diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java index bc99a9a..39a0a34 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java @@ -9,4 +9,5 @@ * 任务类型 */ String TASK_TYPE = "taskType"; + String TASK_STATUS = "taskStatus"; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java index bc99a9a..39a0a34 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java @@ -9,4 +9,5 @@ * 任务类型 */ String TASK_TYPE = "taskType"; + String TASK_STATUS = "taskStatus"; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java index b59291b..c9d7cc2 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java @@ -168,7 +168,6 @@ return list; } - /** * 指令状态读取 * diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java index bc99a9a..39a0a34 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java @@ -9,4 +9,5 @@ * 任务类型 */ String TASK_TYPE = "taskType"; + String TASK_STATUS = "taskStatus"; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java index b59291b..c9d7cc2 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java @@ -168,7 +168,6 @@ return list; } - /** * 指令状态读取 * diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java index 60e8143..49e822a 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java @@ -111,6 +111,10 @@ @TableField("task_status") private Integer taskStatus; + @ApiModelProperty(value = "任务状态字典名", dataType = "Integer") + @TableField(exist = false) + private String taskStatusName; + @ApiModelProperty(value = "机器人ID", dataType = "Long") @TableField("robot_id") private Long robotId; @@ -118,6 +122,7 @@ @ApiModelProperty(value = "告警数量", dataType = "Integer") @TableField(exist = false) private Integer alarmNum; + @Override public String toString() { return "TaskInfo{" diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java index bc99a9a..39a0a34 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java @@ -9,4 +9,5 @@ * 任务类型 */ String TASK_TYPE = "taskType"; + String TASK_STATUS = "taskStatus"; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java index b59291b..c9d7cc2 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java @@ -168,7 +168,6 @@ return list; } - /** * 指令状态读取 * diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java index 60e8143..49e822a 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java @@ -111,6 +111,10 @@ @TableField("task_status") private Integer taskStatus; + @ApiModelProperty(value = "任务状态字典名", dataType = "Integer") + @TableField(exist = false) + private String taskStatusName; + @ApiModelProperty(value = "机器人ID", dataType = "Long") @TableField("robot_id") private Long robotId; @@ -118,6 +122,7 @@ @ApiModelProperty(value = "告警数量", dataType = "Integer") @TableField(exist = false) private Integer alarmNum; + @Override public String toString() { return "TaskInfo{" diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java index 35c5f37..059a60f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java @@ -22,7 +22,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString()); + log.info("主键：{},实时位置topic:{},消息内容:{}" , robotId, topic, message.toString()); robotTrajectoryInfoService.savePoseMessage(robotId, message); sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message); } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java index bc99a9a..39a0a34 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java @@ -9,4 +9,5 @@ * 任务类型 */ String TASK_TYPE = "taskType"; + String TASK_STATUS = "taskStatus"; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java index b59291b..c9d7cc2 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java @@ -168,7 +168,6 @@ return list; } - /** * 指令状态读取 * diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java index 60e8143..49e822a 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java @@ -111,6 +111,10 @@ @TableField("task_status") private Integer taskStatus; + @ApiModelProperty(value = "任务状态字典名", dataType = "Integer") + @TableField(exist = false) + private String taskStatusName; + @ApiModelProperty(value = "机器人ID", dataType = "Long") @TableField("robot_id") private Long robotId; @@ -118,6 +122,7 @@ @ApiModelProperty(value = "告警数量", dataType = "Integer") @TableField(exist = false) private Integer alarmNum; + @Override public String toString() { return "TaskInfo{" diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java index 35c5f37..059a60f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java @@ -22,7 +22,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString()); + log.info("主键：{},实时位置topic:{},消息内容:{}" , robotId, topic, message.toString()); robotTrajectoryInfoService.savePoseMessage(robotId, message); sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message); } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java index c66fdd8..1455961 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java @@ -32,7 +32,6 @@ public void process(String robotId, String topic, MqttMessage message) { Integer val = index.get("index") + 1; index.put("index", val); - if (val > 30) { log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString()); index.put("index", 0); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java index bc99a9a..39a0a34 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java @@ -9,4 +9,5 @@ * 任务类型 */ String TASK_TYPE = "taskType"; + String TASK_STATUS = "taskStatus"; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java index b59291b..c9d7cc2 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java @@ -168,7 +168,6 @@ return list; } - /** * 指令状态读取 * diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java index 60e8143..49e822a 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java @@ -111,6 +111,10 @@ @TableField("task_status") private Integer taskStatus; + @ApiModelProperty(value = "任务状态字典名", dataType = "Integer") + @TableField(exist = false) + private String taskStatusName; + @ApiModelProperty(value = "机器人ID", dataType = "Long") @TableField("robot_id") private Long robotId; @@ -118,6 +122,7 @@ @ApiModelProperty(value = "告警数量", dataType = "Integer") @TableField(exist = false) private Integer alarmNum; + @Override public String toString() { return "TaskInfo{" diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java index 35c5f37..059a60f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java @@ -22,7 +22,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString()); + log.info("主键：{},实时位置topic:{},消息内容:{}" , robotId, topic, message.toString()); robotTrajectoryInfoService.savePoseMessage(robotId, message); sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message); } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java index c66fdd8..1455961 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java @@ -32,7 +32,6 @@ public void process(String robotId, String topic, MqttMessage message) { Integer val = index.get("index") + 1; index.put("index", val); - if (val > 30) { log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString()); index.put("index", 0); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java index 286977e..33359e9 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java @@ -6,11 +6,14 @@ import com.baomidou.mybatisplus.extension.plugins.pagination.Page; import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper; +import com.casic.missiles.modular.robot.model.RobotStatusInfo; import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo; import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO; import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO; +import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService; import org.eclipse.paho.client.mqttv3.MqttMessage; +import org.springframework.context.annotation.Lazy; import org.springframework.stereotype.Service; import java.util.Date; @@ -27,6 +30,11 @@ */ @Service public class RobotTrajectoryInfoServiceImpl extends ServiceImpl implements IRobotTrajectoryInfoService { + private final IRobotStatusInfoService robotStatusInfoService; + + public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService) { + this.robotStatusInfoService = robotStatusInfoService; + } @Override public List selectRobotTrajectoryInfoPage(Page page, QueryWrapper query) { @@ -35,18 +43,26 @@ @Override public void savePoseMessage(String robotId, MqttMessage message) { + String json = new String(message.getPayload()); RobotResponseDTO responseDTO = JSON.parseObject(json, new TypeReference>() { }); - if (responseDTO.getMsg() != null) { - PoseMessageResponseDTO dto = responseDTO.getMsg(); - RobotTrajectoryInfo info = new RobotTrajectoryInfo(); - info.setRobotId(Long.valueOf(robotId)); - info.setCreateTime(new Date()); - info.setPostionX(dto.getX()); - info.setPostionY(dto.getY()); - info.setPostionZ(dto.getZ()); - info.setTheta(dto.getTheta()); + + //读取导航状态,如果导航未开启则不存储 + RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId); + if (statusInfo != null && responseDTO.getMsg() != null) { + //执行循迹 保存当前轨迹信息 + if (statusInfo.getCurrRouteId() != null) { + PoseMessageResponseDTO dto = responseDTO.getMsg(); + RobotTrajectoryInfo info = new RobotTrajectoryInfo(); + info.setRobotId(Long.valueOf(robotId)); + info.setCreateTime(new Date()); + info.setPostionX(dto.getX()); + info.setPostionY(dto.getY()); + info.setPostionZ(dto.getZ()); + info.setTheta(dto.getTheta()); + save(info); + } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java index bc99a9a..39a0a34 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/constants/RobotDictConstants.java @@ -9,4 +9,5 @@ * 任务类型 */ String TASK_TYPE = "taskType"; + String TASK_STATUS = "taskStatus"; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java index b59291b..c9d7cc2 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/controller/RobotOptController.java @@ -168,7 +168,6 @@ return list; } - /** * 指令状态读取 * diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java index 60e8143..49e822a 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/model/TaskInfo.java @@ -111,6 +111,10 @@ @TableField("task_status") private Integer taskStatus; + @ApiModelProperty(value = "任务状态字典名", dataType = "Integer") + @TableField(exist = false) + private String taskStatusName; + @ApiModelProperty(value = "机器人ID", dataType = "Long") @TableField("robot_id") private Long robotId; @@ -118,6 +122,7 @@ @ApiModelProperty(value = "告警数量", dataType = "Integer") @TableField(exist = false) private Integer alarmNum; + @Override public String toString() { return "TaskInfo{" diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java index 35c5f37..059a60f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/PoseMessageMsgHandler.java @@ -22,7 +22,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},实时位置topic:{},消息内容:{}", robotId, topic, message.toString()); + log.info("主键：{},实时位置topic:{},消息内容:{}" , robotId, topic, message.toString()); robotTrajectoryInfoService.savePoseMessage(robotId, message); sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message); } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java index c66fdd8..1455961 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java @@ -32,7 +32,6 @@ public void process(String robotId, String topic, MqttMessage message) { Integer val = index.get("index") + 1; index.put("index", val); - if (val > 30) { log.info("主键：{},传感器状态topic:{},消息内容:{}", robotId, topic, message.toString()); index.put("index", 0); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java index 286977e..33359e9 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotTrajectoryInfoServiceImpl.java @@ -6,11 +6,14 @@ import com.baomidou.mybatisplus.extension.plugins.pagination.Page; import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; import com.casic.missiles.modular.robot.dao.RobotTrajectoryInfoMapper; +import com.casic.missiles.modular.robot.model.RobotStatusInfo; import com.casic.missiles.modular.robot.model.RobotTrajectoryInfo; import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotResponseDTO; import com.casic.missiles.modular.robot.opt.instruct.dto.PoseMessageResponseDTO; +import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; import com.casic.missiles.modular.robot.service.IRobotTrajectoryInfoService; import org.eclipse.paho.client.mqttv3.MqttMessage; +import org.springframework.context.annotation.Lazy; import org.springframework.stereotype.Service; import java.util.Date; @@ -27,6 +30,11 @@ */ @Service public class RobotTrajectoryInfoServiceImpl extends ServiceImpl implements IRobotTrajectoryInfoService { + private final IRobotStatusInfoService robotStatusInfoService; + + public RobotTrajectoryInfoServiceImpl(@Lazy IRobotStatusInfoService robotStatusInfoService) { + this.robotStatusInfoService = robotStatusInfoService; + } @Override public List selectRobotTrajectoryInfoPage(Page page, QueryWrapper query) { @@ -35,18 +43,26 @@ @Override public void savePoseMessage(String robotId, MqttMessage message) { + String json = new String(message.getPayload()); RobotResponseDTO responseDTO = JSON.parseObject(json, new TypeReference>() { }); - if (responseDTO.getMsg() != null) { - PoseMessageResponseDTO dto = responseDTO.getMsg(); - RobotTrajectoryInfo info = new RobotTrajectoryInfo(); - info.setRobotId(Long.valueOf(robotId)); - info.setCreateTime(new Date()); - info.setPostionX(dto.getX()); - info.setPostionY(dto.getY()); - info.setPostionZ(dto.getZ()); - info.setTheta(dto.getTheta()); + + //读取导航状态,如果导航未开启则不存储 + RobotStatusInfo statusInfo = robotStatusInfoService.getStatusByRobotId(robotId); + if (statusInfo != null && responseDTO.getMsg() != null) { + //执行循迹 保存当前轨迹信息 + if (statusInfo.getCurrRouteId() != null) { + PoseMessageResponseDTO dto = responseDTO.getMsg(); + RobotTrajectoryInfo info = new RobotTrajectoryInfo(); + info.setRobotId(Long.valueOf(robotId)); + info.setCreateTime(new Date()); + info.setPostionX(dto.getX()); + info.setPostionY(dto.getY()); + info.setPostionZ(dto.getZ()); + info.setTheta(dto.getTheta()); + save(info); + } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java index c16c954..9f2c93c 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java @@ -74,8 +74,9 @@ private void wrapTaskInfo(TaskInfo taskInfo) { taskInfo.setDiscernTypeName(dictService.getDictNameByCode(RobotDictConstants.DISCERN_TYPE, taskInfo.getDiscernType() + "")); taskInfo.setTaskTypeName(dictService.getDictNameByCode(RobotDictConstants.TASK_TYPE, taskInfo.getTaskType() + "")); + taskInfo.setTaskStatusName(dictService.getDictNameByCode(RobotDictConstants.TASK_STATUS, taskInfo.getTaskType() + "")); //检索当前任务告警数量 - taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(),taskInfo.getRobotId())); + taskInfo.setAlarmNum(recordService.selectCountByTaskId(taskInfo.getId(), taskInfo.getRobotId())); } @Transactional