add:第一版测试版本,第二次联调。

nl-business-map/src/main/java/org/nl/map/controller/MapInfoController.java

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+package org.nl.map.controller;
+
+import jakarta.annotation.Resource;
+import org.nl.logging.annotation.Log;
+import org.nl.map.service.MapService;
+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;
+
+/**
+ * @author dsh
+ * 2025/12/18
+ */
+@RestController
+@RequestMapping("/mapinfo")
+public class MapInfoController {
+
+    @Resource
+    private MapService mapService;
+
+    @GetMapping("/queryCurrentMapInfo")
+    @Log("获取当前地图信息")
+    public ResponseEntity<Object> queryCurrentMapInfo() {
+        return new ResponseEntity<>(mapService.queryCurrentMapInfo(), HttpStatus.OK);
+    }
+}

nl-business-map/src/main/java/org/nl/map/entity/MapInfo.java

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+package org.nl.map.entity;
+
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import lombok.Data;
+
+/**
+ * @author dsh
+ * 2025/12/18
+ */
+@Data
+@TableName("map_info")
+public class MapInfo {
+
+    /**
+     * 地图编号
+     */
+    @TableId
+    private String mapCode;
+
+    /**
+     * 地图名称
+     */
+    private String mapName;
+
+    /**
+     * 地图图片地址
+     */
+    private String mapImageAddress;
+
+
+    /**
+     * 点云图像素比例
+     */
+    private Double resolution;
+
+    /**
+     * 左下角x坐标
+     */
+    private Double x;
+
+    /**
+     * 左下角y坐标
+     */
+    private Double y;
+
+    /**
+     * 左下角 角度
+     */
+    private Double angle;
+}

nl-business-map/src/main/java/org/nl/map/mapper/MapInfoMapper.java

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+package org.nl.map.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import org.apache.ibatis.annotations.Mapper;
+import org.nl.map.entity.MapInfo;
+
+/**
+ * @author dsh
+ * 2025/12/18
+ */
+@Mapper
+public interface MapInfoMapper extends BaseMapper<MapInfo> {
+
+}

nl-business-map/src/main/java/org/nl/map/service/MapService.java

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+package org.nl.map.service;
+
+import org.nl.response.WebResponse;
+
+/**
+ * @author dsh
+ * 2025/12/18
+ */
+public interface MapService {
+     WebResponse queryCurrentMapInfo();
+}

nl-business-map/src/main/java/org/nl/map/service/impl/MapServiceImpl.java

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+package org.nl.map.service.impl;
+
+import cn.hutool.http.HttpRequest;
+import cn.hutool.http.HttpResponse;
+import cn.hutool.http.HttpStatus;
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import jakarta.annotation.PostConstruct;
+import jakarta.annotation.Resource;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.map.entity.MapInfo;
+import org.nl.map.mapper.MapInfoMapper;
+import org.nl.map.service.MapService;
+import org.nl.map.station.entity.Station;
+import org.nl.map.station.mapper.StationMapper;
+import org.nl.response.WebResponse;
+import org.nl.util.FileProperties;
+import org.nl.util.URLConstant;
+import org.springframework.stereotype.Service;
+
+import java.io.IOException;
+import java.nio.file.Files;
+import java.nio.file.Path;
+import java.nio.file.Paths;
+
+/**
+ * @author dsh
+ * 2025/12/18
+ */
+@Slf4j
+@Service
+public class MapServiceImpl implements MapService {
+
+    @Resource
+    private StationMapper stationMapper;
+
+    @Resource
+    private MapInfoMapper mapInfoMapper;
+
+    @Resource
+    private FileProperties properties;
+
+
+    @PostConstruct
+    public void init() {
+        getCurrentMapInfo();
+        downloadImage();
+    }
+
+    /**
+     * 下载图片并保存
+     */
+    public void downloadImage() {
+        String filename = "currentMapImage.png";
+        Path filePath = Paths.get(properties.getPath().getPath(), filename);
+
+        try {
+            // 确保目录存在
+            createDirectoryIfNotExists();
+
+            // 发送请求
+            HttpResponse response = HttpRequest.get("http://"+ URLConstant.SCHEDULE_IP_PORT+"/maps/current/image/file")
+                    .header("Accept", "image/png")
+                    .header("User-Agent", "Hutool-HTTP")
+                    .timeout(30000)
+                    .execute();
+
+            if (response.getStatus() != HttpStatus.HTTP_OK) {
+                throw new RuntimeException("HTTP请求失败，状态码: " + response.getStatus());
+            }
+
+            // 获取 Content-Type 验证
+            String contentType = response.header("Content-Type");
+            log.info("Content-Type: {}", contentType);
+
+            // 保存文件
+            byte[] bytes = response.bodyBytes();
+            Files.write(filePath, bytes);
+
+            log.info("图片下载成功: {}, 大小: {} bytes",
+                    filePath.toAbsolutePath(), bytes.length);
+
+            mapInfoMapper.delete(new LambdaQueryWrapper<>());
+
+            MapInfo mapInfo = new MapInfo();
+            mapInfo.setMapCode(filename);
+            mapInfo.setMapName(filename);
+            mapInfo.setMapImageAddress("/file/" + filename);
+            mapInfoMapper.insert(mapInfo);
+
+        } catch (Exception e) {
+            log.error("下载图片失败", e);
+        }
+    }
+
+    /**
+     * 创建下载目录
+     */
+    private void createDirectoryIfNotExists() throws IOException {
+        Path dirPath = Paths.get(properties.getPath().getPath());
+        if (!Files.exists(dirPath)) {
+            Files.createDirectories(dirPath);
+            log.info("创建下载目录: {}", dirPath.toAbsolutePath());
+        }
+    }
+
+    public void getCurrentMapInfo(){
+        try {
+
+            // 发送请求
+            HttpResponse response = HttpRequest
+                    .get("http://"+ URLConstant.SCHEDULE_IP_PORT+"/maps/current")
+                    .execute();
+
+            if (response.getStatus() != HttpStatus.HTTP_OK) {
+                throw new RuntimeException("HTTP请求失败，状态码: " + response.getStatus());
+            }
+
+            // 清除站点数据
+            stationMapper.delete(new LambdaQueryWrapper<>());
+
+            JSONArray pois = JSONArray.parseArray(JSONObject.parseObject(response.body()).getString("pois"));
+            for (int i = 0; i < pois.size(); i++) {
+                JSONObject poi = pois.getJSONObject(i);
+                Station station = new Station();
+                station.setStation_id(poi.getString("id"));
+                station.setStation_code(poi.getString("name"));
+                station.setStation_name(poi.getString("name"));
+                station.setStation_type("Normal");
+                JSONObject pose = poi.getJSONObject("pose");
+                station.setX(pose.getDouble("x"));
+                station.setY(pose.getDouble("y"));
+                station.setAngle(pose.getDouble("yaw"));
+                stationMapper.insert(station);
+            }
+        }catch (Exception e){
+            log.info("获取当前地图信息失败:{}",e.getMessage());
+        }
+
+
+    }
+
+    @Override
+    public WebResponse queryCurrentMapInfo() {
+
+        MapInfo mapInfo = mapInfoMapper.selectOne(new LambdaQueryWrapper<>(MapInfo.class)
+                .eq(MapInfo::getMapCode, "currentMapImage.png")
+        );
+        return WebResponse.requestParamOk(mapInfo);
+    }
+}

nl-business-map/src/main/java/org/nl/map/station/entity/Station.java

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+package org.nl.map.station.entity;
+
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import lombok.Data;
+
+/**
+ * @author dsh
+ * 2025/12/18
+ */
+@Data
+@TableName("station")
+public class Station {
+
+    @TableId
+    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;
+
+    /**
+     * 站点类型 (Normal 普通站点)
+     */
+    private String station_type;
+
+    /**
+     * x坐标
+     */
+    private Double x;
+
+    /**
+     * y坐标
+     */
+    private Double y;
+
+    /**
+     * 角度
+     */
+    private Double angle;
+}

nl-business-map/src/main/java/org/nl/map/station/mapper/StationMapper.java

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+package org.nl.map.station.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import org.apache.ibatis.annotations.Mapper;
+import org.nl.map.station.entity.Station;
+
+/**
+ * @author dsh
+ * 2025/12/18
+ */
+@Mapper
+public interface StationMapper extends BaseMapper<Station> {
+
+}