Merge remote-tracking branch 'origin/master'

servo/src/main/java/com/galaxis/rcs/plan/PlanTaskSequence.java

@@ -5,11 +5,9 @@ import com.galaxis.rcs.common.entity.RcsTaskBiz;
 import com.galaxis.rcs.common.entity.RcsTaskPlan;
 import com.galaxis.rcs.common.enums.PlanTaskStatus;
 import com.galaxis.rcs.common.enums.PlanTaskType;
-import com.galaxis.rcs.ptr.ArmMessageType;
 import com.google.common.base.Splitter;
 import com.google.common.collect.Lists;
 import com.yvan.logisticsModel.LogisticsRuntime;
-import com.yvan.logisticsModel.PtrAgvDeviceTask;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
 import org.clever.core.BannerUtils;
@@ -144,6 +142,7 @@ public class PlanTaskSequence {
                     taskStr = "FINISH";
                     break;
             }
+            taskStr = taskStr + " STATE:" + task.getPlanTaskStatus();
 
             list.add(taskStr);
         }
@@ -157,9 +156,11 @@ public class PlanTaskSequence {
     public boolean isAllCompleted() {
         boolean isAllComplete = true;
         for (RcsTaskPlan task : taskList) {
-            if (!PlanTaskStatus.FINISHED.toString().equals(task.getPlanTaskStatus())) {
+            if (PlanTaskType.valueOf(task.getPlanType()) != PlanTaskType.FINISH) {
-                isAllComplete = false;
+                if (!PlanTaskStatus.FINISHED.toString().equals(task.getPlanTaskStatus())) {
-                break;
+                    isAllComplete = false;
+                    break;
+                }
             }
         }
         return isAllComplete;
@@ -178,10 +179,22 @@ public class PlanTaskSequence {
     public void savePlanTask(RcsTaskPlan planTask) {
         //TODO: 保存数据库
         var jw = new JsonWrapper(planTask);
+        jw.set("isAllCompleted", this.isAllCompleted());
+
         var list = Splitter.on("\n").splitToList(jw.toString());
         String[] ar = new String[list.size()];
         list.toArray(ar);
+
+
         // log.info("3-Received message: " + json);
         BannerUtils.printConfig(log, "保存业务任务 planTask", ar);
     }
+
+    public boolean isEmpty() {
+        return this.taskList.isEmpty();
+    }
+
+    public int size() {
+        return this.taskList.size();
+    }
 }

servo/src/main/java/com/galaxis/rcs/ptr/AmrMessageHandler.java

@@ -478,6 +478,7 @@ public class AmrMessageHandler {
                 AmrMessage<AmrTaskStatusMessage<TaskModeChangeData>> taskModeChange = JacksonUtils.parse(json, typeRef20011_1Message);
                 AmrTaskStatusMessage<TaskModeChangeData> modeMessage = taskModeChange.content;
                 agvItem.updateDeviceTaskStatus((int) modeMessage.SeqNo, 0, 0, modeMessage.EventId);
+                agvItem.updateTaskMode(modeMessage.Info.TaskMode);
                 break;
             case 4:
                 AmrMessage<AmrTaskStatusMessage<TaskCompletedData>> taskCompleted = JacksonUtils.parse(json, typeRef20011_4Message);

servo/src/main/java/com/galaxis/rcs/ptr/AmrTaskMode.java

@@ -44,7 +44,11 @@ public enum AmrTaskMode {
     /**
      * 自定义模式
      */
-    AMR_CUSTOMIZE_MODE(8, "自定义模式");
+    AMR_CUSTOMIZE_MODE(8, "自定义模式"),
+    /**
+     * 主程序退出（关机或关服务）时会进入这个模式
+     */
+    AMR_SHUTDOWN_MODE(8, "主程序退出");
 
     // 枚举值映射
     private static final Map<Integer, AmrTaskMode> VALUE_MAP;

servo/src/main/java/com/yvan/logisticsModel/PtrAgvItem.java

@@ -14,10 +14,11 @@ import com.galaxis.rcs.ptr.receiveEntity.base.CurBatteryData;
 import com.galaxis.rcs.ptr.sendEntity.RcsConfigMessage;
 import com.galaxis.rcs.ptr.sendEntity.RcsSRMessage;
 import com.galaxis.rcs.ptr.sendEntity.RcsSetLocationMessage;
+import com.google.common.base.Joiner;
 import com.google.common.collect.Queues;
-import com.yvan.logisticsMonitor.task.PlanTask;
 import lombok.SneakyThrows;
 import lombok.extern.slf4j.Slf4j;
+import org.clever.core.BannerUtils;
 import org.clever.core.json.JsonWrapper;
 import org.clever.data.redis.Redis;
 import org.clever.data.redis.RedisAdmin;
@@ -262,43 +263,58 @@ public abstract class PtrAgvItem extends ExecutorItem {
                 oldDirection, direction);
         }
 
+        boolean needCompute = false;
+
         // 从 runningDeviceTaskList 里面，找到完成到什么阶段
         // 比如 (1,2) -> (2,2) -> (3,2) ,  如果 updatePosition=3,2 ，那么前2个任务都要完成
         int finishTargetIndex = -1;
-        for (int i = 0; i < runningDeviceTaskList.size(); i++) {
+        if (this.runningDeviceTaskList != null && !this.runningDeviceTaskList.isEmpty() &&
-            PtrAgvDeviceTask task = runningDeviceTaskList.get(i);
+            this.planTaskSequence != null && !this.planTaskSequence.isEmpty()) {
-            if (task.checkLogicX == logicX && task.checkLogicY == logicY) {
-                finishTargetIndex = i;
-                break;
-            }
-        }
 
-        boolean needCompute = false;
+            for (int i = 0; i < runningDeviceTaskList.size(); i++) {
-
-        if (finishTargetIndex > 0) {
-            needCompute = true;
-            // 标记前面的任务都完成了
-            for (int i = 0; i < finishTargetIndex; i++) {
                 PtrAgvDeviceTask task = runningDeviceTaskList.get(i);
-
+                if (task.checkLogicX == logicX && task.checkLogicY == logicY) {
-                task.taskStatus = 4; // 标记为完成
+                    finishTargetIndex = i;
-                task.taskGroupStatus = 4; // 标记为任务组完成
+                    break;
-                fireEvent(AgvEventType.DEVICE_TASK_COMPLETE, this, task);
-
-                // 更新计划任务
-                RcsTaskPlan planTask = planTaskSequence.getByPlanTaskId(task.planTaskId);
-                if (planTask != null) {
-                    planTask.setPlanTaskStatus(PlanTaskStatus.FINISHED.toString());
-                    planTaskSequence.savePlanTask(planTask);
                 }
             }
 
-            if (planTaskSequence.isAllCompleted()) {
+            if (finishTargetIndex >= 0) {
-                fireEvent(AgvEventType.PLAN_COMPLETE, this);
+                needCompute = true;
-                planTaskSequence = null;
+                // 标记前面的任务都完成了
+                for (int i = 0; i <= finishTargetIndex; i++) {
+                    PtrAgvDeviceTask task = runningDeviceTaskList.get(i);
+
+                    task.taskStatus = 4; // 标记为完成
+                    task.taskGroupStatus = 4; // 标记为任务组完成
+                    fireEvent(AgvEventType.DEVICE_TASK_COMPLETE, this, task);
+
+                    // 更新计划任务
+                    RcsTaskPlan planTask = planTaskSequence.getByPlanTaskId(task.planTaskId);
+                    if (planTask != null) {
+                        planTask.setPlanTaskStatus(PlanTaskStatus.FINISHED.toString());
+                        planTaskSequence.savePlanTask(planTask);
+                    }
+                }
+
+                if (planTaskSequence.isAllCompleted()) {
+                    fireEvent(AgvEventType.PLAN_COMPLETE, this);
+                    planTaskSequence = null;
+                }
             }
         }
 
+        BannerUtils.printConfig(log, "updatePosition", new String[]{
+            "logicX: " + logicX,
+            "logicY: " + logicY,
+            "direction: " + direction,
+            "finishTargetIndex: " + finishTargetIndex,
+            "runningDeviceSize:" + (this.runningDeviceTaskList == null ? "null" : this.runningDeviceTaskList.size()),
+            "planTask:" + (this.planTaskSequence == null ? "null" :
+                ("\n" + Joiner.on("\n").join((List) this.planTaskSequence.toPrettyMap().get("items")))
+            )
+        });
+
         if (needCompute) {
             LockSupport.unpark(connectorThread);
         }

servo/src/main/java/com/yvan/workbench/autoconfigure/AppAutoConfiguration.java

@@ -18,6 +18,7 @@ import org.clever.core.AppContextHolder;
 import org.clever.core.Assert;
 import org.clever.core.ResourcePathUtils;
 import org.clever.core.json.jackson.JacksonConfig;
+import org.clever.core.mapper.JacksonMapper;
 import org.clever.core.reflection.ReflectionsUtils;
 import org.clever.core.task.StartupTaskBootstrap;
 import org.clever.data.jdbc.JdbcBootstrap;
@@ -300,6 +301,7 @@ public class AppAutoConfiguration {
         JavalinConfig javalinConfig = new JavalinConfig();
         ApplyWebConfig.applyConfig(appBasicsConfig.getRootPath(), webConfig, javalinConfig);
         // 修正 ObjectMapper、JsonMapper 属性
+        JacksonMapper.configure(webServerMapper);
         JsonMapper jsonMapper = new JavalinJackson(webServerMapper, webConfig.isUseVirtualThreads());
         jackson.apply(webServerMapper);
         javalinConfig.jsonMapper(jsonMapper);

servo/src/main/java/com/yvan/workbench/controller/UserPermissions.java

@@ -1,13 +1,31 @@
 package com.yvan.workbench.controller;
 
 import com.querydsl.sql.SQLQuery;
+import com.yvan.workbench.model.request.AddUserReq;
 import com.yvan.workbench.model.request.QueryUserReq;
+import com.yvan.workbench.model.request.UpdateUserReq;
+import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.lang3.StringUtils;
+import org.clever.core.Assert;
+import org.clever.core.Conv;
+import org.clever.core.id.SnowFlake;
+import org.clever.core.mapper.BeanCopyUtils;
+import org.clever.core.mapper.JacksonMapper;
 import org.clever.core.model.request.QueryByPage;
+import org.clever.core.model.response.R;
 import org.clever.data.jdbc.DaoFactory;
 import org.clever.data.jdbc.QueryDSL;
 import org.clever.data.jdbc.querydsl.utils.QueryDslUtils;
+import org.clever.security.SecurityContextHolder;
 import org.clever.security.impl.model.entity.SysUser;
+import org.clever.security.model.SecurityContext;
+import org.clever.web.mvc.annotation.RequestBody;
+import org.clever.web.mvc.annotation.RequestParam;
+import org.clever.web.mvc.annotation.Transactional;
+import org.clever.web.mvc.annotation.Validated;
+
+import java.util.Map;
+import java.util.Objects;
 
 import static org.clever.security.impl.model.query.QSysUser.sysUser;
 
@@ -15,6 +33,7 @@ import static org.clever.security.impl.model.query.QSysUser.sysUser;
  * 作者：lizw <br/>
  * 创建时间：2025/06/26 16:50 <br/>
  */
+@Slf4j
 public class UserPermissions {
     private static final QueryDSL QUERY_DSL = DaoFactory.getQueryDSL();
 
@@ -27,6 +46,42 @@ public class UserPermissions {
         if (req.getIsEnable() != null) {
             query.where(sysUser.isEnable.eq(req.getIsEnable()));
         }
-        return QueryDslUtils.queryByPage(query, queryByPage);
+        Object res = QueryDslUtils.queryByPage(query, queryByPage);
+        log.info("--> {}", JacksonMapper.getInstance().toJson(res));
+        return res;
+    }
+
+    @Transactional
+    public static R<?> addUser(@RequestBody @Validated AddUserReq req) {
+        SecurityContext securityContext = SecurityContextHolder.getContext();
+        long count = QUERY_DSL.selectFrom(sysUser).where(sysUser.loginName.eq(req.getLoginName())).fetchCount();
+        Assert.isTrue(count <= 0, "用户登录名已经存在：" + req.getLoginName());
+        SysUser user = BeanCopyUtils.mapper(SysUser.class, req);
+        user.setId(SnowFlake.SNOW_FLAKE.nextId());
+        user.setCreateBy(securityContext.getUserInfo().getUserId());
+        QUERY_DSL.insert(sysUser).populate(user).execute();
+        return R.success();
+    }
+
+    @Transactional
+    public static R<?> updateUser(@RequestBody @Validated UpdateUserReq req) {
+        SecurityContext securityContext = SecurityContextHolder.getContext();
+        SysUser oldUser = QUERY_DSL.selectFrom(sysUser).where(sysUser.loginName.eq(req.getLoginName())).fetchOne();
+        Assert.notNull(oldUser, "用户不存在：" + req.getLoginName());
+        SysUser user = BeanCopyUtils.mapper(SysUser.class, req);
+        user.setUpdateBy(securityContext.getUserInfo().getUserId());
+        QUERY_DSL.update(sysUser).populate(user).where(sysUser.id.eq(oldUser.getId())).execute();
+        return R.success();
+    }
+
+    @Transactional
+    public static R<?> delUser(@RequestParam Map<String, Object> req) {
+        long id = Conv.asLong(req.get("id"));
+        Assert.isTrue(
+                !Objects.equals(id, SecurityContextHolder.getUserInfo().getUserId()),
+                "不能删除当前登录的用户"
+        );
+        QUERY_DSL.delete(sysUser).where(sysUser.id.eq(id)).execute();
+        return R.success();
     }
 }

servo/src/main/java/com/yvan/workbench/model/request/AddUserReq.java

@@ -0,0 +1,33 @@
+package com.yvan.workbench.model.request;
+
+import jakarta.validation.constraints.NotBlank;
+import jakarta.validation.constraints.NotNull;
+import lombok.Data;
+
+/**
+ * 作者：lizw <br/>
+ * 创建时间：2025/06/27 14:10 <br/>
+ */
+@Data
+public class AddUserReq {
+    /**
+     * 用户登录名(允许修改)
+     */
+    @NotBlank
+    private String loginName;
+    /**
+     * 登录密码
+     */
+    @NotBlank
+    private String password;
+    /**
+     * 登录名
+     */
+    @NotBlank
+    private String userName;
+    /**
+     * 是否启用: 0:禁用，1:启用
+     */
+    @NotNull
+    private Integer isEnable;
+}

servo/src/main/java/com/yvan/workbench/model/request/UpdateUserReq.java

@@ -0,0 +1,33 @@
+package com.yvan.workbench.model.request;
+
+import jakarta.validation.constraints.NotBlank;
+import jakarta.validation.constraints.NotNull;
+import lombok.Data;
+
+/**
+ * 作者：lizw <br/>
+ * 创建时间：2025/06/27 15:37 <br/>
+ */
+@Data
+public class UpdateUserReq {
+    /**
+     * 用户登录名(允许修改)
+     */
+    @NotBlank
+    private String loginName;
+    /**
+     * 登录密码
+     */
+    @NotBlank
+    private String password;
+    /**
+     * 登录名
+     */
+    @NotBlank
+    private String userName;
+    /**
+     * 是否启用: 0:禁用，1:启用
+     */
+    @NotNull
+    private Integer isEnable;
+}

servo/src/main/resources/application.yml

@@ -141,8 +141,6 @@ web:
       read-only: false
   security:
     ignore-paths:
-      - '/api/**'
-      - '/ok'
       - '/favicon.ico'
       - '/dist/**'
       - '/static/**'
@@ -163,7 +161,8 @@ web:
       - '/**/.git'
       - '/ok'
     ignore-auth-paths: ['/ok']
-    ignore-auth-failed-paths: [ ]
+    ignore-auth-failed-paths:
+      - '/api/**'
     current-user-path: '/api/current_user'
     login:
       paths: [ '/api/login' ]

servo/src/test/java/com/yvan/workbench/JsTest.java

@@ -2,6 +2,7 @@ package com.yvan.workbench;
 
 import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.pool2.impl.GenericObjectPoolConfig;
+import org.clever.core.mapper.JacksonMapper;
 import org.clever.js.api.ScriptEngineInstance;
 import org.clever.js.api.ScriptObject;
 import org.clever.js.api.folder.FileSystemFolder;
@@ -16,6 +17,8 @@ import org.junit.jupiter.api.Test;
 
 import java.io.File;
 import java.time.Duration;
+import java.util.HashMap;
+import java.util.Map;
 
 @Slf4j
 public class JsTest {
@@ -58,4 +61,11 @@ public class JsTest {
         pool.close();
         factory.close();
     }
+
+    @Test
+    public void test03() {
+        Map<String, Object> map = new HashMap<>();
+        map.put("a", 1L);
+        log.info("--> {}", JacksonMapper.getInstance().toJson(map));
+    }
 }