opt:1.优化功能。2.增加标定功能。

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

@@ -1,5 +1,6 @@
 package org.nl.apt15e.apt.anomalyInfo.controller;
 
+import cn.dev33.satoken.annotation.SaIgnore;
 import com.alibaba.excel.EasyExcel;
 import lombok.Value;
 import org.nl.apt15e.apt.anomalyInfo.dao.ErrorHandling;
@@ -50,6 +51,7 @@ public class AnomalyInfoController {
     @Resource
     private ProcessZip processZip;
 
+    @SaIgnore
     @PostMapping("/queryErrorDataByCode")
     public ResponseEntity<Object> queryErrorDataByCode(@RequestParam("code") String code) {
         return new ResponseEntity<>(anomalyInfoService.queryErrorDataByCode(code), HttpStatus.OK);

src/main/java/org/nl/apt15e/apt/calibration/controller/CalibrationController.java

@@ -0,0 +1,58 @@
+package org.nl.apt15e.apt.calibration.controller;
+
+import org.nl.apt15e.apt.calibration.param.CalibrationLaserParam;
+import org.nl.apt15e.apt.calibration.service.CalibrationService;
+import org.nl.apt15e.common.logging.annotation.Log;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.annotation.*;
+
+import javax.annotation.Resource;
+
+/**
+ * @author dsh
+ * 2026/1/6
+ */
+@RestController
+@RequestMapping("/calibration")
+public class CalibrationController {
+
+    @Resource
+    private CalibrationService calibrationService;
+
+    @GetMapping("/getCalibrationConfigInfo")
+    @Log("获取车辆相机和激光配置信息")
+    public ResponseEntity<Object> getCalibrationConfigInfo() {
+        return new ResponseEntity<>(calibrationService.getCalibrationConfigInfo(), HttpStatus.OK);
+    }
+
+    @PostMapping("/calibrationLaser")
+    @Log("一键标定激光")
+    public ResponseEntity<Object> calibrationLaser(@RequestBody CalibrationLaserParam param){
+        return new ResponseEntity<>(calibrationService.calibrationLaser(param), HttpStatus.OK);
+    }
+
+    @PostMapping("/startCalibrationCamera")
+    @Log("开始标定顶部相机")
+    public ResponseEntity<Object> startCalibrationCamera(@RequestParam String location){
+        return new ResponseEntity<>(calibrationService.startCalibrationCamera(location), HttpStatus.OK);
+    }
+
+    @PostMapping("/endCalibrationCamera")
+    @Log("结束标定顶部相机")
+    public ResponseEntity<Object> endCalibrationCamera(@RequestParam String location,@RequestParam String params){
+        return new ResponseEntity<>(calibrationService.endCalibrationCamera(location,params), HttpStatus.OK);
+    }
+
+    @PostMapping("/calibrationDepthcamera")
+    @Log("一键标定相机")
+    public ResponseEntity<Object> calibrationDepthcamera(@RequestParam String location){
+        return new ResponseEntity<>(calibrationService.calibrationDepthcamera(location), HttpStatus.OK);
+    }
+
+    @GetMapping("/getCalibrationByTaskId")
+    @Log("根据task_id查询对应的标定结果")
+    public ResponseEntity<Object> getCalibrationByTaskId(@RequestParam String task_id){
+        return new ResponseEntity<>(calibrationService.getCalibrationByTaskId(task_id), HttpStatus.OK);
+    }
+}

src/main/java/org/nl/apt15e/apt/calibration/enums/CalibrationResult.java

@@ -0,0 +1,29 @@
+package org.nl.apt15e.apt.calibration.enums;
+
+import lombok.Getter;
+
+/**
+ * @author dsh
+ * 2026/1/7
+ */
+@Getter
+public enum CalibrationResult {
+
+    COLLECTING("1","采集数据中"),
+    FAILED("2","标定失败"),
+    RESULT_ABNORMAL("3","标定结果异常"),
+    PROCEDURE_ABNORMAL("999","标定程序异常"),
+    SUCCESSFUL("0","标定成功");
+
+
+
+
+    private String code;
+
+    private String name;
+
+    CalibrationResult(String code, String name) {
+        this.code = code;
+        this.name = name;
+    }
+}

src/main/java/org/nl/apt15e/apt/calibration/enums/LaserAndCameraType.java

@@ -0,0 +1,101 @@
+package org.nl.apt15e.apt.calibration.enums;
+
+import lombok.Getter;
+
+/**
+ * @author dsh
+ * 2026/1/6
+ */
+@Getter
+public enum LaserAndCameraType {
+
+    /**
+     * 前
+     */
+    FRONT("1", "前", "前","Front"),
+    /**
+     * 后
+     */
+    REAR("2", "后", "后","Rear"),
+    /**
+     * 左
+     */
+    LEFT("3", "左", "左","Left"),
+    /**
+     * 左前
+     */
+    FRONT_LEFT("4", "左前", "左前","Front left"),
+    /**
+     * 左后
+     */
+    LEFT_BACK("5", "左后", "左后","Left rear"),
+    /**
+     * 右
+     */
+    RIGHT("6", "右", "右","Right"),
+    /**
+     * 右前
+     */
+    RIGHT_FRONT("7", "右前", "右前","Right front"),
+    /**
+     * 右后
+     */
+    RIGHT_BACK("8", "右后", "右后","Right rear"),
+
+    /**
+     * 顶部前
+     */
+    TOP_FRONT("9", "顶部前", "顶部前","Top front"),
+    /**
+     * 顶部后
+     */
+    TOP_REAR("10", "顶部后", "顶部后","Top rear"),
+    /**
+     * 顶部左
+     */
+    TOP_LEFT("11", "顶部左", "顶部左","Top left"),
+    /**
+     * 顶部左前
+     */
+    TOP_FRONT_LEFT("12", "顶部左前", "顶部左前","Top front left"),
+    /**
+     * 顶部左后
+     */
+    TOP_LEFT_BACK("13", "顶部左后", "顶部左后","Top left rear"),
+    /**
+     * 顶部右
+     */
+    TOP_RIGHT("14", "顶部右", "顶部右","Top right"),
+    /**
+     * 顶部右前
+     */
+    TOP_RIGHT_FRONT("15", "顶部右前", "顶部右前","Top right front"),
+    /**
+     * 顶部右后
+     */
+    TOP_RIGHT_BACK("16", "顶部右后", "顶部右后","Top right rear");
+
+    private String location;
+
+    private String name;
+
+    private String zh_name;
+
+    private String en_name;
+
+    LaserAndCameraType(String location, String name, String zh_name, String en_name) {
+        this.location = location;
+        this.name = name;
+        this.zh_name = zh_name;
+        this.en_name = en_name;
+    }
+
+    public static LaserAndCameraType getByLocation(String code) {
+        for (LaserAndCameraType e : LaserAndCameraType.values()) {
+            if (e.location.equals(code)) {
+                return e;
+            }
+        }
+        return null;
+    }
+}

src/main/java/org/nl/apt15e/apt/calibration/param/CalibrationLaserParam.java

@@ -0,0 +1,21 @@
+package org.nl.apt15e.apt.calibration.param;
+
+import lombok.Data;
+
+/**
+ * @author dsh
+ * 2026/1/7
+ */
+@Data
+public class CalibrationLaserParam {
+
+    /**
+     * 设备ID
+     */
+    private String location;
+
+    /**
+     * 指令
+     */
+    private int cmd;
+}

src/main/java/org/nl/apt15e/apt/calibration/service/CalibrationService.java

@@ -0,0 +1,53 @@
+package org.nl.apt15e.apt.calibration.service;
+
+
+import org.nl.apt15e.apt.calibration.param.CalibrationLaserParam;
+import org.nl.apt15e.apt.dto.WebResponse;
+
+/**
+ * @author dsh
+ * 2026/1/6
+ */
+public interface CalibrationService {
+
+    /**
+     * 获取车辆相机和激光配置信息
+     * @return
+     */
+    WebResponse getCalibrationConfigInfo();
+
+    /**
+     * 标定激光
+     * @param param
+     * @return
+     */
+    WebResponse calibrationLaser(CalibrationLaserParam param);
+
+    /**
+     * 开始标定顶部相机
+     * @param location
+     * @return
+     */
+    WebResponse startCalibrationCamera(String location);
+
+    /**
+     * 结束标定顶部相机
+     * @param location
+     * @return
+     */
+    WebResponse endCalibrationCamera(String location,String params);
+
+    /**
+     * 标定深度相机
+     * @param location
+     * @return
+     */
+    WebResponse calibrationDepthcamera(String location);
+
+    /**
+     * 根据task_id查询对应的标定结果
+     * @param task_id
+     * @return
+     */
+    WebResponse getCalibrationByTaskId(String task_id);
+}

src/main/java/org/nl/apt15e/apt/calibration/service/impl/CalibrationServiceImpl.java

@@ -0,0 +1,276 @@
+package org.nl.apt15e.apt.calibration.service.impl;
+
+import cn.hutool.core.date.DateUtil;
+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 lombok.extern.slf4j.Slf4j;
+import org.nl.apt15e.apt.calibration.enums.CalibrationResult;
+import org.nl.apt15e.apt.calibration.enums.LaserAndCameraType;
+import org.nl.apt15e.apt.calibration.param.CalibrationLaserParam;
+import org.nl.apt15e.apt.calibration.service.CalibrationService;
+import org.nl.apt15e.apt.dto.WebResponse;
+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.stereotype.Service;
+
+import java.util.Date;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+
+/**
+ * @author dsh
+ * 2026/1/6
+ */
+@Slf4j
+@Service
+public class CalibrationServiceImpl implements CalibrationService {
+
+    public static Map<String,String> currentCalibration = new ConcurrentHashMap<>();
+
+    @Override
+    public WebResponse getCalibrationConfigInfo() {
+        HttpResponse response = null;
+        try {
+            response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/getInstallConfig", new JSONObject());
+        } catch (Exception e) {
+            log.info("访问车辆相机和激光配置接口报错:{}",e.getMessage());
+            throw new BadRequestException(LangProcess.msg("failed"));
+        }
+        // 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("获取车辆相机和激光配置:{}",body);
+            return WebResponse.requestParamOk(this.analyzeLaserAndCamera(body));
+        }
+        log.info("获取车辆相机和激光配置失败");
+        throw new BadRequestException(LangProcess.msg("failed"));
+    }
+
+    @Override
+    public WebResponse calibrationLaser(CalibrationLaserParam param) {
+        if (ObjectUtil.isEmpty(param)){
+            throw new BadRequestException(LangProcess.msg("param_is_null"));
+        }
+        JSONObject params = new JSONObject();
+        String task_id = DateUtil.format(new Date(), "yyyyMMddHHmmssSSS");
+        String attach = "{"+
+                "'init_pose':{'pose':{'x':0,'y':0,'angle':0}},'params':'','sub_command':"+param.getLocation()+",'target_pose':{'pose':{'x':0,'y':0,'angle':0}},"+
+                "'task_id':'"+task_id+"',"+
+                "'need_response':true"+
+                "}";
+        params.put("cmd", param.getCmd());
+        params.put("attach", JSON.parseObject(attach));
+        HttpResponse response = null;
+        try {
+            response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/sendCMD", params);
+        } catch (Exception e) {
+            log.info("访问车体激光标定接口报错:{}",e.getMessage());
+            throw new BadRequestException(LangProcess.msg("failed"));
+        }
+        // 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("激光标定:{}",body);
+            if ("200".equals(body.getString("code"))){
+                currentCalibration.put(task_id, CalibrationResult.COLLECTING.getCode());
+                JSONObject result = new JSONObject();
+                result.put("task_id", task_id);
+                return WebResponse.requestParamOk(result);
+            }
+        }
+        log.info("激光标定失败");
+        throw new BadRequestException(LangProcess.msg("failed"));
+    }
+
+    @Override
+    public WebResponse endCalibrationCamera(String location,String param) {
+        if (StrUtil.isBlank(location)){
+            throw new BadRequestException(LangProcess.msg("param_is_null"));
+        }
+        JSONObject params = new JSONObject();
+        String task_id = DateUtil.format(new Date(), "yyyyMMddHHmmssSSS");
+        String attach = "{"+
+                "'init_pose':{'pose':{'x':0,'y':0,'angle':0}},'params':'"+param+"','sub_command':"+location+",'target_pose':{'pose':{'x':0,'y':0,'angle':0}},"+
+                "'task_id':"+task_id+","+
+                "'need_response':true"+
+                "}";
+        params.put("cmd", 1822);
+        params.put("attach", JSON.parseObject(attach));
+        HttpResponse response = null;
+        try {
+            response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/sendCMD", params);
+        } catch (Exception e) {
+            log.info("访问车体顶部相机结束标定接口报错:{}",e.getMessage());
+            throw new BadRequestException(LangProcess.msg("failed"));
+        }
+        // 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("结束顶部相机标定:{}",body);
+            if ("200".equals(body.getString("code"))){
+                currentCalibration.put(task_id, CalibrationResult.COLLECTING.getCode());
+                JSONObject result = new JSONObject();
+                result.put("task_id", task_id);
+                return WebResponse.requestParamOk(result);
+            }
+        }
+        log.info("结束顶部相机标定失败");
+        throw new BadRequestException(LangProcess.msg("failed"));
+    }
+
+    @Override
+    public WebResponse startCalibrationCamera(String location) {
+        if (StrUtil.isBlank(location)){
+            throw new BadRequestException(LangProcess.msg("param_is_null"));
+        }
+        JSONObject params = new JSONObject();
+        String task_id = DateUtil.format(new Date(), "yyyyMMddHHmmssSSS");
+        String attach = "{"+
+                "'init_pose':{'pose':{'x':0,'y':0,'angle':0}},'params':'','sub_command':"+location+",'target_pose':{'pose':{'x':0,'y':0,'angle':0}},"+
+                "'task_id':"+task_id+","+
+                "'need_response':true"+
+                "}";
+        params.put("cmd", 1821);
+        params.put("attach", JSON.parseObject(attach));
+        HttpResponse response = null;
+        try {
+            response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/sendCMD", params);
+        } catch (Exception e) {
+            log.info("访问车体顶部相机开始标定接口报错:{}",e.getMessage());
+            throw new BadRequestException(LangProcess.msg("failed"));
+        }
+        // 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("开始顶部相机标定:{}",body);
+            if ("200".equals(body.getString("code"))){
+                return WebResponse.requestOk();
+            }
+        }
+        log.info("开始顶部相机标定失败");
+        throw new BadRequestException(LangProcess.msg("failed"));
+    }
+
+    @Override
+    public WebResponse calibrationDepthcamera(String location) {
+        if (StrUtil.isBlank(location)){
+            throw new BadRequestException(LangProcess.msg("param_is_null"));
+        }
+        JSONObject params = new JSONObject();
+        String task_id = DateUtil.format(new Date(), "yyyyMMddHHmmssSSS");
+        String attach = "{"+
+                "'init_pose':{'pose':{'x':0,'y':0,'angle':0}},'params':'','sub_command':"+location+",'target_pose':{'pose':{'x':0,'y':0,'angle':0}},"+
+                "'task_id':"+task_id+","+
+                "'need_response':true"+
+                "}";
+        params.put("cmd", 1815);
+        params.put("attach", JSON.parseObject(attach));
+        HttpResponse response = null;
+        try {
+            response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/sendCMD", params);
+        } catch (Exception e) {
+            log.info("访问车体深度相机标定接口报错:{}",e.getMessage());
+            throw new BadRequestException(LangProcess.msg("failed"));
+        }
+        // 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("深度相机标定:{}",body);
+            if ("200".equals(body.getString("code"))){
+                currentCalibration.put(task_id, CalibrationResult.COLLECTING.getCode());
+                JSONObject result = new JSONObject();
+                result.put("task_id", task_id);
+                return WebResponse.requestParamOk(result);
+            }
+        }
+        log.info("深度相机标定失败");
+        throw new BadRequestException(LangProcess.msg("failed"));
+    }
+
+    @Override
+    public WebResponse getCalibrationByTaskId(String task_id) {
+        if (StrUtil.isBlank(task_id)){
+            throw new BadRequestException(LangProcess.msg("param_is_null"));
+        }
+        return WebResponse.requestParamOk(currentCalibration.get(task_id));
+    }
+
+    public JSONObject analyzeLaserAndCamera(JSONObject body) {
+        //激光
+        JSONObject Laser = body.getJSONObject("Laser");
+        //相机
+        JSONObject Camera = body.getJSONObject("camera");
+        //深度相机
+        JSONObject Depthcamera = body.getJSONObject("depthcamera");
+
+        JSONObject result = new JSONObject();
+        JSONArray LaserArray = new JSONArray();
+        JSONArray CameraArray = new JSONArray();
+        JSONArray DepthcameraArray = new JSONArray();
+        if (Laser != null){
+            for (String key : Laser.keySet()) {
+                JSONObject laser = Laser.getJSONObject(key);
+                String location = laser.getString("location");
+                JSONObject value = new JSONObject();
+                value.put("location", location);
+                LaserAndCameraType settingCodeEnum = LaserAndCameraType.getByLocation(location);
+                if (settingCodeEnum != null) {
+                    value.put("name", settingCodeEnum.getName());
+                    value.put("zh_name", settingCodeEnum.getZh_name());
+                    value.put("en_name", settingCodeEnum.getEn_name());
+                }
+                LaserArray.add(value);
+            }
+        }
+        result.put("Laser", LaserArray);
+        if (Camera != null){
+            for (String key : Camera.keySet()) {
+                JSONObject camera = Camera.getJSONObject(key);
+                String location = camera.getString("location");
+                JSONObject value = new JSONObject();
+                value.put("location", location);
+                LaserAndCameraType settingCodeEnum = LaserAndCameraType.getByLocation(location);
+                if (settingCodeEnum != null) {
+                    value.put("name", settingCodeEnum.getName());
+                    value.put("zh_name", settingCodeEnum.getZh_name());
+                    value.put("en_name", settingCodeEnum.getEn_name());
+                }
+                CameraArray.add(value);
+            }
+        }
+
+        result.put("camera", CameraArray);
+        if (Depthcamera != null){
+            for (String key : Depthcamera.keySet()) {
+                JSONObject depthcamera = Depthcamera.getJSONObject(key);
+                String location = depthcamera.getString("location");
+                JSONObject value = new JSONObject();
+                value.put("location", location);
+                // 深度相机的location是负数，需要做转换。
+                int new_location = Integer.parseInt(location);
+                LaserAndCameraType settingCodeEnum = LaserAndCameraType.getByLocation(String.valueOf(Math.abs(new_location)));
+                if (settingCodeEnum != null) {
+                    value.put("name", settingCodeEnum.getName());
+                    value.put("zh_name", settingCodeEnum.getZh_name());
+                    value.put("en_name", settingCodeEnum.getEn_name());
+                }
+                DepthcameraArray.add(value);
+            }
+        }
+
+        result.put("depthcamera", DepthcameraArray);
+        return result;
+    }
+
+}

src/main/java/org/nl/apt15e/apt/ext/service/impl/RcsToAptServiceImpl.java

@@ -64,11 +64,6 @@ public class RcsToAptServiceImpl implements RcsToAptService {
 
         // 更新任务状态
         String taskChainPoStatus = rcsToAptTaskChainPoDto.getStatus().toString();
-//        if (taskPoStatus.equals(RcsTaskStatus.SON_EXECUTING.getCode()) || taskPoStatus.equals(RcsTaskStatus.SON_FINISHED.getCode())) {
-//            task.setTask_status(TaskStatus.EXECUTING.getCode());
-//        } else if (taskChainPoStatus.equals(RcsTaskStatus.TASK_FINISHED.getCode())) {
-//            task.setTask_status(TaskStatus.FINISHED.getCode());
-//        }
         if (RcsTaskChainStatus.FINISHED.getCode().equals(taskChainPoStatus)) {
             task.setTask_status(TaskStatus.FINISHED.getCode());
         } else if (RcsTaskChainStatus.EXECUTING.getCode().equals(taskChainPoStatus)) {
@@ -82,6 +77,11 @@ public class RcsToAptServiceImpl implements RcsToAptService {
             if (ObjectUtil.isNotEmpty(endPointCode)) {
                 Station staDao = stationService.getOne(new LambdaQueryWrapper<>(Station.class)
                         .eq(Station::getStation_code, endPointCode));
+                int oldSeqIndex = task.getTask_seq_index();
+                // 判断是否重复站点,不重复时才增加index
+                if (!staDao.getStation_name().equals(task.getTask_point())){
+                    task.setTask_seq_index(oldSeqIndex+1);
+                }
                 task.setTask_point(staDao.getStation_name());
             }
         }

src/main/java/org/nl/apt15e/apt/task/service/dao/Task.java

@@ -39,6 +39,11 @@ public class Task implements Serializable {
      */
     private String task_seq;
 
+    /**
+     * 任务顺序当前索引(从1开始)
+     */
+    private int task_seq_index;
+
     /**
      * 任务状态
      */

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

@@ -134,6 +134,7 @@ public class TaskManageServiceImpl implements TaskManageService {
                         .map(Station::getStation_name)
                         .collect(Collectors.joining(","))
         );
+        task.setTask_seq_index(0);
         task.setTask_status(TaskStatus.CREATE.getCode());
         task.setCreate_time(DateUtil.now());
         iTaskService.save(task);

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

@@ -73,6 +73,12 @@ public class TeachingController {
         return new ResponseEntity<>(teachingService.restart(), HttpStatus.OK);
     }
 
+    @PostMapping("/startingPointRelocate")
+//    @Log("起点位置重定位")
+    private ResponseEntity<Object> startingPointRelocate() {
+        return new ResponseEntity<>(teachingService.startingPointRelocate(), HttpStatus.OK);
+    }
+
     @PostMapping("/relocate")
     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);

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

@@ -81,6 +81,11 @@ public interface TeachingService {
      */
     Map<String, Object> restart();
 
+    /**
+     * 起点位置重定位
+     */
+    Map<String, Object> startingPointRelocate();
+
     /**
      * 一键部署地图
      * @return

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

@@ -386,6 +386,18 @@ public class TeachingServiceImpl implements TeachingService {
         throw new BadRequestException(LangProcess.msg("error_restart"));
     }
 
+    @Override
+    public Map<String, Object> startingPointRelocate() {
+        JSONObject response = new JSONObject();
+        Station station = stationService.getOne(new LambdaQueryWrapper<>(Station.class)
+                .eq(Station::getStation_code,"A")
+        );
+        this.relocate(station.getX(),station.getY(),station.getAngle());
+        response.put("code", 200);
+        response.put("message", LangProcess.msg("successful"));
+        return response;
+    }
+
     @Override
     public Map<String, Object> oneClickDeployment(String mapName) {
         if (StrUtil.isBlank(mapName)){
@@ -402,23 +414,24 @@ public class TeachingServiceImpl implements TeachingService {
         this.changeCurrentRunMap(mapName);
         // 解析地图包并同步到调度
         this.synchronizeMap(mapName,zipFile);
-        // 重启本体程序
-        this.restart();
 
-        // 重定位，需要等待一会
+        // 重启本体程序
-        while (!"1".equals(VehicleInfoServiceImpl.vehicleInfo.getReady())){
+//        this.restart();
-            log.info("建图 重启本体程序中,还未接收到本体重启信号");
+
-            try {
+//         重定位，需要等待一会
-                Thread.sleep(1000);
+//        while (!"1".equals(VehicleInfoServiceImpl.vehicleInfo.getReady())){
-            } catch (InterruptedException e) {
+//            log.info("建图 重启本体程序中,还未接收到本体重启信号");
-                throw new RuntimeException(e);
+//            try {
-            }
+//                Thread.sleep(1000);
-        }
+//            } catch (InterruptedException e) {
-        log.info("接收到本体重启信号，发送重定位指令");
+//                throw new RuntimeException(e);
-        Station station = stationService.getOne(new LambdaQueryWrapper<>(Station.class)
+//            }
-              .eq(Station::getStation_code,"A")
+//        }
-        );
+//        log.info("接收到本体重启信号，发送重定位指令");
-        this.relocate(station.getX(),station.getY(),station.getAngle());
+//        Station station = stationService.getOne(new LambdaQueryWrapper<>(Station.class)
+//              .eq(Station::getStation_code,"A")
+//        );
+//        this.relocate(station.getX(),station.getY(),station.getAngle());
         response.put("code", 200);
         response.put("message", LangProcess.msg("successful"));
         return response;

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

@@ -89,6 +89,11 @@ public class VehicleInfo implements Serializable {
      */
     private String task_seq;
 
+    /**
+     * 车辆任务链中当前索引
+     */
+    private int task_seq_index;
+
     /**
      * 车辆任务链中当前点位
      */

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

@@ -274,9 +274,11 @@ public class VehicleInfoServiceImpl implements VehicleInfoService {
             if (ObjectUtil.isNotEmpty(task)){
                 vehicleInfo.setTask_seq(task.getTask_seq());
                 vehicleInfo.setTask_point(task.getTask_point());
+                vehicleInfo.setTask_seq_index(task.getTask_seq_index());
             }else {
                 vehicleInfo.setTask_seq("");
                 vehicleInfo.setTask_point("");
+                vehicleInfo.setTask_seq_index(0);
             }
             webSocketSet.forEach(c -> {
                 Map<String, Object> vehicleInfoMap = new HashMap<>();

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

@@ -98,23 +98,23 @@ public class ProtobufWebSocketHandler extends BinaryWebSocketHandler {
                     Robottype.LaserData laser = datagram.getLaserScan();
                     // 9顶部激光
                     if (laser.getLocation() == 9){
-                        Set<PointCloudDataDto> globalData = 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 cosYaw = cos(VehicleInfoServiceImpl.vehicleInfo.getTheta());
-                            double sinYaw = sin(VehicleInfoServiceImpl.vehicleInfo.getTheta());
+//                            double sinYaw = sin(VehicleInfoServiceImpl.vehicleInfo.getTheta());
-                            double x_global = VehicleInfoServiceImpl.vehicleInfo.getX() + cosYaw * point.getX() - sinYaw * point.getY();
+//                            double x_global = VehicleInfoServiceImpl.vehicleInfo.getX() + cosYaw * point.getX() - sinYaw * point.getY();
-                            DecimalFormat x_globalDF = new DecimalFormat("#.#");
+//                            DecimalFormat x_globalDF = new DecimalFormat("#.#");
-                            String x_result = x_globalDF.format(x_global);
+//                            String x_result = x_globalDF.format(x_global);
-                            double x_globalNum = Double.parseDouble(x_result);
+//                            double x_globalNum = Double.parseDouble(x_result);
-                            double y_global = VehicleInfoServiceImpl.vehicleInfo.getY() + sinYaw * point.getX() + cosYaw * point.getY();
+//                            double y_global = VehicleInfoServiceImpl.vehicleInfo.getY() + sinYaw * point.getX() + cosYaw * point.getY();
-                            DecimalFormat y_globalDF = new DecimalFormat("#.#");
+//                            DecimalFormat y_globalDF = new DecimalFormat("#.#");
-                            String y_result = y_globalDF.format(y_global);
+//                            String y_result = y_globalDF.format(y_global);
-                            double y_globalNum = Double.parseDouble(y_result);
+//                            double y_globalNum = Double.parseDouble(y_result);
-                            PointCloudDataDto globalPointCloudDataDto = new PointCloudDataDto();
+//                            PointCloudDataDto globalPointCloudDataDto = new PointCloudDataDto();
-                            globalPointCloudDataDto.setX(x_globalNum);
+//                            globalPointCloudDataDto.setX(x_globalNum);
-                            globalPointCloudDataDto.setY(y_globalNum);
+//                            globalPointCloudDataDto.setY(y_globalNum);
-                            globalData.add(globalPointCloudDataDto);
+//                            globalData.add(globalPointCloudDataDto);
 
                             double x_current = point.getX();
                             DecimalFormat x_currentDF = new DecimalFormat("#.#");
@@ -129,8 +129,25 @@ public class ProtobufWebSocketHandler extends BinaryWebSocketHandler {
                             currentPointCloudDataDto.setY(y_currentNum);
                             currentData.add(currentPointCloudDataDto);
                         }
-                        VehicleInfoServiceImpl.globalPointCloudData =  globalData;
+//                        VehicleInfoServiceImpl.globalPointCloudData =  globalData;
                         VehicleInfoServiceImpl.currentPointCloudData =  currentData;
+                    }else if (laser.getLocation() == 100){
+                        Set<PointCloudDataDto> globalData = new HashSet<>();
+                        for (Robottype.Point point: laser.getScanList()){
+                            double x_global = point.getX();
+                            DecimalFormat x_globalDF = new DecimalFormat("#.#");
+                            String x_GlobalResult = x_globalDF.format(x_global);
+                            double x_globalNum = Double.parseDouble(x_GlobalResult);
+                            double y_global = point.getY();
+                            DecimalFormat y_globalDF = new DecimalFormat("#.#");
+                            String y_result = y_globalDF.format(y_global);
+                            double y_globalNum = Double.parseDouble(y_result);
+                            PointCloudDataDto currentPointCloudDataDto = new PointCloudDataDto();
+                            currentPointCloudDataDto.setX(x_globalNum);
+                            currentPointCloudDataDto.setY(y_globalNum);
+                            globalData.add(currentPointCloudDataDto);
+                            VehicleInfoServiceImpl.globalPointCloudData =  globalData;
+                        }
                     }
 //                    System.out.println("Received laser_scan: " + list);
                     break;

src/main/resources/config/application.yml

@@ -50,6 +50,7 @@ security:
     - /webSocket/**
     - /file/**
     - /routeInfo/**
+    - /calibration/**
     - /station/**
     # 静态资源
     - /*.html