWebSocketHandler extends BinaryWebSocketHandler {
+//
+//    @Override
+//    protected void handleBinaryMessage(WebSocketSession session, BinaryMessage message) {
+//        try {
+//            // 解析Protobuf数据
+//            byte[] payload = message.getPayload().array();
+//            Uidata.UiDatagram datagram = Uidata.UiDatagram.parseFrom(payload);
+//
+//            switch (datagram.getItemCase()) {
+//                case ONLINE_INFO:
+//                    Uidata.UiOnline online = datagram.getOnlineInfo();
+//                    System.out.println("Received online_info: " + online);
+//                    break;
+//
+//                case HEARTBEAT:
+//                    Uidata.UiHeartbeat heartbeat = datagram.getHeartbeat();
+//                    System.out.println("Received heartbeat: " + heartbeat);
+//                    break;
+//
+//                case LASER_SCAN:
+//                    Robottype.LaserData laser = datagram.getLaserScan();
+//                    System.out.println("Received laser_scan: " + laser);
+//                    break;
+//
+//                case IMAGE:
+//                    // 处理图像数据
+//                    break;
+//
+//                case CONTROL_SPEED:
+//                    // 处理速度控制
+//                    break;
+//
+//                case ITEM_NOT_SET:
+//                    System.err.println("UiDatagram item not set!");
+//                    break;
+//            }
+//            session.close();
+//        } catch (Exception e) {
+//            log.error("Error processing protobuf message", e);
+//        }
+//    }
+//
+//    @Override
+//    public void afterConnectionEstablished(WebSocketSession session) {
+//        log.info("Connected to WebSocket server: {}", session.getUri());
+//    }
+//
+//    @Override
+//    public void afterConnectionClosed(WebSocketSession session, CloseStatus status) {
+//        log.info("Connection closed: {}", status);
+//    }
+//}

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

@@ -0,0 +1,45 @@
+//package org.nl.apt15e.config.thread;
+//
+//import lombok.extern.slf4j.Slf4j;
+//import org.springframework.context.annotation.Bean;
+//import org.springframework.context.annotation.Configuration;
+//import org.springframework.stereotype.Component;
+//import org.springframework.web.socket.client.WebSocketClient;
+//import org.springframework.web.socket.client.WebSocketConnectionManager;
+//import org.springframework.web.socket.client.standard.StandardWebSocketClient;
+//
+//import javax.websocket.ContainerProvider;
+//import javax.websocket.WebSocketContainer;
+//
+///**
+// * @author dsh
+// * 2025/7/9
+// */
+//@Slf4j
+//@Configuration
+//public class WebsocketClientConfig {
+//
+//    @Bean
+//    public WebSocketClient webSocketClient() {
+//        // 创建WebSocket容器并配置缓冲区大小
+//        WebSocketContainer container = ContainerProvider.getWebSocketContainer();
+//        // 256KB
+//        container.setDefaultMaxBinaryMessageBufferSize(100 * 1024);
+//        container.setDefaultMaxTextMessageBufferSize(100 * 1024);
+//
+//        return new StandardWebSocketClient(container);
+//    }
+//
+//    @Bean
+//    public WebSocketConnectionManager webSocketConnectionManager() {
+//        String serverUrl = "ws://192.168.100.82:9998/ws/AGVInfo";
+//
+//        WebSocketConnectionManager manager = new WebSocketConnectionManager(
+//                this.webSocketClient(),
+//                new ProtobufWebSocketHandler(),
+//                serverUrl
+//        );
+//        manager.setAutoStartup(true);
+//        return manager;
+//    }
+//}

src/main/proto/robottype.proto

@@ -0,0 +1,215 @@
+syntax = "proto3";
+
+option optimize_for = LITE_RUNTIME;
+
+package comm_protocol;
+
+message RobotShape {
+    double front = 1;
+    double back = 2;
+    double left = 3;
+    double right = 4;
+    double radius = 5;
+}
+
+message Point {
+    double x = 1;
+    double y = 2;
+    double intensity = 3;
+}
+message PointXYZ {
+    sint32 x = 1;
+    sint32 y = 2;
+    sint32 z = 3;
+}
+message OrientedPoint {
+    double x = 1;
+    double y = 2;
+    double theta = 3;
+}
+
+message RobotSpeed {
+    double vx = 1;
+    double vy = 2;
+    double w = 3;
+    int64 timeStamp = 4;
+}
+
+message RobotState {
+    OrientedPoint pose = 1;
+    RobotSpeed speed = 2;
+    int64 timeStamp = 3;
+}
+
+message RobotPath {
+    int64 timeStamp = 1;
+    repeated RobotState state = 2;
+}
+
+message LaserData {
+    sint32 location = 1;
+    int64 timeStamp = 2;
+    repeated Point scan = 3;
+}
+
+message ImageData {
+    sint32 location = 1;
+    sint64 timeStamp = 2;
+    sint32 width = 3;
+    sint32 height = 4;
+    sint32 chanel = 5;
+    sint32 package_index=6;
+    sint32 package_length=7;
+    sint32 imgdata_size=8;
+    sint32 curr_size=9;
+    bytes data = 10;
+}
+message PcloudData {
+    sint32 location = 1;
+    sint64 timeStamp = 2;
+    repeated PointXYZ point = 3;
+}
+
+message ControlLimit {
+  double max_vel = 1;
+  double max_w = 2;
+  int32 turn_dir_limit = 3;
+  int32 shelf_dir_limit = 4;
+}
+message stReachThreshold {
+  double reach_angle = 1;
+  double reach_dist = 2;
+}
+
+message PathProperty {
+  int32 move_mode = 1;
+  bool avoid_obstacle = 2;
+  double path_width = 3;
+  double safe_dist = 4;
+  double min_turn_radius = 5;
+  int32 route_mode = 6;
+  string path_extends = 7;
+}
+
+
+message RobotTask {
+  
+  message WayPoint {
+    // 路径信息,路径a-b,路径信息放在b点中
+    message PathInfo {
+      enum Sensor {
+        NONE = 0;
+        DEPTH_CAMERA = 1; //深度相机
+        ULTRASONIC = 2;   //超声
+      }
+      double distance2point = 1;  // 到点距离阈值(单位m)
+      double angle2point = 2;     // 到点角度阈值(单位rad)
+      double safe_distance = 3;   // 安全距离
+      bool avoid_obstacle = 4;    // 是否避障
+      double max_velocity = 5;    // 最大速度(单位m/s)
+      double path_width = 6;      // 路径宽度(单位m)
+      double min_turn_radius = 7; // 最小转弯半径
+      int32 sensor = 8; // 开启laser之外的其他传感器,可以是Sensor的多个组合
+      int32 move_mode = 9;
+      int32 route_mode = 10;
+      string path_extends = 11;
+    }
+    string point_name = 1;     // 点名
+    RobotState coordinate = 2; // 位姿
+    PathInfo path_info = 3;    // 路径信息
+    // 所有被其他车锁着点中距离该点最近的点，这个信息告诉本体可以让本体进行灵活多车避障
+    RobotState min_dist_point = 4;
+    bool is_lock = 6;
+    stReachThreshold reach_theta = 7;
+    string point_extends = 8;
+  }
+
+  int64 command = 1;
+  int64 sub_command = 2;
+  string params = 3;
+  repeated WayPoint way_point = 4;
+  RobotState init_pose = 5;
+  RobotState target_pose = 6;
+  bool is_final = 7;
+  string robot_id = 8;
+  string robot_task_id = 9;
+  int64 timeStamp = 10;
+  bool need_response = 11; // 是否需要回复
+  // 货架信息，第一位数值代表货架类型，从1开始；第二位代表车与货架长边的关系，0-平行，1-垂直
+  // 位数之间采用空格隔开；第一位是0的话代表不带货架；
+  string shelf_info = 12;
+  RobotPath nav_robot_path = 13;
+}
+
+message RobotTaskResult {
+  string task_id = 1;
+  string robot_id = 2;
+  int64 command = 3;
+  int32 result = 4; // 0-success
+}
+
+message RobotPoseWithCov {
+  double x = 1;
+  double y = 2;
+  double theta = 3;
+  double noisy_x = 4;
+  double noisy_y = 5;
+  double noisy_theta = 6;
+}
+
+message Relocate {
+  RobotPoseWithCov reloc_pose = 1;
+  string robot_id = 2;
+}
+
+message SwitchMap {
+  string map_id = 1;
+  string robot_id = 2;
+}
+
+message RobotBase {
+  message BatteryInfo {
+    double soc = 1;   // 电池剩余电量百分比
+    int32 status = 2; // 电池异常
+    uint64 update_time = 3;
+  }
+  message DeviceInfo {
+    bool stop_button = 1; // 急停按钮是否拍下
+    bool collision = 2;   // 是否发生碰撞
+    bool shut_down = 3;   // 软关机
+    bool inactive = 4;    // 底层硬件触发手动模式
+    uint64 update_time = 5;
+  }
+  message MoveInfo {
+    string heading_spot = 1;          // 下一个目标点
+    // double task_complete_percent = 2; // 导航任务完成百分比
+    // RobotSpeed velocity = 3;       // 小车速度
+    uint64 update_time = 4;
+  }
+  message Locate {
+    RobotPoseWithCov current_state = 1; // 小车当前位姿
+    int32 locate = 2;                   // 定位结果
+    uint64 update_time = 3;
+  }
+  BatteryInfo battery_info = 1; // 电池信息
+  DeviceInfo device_info = 2;
+  MoveInfo move_info = 3;
+  Locate locate = 4;
+  string robot_id = 5;
+  // 高32位代表设备类型，低32位数值代表异常值
+  repeated uint64 exception_code = 6;
+  int32 payloads = 7;      // 物料信息,不同应用车型有不同含义
+  int32 lift_state = 8;    // 顶升状态
+  bool robot_inactive = 9; // 是否手动模式,软件触发
+  int32 digital_status = 10; // 数字输出端口状态,不同应用车型有不同含义
+  string data_pool = 11;
+  map<string, string> runnig_fsm = 12;
+}
+
+message RCSInfo {
+  int32 action = 1;
+  string action_params = 2;
+  string fsm_state = 3;
+  string rcs_task_id = 4;
+  int32 rcs_task_state = 5;
+}

src/main/proto/uidata.proto

@@ -0,0 +1,47 @@
+syntax = "proto3";
+
+import "robottype.proto";
+
+option optimize_for = LITE_RUNTIME;
+
+package comm_protocol;
+
+message UiOnline {
+    string uuid = 1;
+    int32 comm_type = 2;
+    int32 codec_pattern = 3;
+    string host = 4;
+    int32 port = 5;
+}
+
+message UiHeartbeat {
+    string uuid = 1;
+}
+
+message KVState {
+    string key = 1;
+    string value = 2;
+}
+
+message DataPool {
+    map<string, string> kv_state = 1;
+}
+
+message UiDatagram {
+    oneof Item{
+        UiOnline online_info = 1; // ui -> robot
+        UiHeartbeat heartbeat = 2; // ui -> robot
+        LaserData laser_scan = 3;
+        ImageData image = 4;
+        RobotSpeed control_speed = 5;
+        RobotState current_state = 6;
+        RobotPath current_path = 7;
+        RobotBase robot_base = 8;
+        RobotTask robot_task = 9;  // ui -> robot
+        Relocate relocate = 10; // ui -> robot
+        RobotTaskResult robot_task_result = 11;
+        RCSInfo rcs_info = 12;
+        DataPool data_pool = 13; // ui -> robot
+        PcloudData pcloud = 14;
+    }
+}