复杂路径思路梳理

src/main/java/com/iflytop/nuclear/controller/PathController.java

@@ -1,6 +1,7 @@
 package com.iflytop.nuclear.controller;
 
 import com.alibaba.fastjson.JSONObject;
+import com.baomidou.mybatisplus.core.conditions.query.QueryWrapper;
 import com.iflytop.nuclear.model.Path;
 import com.iflytop.nuclear.model.Task;
 import com.iflytop.nuclear.service.PathService;
@@ -47,4 +48,12 @@ public class PathController {
         jsonObject.put("result", b);
         return ResponseData.success(jsonObject);
     }
+
+    @GetMapping("/list/{id}")
+    public ResponseData list(@PathVariable(name = "id") int taskId) {
+        QueryWrapper<Path> pathQueryWrapper = new QueryWrapper<>();
+        pathQueryWrapper.eq("task_id", taskId);
+        List<Path> list = pathService.list(pathQueryWrapper);
+        return ResponseData.success(list);
+    }
 }

src/main/java/com/iflytop/nuclear/service/impl/CheckServiceImpl.java

@@ -6,8 +6,10 @@ import com.baomidou.mybatisplus.core.conditions.update.UpdateWrapper;
 import com.iflytop.nuclear.entity.CheckInfo;
 import com.iflytop.nuclear.entity.CheckResult;
 import com.iflytop.nuclear.entity.DetectionMessage;
+import com.iflytop.nuclear.model.Path;
 import com.iflytop.nuclear.model.Task;
 import com.iflytop.nuclear.service.CheckService;
+import com.iflytop.nuclear.service.PathService;
 import com.iflytop.nuclear.service.TaskService;
 import com.iflytop.nuclear.websocket.SocketClient;
 import com.iflytop.nuclear.websocket.WebSocketServer;
@@ -16,6 +18,7 @@ import org.springframework.stereotype.Service;
 
 import java.io.IOException;
 import java.util.Date;
+import java.util.List;
 
 /**
  * @author cool
@@ -30,6 +33,8 @@ public class CheckServiceImpl implements CheckService {
     WebSocketServer webSocketServer;
     @Autowired
     SocketClient socketClient;
+    @Autowired
+    PathService pathService;
 
     private static boolean messageReceived = false;
 
@@ -197,6 +202,29 @@ public class CheckServiceImpl implements CheckService {
             }else {
                 nextCoord = this.continueCheck(taskId, order);
             }
+        }else {
+            // 复杂路径
+            // 首先先获取当前task的startIndex 当前startIndex所对应的path =》 order_number 等于查询数据列表长度时说明当前复杂路径结束
+            QueryWrapper<Path> pathQueryWrapper = new QueryWrapper<>();
+            pathQueryWrapper.eq("task_id", taskId);
+            List<Path> pathList = pathService.list(pathQueryWrapper);
+            pathQueryWrapper.eq("coord", startIndex);
+            Path currentPath = pathService.getOne(pathQueryWrapper);
+            int orderNumber = currentPath.getOrderNumber();
+            int size = pathList.size();
+            // 逻辑理顺后 将该处转换为while循环形成路径
+            if (orderNumber == size) {
+                // 检测到最后一项
+            }else {
+                // 如果未结束 则使用order_numer + 1获取下一次的坐标，移动机械臂到此位置进行处理
+                // 下一坐标的order_number 为 order_numer + 1
+                int nextOrderNumber = orderNumber + 1;
+                QueryWrapper<Path> pathQueryWrapper1 = new QueryWrapper<>();
+                pathQueryWrapper1.eq("order_number", nextOrderNumber).eq("task_id", taskId);
+                Path nextPath = pathService.getOne(pathQueryWrapper1);
+                String coord = nextPath.getCoord();
+                // 将该coord转换为机械臂的x y坐标移动
+            }
         }
         CheckResult checkResult = new CheckResult();
         checkResult.setCurrentTestCoord(nextCoord);

src/main/java/com/iflytop/nuclear/websocket/WebSocketServer.java

@@ -101,6 +101,7 @@ public class WebSocketServer {
     @OnMessage
     public void onMessage(String message, Session session) throws IOException {
         // 不对用户消息做处理，仅仅用来推送消息给客户端
+        System.out.println(message);
     }
 
     /**