add:添加示教接口

src/main/java/org/nl/apt15e/Apt15EApplication.java

@@ -0,0 +1,34 @@
+package org.nl.apt15e;
+
+import org.mybatis.spring.annotation.MapperScan;
+import org.springframework.boot.SpringApplication;
+import org.springframework.boot.autoconfigure.SpringBootApplication;
+import org.springframework.scheduling.annotation.EnableAsync;
+import org.springframework.scheduling.annotation.EnableScheduling;
+import org.springframework.transaction.annotation.EnableTransactionManagement;
+import org.springframework.web.bind.annotation.GetMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+@EnableAsync
+@EnableScheduling
+@SpringBootApplication
+@EnableTransactionManagement
+@RestController
+@MapperScan("org.nl.apt15e.**.config")
+public class Apt15EApplication {
+
+    public static void main(String[] args) {
+        SpringApplication.run(Apt15EApplication.class, args);
+    }
+
+    /**
+     * 访问首页提示
+     *
+     * @return /
+     */
+    @GetMapping("/")
+    public String index() {
+        return "Backend service started successfully";
+    }
+
+}

src/main/java/org/nl/apt15e/apt/dao/VehicleException.java

@@ -0,0 +1,26 @@
+package org.nl.apt15e.apt.dao;
+
+import lombok.Data;
+
+import java.io.Serializable;
+import java.util.List;
+
+/**
+ * @author dsh
+ * 2025/7/2
+ */
+@Data
+public class VehicleException implements Serializable {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 错误信息
+     */
+    private List<String> exception;
+
+    /**
+     * 错误码
+     */
+    private List<Long> exceptionCodes;
+
+}

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

@@ -0,0 +1,65 @@
+package org.nl.apt15e.apt.dao;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * @author dsh
+ * 2025/7/2
+ */
+@Data
+public class VehicleInfo implements Serializable {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 车辆 ID
+     */
+    private String id;
+
+    /**
+     * 车辆名称
+     */
+    private String name;
+
+    /**
+     * 车辆 IP
+     */
+    private String ip;
+
+    /**
+     * 车辆所在地图 ID
+     */
+    private Long mapId;
+
+    /**
+     * 车辆所在地图 名称
+     */
+    private String mapName;
+
+    /**
+     * 车辆状态 ID
+     */
+    private Long stateId;
+
+    /**
+     * 车辆状态名称
+     */
+    private String state;
+
+    /**
+     * 区域 ID
+     */
+    private Long areaId;
+
+    /**
+     * 电量
+     */
+    private Long batteryPower;
+
+    /**
+     * 异常信息
+     */
+    private VehicleException exceptionInfo;
+
+}

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

@@ -0,0 +1,30 @@
+package org.nl.apt15e.apt.rest;
+
+import lombok.extern.slf4j.Slf4j;
+import org.nl.apt15e.apt.dao.VehicleInfo;
+import org.nl.apt15e.apt.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;
+
+import javax.annotation.Resource;
+
+/**
+ * @author dsh
+ * 2025/7/3
+ */
+@Slf4j
+@RestController
+@RequestMapping("/vehicle")
+public class VehicleInfoController {
+
+    @Resource
+    private VehicleInfoService vehicleInfoService;
+
+    @GetMapping("/getVehicleInfo")
+//    @Log("获取车辆信息")
+    public VehicleInfo getVehicleInfo() {
+        return vehicleInfoService.getVehicleInfo();
+    }
+}

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

@@ -0,0 +1,13 @@
+package org.nl.apt15e.apt.service;
+
+import org.nl.apt15e.apt.dao.VehicleInfo;
+
+/**
+ * @author dsh
+ * 2025/7/2
+ */
+public interface VehicleInfoService {
+
+    VehicleInfo getVehicleInfo();
+
+}

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

@@ -0,0 +1,98 @@
+package org.nl.apt15e.apt.service.impl;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.http.HttpRequest;
+import cn.hutool.http.HttpResponse;
+import cn.hutool.http.HttpUtil;
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.apt15e.apt.dao.VehicleException;
+import org.nl.apt15e.apt.dao.VehicleInfo;
+import org.nl.apt15e.apt.service.VehicleInfoService;
+import org.nl.apt15e.apt.websocket.WebSocketVehicleServer;
+import org.nl.apt15e.util.HTTPUtil;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.scheduling.TaskScheduler;
+import org.springframework.scheduling.annotation.Async;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.PostConstruct;
+import javax.annotation.Resource;
+import java.util.HashMap;
+import java.util.Map;
+import java.util.concurrent.CopyOnWriteArraySet;
+
+/**
+ * @author dsh
+ * 2025/7/2
+ */
+@Slf4j
+@Service
+public class VehicleInfoServiceImpl implements VehicleInfoService {
+
+    @Resource
+    private TaskScheduler scheduler;
+
+    public static VehicleInfo vehicleInfo = new VehicleInfo();
+
+    @Override
+    public VehicleInfo getVehicleInfo() {
+        return vehicleInfo;
+    }
+
+    @Async("asynchronousTasks")
+    public void queryVehicleInfo() {
+        HttpResponse response = null;
+        try {
+            response = HTTPUtil.get("http://192.168.100.82:8081","/amr/onlineAmr",null);
+            // 检查响应状态码
+            if (response!=null && response.isOk()) {
+                // 获取响应体内容
+                String body = response.body();
+                JSONArray jsonArray = JSONObject.parseObject(body).getJSONArray("data");
+                if (jsonArray.isEmpty()) {
+                    log.info("车辆数据为空");
+                }
+                for (int i = 0; i < jsonArray.size(); i++) {
+                    JSONObject data = jsonArray.getJSONObject(i);
+                    vehicleInfo = JSONObject.toJavaObject(data, VehicleInfo.class);
+                    //电量
+                    vehicleInfo.setBatteryPower(data.getLong("batteryPercentile"));
+                    //上报的异常信息
+                    VehicleException vehicleException = JSONObject.toJavaObject(data.getJSONObject("amrException"), VehicleException.class);
+                    vehicleInfo.setExceptionInfo(vehicleException);
+                    System.out.println("Response Body: " + data);
+                    System.out.println("vehicleInfo: " + vehicleInfo);
+                }
+            } else {
+                log.info("查询调度车辆信息失败:{}",response);
+            }
+        } catch (Exception e) {
+            log.info("访问调度报错{}", e.getMessage());
+        }
+        if (response != null) {
+            response.close();
+        }
+    }
+
+    @Async("asynchronousTasks")
+    public void sendVehicleInfo() {
+        CopyOnWriteArraySet<WebSocketVehicleServer> webSocketSet =
+                WebSocketVehicleServer.getWebSocketSet();
+        if (webSocketSet.size() > 0) {
+            webSocketSet.forEach(c -> {
+                Map<String, Object> vehicleInfoMap = new HashMap<>();
+                vehicleInfoMap.put("data", vehicleInfo);
+                c.sendDataToClient(vehicleInfoMap);
+            });
+        }
+    }
+
+    @PostConstruct
+    public void init() {
+        scheduler.scheduleAtFixedRate(this::queryVehicleInfo,4000);
+        scheduler.scheduleAtFixedRate(this::sendVehicleInfo, 4000);
+    }
+}

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

@@ -0,0 +1,50 @@
+package org.nl.apt15e.apt.station.dao;
+
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * @author dsh
+ * 2025/7/4
+ */
+@Data
+public class Station implements Serializable {
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 站点标识
+     */
+    private String station_id;
+
+    /**
+     * 站点编码 对应地图上站点
+     */
+    private String station_code;
+
+    /**
+     * 站点别名
+     */
+    private String station_name;
+
+    /**
+     * 动作类型
+     */
+    private String action_type;
+
+    /**
+     * x坐标
+     */
+    private Double x;
+
+    /**
+     * y坐标
+     */
+    private Double y;
+
+    /**
+     * 角度
+     */
+    private Double angle;
+
+}

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

@@ -0,0 +1,77 @@
+package org.nl.apt15e.apt.teaching.rest;
+
+import lombok.extern.slf4j.Slf4j;
+import org.apache.ibatis.annotations.Param;
+import org.nl.apt15e.apt.teaching.service.TeachingService;
+import org.nl.apt15e.common.logging.annotation.Log;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.annotation.*;
+
+import javax.annotation.Resource;
+
+/**
+ * @author dsh
+ * 2025/7/3
+ */
+@Slf4j
+@RestController
+@RequestMapping("/teaching")
+public class TeachingController {
+
+    @Resource
+    private TeachingService teachingService;
+
+
+    @PostMapping("/startMapping")
+//    @Log("开始建图")
+    private ResponseEntity<Object> startMapping(@RequestParam("mapName") String mapName) {
+        return new ResponseEntity<>(teachingService.startMapping(mapName), HttpStatus.OK);
+    }
+
+    @PostMapping("/stopMapping")
+    private ResponseEntity<Object> stopMapping() {
+        return new ResponseEntity<>(teachingService.stopMapping(), HttpStatus.OK);
+    }
+
+    @PostMapping("/setStation")
+    private ResponseEntity<Object> setStation(@RequestParam("stationName") String stationName) {
+        return new ResponseEntity<>(teachingService.setStation(stationName), HttpStatus.OK);
+    }
+
+    @PostMapping("/deployRunMap")
+    private ResponseEntity<Object> deployRunMap(@RequestParam("mapName") String mapName) {
+        return new ResponseEntity<>(teachingService.deployRunMap(mapName), HttpStatus.OK);
+    }
+
+    @PostMapping("/changeCurrentRunMap")
+    private ResponseEntity<Object> changeCurrentRunMap(@RequestParam("mapName") String mapName) {
+        return new ResponseEntity<>(teachingService.changeCurrentRunMap(mapName), HttpStatus.OK);
+    }
+
+    @PostMapping("/getLocalMaps")
+    private ResponseEntity<Object> getLocalMaps() {
+        return new ResponseEntity<>(teachingService.getLocalMaps(), HttpStatus.OK);
+    }
+
+    @PostMapping("/getRunMapZip")
+    private ResponseEntity<Object> getRunMapZip(@RequestParam("mapName") String mapName) {
+        return new ResponseEntity<>(teachingService.getRunMapZip(mapName), HttpStatus.OK);
+    }
+
+    @PostMapping("/synchronizeMap")
+    private ResponseEntity<Object> synchronizeMap(@RequestParam("mapName") String mapName) {
+        return new ResponseEntity<>(teachingService.synchronizeMap(mapName), HttpStatus.OK);
+    }
+
+    @PostMapping("/restart")
+    private ResponseEntity<Object> restart() {
+        return new ResponseEntity<>(teachingService.restart(), 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

@@ -0,0 +1,81 @@
+package org.nl.apt15e.apt.teaching.service;
+
+import java.io.File;
+import java.util.Map;
+
+/**
+ * @author dsh
+ * 2025/7/3
+ */
+public interface TeachingService {
+
+    /**
+     * 开始建图
+     */
+    Map<String, Object> startMapping(String mapName);
+
+    /**
+     * 切手动
+     */
+    Map<String, Object> startManual();
+
+    /**
+     * 切自动
+     */
+    Map<String, Object> stopManual();
+
+    /**
+     * 结束建图
+     */
+    Map<String, Object> stopMapping();
+
+    /**
+     * 建图过程中设置站点
+     */
+    Map<String, Object> setStation(String stationName);
+
+    /**
+     * 获取后台地图列表
+     */
+    Map<String, Object> getLocalMaps();
+
+    /**
+     * 部署地图
+     * @param mapName
+     * @return
+     */
+    Map<String, Object> deployRunMap(String mapName);
+
+    /**
+     * 应用地图
+     * @param mapName
+     * @return
+     */
+    Map<String, Object> changeCurrentRunMap(String mapName);
+
+    /**
+     * 获取主机地图包
+     * @param mapName
+     * @return
+     */
+    File getRunMapZip(String mapName);
+
+    /**
+     * 同步地图到调度
+     */
+    Map<String, Object> synchronizeMap(String mapName);
+
+    /**
+     * 重定位
+     * @param x
+     * @param y
+     * @param angle
+     * @return
+     */
+    Map<String, Object> relocate(Double x,Double y,Double angle);
+
+    /**
+     * 重启车辆后台程序
+     */
+    Map<String, Object> restart();
+}

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

@@ -0,0 +1,350 @@
+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.ZipUtil;
+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 lombok.extern.slf4j.Slf4j;
+import org.nl.apt15e.apt.dao.VehicleException;
+import org.nl.apt15e.apt.dao.VehicleInfo;
+import org.nl.apt15e.apt.teaching.service.TeachingService;
+import org.nl.apt15e.common.BadRequestException;
+import org.nl.apt15e.util.HTTPUtil;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.http.HttpStatus;
+import org.springframework.stereotype.Service;
+
+import java.io.ByteArrayInputStream;
+import java.io.File;
+import java.nio.charset.Charset;
+import java.util.Collections;
+import java.util.Map;
+import java.util.zip.ZipEntry;
+import java.util.zip.ZipInputStream;
+
+/**
+ * @author dsh
+ * 2025/7/3
+ */
+@Slf4j
+@Service
+public class TeachingServiceImpl implements TeachingService {
+
+    @Override
+    public Map<String, Object> startMapping(String mapName) {
+        if ("".equals(mapName)){
+            throw new BadRequestException("mapName is empty");
+        }
+        JSONObject params = new JSONObject();
+        params.put("name", mapName);
+        HttpResponse response = null;
+        try {
+            response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/startMapping", params);
+        } catch (Exception e) {
+            log.info("访问车体开始建图接口报错:{}",e.getMessage());
+            throw new BadRequestException("开始建图失败");
+        }
+        // 检查响应状态码
+        if (response.isOk()) {
+            // 获取响应体内容
+            JSONObject body = JSON.parseObject(response.body());
+            log.info("开始建图:{}",body);
+            if ("200".equals(body.getString("code"))){
+                body =(JSONObject) this.startManual();
+            }
+            return body;
+        }
+        log.info("开始建图失败");
+        throw new BadRequestException("开始建图失败");
+    }
+
+    @Override
+    public Map<String, Object> startManual() {
+        HttpResponse response = null;
+        try {
+            response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/startManual", new JSONObject());
+        } catch (Exception e) {
+            log.info("访问车体切手动接口报错:{}",e.getMessage());
+            throw new BadRequestException("切手动失败");
+        }
+        // 检查响应状态码
+        if (response.isOk()) {
+            // 获取响应体内容
+            JSONObject body = JSON.parseObject(response.body());
+            log.info("切手动:{}",body);
+            return body;
+        }
+        log.info("切手动失败");
+        throw new BadRequestException("切手动失败");
+    }
+
+    @Override
+    public Map<String, Object> stopManual() {
+        HttpResponse response = null;
+        try {
+            response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/stopManual", new JSONObject());
+        } catch (Exception e) {
+            log.info("访问车体切自动接口报错:{}",e.getMessage());
+            throw new BadRequestException("切自动失败");
+        }
+        // 检查响应状态码
+        if (response.isOk()) {
+            // 获取响应体内容
+            JSONObject body = JSON.parseObject(response.body());
+            log.info("切自动:{}",body);
+            return body;
+        }
+        log.info("切自动失败");
+        throw new BadRequestException("切自动失败");
+    }
+
+    @Override
+    public Map<String, Object> stopMapping() {
+        HttpResponse response = null;
+        try {
+            response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/stopMapping", new JSONObject());
+        } catch (Exception e) {
+            log.info("访问车体结束建图接口报错:{}",e.getMessage());
+            throw new BadRequestException("结束建图失败");
+        }
+        // 检查响应状态码
+        if (response.isOk()) {
+            // 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();
+            }
+            return body;
+        }
+        log.info("结束建图失败");
+        throw new BadRequestException("结束建图失败");
+    }
+
+    @Override
+    public Map<String, Object> setStation(String stationName) {
+        if ("".equals(stationName)){
+            throw new BadRequestException("spotCode is empty");
+        }
+        JSONObject params = new JSONObject();
+        params.put("spotCode", stationName);
+        HttpResponse response = null;
+        try {
+            response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/setStates", params);
+        } catch (Exception e) {
+            log.info("访问车体设置站点接口报错:{}",e.getMessage());
+            throw new BadRequestException("设置站点失败");
+        }
+        // 检查响应状态码
+        if (response.isOk()) {
+            // 获取响应体内容
+            JSONObject body = JSON.parseObject(response.body());
+            log.info("设置站点:{}",body);
+            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() {
+        HttpResponse response = null;
+        try {
+            response = HTTPUtil.get("http://192.168.100.82:9998","/tool/editor/getLocalMaps", new JSONObject());
+        } catch (Exception e) {
+            log.info("访问车体地图列表接口报错:{}",e.getMessage());
+            throw new BadRequestException("获取地图列表失败");
+        }
+        // 检查响应状态码
+        if (response.isOk()) {
+            // 获取响应体内容
+            JSONObject body = JSON.parseObject(response.body());
+            log.info("获取地图列表:{}",body);
+            return body;
+        }
+        log.info("获取地图列表失败");
+        throw new BadRequestException("获取地图列表失败");
+    }
+
+    @Override
+    public Map<String, Object> deployRunMap(String mapName) {
+        if ("".equals(mapName)){
+            throw new BadRequestException("mapName is empty");
+        }
+        JSONObject params = new JSONObject();
+        params.put("id", mapName);
+        HttpResponse response = null;
+        try {
+            response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/deployRunMap", params);
+        } catch (Exception e) {
+            log.info("访问车体部署地图接口报错:{}",e.getMessage());
+            throw new BadRequestException("部署地图失败");
+        }
+        // 检查响应状态码
+        if (response.isOk()) {
+            // 获取响应体内容
+            JSONObject body = JSON.parseObject(response.body());
+            log.info("部署地图:{}",body);
+            return body;
+        }
+        log.info("部署地图失败");
+        throw new BadRequestException("部署地图失败");
+    }
+
+    @Override
+    public Map<String, Object> changeCurrentRunMap(String mapName) {
+        if ("".equals(mapName)){
+            throw new BadRequestException("mapName is empty");
+        }
+        JSONObject params = new JSONObject();
+        params.put("name", mapName);
+        HttpResponse response = null;
+        try {
+            response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/changeCurrentRunMap", params);
+        } catch (Exception e) {
+            log.info("访问车体应用地图接口报错:{}",e.getMessage());
+            throw new BadRequestException("应用地图失败");
+        }
+        // 检查响应状态码
+        if (response.isOk()) {
+            // 获取响应体内容
+            JSONObject body = JSON.parseObject(response.body());
+            log.info("应用地图:{}",body);
+            return body;
+        }
+        log.info("应用地图失败");
+        throw new BadRequestException("应用地图失败");
+    }
+
+    @Override
+    public File getRunMapZip(String mapName) {
+        if ("".equals(mapName)){
+            throw new BadRequestException("mapName is empty");
+        }
+        JSONObject params = new JSONObject();
+        params.put("name", mapName);
+        HttpResponse response = null;
+        try {
+            response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/getRunMapZip", params);
+        } catch (Exception e) {
+            log.info("访问车体地图包接口报错:{}",e.getMessage());
+            throw new BadRequestException("获取地图包失败");
+        }
+        // 检查响应状态码
+        if (response.isOk()) {
+            // 获取响应体内容
+//            JSONObject body = JSON.parseObject(response.body());
+            // 3. 将响应体写入临时ZIP文件
+            byte[] zipBytes = response.bodyBytes();
+            File fileName = new File(mapName);
+            File tempZipFile = FileUtil.writeBytes(zipBytes, FileUtil.createTempFile(fileName));
+
+            // 4. 解压ZIP文件
+//            File unzipDir = ZipUtil.unzip(tempZipFile, Charset.defaultCharset());
+
+            // 5. 处理解压后的文件
+//            File[] files = unzipDir.listFiles();
+//            if (files != null) {
+//                for (File file : files) {
+//                    System.out.println("文件名: " + file.getName());
+//                    System.out.println("文件内容: ");
+//                    System.out.println(FileUtil.readUtf8String(file)); // 读取文本内容
+//                    // 如果是二进制文件，使用：FileUtil.readBytes(file)
+//                }
+//            }
+
+            // 6. 清理临时文件（可选）
+//            FileUtil.del(tempZipFile);
+//            FileUtil.del(unzipDir);
+            log.info("获取地图包");
+            return tempZipFile;
+        }
+        log.info("获取地图包失败");
+        throw new BadRequestException("获取地图包失败");
+    }
+
+    @Override
+    public Map<String, Object> synchronizeMap(String mapName) {
+        File zipFile = this.getRunMapZip(mapName);
+        HttpResponse response = null;
+        try {
+            response = HttpRequest.post("http://192.168.100.82:8081/map/uploadFile")
+                    .setConnectionTimeout(3000)
+                    .setReadTimeout(3000)
+                    .header("token", "admin123")
+                    .header("name", "lx-script")
+                    .header("Content-Type", "multipart/form-data;charset=UTF-8")
+                    .form("areaId",1)
+                    .form("areaName","")
+                    .form("data",zipFile)
+                    .execute();
+        } catch (Exception e) {
+            log.info("同步地图到调度接口报错:{}",e.getMessage());
+            throw new BadRequestException("同步地图失败");
+        }
+        // 检查响应状态码
+        if (response.isOk()) {
+            // 获取响应体内容
+            JSONObject body = JSON.parseObject(response.body());
+            log.info("同步地图:{}",body);
+            return body;
+        }
+        log.info("同步地图失败");
+        throw new BadRequestException("同步地图失败");
+    }
+
+    @Override
+    public Map<String, Object> relocate(Double x, Double y, Double angle) {
+        if (ObjectUtil.isEmpty(x) || ObjectUtil.isEmpty(y) || ObjectUtil.isEmpty(angle)){
+            throw new BadRequestException("params is empty");
+        }
+        JSONObject params = new JSONObject();
+        params.put("x", x);
+        params.put("y", y);
+        params.put("angle", angle / 180.0 * Math.PI);
+        params.put("noisyX", 0.5);
+        params.put("noisyY", 0.5);
+        params.put("noisyAngle", Math.PI);
+        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");
+        }
+        // 检查响应状态码
+        if (response.isOk()) {
+            // 获取响应体内容
+            JSONObject body = JSON.parseObject(response.body());
+            log.info("重定位:{}",body);
+            return body;
+        }
+        log.info("重定位失败");
+        throw new BadRequestException("重定位失败");
+    }
+
+    @Override
+    public Map<String, Object> restart() {
+        HttpResponse response = null;
+        try {
+            response = HTTPUtil.post("http://192.168.100.82:9998","/tool/rob/restart", new JSONObject());
+        } catch (Exception e) {
+            log.info("访问车体程序重启接口报错:{}",e.getMessage());
+            throw new BadRequestException("车体程序重启失败");
+        }
+        // 检查响应状态码
+        if (response.isOk()) {
+            // 获取响应体内容
+            JSONObject body = JSON.parseObject(response.body());
+            log.info("车体程序重启:{}",body);
+            return body;
+        }
+        log.info("车体程序重启失败");
+        throw new BadRequestException("车体程序重启失败");
+    }
+}

src/main/java/org/nl/apt15e/apt/websocket/WebSocketVehicleServer.java

@@ -0,0 +1,126 @@
+package org.nl.apt15e.apt.websocket;
+
+import cn.hutool.core.map.MapUtil;
+import com.alibaba.fastjson.JSON;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import javax.websocket.*;
+import javax.websocket.server.PathParam;
+import javax.websocket.server.ServerEndpoint;
+import java.io.IOException;
+import java.util.Map;
+import java.util.concurrent.CopyOnWriteArraySet;
+
+/**
+ * @author dsh
+ * 2025/7/3
+ */
+@Slf4j
+@ServerEndpoint("/webSocket/VehicleInfo/{sid}")
+@Component
+public class WebSocketVehicleServer {
+
+    /**
+     * concurrent包的线程安全Set，用来存放每个客户端对应的MyWebSocket对象。
+     */
+    private static CopyOnWriteArraySet<WebSocketVehicleServer> webSocketSet = new CopyOnWriteArraySet<>();
+
+    /**
+     * 静态变量，用来记录当前在线连接数。应该把它设计成线程安全的。
+     */
+    private static int onlineCount = 0;
+
+
+    /**
+     * 与某个客户端的连接会话，需要通过它来给客户端发送数据
+     */
+    private Session session;
+    /**
+     * 接收userId
+     */
+    private String sid = "";
+
+    /**
+     * 连接建立成功调用的方法
+     */
+    @OnOpen
+    public void onOpen(Session session, @PathParam("sid") String sid) {
+        this.session = session;
+        //如果存在就先删除一个，防止重复推送消息
+        webSocketSet.removeIf(webSocket -> webSocket.sid.equals(sid));
+        webSocketSet.add(this);
+        //在线数加1
+        addOnlineCount();
+        log.info("VehicleWS:sid{}连接成功,当前在线人数为{}", sid, getOnlineCount());
+        this.sid = sid;
+    }
+
+    /**
+     * 连接关闭调用的方法
+     */
+    @OnClose
+    public void onClose() {
+        webSocketSet.remove(this);
+        //在线数减1
+        subOnlineCount();
+        log.info("VehicleWS:sid{}关闭连接！当前在线人数为{}", sid, getOnlineCount());
+    }
+
+    /**
+     * 收到客户端消息后调用的方法
+     *
+     * @param message 客户端发送过来的消息
+     */
+    @OnMessage
+    public void onMessage(String message, Session session) {
+        //System.out.println(webSocketSet.size() + "_接收到消息_" + session.getId());
+    }
+
+    @OnError
+    public void onError(Session session, Throwable error) {
+        //log.error("发生错误");
+        webSocketSet.remove(session);
+        error.printStackTrace();
+    }
+
+    public Session getSession() {
+        return session;
+    }
+
+    // 发送消息，在定时任务中会调用此方法
+    public void sendMessage(String message) throws IOException {
+        this.session.getBasicRemote().sendText(message);
+    }
+
+
+    public void sendDataToClient(Map<String, Object> data) {
+        try {
+            if (this.session != null&& MapUtil.isNotEmpty(data)) {
+                this.session.getBasicRemote().sendText(JSON.toJSONString(data));
+            }
+        } catch (IOException e) {
+            log.error("发送消息给客户端失败", e);
+        }
+    }
+    public static synchronized int getOnlineCount() {
+        return onlineCount;
+    }
+
+    public static CopyOnWriteArraySet<WebSocketVehicleServer> getWebSocketSet() {
+        return webSocketSet;
+    }
+
+
+    public void setSession(Session session) {
+        this.session = session;
+    }
+
+    public static synchronized void addOnlineCount() {
+        WebSocketVehicleServer.onlineCount++;
+    }
+
+    public static synchronized void subOnlineCount() {
+        WebSocketVehicleServer.onlineCount--;
+    }
+}

src/main/java/org/nl/apt15e/common/BadRequestException.java

@@ -0,0 +1,25 @@
+package org.nl.apt15e.common;
+
+import lombok.Getter;
+import org.springframework.http.HttpStatus;
+
+import static org.springframework.http.HttpStatus.BAD_REQUEST;
+
+/**
+ * @author dsh
+ * 2025/7/3
+ */
+@Getter
+public class BadRequestException extends RuntimeException{
+
+    private Integer status = BAD_REQUEST.value();
+
+    public BadRequestException(String msg){
+        super(msg);
+    }
+
+    public BadRequestException(HttpStatus status, String msg){
+        super(msg);
+        this.status = status.value();
+    }
+}

src/main/java/org/nl/apt15e/common/exception/ApiError.java

@@ -0,0 +1,49 @@
+/*
+ *  Copyright 2019-2020 Zheng Jie
+ *
+ *  Licensed under the Apache License, Version 2.0 (the "License");
+ *  you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at
+ *
+ *  http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+package org.nl.apt15e.common.exception;
+
+import com.fasterxml.jackson.annotation.JsonFormat;
+import lombok.Data;
+
+import java.time.LocalDateTime;
+
+@Data
+class ApiError {
+
+    private Integer code = 400;
+    @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
+    private LocalDateTime Date;
+    private String message;
+
+    private ApiError() {
+        Date = LocalDateTime.now();
+    }
+
+    public static ApiError error(String message){
+        ApiError apiError = new ApiError();
+        apiError.setMessage(message);
+        return apiError;
+    }
+
+    public static ApiError error(Integer status, String message){
+        ApiError apiError = new ApiError();
+        apiError.setCode(status);
+        apiError.setMessage(message);
+        return apiError;
+    }
+}
+
+

src/main/java/org/nl/apt15e/common/exception/GlobalExceptionHandler.java

@@ -0,0 +1,78 @@
+package org.nl.apt15e.common.exception;
+
+import lombok.extern.slf4j.Slf4j;
+import org.nl.apt15e.common.BadRequestException;
+import org.nl.apt15e.util.ThrowableUtil;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.MethodArgumentNotValidException;
+import org.springframework.web.bind.annotation.ExceptionHandler;
+import org.springframework.web.bind.annotation.RestControllerAdvice;
+
+import java.util.Objects;
+
+
+/**
+ * @author liejiu
+ */
+@Slf4j
+@RestControllerAdvice
+public class GlobalExceptionHandler {
+
+    /**
+     * 处理所有不可知的异常
+     */
+    @ExceptionHandler(Throwable.class)
+    public ResponseEntity<ApiError> handleException(Throwable e){
+        // 打印堆栈信息
+        log.error(ThrowableUtil.getStackTrace(e));
+        return buildResponseEntity(ApiError.error(e.getMessage()));
+    }
+
+    /**
+     * token 无效的异常拦截
+     * @param e
+     * @return
+     */
+//    @ExceptionHandler(value = NotLoginException.class)
+//    public ResponseEntity<ApiError> notLoginException(Exception e) {
+////        log.error(ThrowableUtil.getStackTrace(e));
+//        return buildResponseEntity(ApiError.error(401,"token 失效"));
+//    }
+
+
+    /**
+     * 处理自定义异常
+     */
+	@ExceptionHandler(value = BadRequestException.class)
+	public ResponseEntity<ApiError> badRequestException(BadRequestException e) {
+        // 打印堆栈信息
+        log.error(ThrowableUtil.getStackTrace(e));
+        log.info(e.getMessage());
+        return buildResponseEntity(ApiError.error(e.getStatus(),e.getMessage()));
+	}
+
+
+    /**
+     * 处理所有接口数据验证异常
+     */
+    @ExceptionHandler(MethodArgumentNotValidException.class)
+    public ResponseEntity<ApiError> handleMethodArgumentNotValidException(MethodArgumentNotValidException e){
+        // 打印堆栈信息
+        log.error(ThrowableUtil.getStackTrace(e));
+        String[] str = Objects.requireNonNull(e.getBindingResult().getAllErrors().get(0).getCodes())[1].split("\\.");
+        String message = e.getBindingResult().getAllErrors().get(0).getDefaultMessage();
+        String msg = "不能为空";
+        if(msg.equals(message)){
+            message = str[1] + ":" + message;
+        }
+        return buildResponseEntity(ApiError.error(message));
+    }
+
+    /**
+     * 统一返回
+     */
+    private ResponseEntity<ApiError> buildResponseEntity(ApiError apiError) {
+        return new ResponseEntity<>(apiError, HttpStatus.valueOf(apiError.getCode()));
+    }
+}

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

@@ -0,0 +1,17 @@
+package org.nl.apt15e.common.logging.annotation;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+/**
+ * @author dsh
+ * 2025/7/3
+ */
+@Target(ElementType.METHOD)
+@Retention(RetentionPolicy.RUNTIME)
+public @interface Log {
+    String value() default "";
+
+}

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

@@ -0,0 +1,66 @@
+package org.nl.apt15e.common.logging.aspect;
+
+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.ProceedingJoinPoint;
+import org.aspectj.lang.Signature;
+import org.aspectj.lang.annotation.Around;
+import org.aspectj.lang.annotation.Aspect;
+import org.aspectj.lang.annotation.Pointcut;
+import org.aspectj.lang.reflect.MethodSignature;
+import org.springframework.stereotype.Component;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestParam;
+import org.springframework.web.context.request.RequestContextHolder;
+import org.springframework.web.context.request.ServletRequestAttributes;
+
+import javax.servlet.http.HttpServletRequest;
+import javax.servlet.http.HttpServletResponse;
+import java.lang.reflect.Method;
+import java.lang.reflect.Parameter;
+import java.util.ArrayList;
+import java.util.HashMap;
+import java.util.List;
+import java.util.Map;
+
+/**
+ * @author dsh
+ * 2025/7/3
+ */
+@Slf4j
+@Aspect
+@Component
+public class LogAspect {
+
+    /**
+     * 配置切入点
+     */
+    @Pointcut("@annotation(org.nl.apt15e.common.logging.annotation.Log)")
+    public void logPointCut(){}
+
+    /**
+     * 环绕通知
+     * @param joinPoint
+     * @return
+     * @throws Throwable
+     */
+    @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);
+        result = joinPoint.proceed();
+//        log.info("返回参数：{}" ,JSONObject.toJSONString(result));
+        return result;
+    }
+
+}

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

@@ -0,0 +1,86 @@
+/*
+ *  Copyright 2019-2020 Zheng Jie
+ *
+ *  Licensed under the Apache License, Version 2.0 (the "License");
+ *  you may not use this file except in compliance with the License.
+ *  You may obtain a copy of the License at
+ *
+ *  http://www.apache.org/licenses/LICENSE-2.0
+ *
+ *  Unless required by applicable law or agreed to in writing, software
+ *  distributed under the License is distributed on an "AS IS" BASIS,
+ *  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ *  See the License for the specific language governing permissions and
+ *  limitations under the License.
+ */
+package org.nl.apt15e.config.thread;
+
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.aop.interceptor.AsyncUncaughtExceptionHandler;
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.scheduling.annotation.AsyncConfigurer;
+import org.springframework.scheduling.annotation.EnableAsync;
+import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
+
+import java.util.concurrent.Executor;
+import java.util.concurrent.ThreadPoolExecutor;
+
+/**
+ * 异步任务线程池装配类
+ *
+ * @author https://juejin.im/entry/5abb8f6951882555677e9da2
+ * @date 2019年10月31日15:06:18
+ */
+@Slf4j
+@Configuration
+@EnableAsync
+public class AsyncTaskExecutePool implements AsyncConfigurer{
+
+    @Override
+    public Executor getAsyncExecutor() {
+        ThreadPoolTaskExecutor executor = new ThreadPoolTaskExecutor();
+        //核心线程池大小
+        executor.setCorePoolSize(20);
+        //最大线程数
+        executor.setMaxPoolSize(50);
+        //队列容量
+        executor.setQueueCapacity(50);
+        //活跃时间
+        executor.setKeepAliveSeconds(60);
+        //线程名字前缀
+        executor.setThreadNamePrefix("Async-");
+        // setRejectedExecutionHandler：当pool已经达到max size的时候，如何处理新任务
+        // CallerRunsPolicy：不在新线程中执行任务，而是由调用者所在的线程来执行
+        executor.setRejectedExecutionHandler(new ThreadPoolExecutor.CallerRunsPolicy());
+        executor.initialize();
+        return executor;
+    }
+
+    /**
+     * 线程池配置
+     */
+    @Bean(name = "asynchronousTasks")
+    public ThreadPoolTaskExecutor threadPoolTaskExecutor() {
+        ThreadPoolTaskExecutor threadPoolTaskExecutor = new ThreadPoolTaskExecutor();
+        // 核心线程池大小
+        threadPoolTaskExecutor.setCorePoolSize(20);
+        // 最大线程数
+        threadPoolTaskExecutor.setMaxPoolSize(50);
+        // 队列容量
+        threadPoolTaskExecutor.setQueueCapacity(50);
+        // 活跃时间
+        threadPoolTaskExecutor.setKeepAliveSeconds(60);
+        // 主线程等待子线程执行时间
+        threadPoolTaskExecutor.setAwaitTerminationSeconds(50);
+       // threadPoolTaskExecutor.setAwaitTerminationSeconds(30);
+        // 线程名字前缀
+        threadPoolTaskExecutor.setThreadNamePrefix("apt-thread-");
+        // RejectedExecutionHandler:当pool已经达到max-size的时候，如何处理新任务
+        // CallerRunsPolicy:不在新线程中执行任务，而是由调用者所在的线程来执行
+        threadPoolTaskExecutor.setRejectedExecutionHandler(new ThreadPoolExecutor.CallerRunsPolicy());
+        // 初始化
+        threadPoolTaskExecutor.initialize();
+        return threadPoolTaskExecutor;
+    }
+}

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

@@ -0,0 +1,19 @@
+package org.nl.apt15e.config.thread;
+
+import org.springframework.context.annotation.Bean;
+import org.springframework.context.annotation.Configuration;
+import org.springframework.web.socket.server.standard.ServerEndpointExporter;
+
+/**
+ * @author dsh
+ * 2025/7/3
+ */
+@Configuration
+public class WebSocketConfig {
+
+    @Bean
+    public ServerEndpointExporter serverEndpointExporter() {
+        return new ServerEndpointExporter();
+    }
+    
+}

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

@@ -0,0 +1,40 @@
+package org.nl.apt15e.util;
+
+import cn.hutool.http.HttpRequest;
+import cn.hutool.http.HttpResponse;
+import com.alibaba.fastjson.JSONObject;
+import lombok.extern.slf4j.Slf4j;
+
+/**
+ * @author dsh
+ * 2025/7/2
+ */
+@Slf4j
+public class HTTPUtil {
+
+    public static HttpResponse post(String url, String method, JSONObject params)throws Exception{
+        String sendUrl = url + method;
+        return  HttpRequest.post(sendUrl)
+                .setConnectionTimeout(3000)
+                .setReadTimeout(3000)
+                .header("token", "admin123")
+                .header("name", "lx-script")
+                .header("Content-Type", "application/json")
+                .body(String.valueOf(params))
+                .execute();
+
+    }
+
+    public static HttpResponse get(String url, String method, JSONObject params)throws Exception{
+        String sendUrl = url + method;
+        return  HttpRequest.get(sendUrl)
+                .setConnectionTimeout(3000)
+                .setReadTimeout(3000)
+                .header("token", "admin123")
+                .header("name", "lx-script")
+                .header("Content-Type", "application/json")
+                .form(params)
+                .execute();
+
+    }
+}

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

@@ -0,0 +1,22 @@
+package org.nl.apt15e.util;
+
+import java.io.PrintWriter;
+import java.io.StringWriter;
+
+
+/**
+ * @author liejiu
+ */
+public class ThrowableUtil {
+
+    /**
+     * 获取堆栈信息
+     */
+    public static String getStackTrace(Throwable throwable){
+        StringWriter sw = new StringWriter();
+        try (PrintWriter pw = new PrintWriter(sw)) {
+            throwable.printStackTrace(pw);
+            return sw.toString();
+        }
+    }
+}

src/main/resources/banner.txt

@@ -0,0 +1,8 @@
+ _   _ ___________ _      _____ _      ___________ _____
+| \ | |  _  | ___ \ |    |  ___| |    |  ___|  ___|_   _|
+|  \| | | | | |_/ / |    | |__ | |    | |__ | |_    | |
+| . ` | | | | ___ \ |    |  __|| |    |  __||  _|   | |
+| |\  \ \_/ / |_/ / |____| |___| |____| |___| |     | |
+\_| \_/\___/\____/\_____/\____/\_____/\____/\_|     \_/
+
+ :: Spring Boot ::       (v2.6.13.RELEASE)

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

@@ -0,0 +1,52 @@
+server:
+  # 端口
+  port: 8081
+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
+      username: root
+      password: 123456
+      # 初始连接数
+      initial-size: 5
+      # 最小连接数
+      min-idle: 15
+      # 最大连接数
+      max-active: 30
+      # 超时时间(以秒数为单位)
+      remove-abandoned-timeout: 180
+      # 获取连接超时时间
+      max-wait: 3000
+      # 连接有效性检测时间
+      time-between-eviction-runs-millis: 60000
+      # 连接在池中最小生存的时间
+      min-evictable-idle-time-millis: 300000
+      # 连接在池中最大生存的时间
+      max-evictable-idle-time-millis: 900000
+      # 指明连接是否被空闲连接回收器(如果有)进行检验.如果检测失败,则连接将被从池中去除
+      test-while-idle: true
+      # 指明是否在从池中取出连接前进行检验,如果检验失败, 则从池中去除连接并尝试取出另一个
+      test-on-borrow: true
+      # 是否在归还到池中前进行检验
+      test-on-return: false
+      # 检测连接是否有效
+      validation-query: select 1
+      # 配置监控统计
+      webStatFilter:
+        enabled: true
+      stat-view-servlet:
+        enabled: true
+        url-pattern: /druid/*
+        reset-enable: false
+      filter:
+        stat:
+          enabled: true
+          # 记录慢SQL
+          log-slow-sql: true
+          slow-sql-millis: 1000
+          merge-sql: true
+        wall:
+          config:
+            multi-statement-allow: true

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

@@ -0,0 +1,52 @@
+server:
+  # 端口
+  port: 8081
+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
+      username: root
+      password: 123456
+      # 初始连接数
+      initial-size: 5
+      # 最小连接数
+      min-idle: 15
+      # 最大连接数
+      max-active: 30
+      # 超时时间(以秒数为单位)
+      remove-abandoned-timeout: 180
+      # 获取连接超时时间
+      max-wait: 3000
+      # 连接有效性检测时间
+      time-between-eviction-runs-millis: 60000
+      # 连接在池中最小生存的时间
+      min-evictable-idle-time-millis: 300000
+      # 连接在池中最大生存的时间
+      max-evictable-idle-time-millis: 900000
+      # 指明连接是否被空闲连接回收器(如果有)进行检验.如果检测失败,则连接将被从池中去除
+      test-while-idle: true
+      # 指明是否在从池中取出连接前进行检验,如果检验失败, 则从池中去除连接并尝试取出另一个
+      test-on-borrow: true
+      # 是否在归还到池中前进行检验
+      test-on-return: false
+      # 检测连接是否有效
+      validation-query: select 1
+      # 配置监控统计
+      webStatFilter:
+        enabled: true
+      stat-view-servlet:
+        enabled: true
+        url-pattern: /druid/*
+        reset-enable: false
+      filter:
+        stat:
+          enabled: true
+          # 记录慢SQL
+          log-slow-sql: true
+          slow-sql-millis: 1000
+          merge-sql: true
+        wall:
+          config:
+            multi-statement-allow: true

src/main/resources/config/application.yml

@@ -0,0 +1,18 @@
+spring:
+  profiles:
+    active: dev
+  jackson:
+    time-zone: GMT+8
+
+mybatis-plus:
+  configuration:
+    map-underscore-to-camel-case: false
+    log-impl: org.apache.ibatis.logging.stdout.StdOutImpl
+  mapper-locations: classpath*:/mapper/**/*.xml
+  global-config:
+    banner: false
+
+logging:
+  file:
+    path: logs
+  config: classpath:logback-spring.xml

src/main/resources/logback-spring.xml

@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+
+<!-- 级别[ALL< Trace < DEBUG < INFO < WARN < ERROR < FATAL < OFF] -->
+<!-- monitorInterval(单位s)指定log4j自动重新配置的监测间隔时间-->
+<configuration scan="true" scanPeriod="30 seconds" debug="false">
+    <property name="log.charset" value="utf-8"/>
+    <property name="log.pattern" value="%black(nlAdmin-) %red(%d{yyyy-MM-dd HH:mm:ss.SSS}) %green([%thread]) %highlight(%-5level) %boldMagenta(%logger{36} - %method) - %white(%msg%n)"/>
+    <SpringProperty scope="context" name="logPath" source="logging.file.path" defaultValue="logs"/>
+    <property name="LOG_HOME" value="${logPath}"/>
+
+
+    <appender name="console" class="ch.qos.logback.core.ConsoleAppender">
+        <filter class="ch.qos.logback.classic.filter.ThresholdFilter">
+            <level>INFO</level>
+        </filter>
+        <encoder>
+            <pattern>${log.pattern}</pattern>
+            <charset>${log.charset}</charset>
+        </encoder>
+    </appender>
+
+    <!-- 系统日志输出 appender  class 中的log.pattern 表示日志滚动输出 -->
+    <appender name="file_info" class="ch.qos.logback.core.rolling.RollingFileAppender">
+        <!-- 日志首次输出的文件地址  -->
+        <!--        <file>${LOG_HOME}/info.log</file>-->
+        <!-- 滚动输出策略：基于时间创建日志文件 ，这样第二天输出的日志，就会按照 fileNamePattern 新建日志文件 -->
+        <rollingPolicy class="ch.qos.logback.core.rolling.TimeBasedRollingPolicy">
+            <!-- 日志文件名格式 -->
+            <fileNamePattern>${LOG_HOME}/root/info.%d{yyyy-MM-dd}.log</fileNamePattern>
+            <!-- 日志最大的历史 60天 -->
+            <maxHistory>30</maxHistory>
+        </rollingPolicy>
+        <encoder>
+            <!-- 日志内容输出格式设置为定义好的 log.pattern-->
+            <pattern>%d{yyyy-MM-dd HH:mm:ss.SSS} [%thread] %-5level %logger{50} - %msg%n</pattern>
+            <charset>${log.charset}</charset>
+        </encoder>
+        <!-- 日志内容输出过滤器 -->
+        <!--        <filter class="ch.qos.logback.classic.filter.LevelFilter">-->
+        <!--            &lt;!&ndash; 过滤的级别 &ndash;&gt;-->
+        <!--            <level>INFO</level>-->
+        <!--            &lt;!&ndash; 匹配时的操作：接收（记录） &ndash;&gt;-->
+        <!--            <onMatch>ACCEPT</onMatch>-->
+        <!--            &lt;!&ndash; 不匹配时的操作：拒绝（不记录） &ndash;&gt;-->
+        <!--            <onMismatch>DENY</onMismatch>-->
+        <!--        </filter>-->
+    </appender>
+
+<!--    <appender name="async" class="ch.qos.logback.classic.AsyncAppender">-->
+<!--        &lt;!&ndash; 不丢失日志.默认的,如果队列的80%已满,则会丢弃TRACT、DEBUG、INFO级别的日志 &ndash;&gt;-->
+<!--        <discardingThreshold>0</discardingThreshold>-->
+<!--        <queueSize>256</queueSize>-->
+<!--        <appender-ref ref="console"/>-->
+<!--    </appender>-->
+
+<!--    <appender name="async_file_info" class="ch.qos.logback.classic.AsyncAppender">-->
+<!--        <discardingThreshold>0</discardingThreshold>-->
+<!--        <queueSize>256</queueSize>-->
+<!--        <appender-ref ref="file_info"/>-->
+<!--    </appender>-->
+
+    <!--系统操作日志 root 根路径的日志级别 info -->
+    <root level="info">
+        <!-- 将定义好的几个日志输出 追加到 root 上 -->
+<!--                <appender-ref ref="console"/>-->
+        <appender-ref ref="console" />
+<!--        <appender-ref ref="async_file_info" />-->
+    </root>
+</configuration>

src/test/java/org/nl/apt15e/Apt15EApplicationTests.java

@@ -0,0 +1,13 @@
+package org.nl.apt15e;
+
+import org.junit.jupiter.api.Test;
+import org.springframework.boot.test.context.SpringBootTest;
+
+@SpringBootTest
+class Apt15EApplicationTests {
+
+    @Test
+    void contextLoads() {
+    }
+
+}