opt:1.叉腿避障开关 2.建图界面显示车辆坐标

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

@@ -14,7 +14,9 @@ import org.springframework.web.socket.config.annotation.EnableWebSocket;
 
 @EnableAsync
 @EnableScheduling
-@SpringBootApplication
+@SpringBootApplication(exclude = {
+        org.springframework.boot.autoconfigure.security.servlet.SecurityAutoConfiguration.class
+})
 @EnableTransactionManagement
 @RestController
 @MapperScan("org.nl.apt15e.**.mapper")

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

@@ -284,8 +284,8 @@ 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));
+//            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;

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

@@ -6,9 +6,7 @@ import org.nl.apt15e.apt.vehicle.service.VehicleInfoService;
 import org.nl.apt15e.common.logging.annotation.Log;
 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;
+import org.springframework.web.bind.annotation.*;
 
 import javax.annotation.Resource;
 
@@ -36,10 +34,10 @@ public class VehicleInfoController {
         return new ResponseEntity<>(vehicleInfoService.rebootVehicle(), HttpStatus.OK);
     }
 
-    @GetMapping("/setForkLegsObstacles")
+    @PostMapping("/setForkLegsObstacles")
     @Log("设置叉腿避障")
-    public ResponseEntity<Object> setForkLegsObstacles() {
-        return new ResponseEntity<>(vehicleInfoService.setForkLegsObstacles(), HttpStatus.OK);
+    public ResponseEntity<Object> setForkLegsObstacles(@RequestParam("backIoStatus") String backIoStatus) {
+        return new ResponseEntity<>(vehicleInfoService.setForkLegsObstacles(backIoStatus), HttpStatus.OK);
     }
 
 }

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

@@ -31,5 +31,5 @@ public interface VehicleInfoService {
     /**
      * 设置叉尖避障
      */
-    Map<String,Object> setForkLegsObstacles();
+    Map<String,Object> setForkLegsObstacles(String backIoStatus);
 }

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

@@ -127,12 +127,12 @@ public class VehicleInfoServiceImpl implements VehicleInfoService {
     }
 
     @Override
-    public Map<String,Object> setForkLegsObstacles() {
+    public Map<String,Object> setForkLegsObstacles(String backIoStatus) {
 //        if (StrUtil.isBlank(stationCode) || StrUtil.isBlank(stationName)){
 //            throw new BadRequestException("spotCode is empty");
 //        }
         JSONObject params = new JSONObject();
-        params.put("enable_back_tof", true);
+        params.put("enable_back_tof", backIoStatus);
         HttpResponse response = null;
         try {
             response = HTTPUtil.post(URLConstant.VEHICLE_IP_PORT,"/tool/rob/setStates", params);
@@ -150,7 +150,7 @@ public class VehicleInfoServiceImpl implements VehicleInfoService {
                 return body;
             }
         }
-        log.info("关闭叉腿避障失败");
+        log.info("操作叉腿避障失败");
         throw new BadRequestException(LangProcess.msg("error_set_forkLegs"));
     }
 
@@ -270,7 +270,6 @@ public class VehicleInfoServiceImpl implements VehicleInfoService {
             }
             webSocketSet.forEach(c -> {
                 Map<String, Object> vehicleInfoMap = new HashMap<>();
-                log.info("websocket标识:{}",c.getLang());
                 VehicleInfo webVehicleInfo = vehicleInfo;
                 webVehicleInfo = this.queryVehicleInfoI18n(c.getLang(),webVehicleInfo);
                 vehicleInfoMap.put("data", webVehicleInfo);

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

@@ -68,8 +68,15 @@ public class ProtobufWebSocketHandler extends BinaryWebSocketHandler {
                     // 电量
                     VehicleInfoServiceImpl.vehicleInfo.setBatteryPower((int)robotBase.getBatteryInfo().getSoc());
                     //x，y，theta
-                    VehicleInfoServiceImpl.vehicleInfo.setX(robotBase.getLocate().getCurrentState().getX());
-                    VehicleInfoServiceImpl.vehicleInfo.setY(robotBase.getLocate().getCurrentState().getY());
+
+                    DecimalFormat xFormat = new DecimalFormat("0.000");
+                    String x_res = xFormat.format(robotBase.getLocate().getCurrentState().getX());
+                    double x = Double.parseDouble(x_res);
+                    VehicleInfoServiceImpl.vehicleInfo.setX(x);
+                    DecimalFormat yFormat = new DecimalFormat("0.000");
+                    String y_res = xFormat.format(robotBase.getLocate().getCurrentState().getY());
+                    double y = Double.parseDouble(y_res);
+                    VehicleInfoServiceImpl.vehicleInfo.setY(y);
                     VehicleInfoServiceImpl.vehicleInfo.setTheta(robotBase.getLocate().getCurrentState().getTheta());
 //                    System.out.println("vehicleInfo2: " + VehicleInfoServiceImpl.vehicleInfo);
                     break;