diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java index 9db7301..4c2ad6a 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java @@ -27,6 +27,7 @@ HEAT_MAP("heat_map" , "机器人热力图"), GRID("grid" , "栅格推送"), TASK_END("task_end" , "任务结束"), + app_nav_stop("app_nav_stop" , "障碍物报警"), PCD_LOAD("pcd_load" , "pcd下载"); /** diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java index 9db7301..4c2ad6a 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java @@ -27,6 +27,7 @@ HEAT_MAP("heat_map" , "机器人热力图"), GRID("grid" , "栅格推送"), TASK_END("task_end" , "任务结束"), + app_nav_stop("app_nav_stop" , "障碍物报警"), PCD_LOAD("pcd_load" , "pcd下载"); /** diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java new file mode 100644 index 0000000..a443d5f --- /dev/null +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java @@ -0,0 +1,73 @@ +package com.casic.missiles.modular.robot.opt.handler.msg; + +import cn.hutool.core.util.StrUtil; +import com.alibaba.fastjson.JSON; +import com.alibaba.fastjson.TypeReference; +import com.casic.missiles.common.WebSocket; +import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums; +import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler; +import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO; +import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO; +import com.casic.missiles.modular.robot.opt.instruct.dto.ResultNavStopDTO; +import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; +import lombok.extern.slf4j.Slf4j; +import org.eclipse.paho.client.mqttv3.MqttMessage; +import org.springframework.stereotype.Component; + +import javax.annotation.Resource; +import java.util.Map; +import java.util.concurrent.ConcurrentHashMap; + +/** + * 停障状态实时接收器 + */ +@Slf4j +@Component("/app_nav_stop") +public class AppNavStopMsgHandler implements IBaseMsgHandler { + private final IRobotStatusInfoService statusInfoService; + private static Map index = new ConcurrentHashMap<>(); + /** + * websocket 连接 + */ + @Resource + private WebSocket webSocket; + + + public AppNavStopMsgHandler(IRobotStatusInfoService statusInfoService) { + this.statusInfoService = statusInfoService; + } + + /** + * websocket 消息推送 + * + * @param enums 推送消息枚举 + * @param robotId 机器人连接 + * @param result 消息集合 + */ + protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, ResultNavStopDTO result) { + try { + WsMsgBaseDTO wsMsgBaseDTO = new WsMsgBaseDTO(); + wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); + wsMsgBaseDTO.setData(result); + String msg = JSON.toJSONString(wsMsgBaseDTO); + log.info("推送{}消息：{}", enums.getRemarks(), msg); + webSocket.sendOneMessage(robotId, msg); + } catch (Exception e) { + log.error(e.getMessage()); + } + } + + @Override + public void process(String robotId, String topic, MqttMessage message) { + String json = new String(message.getPayload()); + if (StrUtil.isNotEmpty(json)) { + RobotMsgResponseDTO responseDTO = JSON.parseObject(json, new TypeReference>() { + }); + if ("1".equals(responseDTO.getMsg().getResult())) { + ResultNavStopDTO resultNavStopDTO = new ResultNavStopDTO(); + resultNavStopDTO.setResult("1"); + sendWebSocket(InstructStatusMsgEnums.app_nav_stop, robotId, resultNavStopDTO); + } + } + } +} diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java index 9db7301..4c2ad6a 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java @@ -27,6 +27,7 @@ HEAT_MAP("heat_map" , "机器人热力图"), GRID("grid" , "栅格推送"), TASK_END("task_end" , "任务结束"), + app_nav_stop("app_nav_stop" , "障碍物报警"), PCD_LOAD("pcd_load" , "pcd下载"); /** diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java new file mode 100644 index 0000000..a443d5f --- /dev/null +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java @@ -0,0 +1,73 @@ +package com.casic.missiles.modular.robot.opt.handler.msg; + +import cn.hutool.core.util.StrUtil; +import com.alibaba.fastjson.JSON; +import com.alibaba.fastjson.TypeReference; +import com.casic.missiles.common.WebSocket; +import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums; +import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler; +import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO; +import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO; +import com.casic.missiles.modular.robot.opt.instruct.dto.ResultNavStopDTO; +import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; +import lombok.extern.slf4j.Slf4j; +import org.eclipse.paho.client.mqttv3.MqttMessage; +import org.springframework.stereotype.Component; + +import javax.annotation.Resource; +import java.util.Map; +import java.util.concurrent.ConcurrentHashMap; + +/** + * 停障状态实时接收器 + */ +@Slf4j +@Component("/app_nav_stop") +public class AppNavStopMsgHandler implements IBaseMsgHandler { + private final IRobotStatusInfoService statusInfoService; + private static Map index = new ConcurrentHashMap<>(); + /** + * websocket 连接 + */ + @Resource + private WebSocket webSocket; + + + public AppNavStopMsgHandler(IRobotStatusInfoService statusInfoService) { + this.statusInfoService = statusInfoService; + } + + /** + * websocket 消息推送 + * + * @param enums 推送消息枚举 + * @param robotId 机器人连接 + * @param result 消息集合 + */ + protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, ResultNavStopDTO result) { + try { + WsMsgBaseDTO wsMsgBaseDTO = new WsMsgBaseDTO(); + wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); + wsMsgBaseDTO.setData(result); + String msg = JSON.toJSONString(wsMsgBaseDTO); + log.info("推送{}消息：{}", enums.getRemarks(), msg); + webSocket.sendOneMessage(robotId, msg); + } catch (Exception e) { + log.error(e.getMessage()); + } + } + + @Override + public void process(String robotId, String topic, MqttMessage message) { + String json = new String(message.getPayload()); + if (StrUtil.isNotEmpty(json)) { + RobotMsgResponseDTO responseDTO = JSON.parseObject(json, new TypeReference>() { + }); + if ("1".equals(responseDTO.getMsg().getResult())) { + ResultNavStopDTO resultNavStopDTO = new ResultNavStopDTO(); + resultNavStopDTO.setResult("1"); + sendWebSocket(InstructStatusMsgEnums.app_nav_stop, robotId, resultNavStopDTO); + } + } + } +} 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 6c3c3bd..5d57391 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 @@ -25,7 +25,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { -// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); + log.info("pose_message..........", robotId, topic, message.toString()); sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message); PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message); event.setRobotId(robotId); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java index 9db7301..4c2ad6a 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java @@ -27,6 +27,7 @@ HEAT_MAP("heat_map" , "机器人热力图"), GRID("grid" , "栅格推送"), TASK_END("task_end" , "任务结束"), + app_nav_stop("app_nav_stop" , "障碍物报警"), PCD_LOAD("pcd_load" , "pcd下载"); /** diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java new file mode 100644 index 0000000..a443d5f --- /dev/null +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java @@ -0,0 +1,73 @@ +package com.casic.missiles.modular.robot.opt.handler.msg; + +import cn.hutool.core.util.StrUtil; +import com.alibaba.fastjson.JSON; +import com.alibaba.fastjson.TypeReference; +import com.casic.missiles.common.WebSocket; +import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums; +import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler; +import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO; +import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO; +import com.casic.missiles.modular.robot.opt.instruct.dto.ResultNavStopDTO; +import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; +import lombok.extern.slf4j.Slf4j; +import org.eclipse.paho.client.mqttv3.MqttMessage; +import org.springframework.stereotype.Component; + +import javax.annotation.Resource; +import java.util.Map; +import java.util.concurrent.ConcurrentHashMap; + +/** + * 停障状态实时接收器 + */ +@Slf4j +@Component("/app_nav_stop") +public class AppNavStopMsgHandler implements IBaseMsgHandler { + private final IRobotStatusInfoService statusInfoService; + private static Map index = new ConcurrentHashMap<>(); + /** + * websocket 连接 + */ + @Resource + private WebSocket webSocket; + + + public AppNavStopMsgHandler(IRobotStatusInfoService statusInfoService) { + this.statusInfoService = statusInfoService; + } + + /** + * websocket 消息推送 + * + * @param enums 推送消息枚举 + * @param robotId 机器人连接 + * @param result 消息集合 + */ + protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, ResultNavStopDTO result) { + try { + WsMsgBaseDTO wsMsgBaseDTO = new WsMsgBaseDTO(); + wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); + wsMsgBaseDTO.setData(result); + String msg = JSON.toJSONString(wsMsgBaseDTO); + log.info("推送{}消息：{}", enums.getRemarks(), msg); + webSocket.sendOneMessage(robotId, msg); + } catch (Exception e) { + log.error(e.getMessage()); + } + } + + @Override + public void process(String robotId, String topic, MqttMessage message) { + String json = new String(message.getPayload()); + if (StrUtil.isNotEmpty(json)) { + RobotMsgResponseDTO responseDTO = JSON.parseObject(json, new TypeReference>() { + }); + if ("1".equals(responseDTO.getMsg().getResult())) { + ResultNavStopDTO resultNavStopDTO = new ResultNavStopDTO(); + resultNavStopDTO.setResult("1"); + sendWebSocket(InstructStatusMsgEnums.app_nav_stop, robotId, resultNavStopDTO); + } + } + } +} 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 6c3c3bd..5d57391 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 @@ -25,7 +25,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { -// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); + log.info("pose_message..........", robotId, topic, message.toString()); sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message); PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message); event.setRobotId(robotId); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java index 40a60a1..5644c2f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java @@ -26,6 +26,7 @@ import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; +import java.math.BigDecimal; import java.util.List; /** @@ -164,7 +165,7 @@ throw new ServiceException(500,"请优先开启导航"); } RobotInfo robotInfo = robotInfoService.getById(request.getRobotId()); - GridPointDTO gridPointDTO = new GridPointDTO(); + GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(request.getX()),new BigDecimal(request.getY()),robotInfo.getResolution(),robotInfo); //获取栅格中心点 GridPointDTO pointDTO = algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo); request.setX(pointDTO.getX().toString()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java index 9db7301..4c2ad6a 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java @@ -27,6 +27,7 @@ HEAT_MAP("heat_map" , "机器人热力图"), GRID("grid" , "栅格推送"), TASK_END("task_end" , "任务结束"), + app_nav_stop("app_nav_stop" , "障碍物报警"), PCD_LOAD("pcd_load" , "pcd下载"); /** diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java new file mode 100644 index 0000000..a443d5f --- /dev/null +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java @@ -0,0 +1,73 @@ +package com.casic.missiles.modular.robot.opt.handler.msg; + +import cn.hutool.core.util.StrUtil; +import com.alibaba.fastjson.JSON; +import com.alibaba.fastjson.TypeReference; +import com.casic.missiles.common.WebSocket; +import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums; +import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler; +import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO; +import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO; +import com.casic.missiles.modular.robot.opt.instruct.dto.ResultNavStopDTO; +import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; +import lombok.extern.slf4j.Slf4j; +import org.eclipse.paho.client.mqttv3.MqttMessage; +import org.springframework.stereotype.Component; + +import javax.annotation.Resource; +import java.util.Map; +import java.util.concurrent.ConcurrentHashMap; + +/** + * 停障状态实时接收器 + */ +@Slf4j +@Component("/app_nav_stop") +public class AppNavStopMsgHandler implements IBaseMsgHandler { + private final IRobotStatusInfoService statusInfoService; + private static Map index = new ConcurrentHashMap<>(); + /** + * websocket 连接 + */ + @Resource + private WebSocket webSocket; + + + public AppNavStopMsgHandler(IRobotStatusInfoService statusInfoService) { + this.statusInfoService = statusInfoService; + } + + /** + * websocket 消息推送 + * + * @param enums 推送消息枚举 + * @param robotId 机器人连接 + * @param result 消息集合 + */ + protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, ResultNavStopDTO result) { + try { + WsMsgBaseDTO wsMsgBaseDTO = new WsMsgBaseDTO(); + wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); + wsMsgBaseDTO.setData(result); + String msg = JSON.toJSONString(wsMsgBaseDTO); + log.info("推送{}消息：{}", enums.getRemarks(), msg); + webSocket.sendOneMessage(robotId, msg); + } catch (Exception e) { + log.error(e.getMessage()); + } + } + + @Override + public void process(String robotId, String topic, MqttMessage message) { + String json = new String(message.getPayload()); + if (StrUtil.isNotEmpty(json)) { + RobotMsgResponseDTO responseDTO = JSON.parseObject(json, new TypeReference>() { + }); + if ("1".equals(responseDTO.getMsg().getResult())) { + ResultNavStopDTO resultNavStopDTO = new ResultNavStopDTO(); + resultNavStopDTO.setResult("1"); + sendWebSocket(InstructStatusMsgEnums.app_nav_stop, robotId, resultNavStopDTO); + } + } + } +} 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 6c3c3bd..5d57391 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 @@ -25,7 +25,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { -// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); + log.info("pose_message..........", robotId, topic, message.toString()); sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message); PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message); event.setRobotId(robotId); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java index 40a60a1..5644c2f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java @@ -26,6 +26,7 @@ import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; +import java.math.BigDecimal; import java.util.List; /** @@ -164,7 +165,7 @@ throw new ServiceException(500,"请优先开启导航"); } RobotInfo robotInfo = robotInfoService.getById(request.getRobotId()); - GridPointDTO gridPointDTO = new GridPointDTO(); + GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(request.getX()),new BigDecimal(request.getY()),robotInfo.getResolution(),robotInfo); //获取栅格中心点 GridPointDTO pointDTO = algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo); request.setX(pointDTO.getX().toString()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/ResultNavStopDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/ResultNavStopDTO.java new file mode 100644 index 0000000..3dea3ba --- /dev/null +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/ResultNavStopDTO.java @@ -0,0 +1,10 @@ +package com.casic.missiles.modular.robot.opt.instruct.dto; + +import lombok.Data; + +import java.io.Serializable; + +@Data +public class ResultNavStopDTO implements Serializable { + private String result; +} diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java index 9db7301..4c2ad6a 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java @@ -27,6 +27,7 @@ HEAT_MAP("heat_map" , "机器人热力图"), GRID("grid" , "栅格推送"), TASK_END("task_end" , "任务结束"), + app_nav_stop("app_nav_stop" , "障碍物报警"), PCD_LOAD("pcd_load" , "pcd下载"); /** diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java new file mode 100644 index 0000000..a443d5f --- /dev/null +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java @@ -0,0 +1,73 @@ +package com.casic.missiles.modular.robot.opt.handler.msg; + +import cn.hutool.core.util.StrUtil; +import com.alibaba.fastjson.JSON; +import com.alibaba.fastjson.TypeReference; +import com.casic.missiles.common.WebSocket; +import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums; +import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler; +import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO; +import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO; +import com.casic.missiles.modular.robot.opt.instruct.dto.ResultNavStopDTO; +import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; +import lombok.extern.slf4j.Slf4j; +import org.eclipse.paho.client.mqttv3.MqttMessage; +import org.springframework.stereotype.Component; + +import javax.annotation.Resource; +import java.util.Map; +import java.util.concurrent.ConcurrentHashMap; + +/** + * 停障状态实时接收器 + */ +@Slf4j +@Component("/app_nav_stop") +public class AppNavStopMsgHandler implements IBaseMsgHandler { + private final IRobotStatusInfoService statusInfoService; + private static Map index = new ConcurrentHashMap<>(); + /** + * websocket 连接 + */ + @Resource + private WebSocket webSocket; + + + public AppNavStopMsgHandler(IRobotStatusInfoService statusInfoService) { + this.statusInfoService = statusInfoService; + } + + /** + * websocket 消息推送 + * + * @param enums 推送消息枚举 + * @param robotId 机器人连接 + * @param result 消息集合 + */ + protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, ResultNavStopDTO result) { + try { + WsMsgBaseDTO wsMsgBaseDTO = new WsMsgBaseDTO(); + wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); + wsMsgBaseDTO.setData(result); + String msg = JSON.toJSONString(wsMsgBaseDTO); + log.info("推送{}消息：{}", enums.getRemarks(), msg); + webSocket.sendOneMessage(robotId, msg); + } catch (Exception e) { + log.error(e.getMessage()); + } + } + + @Override + public void process(String robotId, String topic, MqttMessage message) { + String json = new String(message.getPayload()); + if (StrUtil.isNotEmpty(json)) { + RobotMsgResponseDTO responseDTO = JSON.parseObject(json, new TypeReference>() { + }); + if ("1".equals(responseDTO.getMsg().getResult())) { + ResultNavStopDTO resultNavStopDTO = new ResultNavStopDTO(); + resultNavStopDTO.setResult("1"); + sendWebSocket(InstructStatusMsgEnums.app_nav_stop, robotId, resultNavStopDTO); + } + } + } +} 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 6c3c3bd..5d57391 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 @@ -25,7 +25,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { -// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); + log.info("pose_message..........", robotId, topic, message.toString()); sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message); PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message); event.setRobotId(robotId); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java index 40a60a1..5644c2f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java @@ -26,6 +26,7 @@ import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; +import java.math.BigDecimal; import java.util.List; /** @@ -164,7 +165,7 @@ throw new ServiceException(500,"请优先开启导航"); } RobotInfo robotInfo = robotInfoService.getById(request.getRobotId()); - GridPointDTO gridPointDTO = new GridPointDTO(); + GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(request.getX()),new BigDecimal(request.getY()),robotInfo.getResolution(),robotInfo); //获取栅格中心点 GridPointDTO pointDTO = algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo); request.setX(pointDTO.getX().toString()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/ResultNavStopDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/ResultNavStopDTO.java new file mode 100644 index 0000000..3dea3ba --- /dev/null +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/ResultNavStopDTO.java @@ -0,0 +1,10 @@ +package com.casic.missiles.modular.robot.opt.instruct.dto; + +import lombok.Data; + +import java.io.Serializable; + +@Data +public class ResultNavStopDTO implements Serializable { + private String result; +} diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java index 8319857..8b520cb 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java @@ -48,11 +48,12 @@ initDTO.setZNow("0.00"); } - log.info(JSON.toJSONString(initDTO)); + //算法路径及入参配置 List commends = new ArrayList<>(); commends.add(path + initPathName); commends.addAll(initDTO.toArray()); + log.info("初始算法调用:{}", commends); List res = AlgorithmUtils.invokeJob(commends); //判断当前任务是否开启 @@ -73,6 +74,7 @@ List commends = new ArrayList<>(); commends.add(path + planPathName); commends.addAll(planDTO.toArray()); + log.info("寻源算法调用:{}", commends); log.info("寻源算法调用:{}", JSON.toJSONString(planDTO)); List res = AlgorithmUtils.invokeJob(commends); AlgorithmResponse response = getAlgorithmResponse(planDTO, res); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java index 9db7301..4c2ad6a 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java @@ -27,6 +27,7 @@ HEAT_MAP("heat_map" , "机器人热力图"), GRID("grid" , "栅格推送"), TASK_END("task_end" , "任务结束"), + app_nav_stop("app_nav_stop" , "障碍物报警"), PCD_LOAD("pcd_load" , "pcd下载"); /** diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java new file mode 100644 index 0000000..a443d5f --- /dev/null +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java @@ -0,0 +1,73 @@ +package com.casic.missiles.modular.robot.opt.handler.msg; + +import cn.hutool.core.util.StrUtil; +import com.alibaba.fastjson.JSON; +import com.alibaba.fastjson.TypeReference; +import com.casic.missiles.common.WebSocket; +import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums; +import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler; +import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO; +import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO; +import com.casic.missiles.modular.robot.opt.instruct.dto.ResultNavStopDTO; +import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; +import lombok.extern.slf4j.Slf4j; +import org.eclipse.paho.client.mqttv3.MqttMessage; +import org.springframework.stereotype.Component; + +import javax.annotation.Resource; +import java.util.Map; +import java.util.concurrent.ConcurrentHashMap; + +/** + * 停障状态实时接收器 + */ +@Slf4j +@Component("/app_nav_stop") +public class AppNavStopMsgHandler implements IBaseMsgHandler { + private final IRobotStatusInfoService statusInfoService; + private static Map index = new ConcurrentHashMap<>(); + /** + * websocket 连接 + */ + @Resource + private WebSocket webSocket; + + + public AppNavStopMsgHandler(IRobotStatusInfoService statusInfoService) { + this.statusInfoService = statusInfoService; + } + + /** + * websocket 消息推送 + * + * @param enums 推送消息枚举 + * @param robotId 机器人连接 + * @param result 消息集合 + */ + protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, ResultNavStopDTO result) { + try { + WsMsgBaseDTO wsMsgBaseDTO = new WsMsgBaseDTO(); + wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); + wsMsgBaseDTO.setData(result); + String msg = JSON.toJSONString(wsMsgBaseDTO); + log.info("推送{}消息：{}", enums.getRemarks(), msg); + webSocket.sendOneMessage(robotId, msg); + } catch (Exception e) { + log.error(e.getMessage()); + } + } + + @Override + public void process(String robotId, String topic, MqttMessage message) { + String json = new String(message.getPayload()); + if (StrUtil.isNotEmpty(json)) { + RobotMsgResponseDTO responseDTO = JSON.parseObject(json, new TypeReference>() { + }); + if ("1".equals(responseDTO.getMsg().getResult())) { + ResultNavStopDTO resultNavStopDTO = new ResultNavStopDTO(); + resultNavStopDTO.setResult("1"); + sendWebSocket(InstructStatusMsgEnums.app_nav_stop, robotId, resultNavStopDTO); + } + } + } +} 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 6c3c3bd..5d57391 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 @@ -25,7 +25,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { -// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); + log.info("pose_message..........", robotId, topic, message.toString()); sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message); PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message); event.setRobotId(robotId); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java index 40a60a1..5644c2f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java @@ -26,6 +26,7 @@ import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; +import java.math.BigDecimal; import java.util.List; /** @@ -164,7 +165,7 @@ throw new ServiceException(500,"请优先开启导航"); } RobotInfo robotInfo = robotInfoService.getById(request.getRobotId()); - GridPointDTO gridPointDTO = new GridPointDTO(); + GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(request.getX()),new BigDecimal(request.getY()),robotInfo.getResolution(),robotInfo); //获取栅格中心点 GridPointDTO pointDTO = algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo); request.setX(pointDTO.getX().toString()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/ResultNavStopDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/ResultNavStopDTO.java new file mode 100644 index 0000000..3dea3ba --- /dev/null +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/ResultNavStopDTO.java @@ -0,0 +1,10 @@ +package com.casic.missiles.modular.robot.opt.instruct.dto; + +import lombok.Data; + +import java.io.Serializable; + +@Data +public class ResultNavStopDTO implements Serializable { + private String result; +} diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java index 8319857..8b520cb 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java @@ -48,11 +48,12 @@ initDTO.setZNow("0.00"); } - log.info(JSON.toJSONString(initDTO)); + //算法路径及入参配置 List commends = new ArrayList<>(); commends.add(path + initPathName); commends.addAll(initDTO.toArray()); + log.info("初始算法调用:{}", commends); List res = AlgorithmUtils.invokeJob(commends); //判断当前任务是否开启 @@ -73,6 +74,7 @@ List commends = new ArrayList<>(); commends.add(path + planPathName); commends.addAll(planDTO.toArray()); + log.info("寻源算法调用:{}", commends); log.info("寻源算法调用:{}", JSON.toJSONString(planDTO)); List res = AlgorithmUtils.invokeJob(commends); AlgorithmResponse response = getAlgorithmResponse(planDTO, res); diff --git a/casic-web/src/main/resources/config/application-test.yml b/casic-web/src/main/resources/config/application-test.yml index 83bb076..c67b69c 100644 --- a/casic-web/src/main/resources/config/application-test.yml +++ b/casic-web/src/main/resources/config/application-test.yml @@ -4,9 +4,9 @@ spring: datasource: driver-class-name: com.mysql.cj.jdbc.Driver - url: jdbc:mysql://192.168.83.40:3000/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true + url: jdbc:mysql://192.168.1.102:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true username: root - password: root + password: 123456 druid: max-active: 50 min-idle: 20 diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java index 9db7301..4c2ad6a 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/enums/InstructStatusMsgEnums.java @@ -27,6 +27,7 @@ HEAT_MAP("heat_map" , "机器人热力图"), GRID("grid" , "栅格推送"), TASK_END("task_end" , "任务结束"), + app_nav_stop("app_nav_stop" , "障碍物报警"), PCD_LOAD("pcd_load" , "pcd下载"); /** diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java new file mode 100644 index 0000000..a443d5f --- /dev/null +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavStopMsgHandler.java @@ -0,0 +1,73 @@ +package com.casic.missiles.modular.robot.opt.handler.msg; + +import cn.hutool.core.util.StrUtil; +import com.alibaba.fastjson.JSON; +import com.alibaba.fastjson.TypeReference; +import com.casic.missiles.common.WebSocket; +import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums; +import com.casic.missiles.modular.robot.opt.handler.IBaseMsgHandler; +import com.casic.missiles.modular.robot.opt.instruct.base.WsMsgBaseDTO; +import com.casic.missiles.modular.robot.opt.instruct.base.dto.RobotMsgResponseDTO; +import com.casic.missiles.modular.robot.opt.instruct.dto.ResultNavStopDTO; +import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; +import lombok.extern.slf4j.Slf4j; +import org.eclipse.paho.client.mqttv3.MqttMessage; +import org.springframework.stereotype.Component; + +import javax.annotation.Resource; +import java.util.Map; +import java.util.concurrent.ConcurrentHashMap; + +/** + * 停障状态实时接收器 + */ +@Slf4j +@Component("/app_nav_stop") +public class AppNavStopMsgHandler implements IBaseMsgHandler { + private final IRobotStatusInfoService statusInfoService; + private static Map index = new ConcurrentHashMap<>(); + /** + * websocket 连接 + */ + @Resource + private WebSocket webSocket; + + + public AppNavStopMsgHandler(IRobotStatusInfoService statusInfoService) { + this.statusInfoService = statusInfoService; + } + + /** + * websocket 消息推送 + * + * @param enums 推送消息枚举 + * @param robotId 机器人连接 + * @param result 消息集合 + */ + protected void sendWebSocket(InstructStatusMsgEnums enums, String robotId, ResultNavStopDTO result) { + try { + WsMsgBaseDTO wsMsgBaseDTO = new WsMsgBaseDTO(); + wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); + wsMsgBaseDTO.setData(result); + String msg = JSON.toJSONString(wsMsgBaseDTO); + log.info("推送{}消息：{}", enums.getRemarks(), msg); + webSocket.sendOneMessage(robotId, msg); + } catch (Exception e) { + log.error(e.getMessage()); + } + } + + @Override + public void process(String robotId, String topic, MqttMessage message) { + String json = new String(message.getPayload()); + if (StrUtil.isNotEmpty(json)) { + RobotMsgResponseDTO responseDTO = JSON.parseObject(json, new TypeReference>() { + }); + if ("1".equals(responseDTO.getMsg().getResult())) { + ResultNavStopDTO resultNavStopDTO = new ResultNavStopDTO(); + resultNavStopDTO.setResult("1"); + sendWebSocket(InstructStatusMsgEnums.app_nav_stop, robotId, resultNavStopDTO); + } + } + } +} 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 6c3c3bd..5d57391 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 @@ -25,7 +25,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { -// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); + log.info("pose_message..........", robotId, topic, message.toString()); sendWebSocket(InstructStatusMsgEnums.POSE_MESSAGE, robotId, message); PoseMessageEvent event = new PoseMessageEvent(LoginEventTypeEnum.RELOAD_SCOPE, message); event.setRobotId(robotId); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java index 40a60a1..5644c2f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java @@ -26,6 +26,7 @@ import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; +import java.math.BigDecimal; import java.util.List; /** @@ -164,7 +165,7 @@ throw new ServiceException(500,"请优先开启导航"); } RobotInfo robotInfo = robotInfoService.getById(request.getRobotId()); - GridPointDTO gridPointDTO = new GridPointDTO(); + GridPointDTO gridPointDTO = algorithmService.convertSlamToGrid(new BigDecimal(request.getX()),new BigDecimal(request.getY()),robotInfo.getResolution(),robotInfo); //获取栅格中心点 GridPointDTO pointDTO = algorithmService.convertGridCenterPoint(gridPointDTO,robotInfo.getResolution(),robotInfo); request.setX(pointDTO.getX().toString()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/ResultNavStopDTO.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/ResultNavStopDTO.java new file mode 100644 index 0000000..3dea3ba --- /dev/null +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/ResultNavStopDTO.java @@ -0,0 +1,10 @@ +package com.casic.missiles.modular.robot.opt.instruct.dto; + +import lombok.Data; + +import java.io.Serializable; + +@Data +public class ResultNavStopDTO implements Serializable { + private String result; +} diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java index 8319857..8b520cb 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/AlgorithmServiceImpl.java @@ -48,11 +48,12 @@ initDTO.setZNow("0.00"); } - log.info(JSON.toJSONString(initDTO)); + //算法路径及入参配置 List commends = new ArrayList<>(); commends.add(path + initPathName); commends.addAll(initDTO.toArray()); + log.info("初始算法调用:{}", commends); List res = AlgorithmUtils.invokeJob(commends); //判断当前任务是否开启 @@ -73,6 +74,7 @@ List commends = new ArrayList<>(); commends.add(path + planPathName); commends.addAll(planDTO.toArray()); + log.info("寻源算法调用:{}", commends); log.info("寻源算法调用:{}", JSON.toJSONString(planDTO)); List res = AlgorithmUtils.invokeJob(commends); AlgorithmResponse response = getAlgorithmResponse(planDTO, res); diff --git a/casic-web/src/main/resources/config/application-test.yml b/casic-web/src/main/resources/config/application-test.yml index 83bb076..c67b69c 100644 --- a/casic-web/src/main/resources/config/application-test.yml +++ b/casic-web/src/main/resources/config/application-test.yml @@ -4,9 +4,9 @@ spring: datasource: driver-class-name: com.mysql.cj.jdbc.Driver - url: jdbc:mysql://192.168.83.40:3000/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true + url: jdbc:mysql://192.168.1.102:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true username: root - password: root + password: 123456 druid: max-active: 50 min-idle: 20 diff --git a/casic-web/src/main/resources/config/application.yml b/casic-web/src/main/resources/config/application.yml index a2cafc3..14112dc 100644 --- a/casic-web/src/main/resources/config/application.yml +++ b/casic-web/src/main/resources/config/application.yml @@ -42,10 +42,10 @@ session-invalidate-time: 86400 #session失效时间(只在单机环境下生效，,多机环境在SpringSessionConfig类中配置) 单位：秒 session-validation-interval: 900 #多久检测一次失效的session(只在单机环境下生效) 单位：秒 no-login-urls: /user/login,/kaptcha,/config/baseConfig - hikSdk: D:\code\robot\casic-robot-inspection\doc\hiklib\HCNetSDK.dll - hikPlay: D:\code\robot\casic-robot-inspection\doc\hiklib\PlayCtrl.dll + hikSdk: D:\workspace\server\keti\casic-robot-inspection\doc\hiklib\HCNetSDK.dll + hikPlay: D:\workspace\server\keti\casic-robot-inspection\doc\hiklib\PlayCtrl.dll algorithm: - path: D:\code\robot\casic-robot-inspection\casic-web\src\main\resources\config\path\ + path: D:\robot\path\ initPathName: init.exe planPathName: search.exe doc: