opt:完善地图相关数据和基础数据

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

@@ -23,6 +23,11 @@ public class MapInfo {
      */
     private String mapName;
 
+    /**
+     * 地图图片地址
+     */
+    private String mapImageAddress;
+
     /**
      * 图片像素宽
      */

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

@@ -4,6 +4,7 @@ import org.nl.apt15e.apt.map.dao.MapInfo;
 import org.nl.apt15e.apt.map.service.MapInfoService;
 import org.springframework.http.HttpStatus;
 import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.annotation.GetMapping;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RequestParam;
 import org.springframework.web.bind.annotation.RestController;
@@ -21,8 +22,8 @@ public class MapInfoController {
     @Resource
     private MapInfoService mapInfoService;
 
-    @RequestMapping("/getMapInfoByCode")
+    @GetMapping("/getMapInfoByCode")
-    public ResponseEntity<Object> getMapInfoByCode(@RequestParam("mapCode") String mapCode) {
+    public ResponseEntity<Object> getMapInfoByCode() {
-        return new ResponseEntity<>(mapInfoService.getMapInfoByCode(mapCode), HttpStatus.OK);
+        return new ResponseEntity<>(mapInfoService.getMapInfoByCode(), HttpStatus.OK);
     }
 }

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

@@ -4,12 +4,17 @@ import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.extension.service.IService;
 import org.nl.apt15e.apt.map.dao.MapInfo;
 
+import java.util.List;
+
 /**
  * @author dsh
  * 2025/7/17
  */
 public interface MapInfoService extends IService<MapInfo> {
 
-    JSONObject getMapInfoByCode(String mapCode);
+    /**
+     * 返回当前正在使用的地图数据
+     */
+    MapInfo getMapInfoByCode();
 
 }

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

@@ -13,6 +13,8 @@ import org.nl.apt15e.common.BadRequestException;
 import org.springframework.http.HttpStatus;
 import org.springframework.stereotype.Service;
 
+import java.util.List;
+
 /**
  * @author dsh
  * 2025/7/17
@@ -22,13 +24,7 @@ import org.springframework.stereotype.Service;
 public class MapInfoServiceImpl extends ServiceImpl<MapInfoMapper, MapInfo> implements MapInfoService {
 
     @Override
-    public JSONObject getMapInfoByCode(String mapCode) {
+    public MapInfo getMapInfoByCode() {
-        if (StrUtil.isEmpty(mapCode)) {
+        return this.getOne(new LambdaQueryWrapper<>(MapInfo.class));
-            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/route/dao/RouteInfo.java

@@ -51,11 +51,11 @@ public class RouteInfo {
     /**
      * 导航模式 前进模式, 后退模式 ,无头模式
      */
-    private Integer navigation_mode;
+    private String navigation_mode;
 
     /**
      * 路线类型 直行，转弯
      */
-    private Integer route_type;
+    private String route_type;
 
 }

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

@@ -4,11 +4,13 @@ import com.alibaba.fastjson.JSONObject;
 import com.baomidou.mybatisplus.extension.service.IService;
 import org.nl.apt15e.apt.route.dao.RouteInfo;
 
+import java.util.List;
+
 /**
  * @author dsh
  * 2025/7/18
  */
 public interface RouteInfoService extends IService<RouteInfo> {
 
-    JSONObject getAllRouteInfo();
+    List<RouteInfo> getAllRouteInfo();
 }

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

@@ -12,6 +12,7 @@ import org.springframework.http.HttpStatus;
 import org.springframework.stereotype.Service;
 
 import javax.annotation.Resource;
+import java.util.List;
 
 /**
  * @author dsh
@@ -24,10 +25,7 @@ public class RouteInfoServiceImpl extends ServiceImpl<RouteInfoMapper, RouteInfo
     private RouteInfoMapper routeInfoMapper;
 
     @Override
-    public JSONObject getAllRouteInfo() {
+    public List<RouteInfo> getAllRouteInfo() {
-        JSONObject jsonObject = new JSONObject();
+        return routeInfoMapper.selectList(null);
-        jsonObject.put("code", HttpStatus.OK.value());
-        jsonObject.put("data", routeInfoMapper.selectList(null));
-        return jsonObject;
     }
 }

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

@@ -3,6 +3,7 @@ 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.GetMapping;
 import org.springframework.web.bind.annotation.RequestMapping;
 import org.springframework.web.bind.annotation.RestController;
 
@@ -19,7 +20,7 @@ public class RouteInfoController {
     @Resource
     private RouteInfoService routeInfoService;
 
-    @RequestMapping("/getRouteInfo")
+    @GetMapping("/getRouteInfo")
     public ResponseEntity<Object> getRouteInfo(){
         return new ResponseEntity<>(routeInfoService.getAllRouteInfo(), HttpStatus.OK);
     }

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

@@ -12,18 +12,19 @@ import lombok.Getter;
 public enum StationTypeEnum {
 
     //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"),
+    STATION(1, "Station", "工位点"),
-    CHARGE(2, "CHARGE", "充电点"),
+    CHARGE(2, "Charge", "充电点"),
-    BREAKS(3, "BREAKS", "休息点"),
+    BREAKS(3, "Breaks", "休息点"),
-    DOCKING(4, "DOCKING", "对接点"),
+    DOCKING(4, "Docking", "对接点"),
-    SYSTEM(5, "SYSTEM", "系统自动生成点"),
+    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
+    //动作类型 Ascend升叉 Descend降叉 Move移动 Customize自定义 Return返回
     ASCEND(1, "Ascend", "升叉"),
     DESCEND(2, "Descend", "降叉"),
     MOVE(3, "Move", "移动"),
-    CUSTOMIZE(4, "Customize", "自定义");
+    CUSTOMIZE(4, "Customize", "自定义"),
+    RETURN(5, "Return", "返回");
 
 
     /**

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

@@ -35,7 +35,7 @@ public class Station implements Serializable {
     private String station_type;
 
     /**
-     * 动作类型 (Ascend升叉 Descend降叉 Move移动 Customize自定义)
+     * 动作类型 (Ascend升叉 Descend降叉 Move移动 Customize自定义 Return返回)
      */
     private String action_type;
 

src/main/java/org/nl/apt15e/apt/station/service/StationService.java

@@ -14,4 +14,7 @@ public interface StationService extends IService<Station> {
 
     List<Station> queryAllStation();
 
+    List<Station> queryMapAllStation();
+
+    Station queryStationById(Integer id);
 }

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

@@ -27,7 +27,17 @@ public class StationServiceImpl extends ServiceImpl<StationMapper, Station> impl
 
     @Override
     public List<Station> queryAllStation() {
-        return stationMapper.selectList(stationMapper.selectList(new LambdaQueryWrapper<>(Station.class)
+        return stationMapper.selectList(new LambdaQueryWrapper<>(Station.class)
-                .eq(Station::getStation_type, StationTypeEnum.STATION.getCode())));
+                .eq(Station::getStation_type, StationTypeEnum.STATION.getCode()));
+    }
+
+    @Override
+    public List<Station> queryMapAllStation() {
+        return stationMapper.selectList(null);
+    }
+
+    @Override
+    public Station queryStationById(Integer id) {
+        return stationMapper.selectOne(new LambdaQueryWrapper<Station>().eq(Station::getStation_id, id));
     }
 }

src/main/java/org/nl/apt15e/apt/station/service/rest/StationController.java

@@ -21,8 +21,17 @@ public class StationController {
     private StationService stationService;
 
     @GetMapping("/queryAllStation")
-    private ResponseEntity<Object> startMapping() {
+    private ResponseEntity<Object> queryAllStation() {
         return new ResponseEntity<>(stationService.queryAllStation(), HttpStatus.OK);
     }
 
+    @GetMapping("/queryMapAllStation")
+    private ResponseEntity<Object> queryMapAllStation() {
+        return new ResponseEntity<>(stationService.queryMapAllStation(), HttpStatus.OK);
+    }
+
+    @GetMapping("/queryStationById")
+    private ResponseEntity<Object> queryStationById(@RequestParam("station_id") Integer station_id) {
+        return new ResponseEntity<>(stationService.queryStationById(station_id), HttpStatus.OK);
+    }
 }

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

@@ -82,4 +82,9 @@ public class TeachingController {
     private ResponseEntity<Object> oneClickDeployment(@RequestParam("mapName") String mapName) {
         return new ResponseEntity<>(teachingService.oneClickDeployment(mapName), HttpStatus.OK);
     }
+
+    @PostMapping("/abandonMapping")
+    private ResponseEntity<Object> abandonMapping() {
+        return new ResponseEntity<>(teachingService.abandonMapping(),HttpStatus.OK);
+    }
 }

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

@@ -86,4 +86,10 @@ public interface TeachingService {
      * @return
      */
     Map<String, Object> oneClickDeployment(String mapName);
+
+    /**
+     * 放弃当前示教建图
+     * @return
+     */
+    Map<String, Object> abandonMapping();
 }

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

@@ -264,6 +264,8 @@ public class TeachingServiceImpl implements TeachingService {
         if (response.isOk() && response.body() != null) {
             // 获取zip包
             byte[] zipBytes = response.bodyBytes();
+            File fileName = new File(mapName);
+            File tempZipFile = FileUtil.writeBytes(zipBytes, FileUtil.createTempFile(fileName));
             log.info("解析地图包数据");
             processZip.processZipResponse(zipBytes);
             return zipBytes;
@@ -409,4 +411,34 @@ public class TeachingServiceImpl implements TeachingService {
 //        }
         return response;
     }
+
+    @Override
+    public Map<String, Object> abandonMapping() {
+        JSONObject params = new JSONObject();
+        String attach = "{"+
+                "'sub_command':0,"+
+                "'param':''"+
+        "}";
+        params.put("cmd", 906);
+        params.put("attach", JSON.parseObject(attach));
+        HttpResponse response = null;
+        try {
+            response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/sendCMD", params);
+        } catch (Exception e) {
+            log.info("访问车体放弃示教建图接口报错:{}",e.getMessage());
+            throw new BadRequestException("车体放弃示教建图失败");
+        }
+        // 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("放弃示教建图:{}",body);
+            if ("200".equals(body.getString("code"))){
+                body.put("message","放弃示教建图成功");
+                return body;
+            }
+        }
+        log.info("放弃示教建图失败");
+        throw new BadRequestException("放弃示教建图失败");
+    }
 }

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

@@ -13,12 +13,15 @@ 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.nl.apt15e.config.file.FileProperties;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 import org.yaml.snakeyaml.Yaml;
 
 import javax.annotation.Resource;
 import javax.imageio.ImageIO;
+import java.awt.*;
 import java.awt.image.BufferedImage;
 import java.awt.image.DataBufferByte;
 import java.io.*;
@@ -48,9 +51,11 @@ public class ProcessZip {
     @Resource
     private RouteInfoService routeInfoService;
 
+    @Resource
+    private FileProperties properties;
+
 
     private static final String PGM_MAGIC_NUMBER = "P5";
-    private static final String OUTPUT_DIR = "/logs";
 
     @Transactional(rollbackFor = Exception.class)
     public void processZipResponse(byte[] zipBytes) {
@@ -59,6 +64,11 @@ public class ProcessZip {
 
             MapInfo mapInfo = new MapInfo();
 
+            //存储之前先清除站点表中数据和路径表中的数据
+            stationService.remove(new LambdaQueryWrapper<>());
+            routeInfoService.remove(new LambdaQueryWrapper<>());
+            mapInfoService.remove(new LambdaQueryWrapper<>());
+
             ZipEntry entry;
             // 遍历ZIP文件中的每个条目
             while ((entry = zis.getNextEntry()) != null) {
@@ -72,10 +82,6 @@ public class ProcessZip {
                     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和路径表中的数据
-                    stationService.remove(new LambdaQueryWrapper<>());
-                    routeInfoService.remove(new LambdaQueryWrapper<>());
-
                     String line;
                     int lineNumber = 0;
                     while ((line = reader.readLine()) != null) {
@@ -110,11 +116,15 @@ public class ProcessZip {
                             throw new BadRequestException("地图PGM转换失败: ");
                         }
 
+                        // 将灰度图转换为透明背景图
+                        pngImage = convertToTransparentBackground(pngImage);
+
                         // 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);
+                        mapInfo.setMapImageAddress("/file/"+pngFileName);
                         savePngImage(pngImage, pngFileName);
                     }
                 }
@@ -173,6 +183,71 @@ public class ProcessZip {
         }
     }
 
+    // 将灰度图像转换为透明背景图像
+    private BufferedImage convertToTransparentBackground(BufferedImage grayImage) {
+        try {
+
+            // 创建支持透明度的ARGB图像
+            BufferedImage transparentImage = new BufferedImage(
+                    grayImage.getWidth(),
+                    grayImage.getHeight(),
+                    BufferedImage.TYPE_INT_ARGB
+            );
+
+            // 获取灰度图像的像素数据
+            byte[] grayPixels = ((DataBufferByte) grayImage.getRaster().getDataBuffer()).getData();
+            int width = grayImage.getWidth();
+            int height = grayImage.getHeight();
+
+            // 创建ARGB像素数组
+            int[] argbPixels = new int[width * height];
+
+//            // 转换每个像素
+//            for (int y = 0; y < height; y++) {
+//                for (int x = 0; x < width; x++) {
+//                    int index = y * width + x;
+//                    // 灰度值（0-255），0=黑，255=白
+//                    int grayValue = grayPixels[index] & 0xFF;
+//
+//                    // 创建ARGB像素（Alpha, Red, Green, Blue）
+//                    // 白色背景（>=250）设为完全透明，其他保持黑色但完全不透明
+//                    if (grayValue >= 250) {
+//                        // 完全透明 (Alpha=0)
+//                        argbPixels[index] = 0x00FFFFFF;
+//                    } else {
+//                        // 完全不透明 (Alpha=255) + 灰度值转为RGB
+//                        int rgb = grayValue << 16 | grayValue << 8 | grayValue;
+//                        argbPixels[index] = 0xFF000000 | rgb;
+//                    }
+//                }
+//            }
+            // 转换每个像素
+            for (int y = 0; y < height; y++) {
+                for (int x = 0; x < width; x++) {
+                    int index = y * width + x;
+                    // 灰度值（0-255），0=黑，255=白
+                    int grayValue = grayPixels[index] & 0xFF;
+
+                    // 创建ARGB像素（Alpha, Red, Green, Blue）
+                    if (grayValue >= 250) {
+                        // 白色背景（>=250）设为完全透明
+                        argbPixels[index] = 0x00FFFFFF; // 透明
+                    } else {
+                        // 黑色点云转为白色点云（完全不透明）
+                        argbPixels[index] = 0xFFFFFFFF; // 不透明的白色
+                    }
+                }
+            }
+
+            // 设置ARGB像素数据
+            transparentImage.setRGB(0, 0, width, height, argbPixels, 0, width);
+            return transparentImage;
+        }catch (Exception e) {
+            log.info(".png点云图将灰度图像转换为透明背景图像失败:{}",e.getMessage());
+            throw new BadRequestException(".png点云图将灰度图像转换为透明背景图像失败:"+e.getMessage());
+        }
+    }
+
     public void processLine(String line, int lineNumber) {
         // 跳过空行
         if (line.trim().isEmpty()) {
@@ -211,7 +286,7 @@ public class ProcessZip {
                     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){
+                }else if ("Route".equals(processData[0]) && processData.length >22 ){
                     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]));
@@ -221,8 +296,8 @@ public class ProcessZip {
                     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.setNavigation_mode(processData[16].replaceAll("^\"|\"$", ""));
-                    routeInfo.setRoute_type(Integer.valueOf(processData[17]));
+                    routeInfo.setRoute_type(processData[17].replaceAll("^\"|\"$", ""));
                     routeInfoService.save(routeInfo);
 
                     System.out.printf("行号 %d - 有效数据: %s%n", lineNumber, routeInfo);
@@ -287,7 +362,7 @@ public class ProcessZip {
     private void savePngImage(BufferedImage image, String fileName) {
         try {
             // 确保输出目录存在
-            File outputDir = new File(OUTPUT_DIR);
+            File outputDir = new File(properties.getPath().getPath());
             if (!outputDir.exists()) {
                 outputDir.mkdirs();
             }

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

@@ -55,7 +55,7 @@ public class VehicleInfo implements Serializable {
     /**
      * 电量
      */
-    private Long batteryPower;
+    private Double batteryPower;
 
     /**
      * 异常信息
@@ -76,4 +76,9 @@ public class VehicleInfo implements Serializable {
      * 车辆角度
      */
     private Double theta;
+
+    /**
+     * 是否是手动模式
+     */
+    private Boolean isManual;
 }

src/main/java/org/nl/apt15e/apt/vehicle/service/VehicleInfoService.java

@@ -10,4 +10,6 @@ public interface VehicleInfoService {
 
     VehicleInfo getVehicleInfo();
 
+    void setVehicleInfo(VehicleInfo vehicleInfo);
+
 }

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

@@ -37,6 +37,11 @@ public class VehicleInfoServiceImpl implements VehicleInfoService {
         return vehicleInfo;
     }
 
+    @Override
+    public void setVehicleInfo(VehicleInfo vehicleInfo) {
+
+    }
+
     @Async("asynchronousTasks")
     public void queryVehicleInfo() {
         HttpResponse response = null;
@@ -52,18 +57,17 @@ public class VehicleInfoServiceImpl implements VehicleInfoService {
                 }
                 for (int i = 0; i < jsonArray.size(); i++) {
                     JSONObject data = jsonArray.getJSONObject(i);
-                    vehicleInfo = JSONObject.toJavaObject(data, VehicleInfo.class);
+                    vehicleInfo.setId(data.getString("id"));
-                    //电量
+                    vehicleInfo.setName(data.getString("name"));
-                    vehicleInfo.setBatteryPower(data.getLong("batteryPercentile"));
+                    vehicleInfo.setIp(data.getString("ip"));
+                    vehicleInfo.setMapId(data.getLong("mapId"));
+                    vehicleInfo.setMapName(data.getString("mapName"));
+                    vehicleInfo.setStateId(data.getLong("stateId"));
+                    vehicleInfo.setState(data.getString("state"));
+                    vehicleInfo.setAreaId(data.getLong("areaId"));
                     //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);
                 }
             } else {

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

@@ -1,8 +1,11 @@
 package org.nl.apt15e.config;
 
+import org.nl.apt15e.config.file.FileProperties;
 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.EnableWebMvc;
+import org.springframework.web.servlet.config.annotation.ResourceHandlerRegistry;
 import org.springframework.web.servlet.config.annotation.WebMvcConfigurer;
 
 /**
@@ -10,7 +13,27 @@ import org.springframework.web.servlet.config.annotation.WebMvcConfigurer;
  * 2025/7/14
  */
 @Configuration
+@EnableWebMvc
 public class CorsConfig implements WebMvcConfigurer {
+
+    /** 文件配置 */
+    private final FileProperties properties;
+
+    public CorsConfig(FileProperties properties) {
+        this.properties = properties;
+    }
+
+
+    @Override
+    public void addResourceHandlers(ResourceHandlerRegistry registry) {
+        FileProperties.ElPath path = properties.getPath();
+        String avatarUtl = "file:" + path.getAvatar().replace("\\","/");
+        String pathUtl = "file:" + path.getPath().replace("\\","/");
+        registry.addResourceHandler("/avatar/**").addResourceLocations(avatarUtl).setCachePeriod(0);
+        registry.addResourceHandler("/file/**").addResourceLocations(pathUtl).setCachePeriod(0);
+        registry.addResourceHandler("/**").addResourceLocations("classpath:/META-INF/resources/").setCachePeriod(0);
+    }
+
     @Override
     public void addCorsMappings(CorsRegistry registry) {
         registry.addMapping("/**")

src/main/java/org/nl/apt15e/config/file/FileProperties.java

@@ -0,0 +1,45 @@
+package org.nl.apt15e.config.file;
+
+import lombok.Data;
+import org.springframework.boot.context.properties.ConfigurationProperties;
+import org.springframework.context.annotation.Configuration;
+
+/**
+ * @author dsh
+ * 2025/7/24
+ */
+@Data
+@Configuration
+@ConfigurationProperties(prefix = "file")
+public class FileProperties {
+
+    /** 文件大小限制 */
+    private Long maxSize;
+
+    /** 头像大小限制 */
+    private Long avatarMaxSize;
+
+    private ElPath mac;
+
+    private ElPath linux;
+
+    private ElPath windows;
+
+    public ElPath getPath(){
+        String os = System.getProperty("os.name");
+        if(os.toLowerCase().startsWith("win")) {
+            return windows;
+        } else if(os.toLowerCase().startsWith("mac")){
+            return mac;
+        }
+        return linux;
+    }
+
+    @Data
+    public static class ElPath{
+
+        private String path;
+
+        private String avatar;
+    }
+}

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

@@ -1,73 +1,111 @@
-//package org.nl.apt15e.config.thread;
+package org.nl.apt15e.config.thread;
-//
+
-//import comm_protocol.Robottype;
+import comm_protocol.Robottype;
-//import comm_protocol.Uidata;
+import comm_protocol.Uidata;
-//import lombok.extern.slf4j.Slf4j;
+import lombok.extern.slf4j.Slf4j;
-//import org.springframework.stereotype.Component;
+import org.nl.apt15e.apt.vehicle.service.impl.VehicleInfoServiceImpl;
-//import org.springframework.web.socket.BinaryMessage;
+import org.springframework.beans.factory.annotation.Autowired;
-//import org.springframework.web.socket.CloseStatus;
+import org.springframework.scheduling.annotation.EnableScheduling;
-//import org.springframework.web.socket.TextMessage;
+import org.springframework.scheduling.annotation.Scheduled;
-//import org.springframework.web.socket.WebSocketSession;
+import org.springframework.stereotype.Component;
-//import org.springframework.web.socket.handler.BinaryWebSocketHandler;
+import org.springframework.web.socket.BinaryMessage;
-//
+import org.springframework.web.socket.CloseStatus;
-//import static comm_protocol.Uidata.UiDatagram.ItemCase.*;
+import org.springframework.web.socket.TextMessage;
-//
+import org.springframework.web.socket.WebSocketSession;
-///**
+import org.springframework.web.socket.client.WebSocketConnectionManager;
-// * @author dsh
+import org.springframework.web.socket.handler.BinaryWebSocketHandler;
-// * 2025/7/9
+
-// */
+import javax.annotation.Resource;
-//@Slf4j
+import java.util.concurrent.atomic.AtomicBoolean;
-//@Component
+
-//public class ProtobufWebSocketHandler extends BinaryWebSocketHandler {
+import static comm_protocol.Uidata.UiDatagram.ItemCase.*;
-//
+
-//    @Override
+/**
-//    protected void handleBinaryMessage(WebSocketSession session, BinaryMessage message) {
+ * @author dsh
-//        try {
+ * 2025/7/9
-//            // 解析Protobuf数据
+ */
-//            byte[] payload = message.getPayload().array();
+@Slf4j
-//            Uidata.UiDatagram datagram = Uidata.UiDatagram.parseFrom(payload);
+@Component
-//
+@EnableScheduling
-//            switch (datagram.getItemCase()) {
+public class ProtobufWebSocketHandler extends BinaryWebSocketHandler {
-//                case ONLINE_INFO:
+
-//                    Uidata.UiOnline online = datagram.getOnlineInfo();
+    private static Boolean isConnected = false;
-//                    System.out.println("Received online_info: " + online);
+    @Autowired
-//                    break;
+    private WebSocketConnectionManager connectionManager;
-//
+    private WebSocketSession currentSession;
-//                case HEARTBEAT:
+
-//                    Uidata.UiHeartbeat heartbeat = datagram.getHeartbeat();
+
-//                    System.out.println("Received heartbeat: " + heartbeat);
+    @Override
-//                    break;
+    protected void handleBinaryMessage(WebSocketSession session, BinaryMessage message) {
-//
+        try {
-//                case LASER_SCAN:
+            // 解析Protobuf数据
+            byte[] payload = message.getPayload().array();
+            Uidata.UiDatagram datagram = Uidata.UiDatagram.parseFrom(payload);
+
+            switch (datagram.getItemCase()) {
+                case ROBOT_BASE:
+                    Robottype.RobotBase robotBase = datagram.getRobotBase();
+                    // 电量
+                    VehicleInfoServiceImpl.vehicleInfo.setBatteryPower(robotBase.getBatteryInfo().getSoc());
+                    //x，y，theta
+                    VehicleInfoServiceImpl.vehicleInfo.setX(robotBase.getLocate().getCurrentState().getX());
+                    VehicleInfoServiceImpl.vehicleInfo.setY(robotBase.getLocate().getCurrentState().getY());
+                    VehicleInfoServiceImpl.vehicleInfo.setTheta(robotBase.getLocate().getCurrentState().getTheta());
+                    // 手自动模式
+                    VehicleInfoServiceImpl.vehicleInfo.setIsManual(robotBase.getRobotInactive());
+//                    System.out.println("vehicleInfo2: " + VehicleInfoServiceImpl.vehicleInfo);
+                    break;
+
+                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);
+//                    System.out.println("Received laser_scan: " + laser.getScanList());
-//                    break;
+                    break;
-//
+            }
-//                case IMAGE:
+        } catch (Exception e) {
-//                    // 处理图像数据
+            log.error("Error processing protobuf message", e);
-//                    break;
+        }
-//
+    }
-//                case CONTROL_SPEED:
+
-//                    // 处理速度控制
+    @Override
-//                    break;
+    public void afterConnectionEstablished(WebSocketSession session) {
-//
+        log.info("Connected to WebSocket server: {}", session.getUri());
-//                case ITEM_NOT_SET:
+        isConnected = true;
-//                    System.err.println("UiDatagram item not set!");
+        currentSession = session;
-//                    break;
+    }
-//            }
+
-//            session.close();
+    @Override
-//        } catch (Exception e) {
+    public void afterConnectionClosed(WebSocketSession session, CloseStatus status) {
-//            log.error("Error processing protobuf message", e);
+        log.info("Connection closed: {}", status);
-//        }
+        isConnected = false;
-//    }
+        currentSession = null;
-//
+    }
-//    @Override
+
-//    public void afterConnectionEstablished(WebSocketSession session) {
+    @Override
-//        log.info("Connected to WebSocket server: {}", session.getUri());
+    public void handleTransportError(WebSocketSession session, Throwable exception) {
-//    }
+        log.info("传输错误: {}", exception.getMessage());
-//
+        isConnected = false;
-//    @Override
+        currentSession = null;
-//    public void afterConnectionClosed(WebSocketSession session, CloseStatus status) {
+    }
-//        log.info("Connection closed: {}", status);
+
-//    }
+    @Scheduled(fixedDelay = 5000)
-//}
+    public synchronized void reconnectTask() {
+        if (!isConnected) {
+            try {
+                log.info("websocket 正在进行重连..");
+                // 先停止当前连接（如果正在运行）
+                if (connectionManager.isRunning()) {
+                    connectionManager.stop();
+                }
+                // 启动新连接
+                connectionManager.start();
+            }catch (Exception e) {
+                log.error("websocket重连失败:{}",e.getMessage());
+            }
+        }
+    }
+}

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

@@ -1,45 +1,52 @@
-//package org.nl.apt15e.config.thread;
+package org.nl.apt15e.config.thread;
-//
+
-//import lombok.extern.slf4j.Slf4j;
+import lombok.extern.slf4j.Slf4j;
-//import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Bean;
-//import org.springframework.context.annotation.Configuration;
+import org.springframework.context.annotation.Configuration;
-//import org.springframework.stereotype.Component;
+import org.springframework.scheduling.annotation.EnableScheduling;
-//import org.springframework.web.socket.client.WebSocketClient;
+import org.springframework.scheduling.annotation.Scheduled;
-//import org.springframework.web.socket.client.WebSocketConnectionManager;
+import org.springframework.stereotype.Component;
-//import org.springframework.web.socket.client.standard.StandardWebSocketClient;
+import org.springframework.web.socket.WebSocketHandler;
-//
+import org.springframework.web.socket.client.WebSocketClient;
-//import javax.websocket.ContainerProvider;
+import org.springframework.web.socket.client.WebSocketConnectionManager;
-//import javax.websocket.WebSocketContainer;
+import org.springframework.web.socket.client.standard.StandardWebSocketClient;
-//
+
-///**
+import javax.annotation.PostConstruct;
-// * @author dsh
+import javax.annotation.PreDestroy;
-// * 2025/7/9
+import javax.websocket.ContainerProvider;
-// */
+import javax.websocket.WebSocketContainer;
-//@Slf4j
+
-//@Configuration
+/**
-//public class WebsocketClientConfig {
+ * @author dsh
-//
+ * 2025/7/9
-//    @Bean
+ */
-//    public WebSocketClient webSocketClient() {
+@Slf4j
-//        // 创建WebSocket容器并配置缓冲区大小
+@Configuration
-//        WebSocketContainer container = ContainerProvider.getWebSocketContainer();
+public class WebsocketClientConfig {
-//        // 256KB
+
-//        container.setDefaultMaxBinaryMessageBufferSize(100 * 1024);
+    @Bean
-//        container.setDefaultMaxTextMessageBufferSize(100 * 1024);
+    public WebSocketClient webSocketClient() {
-//
+        // 创建WebSocket容器并配置缓冲区大小
-//        return new StandardWebSocketClient(container);
+        WebSocketContainer container = ContainerProvider.getWebSocketContainer();
-//    }
+        // 256KB
-//
+        container.setDefaultMaxBinaryMessageBufferSize(100 * 1024);
-//    @Bean
+        container.setDefaultMaxTextMessageBufferSize(100 * 1024);
-//    public WebSocketConnectionManager webSocketConnectionManager() {
+
-//        String serverUrl = "ws://192.168.100.82:9998/ws/AGVInfo";
+        return new StandardWebSocketClient(container);
-//
+    }
-//        WebSocketConnectionManager manager = new WebSocketConnectionManager(
+
-//                this.webSocketClient(),
+    @Bean
-//                new ProtobufWebSocketHandler(),
+    public WebSocketConnectionManager webSocketConnectionManager() {
-//                serverUrl
+        String serverUrl = "ws://192.168.100.82:9998/ws/AGVInfo";
-//        );
+
-//        manager.setAutoStartup(true);
+        WebSocketConnectionManager manager = new WebSocketConnectionManager(
-//        return manager;
+                this.webSocketClient(),
-//    }
+                new ProtobufWebSocketHandler(),
-//}
+                serverUrl
+        );
+        manager.setAutoStartup(false);
+        return manager;
+    }
+
+
+}

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

@@ -13,7 +13,7 @@ public class URLConstant {
     /**
      * RCS调度IP及端口
      */
-    public final static String RCS_IP_PORT = "127.0.0.1:8011";
+    public final static String RCS_IP_PORT = "192.168.100.82:8081";
 
     /**
      * 下发任务URL

src/main/resources/config/application-dev.yml

@@ -1,12 +1,12 @@
 server:
   # 端口
-  port: 8081
+  port: 8011
 spring:
   datasource:
     druid:
       db-type: com.alibaba.druid.pool.DruidDataSource
       driver-class-name: com.mysql.cj.jdbc.Driver
-      url: jdbc:mysql://localhost:3306/apt_data?serverTimezone=GMT%2B8&characterEncoding=utf-8&userSSL=false
+      url: jdbc:mysql://localhost:3306/nl_apt15e?serverTimezone=GMT%2B8&characterEncoding=utf-8&userSSL=false
       username: root
       password: 123456
       # 初始连接数
@@ -49,4 +49,19 @@ spring:
           merge-sql: true
         wall:
           config:
-            multi-statement-allow: true
+            multi-statement-allow: true
+
+# 文件存储路径
+file:
+  mac:
+    path: ~/file/
+    avatar: ~/avatar/
+  linux:
+    path: /home/eladmin/file/
+    avatar: /home/eladmin/avatar/
+  windows:
+    path: C:\eladmin\file\
+    avatar: C:\eladmin\avatar\
+  # 文件大小 /M
+  maxSize: 100
+  avatarMaxSize: 5

src/main/resources/config/application-pro.yml

@@ -49,4 +49,19 @@ spring:
           merge-sql: true
         wall:
           config:
-            multi-statement-allow: true
+            multi-statement-allow: true
+
+# 文件存储路径
+file:
+  mac:
+    path: ~/file/
+    avatar: ~/avatar/
+  linux:
+    path: /home/eladmin/file/
+    avatar: /home/eladmin/avatar/
+  windows:
+    path: C:\eladmin\file\
+    avatar: C:\eladmin\avatar\
+  # 文件大小 /M
+  maxSize: 100
+  avatarMaxSize: 5