@ -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;
|
||||
}
|
||||
|
||||
}
|
||||
@ -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;
|
||||
}
|
||||
|
||||
}
|
||||
@ -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);
|
||||
}
|
||||
@ -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);
|
||||
|
||||
}
|
||||
@ -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;
|
||||
@ -1 +0,0 @@
|
||||
|
||||
@ -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>
|
||||
@ -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>
|
||||
@ -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);
|
||||
|
||||
Loading…
Reference in new issue