add:1.添加复位按钮接口。2.添加手机app导出任务excel接口。

nladmin-system/pom.xml

@@ -298,6 +298,13 @@
             <groupId>org.springframework.boot</groupId>
             <artifactId>spring-boot-starter-freemarker</artifactId>
         </dependency>
+
+        <!-- EasyExcel -->
+        <dependency>
+            <groupId>com.alibaba</groupId>
+            <artifactId>easyexcel</artifactId>
+            <version>3.1.1</version>
+        </dependency>
         <!-- excel工具 -->
         <dependency>
             <groupId>org.apache.poi</groupId>

nladmin-system/src/main/java/org/nl/agv/entity/TaskInfo.java

@@ -1,5 +1,6 @@
 package org.nl.agv.entity;
 
+import com.alibaba.excel.annotation.ExcelProperty;
 import com.baomidou.mybatisplus.annotation.TableField;
 import com.baomidou.mybatisplus.annotation.TableId;
 import com.baomidou.mybatisplus.annotation.TableName;
@@ -21,60 +22,77 @@ public class TaskInfo implements Serializable {
     private String taskUuid;
 
     @TableField("task_code")
+    @ExcelProperty("任务号(taskCode)")
     private String taskCode;
 
     @TableField("task_type")
+    @ExcelProperty("任务类型(taskType)")
     private String taskType;
 
     @TableField("task_type_name")
     private String taskTypeName;
 
     @TableField("en_task_type_name")
+    @ExcelProperty("任务类型名称(英文)")
     private String enTaskTypeName;
 
     @TableField("zh_task_type_name")
+    @ExcelProperty("任务类型名称(中文)")
     private String zhTaskTypeName;
 
     @TableField("task_status")
+    @ExcelProperty("任务状态(taskStatus)")
     private String taskStatus;
 
     @TableField("task_status_name")
     private String taskStatusName;
 
     @TableField("en_task_status_name")
+    @ExcelProperty("任务状态名称(英文)")
     private String enTaskStatusName;
 
     @TableField("zh_task_status_name")
+    @ExcelProperty("任务状态名称(中文)")
     private String zhTaskStatusName;
 
     @TableField("next_point_code")
+    @ExcelProperty("目标点(nextPointCode)")
     private String nextPointCode;
 
     @TableField("next_point_code2")
+    @ExcelProperty("下一个点")
     private String nextPointCode2;
 
     @TableField("is_delete")
+    @ExcelProperty("是否已经删除")
     private String isDelete;
 
     @TableField("seq_num")
+    @ExcelProperty("排序号")
     private BigDecimal seqNum;
 
     @TableField("date")
+    @ExcelProperty("日期")
     private String date;
 
     @TableField("create_by")
+    @ExcelProperty("创建者")
     private String createBy;
 
     @TableField("create_time")
+    @ExcelProperty("创建时间")
     private String createTime;
 
     @TableField("is_manualfinished")
+    @ExcelProperty("人工是否完成")
     private String isManualfinished;
 
     @TableField("update_by")
+    @ExcelProperty("修改者")
     private String updateBy;
 
     @TableField("update_time")
+    @ExcelProperty("修改时间")
     private String updateTime;
 
     @TableField("step")

nladmin-system/src/main/java/org/nl/agv/rest/ExcelDownloadController.java

@@ -0,0 +1,44 @@
+package org.nl.agv.rest;
+
+import cn.dev33.satoken.annotation.SaIgnore;
+import com.alibaba.excel.EasyExcel;
+import org.nl.agv.entity.TaskInfo;
+import org.nl.agv.service.TaskService;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.annotation.*;
+
+import javax.annotation.Resource;
+import javax.servlet.http.HttpServletResponse;
+import java.io.IOException;
+import java.net.URLEncoder;
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * @author dsh
+ * 2025/12/9
+ */
+@SaIgnore
+@RestController
+@RequestMapping("/api/taskExcel")
+public class ExcelDownloadController {
+
+    @Resource
+    private TaskService taskService;
+
+    @GetMapping("/taskInfo")
+    public void taskInfo(HttpServletResponse response, @RequestParam long recentMonth) throws IOException {
+
+        List<TaskInfo> taskInfoList = taskService.findTaskByRecentMonth(recentMonth);
+
+        // 设置响应头
+        response.setContentType("application/vnd.openxmlformats-officedocument.spreadsheetml.sheet");
+        response.setHeader("Content-Disposition", "attachment; filename=" + URLEncoder.encode("任务信息.xlsx", "UTF-8"));
+
+        // 使用EasyExcel写入数据到响应输出流
+        EasyExcel.write(response.getOutputStream(), TaskInfo.class)
+                .sheet("任务信息")
+                .doWrite(taskInfoList);
+    }
+}

nladmin-system/src/main/java/org/nl/agv/rest/VehicleInfoController.java

@@ -53,6 +53,13 @@ public class VehicleInfoController{
           return new ResponseEntity<>(vehicleInfoService.Shut_down(whereJson), HttpStatus.OK);
      }
 
+     @PostMapping("/resetButton")
+     @Log("复位按钮")
+     @ApiOperation("复位按钮")
+     public ResponseEntity<Object> resetButton() {
+          return new ResponseEntity<>(vehicleInfoService.ResetButton(), HttpStatus.OK);
+     }
+
      @PostMapping("/queryControlStatus")
      @Log("查询车辆控制按钮状态")
      @ApiOperation("查询车辆控制按钮状态")

nladmin-system/src/main/java/org/nl/agv/service/TaskService.java

@@ -5,6 +5,7 @@ package org.nl.agv.service;
 import com.baomidou.mybatisplus.extension.service.IService;
 import org.nl.agv.entity.TaskInfo;
 
+import java.util.List;
 import java.util.Map;
 
 /**
@@ -87,4 +88,5 @@ public interface TaskService extends IService<TaskInfo> {
      */
     Map<String, Object> findTaskStatusByCode(Map<String, String> jsonObject);
 
+    List<TaskInfo> findTaskByRecentMonth(long recentMonth);
 }

nladmin-system/src/main/java/org/nl/agv/service/VehicleInfoService.java

@@ -30,6 +30,13 @@ public interface VehicleInfoService {
      * @return Map<String, Object>
      */
     Map<String, Object> Shut_down(Map<String, String> jsonObject);
+    /**
+     * 复位按钮
+     *
+     * @param
+     * @return Map<String, Object>
+     */
+    Map<String, Object> ResetButton();
     /**
      * 跳过起点
      *

nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java

@@ -744,7 +744,7 @@ public class HomeServiceImpl implements HomeService {
         if (ObjectUtil.isNotEmpty(taskjo) && StrUtil.equals("0", debugInfoJson.getString("PathFollow_Enable")) && debugInfoJson.getString("CurNodeID").equals(taskjo.getString("next_point_code"))) {
             //普通任务
             if (TaskTypeEnum.COMMON.getCode().equals(taskjo.getString("task_type"))) {
-                updateTaskStatus(taskjo, null);
+                updateTaskStatus(taskjo, TaskStatusEnum.END);
                 if (StringUtils.isNotBlank(taskjo.getString("next_point_code2"))) {
                     createReturnTask(taskjo);
                 }

nladmin-system/src/main/java/org/nl/agv/service/impl/TaskServiceServiceImpl.java

@@ -23,6 +23,7 @@ import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.core.util.StrUtil;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import edu.wpi.rail.jrosbridge.services.ServiceResponse;
 import lombok.RequiredArgsConstructor;
@@ -52,6 +53,9 @@ import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
+import java.time.LocalDate;
+import java.time.LocalDateTime;
+import java.time.LocalTime;
 import java.util.*;
 import java.util.stream.Collectors;
 
@@ -605,6 +609,21 @@ public class TaskServiceServiceImpl extends ServiceImpl<TaskInfoMapper, TaskInfo
         return returnjo;
     }
 
+    @Override
+    public List<TaskInfo> findTaskByRecentMonth(long recentMonth) {
+        LocalDate today = LocalDate.now();
+        LocalDate startDate = today.minusMonths(recentMonth);
+
+        // 开始时间：几个月前那天的0点
+        LocalDateTime startDateTime = startDate.atStartOfDay();
+        // 结束时间：今天的23:59:59
+        LocalDateTime endDateTime = today.atTime(LocalTime.MAX);
+
+        return taskInfoMapper.selectList(new LambdaQueryWrapper<>(TaskInfo.class)
+                .ge(TaskInfo::getCreateTime,startDateTime)
+                .le(TaskInfo::getCreateTime,endDateTime));
+    }
+
 //    @Override
 //    public Map<String, Object> confirmPoint1(Map<String, String> jsonObject) {
 //        String pointCode = jsonObject.get("point_code");

nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java

@@ -37,6 +37,7 @@ import org.springframework.stereotype.Service;
 
 import java.math.BigDecimal;
 import java.math.RoundingMode;
+import java.util.Collections;
 import java.util.HashMap;
 import java.util.Map;
 
@@ -165,6 +166,15 @@ public class VehicleInfoServiceImpl implements VehicleInfoService {
         }
     }
 
+    @Override
+    public Map<String, Object> ResetButton() {
+        sendToAgvUtil.sendTalker();
+        JSONObject returnjo = new JSONObject();
+        returnjo.put("code", "1");
+        returnjo.put("desc", LangUtils.getMsgLanguage("OperationSuccess", null));
+        return returnjo;
+    }
+
     @Override
     public Map<String, Object> skipStartPoint(Map<String, String> jsonObject) {
         String a = "{\n" + " \"header\": {\n" + "  \"stamp\": {\n" + "   \"secs\": 0,\n" + "   \"nsecs\": 0\n" + "  },\n" + "  \"frame_id\": \"\",\n" + "  \"seq\": 0\n" + " },\n" + " \"id\": 257,\n" + " \"is_rtr\": false,\n" + " \"is_extended\": false,\n" + " \"is_error\": false,\n" + " \"dlc\": 8,\n" + " \"data\": [32, 0, 0, 1, 0, 0, 0, 1]\n" + "}";

nladmin-system/src/main/java/org/nl/agv/unit/sendToAgvUtil.java

@@ -78,6 +78,32 @@ public class sendToAgvUtil{
           return null;
      }
 
+
+     public static ServiceResponse sendTalker() {
+          //Ros ros = RosUtil.getRos();
+          Ros ros = RosUtil.getRos();
+          ros.connect();
+          Topic echo = new Topic(ros, "/js_can", "lu_ps20l_msgs/Msg_CANFrame");
+          JSONArray data = new JSONArray();
+          data.add(32);
+          data.add(0);
+          data.add(0);
+          data.add(1);
+          data.add(0);
+          data.add(0);
+          data.add(0);
+          data.add(4);
+          String a = "{\n" + " \"header\": {\n" + "  \"stamp\": {\n" + "   \"secs\": 0,\n" + "   \"nsecs\": 0\n" + "  },\n" + "  \"frame_id\": \"\",\n" + "  \"seq\": 0\n" + " },\n" + " \"id\": 257,\n" + " \"is_rtr\": false,\n" + " \"is_extended\": false,\n" + " \"is_error\": false,\n" + " \"dlc\": 8,\n" + " \"data\": [32, 0, 0, 1, 0, 0, 0, 4]\n" + "}";
+          JSONObject taskjo = JSONObject.parseObject(a);
+          taskjo.put("data", data);
+          Log.info("下发复位按钮参数:{}",taskjo);
+          Message toSend = new Message(taskjo.toString());
+          echo.publish(toSend);
+          ros.disconnect();
+          Log.info("下发复位按钮完成");
+          return null;
+     }
+
      public static JSONObject change(String point_code) {
           //范围是-32768 ~ 32767
           JSONObject returnjo = new JSONObject();

nladmin-system/src/main/resources/config/application.yml

@@ -4,7 +4,7 @@ spring:
   freemarker:
     check-template-location: false
   profiles:
-    active: dev
+    active: prod
   jackson:
     time-zone: GMT+8
   data:
@@ -56,6 +56,7 @@ demo:
 security:
   # 排除路径
   excludes:
+    - /api/taskExcel
     # 认证
     - /auth/login
     - /auth/code