Merge pull request '更新代码' (#20) from Huatao_branch into master

src/server/pom.xml

@@ -47,7 +47,11 @@
             <artifactId>selenium-java</artifactId>
             <version>3.141.59</version>
         </dependency>
-
+        <dependency>
+            <groupId>org.mybatis.spring.boot</groupId>
+            <artifactId>mybatis-spring-boot-starter</artifactId>
+            <version>1.1.1</version>
+        </dependency>
     </dependencies>
     <profiles>
         <profile>

src/server/src/main/java/com/example/testdemo/ServerApplication.java

@@ -2,9 +2,10 @@ package com.example.testdemo;
 
 import org.springframework.boot.SpringApplication;
 import org.springframework.boot.autoconfigure.SpringBootApplication;
+import org.springframework.boot.autoconfigure.jdbc.DataSourceAutoConfiguration;
 
 
-@SpringBootApplication
+@SpringBootApplication(exclude= DataSourceAutoConfiguration.class)
 public class ServerApplication {
 
     public static void main(String[] args) {
@@ -12,7 +13,6 @@ public class ServerApplication {
         SpringApplication.run(ServerApplication.class, args);
     }
 
-
 }
 
 

src/server/src/main/java/com/example/testdemo/entity/Good.java

@@ -0,0 +1,53 @@
+package com.example.testdemo.entity;
+
+public class Good {
+    private int id;
+    private String phoneNum;
+    private int shelfNum;
+    private int floorNum;
+    private String time;
+
+    public Good(){
+
+    }
+
+    public int getId(){
+        return  id;
+    }
+
+    public void setId(int id){
+        this.id = id;
+    }
+
+    public String getPhoneNum(){
+        return phoneNum;
+    }
+
+    public void setPhoneNum(String phoneNum){
+        this.phoneNum = phoneNum;
+    }
+
+    public int getShelfNum(){
+        return shelfNum;
+    }
+
+    public void setShelfNum(int shelfNum){
+        this.shelfNum = shelfNum;
+    }
+
+    public int getFloorNum(){
+        return floorNum;
+    }
+
+    public void setFloorNum(int floorNum){
+        this.floorNum = floorNum;
+    }
+
+    public String getTime(){
+        return time;
+    }
+    public void setTime(String time){
+        this.time = time;
+    }
+
+}

src/server/src/main/java/com/example/testdemo/entity/Operation.java

@@ -0,0 +1,46 @@
+package com.example.testdemo.entity;
+
+
+public class Operation {
+    private int id;
+    private String pickUpCode;
+    private String phoneNum;
+    private String time;
+
+    public Operation(){
+
+    }
+
+    public int getId(){
+        return id;
+    }
+
+    public void setId(int id){
+        this.id = id;
+    }
+
+    public String getPickUpCode(){
+        return pickUpCode;
+    }
+
+    public void setPickUpCode(String PickUpCode){
+        this.pickUpCode =  PickUpCode;
+    }
+
+    public String getPhoneNum(){
+        return phoneNum;
+    }
+
+    public void setPhoneNum(String PhoneNum){
+        this.phoneNum = PhoneNum;
+    }
+
+    public String getTime(){
+        return time;
+    }
+
+    public void setTime(String time){
+        this.time = time;
+    }
+
+}

src/server/src/main/java/com/example/testdemo/manager/GoodManager.java

@@ -0,0 +1,16 @@
+package com.example.testdemo.manager;
+
+import com.example.testdemo.entity.Good;
+import org.springframework.stereotype.Repository;
+
+import java.util.List;
+
+@org.apache.ibatis.annotations.Mapper
+@Repository
+public interface GoodManager {
+     List<Good> queryGoodsById(int id);
+
+     List<Good> queryGoodsByPhonenum(String phonenum);
+
+     void delete(int id);
+}

src/server/src/main/java/com/example/testdemo/manager/MessageManager.java

@@ -1,25 +1,22 @@
-package com.example.testdemo.config;
+package com.example.testdemo.manager;
 
-import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
-import jdk.nashorn.internal.scripts.JS;
+import com.example.testdemo.entity.Good;
 import lombok.extern.slf4j.Slf4j;
 import org.openqa.selenium.JavascriptExecutor;
 import org.openqa.selenium.WebDriver;
 import org.openqa.selenium.chrome.ChromeDriver;
 import org.openqa.selenium.chrome.ChromeOptions;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
-import sun.rmi.runtime.Log;
 
-import javax.script.ScriptEngine;
-import javax.script.ScriptEngineManager;
-import javax.script.ScriptException;
 import javax.websocket.*;
 import javax.websocket.server.ServerEndpoint;
 import java.io.BufferedReader;
 import java.io.File;
 import java.io.FileReader;
 import java.io.IOException;
+import java.util.List;
 import java.util.concurrent.ConcurrentLinkedQueue;
 import java.util.concurrent.atomic.AtomicInteger;
 
@@ -27,16 +24,17 @@ import java.util.concurrent.atomic.AtomicInteger;
 @Slf4j
 @ServerEndpoint("/result")
 @Component
-public class SendObjectMessage {
+public class MessageManager {
 
+    @Autowired
+    private GoodManager gmanager;
     private static String TAG = "SendObjectMessage";
     private static AtomicInteger onlineCount = new AtomicInteger(0);
-    private static ConcurrentLinkedQueue<SendObjectMessage> socket = new ConcurrentLinkedQueue<SendObjectMessage>();
+    private static ConcurrentLinkedQueue<MessageManager> socket = new ConcurrentLinkedQueue<MessageManager>();
 
 
     private Session session;
-    private SendObjectMessage mObject = null;
+    private MessageManager mObject = null;
-
 
     @OnOpen
     public void onOpen(Session session) {
@@ -79,7 +77,6 @@ public class SendObjectMessage {
             String op = js.getString("op");
 
             if(op.equals("connect")){
-
                 log.info(TAG, "connect");
                 JSONObject content = js.getJSONObject("content");
                 String user = content.getString("user");
@@ -96,8 +93,9 @@ public class SendObjectMessage {
                 if(con.equals("yes")){
                     try {
 
-                        log.info(TAG, "testSelenium1");
+                        log.info(TAG, "testSelenium");
-                        testSelenium1();
+
+                        testSelenium();
 
                     } catch (Exception e) {
 
@@ -142,7 +140,7 @@ public class SendObjectMessage {
     }
 
 
-    public static void testSelenium1() throws Exception {
+    public static void testSelenium() throws Exception {//打开浏览器调用js文件
         // 使用HtmlUnitDriver 是不需要 安装 浏览器 和 驱动支持\
 
         System.setProperty("webdriver.chrome.driver", "D:\\chromedriver.exe");
@@ -176,4 +174,20 @@ public class SendObjectMessage {
         return script.toString();//返回读取的文件流
     }
 
+    public void queryGoodsById(int id){
+        List<Good> goodsList = gmanager.queryGoodsById(id);
+
+        for(Good g:goodsList){
+            System.out.println(g);
+        }
+
+    }
+
+    public void  queryGoodsByPhonenum(String phonenum){
+    List<Good> goodsList = gmanager.queryGoodsByPhonenum(phonenum);
+
+        for(Good g:goodsList) {
+            System.out.println(g);
+        }
+    }
 }

src/server/src/main/java/com/example/testdemo/manager/OperationManager.java

@@ -0,0 +1,18 @@
+package com.example.testdemo.manager;
+
+
+import com.example.testdemo.entity.Operation;
+import jdk.nashorn.internal.runtime.OptimisticReturnFilters;
+import org.springframework.stereotype.Repository;
+
+import java.util.List;
+
+@org.apache.ibatis.annotations.Mapper
+@Repository
+public interface OperationManager {
+
+    void addOperation(String pickupcode, String phonenum, String time);
+
+    List<Operation> queryOperationsByPhone(String phonenum);
+
+}

src/server/src/main/java/com/example/testdemo/manager/WebSocketConfig.java

@@ -1,4 +1,4 @@
-package com.example.testdemo.config;
+package com.example.testdemo.manager;
 
 import org.springframework.context.annotation.Bean;
 import org.springframework.context.annotation.Configuration;

src/server/src/main/resources/a.js

@@ -1 +0,0 @@
-

src/server/src/main/resources/application.yml

@@ -14,5 +14,3 @@ spring:
     prefix:
       classpath: /template
     cache: false
-
-

src/server/src/main/resources/mapper/goodmapper.xml

@@ -0,0 +1,15 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper
+        PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
+        "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.example.testdemo.manager.GoodManager">
+    <select id="queryGoodsById" resultType="Good" parameterType="int">
+        select * from goods where id = #{id};
+    </select>
+    <delete id="deleteGoods" parameterType="int">
+        delete from goods where id = #{id};
+    </delete>
+    <select id="queryGoodsByPhone" resultType="Good" parameterType="String">
+        select * from goods where phonenum = #{phonenum};
+    </select>
+</mapper>

src/server/src/main/resources/mapper/operationmapper.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper
+        PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
+        "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="com.example.testdemo.manager.OperationManager">
+    <insert id = "addOperation" parameterType="String">
+        insert into operations(pickupcode, phonenum, time) values (#{pickupcode},#{phonenum},#{time})})
+    </insert>
+    <select id="queryOperationsByPhone" resultType="Operation" parameterType="String">
+        select * from goods where id = #{phonenum};
+    </select>
+</mapper>

src/server/src/main/resources/test.html

@@ -10,6 +10,7 @@
   // Connecting to ROS
   // -----------------
 
+
   var ros = new ROSLIB.Ros({
     url : 'ws://192.168.43.20:9090'
   });
@@ -25,29 +26,64 @@
   ros.on('close', function() {
     console.log('Connection to websocket server closed.');
   });
-
+  var move_base= new ROSLIB.ActionClient({
-  // Publishing a Topic
-  // ------------------
-
-  var cmdVel = new ROSLIB.Topic({
     ros : ros,
-    name : '/cmd_vel',
+    serverName : '/move_base',
-    messageType : 'geometry_msgs/Twist'
+    actionName : 'move_base_msgs/MoveBaseAction'
   });
 
-  var twist = new ROSLIB.Message({
+  var currentTime = new Date();
-    linear : {
+  var secs = Math.floor(currentTime.getTime()/1000)
-      x : 0.1,
+  var nsecs = Math.round(1000000000*(currentTime.getTime()/1000-secs))
-      y : 0.2,
+
-      z : 0.3
+  var goal = new ROSLIB.Goal({
+    actionClient: move_base,
+    goalMessage:{
+      target_pose:{
+        header:{
+          frame_id:'map',
+          stamp:{
+            secs: secs,
+            nsecs:nsecs
+          }
+        },
+        pose:{
+          position:{
+            x:-3.97,   //-0.743    -0.0273   取件点
+            y:1.68,  //3.00        -0.09
+            z:0.000
           },
-    angular : {
+          orientation:{
-      x : -0.1,
+            x:0.000,
-      y : -0.2,
+            y:0.000,
-      z : -0.3
+            z:0.000,
+            w:1.000
+          }
         }
+      }
+    }
+  });
+  goal.on('feedback', function(feedback) {
+    console.log('Feedback: ' + feedback.sequence);
   });
-  cmdVel.publish(twist);
+
+  goal.on('result', function(result) {
+    console.log('Final Result: ' + result.sequence);
+  });
+
+  ros.on('connection', function() {
+    console.log('Connected to websocket server.');
+  });
+
+  ros.on('error', function(error) {
+    console.log('Error connecting to websocket server: ', error);
+  });
+
+  ros.on('close', function() {
+    console.log('Connection to websocket server closed.');
+  });
+
+  goal.send();
 
 </script>
 </head>

src/server/src/main/resources/test.js

@@ -1,97 +0,0 @@
-
-   // document.write('<script type="text/javascript" src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>\n');
-   // document.write('<script type="text/javascript" src="http://cdn.robotwebtools.org/roslibjs/current/roslib.min.js"></script>\n');
-
-    var ros = new ROSLIB.Ros({
-    url : 'ws://192.168.43.20:9090'
-});
-
-    ros.on('connection', function() {
-    console.log('Connected to websocket server.');
-});
-
-    ros.on('error', function(error) {
-    console.log('Error connecting to websocket server: ', error);
-});
-
-    ros.on('close', function() {
-    console.log('Connection to websocket server closed.');
-});
-   var move_base= new ROSLIB.ActionClient({
-       ros : ros,
-       serverName : '/move_base',
-       actionName : 'move_base_msgs/MoveBaseAction'
-   });
-
-   var currentTime = new Date();
-   var secs = Math.floor(currentTime.getTime()/1000)
-   var nsecs = Math.round(1000000000*(currentTime.getTime()/1000-secs))
-
-   var goal = new ROSLIB.Goal({
-       actionClient: move_base,
-       goalMessage:{
-           target_pose:{
-               header:{
-                   frame_id:'map',
-                   stamp:{
-                       secs: secs,
-                       nsecs:nsecs
-                   }
-               },
-               pose:{
-                   position:{
-                       x:-3.97,   //-0.743    -0.0273   取件点
-                       y:1.68,  //3.00        -0.09
-                       z:0.000
-                   },
-                   orientation:{
-                       x:0.000,
-                       y:0.000,
-                       z:0.000,
-                       w:1.000
-                   }
-               }
-           }
-       }
-   });
-   goal.on('feedback', function(feedback) {
-       console.log('Feedback: ' + feedback.sequence);
-   });
-
-   goal.on('result', function(result) {
-       console.log('Final Result: ' + result.sequence);
-   });
-
-   ros.on('connection', function() {
-       console.log('Connected to websocket server.');
-   });
-
-   ros.on('error', function(error) {
-       console.log('Error connecting to websocket server: ', error);
-   });
-
-   ros.on('close', function() {
-       console.log('Connection to websocket server closed.');
-   });
-
-   goal.send();
-    var cmdVel = new ROSLIB.Topic({
-        ros : ros,
-        name : '/cmd_vel',
-        messageType : 'geometry_msgs/Twist'
-    });
-
-    var twist = new ROSLIB.Message({
-        linear : {
-            x : 0.1,
-            y : 0.2,
-            z : 0.3
-        },
-        angular : {
-            x : -0.1,
-            y : -0.2,
-            z : -0.3
-        }
-    });
-    //cmdVel.publish(twist);
-