opt:1.增加AGV运行轨迹

acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/controller/trajectory/TrajectoryBackgroundController.java

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+package org.nl.system.controller.trajectory;
+
+import cn.dev33.satoken.annotation.SaIgnore;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.common.base.TableDataInfo;
+import org.nl.common.domain.query.PageQuery;
+import org.nl.common.logging.annotation.Log;
+import org.nl.system.service.trajectory.TrajectoryBackgroundService;
+import org.nl.system.service.trajectory.dto.TrajectoryBackground;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.ResponseEntity;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.web.bind.annotation.*;
+
+import javax.annotation.Resource;
+import java.util.Map;
+import java.util.Set;
+
+/**
+ * @author dsh
+ * 2025/6/19
+ */
+@RestController
+@RequestMapping("/api/trajectoryBackground")
+@RequiredArgsConstructor
+@Slf4j
+@SaIgnore
+public class TrajectoryBackgroundController {
+
+    @Resource
+    private TrajectoryBackgroundService trajectoryBackgroundService;
+
+    @GetMapping
+    @Log("查询轨迹背景图")
+    public ResponseEntity<Object> query(@RequestParam Map whereJson, PageQuery page) {
+        return new ResponseEntity<>(TableDataInfo.build(trajectoryBackgroundService.queryAll(whereJson, page)), HttpStatus.OK);
+    }
+
+    @PostMapping
+    @Log("新增轨迹背景图")
+    public ResponseEntity<Object> create(@Validated @RequestBody TrajectoryBackground trajectoryBackground) {
+        trajectoryBackgroundService.create(trajectoryBackground);
+        return new ResponseEntity<>(HttpStatus.OK);
+    }
+
+    @PutMapping
+    @Log("修改轨迹背景图")
+    public ResponseEntity<Object> update(@Validated @RequestBody TrajectoryBackground entity) {
+        trajectoryBackgroundService.update(entity);
+        return new ResponseEntity<>(HttpStatus.OK);
+    }
+
+    @DeleteMapping
+    @Log("删除轨迹背景图")
+    public ResponseEntity<Object> delete(@RequestBody Set<String> ids) {
+        trajectoryBackgroundService.deleteAll(ids);
+        return new ResponseEntity<>(HttpStatus.OK);
+    }
+
+    @PostMapping("/queryAllEnable")
+    @SaIgnore
+    public ResponseEntity<Object> queryAllEnable() {
+        return new ResponseEntity<>(TableDataInfo.build(trajectoryBackgroundService.queryAllEnable()), HttpStatus.OK);
+    }
+}

acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/controller/trajectory/TrajectoryConfigurationController.java

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+package org.nl.system.controller.trajectory;
+
+import cn.dev33.satoken.annotation.SaIgnore;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.common.base.TableDataInfo;
+import org.nl.common.domain.query.PageQuery;
+import org.nl.common.logging.annotation.Log;
+import org.nl.system.service.trajectory.TrajectoryConfigurationService;
+import org.nl.system.service.trajectory.dto.TrajectoryConfiguration;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.ResponseEntity;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.web.bind.annotation.*;
+
+import javax.annotation.Resource;
+import java.util.Map;
+import java.util.Set;
+
+/**
+ * @author dsh
+ * 2025/6/19
+ */
+@RestController
+@RequestMapping("/api/trajectoryConfiguration")
+@RequiredArgsConstructor
+@Slf4j
+@SaIgnore
+public class TrajectoryConfigurationController {
+
+    @Resource
+    private TrajectoryConfigurationService trajectoryConfigurationService;
+
+    @GetMapping
+    @Log("查询轨迹设备配置")
+    public ResponseEntity<Object> query(@RequestParam Map whereJson, PageQuery page) {
+        return new ResponseEntity<>(TableDataInfo.build(trajectoryConfigurationService.queryAll(whereJson, page)), HttpStatus.OK);
+    }
+
+    @PostMapping
+    @Log("新增轨迹设备配置")
+    public ResponseEntity<Object> create(@Validated @RequestBody TrajectoryConfiguration trajectoryConfiguration) {
+        trajectoryConfigurationService.create(trajectoryConfiguration);
+        return new ResponseEntity<>(HttpStatus.OK);
+    }
+
+    @PutMapping
+    @Log("修改轨迹设备配置")
+    public ResponseEntity<Object> update(@Validated @RequestBody TrajectoryConfiguration entity) {
+        trajectoryConfigurationService.update(entity);
+        return new ResponseEntity<>(HttpStatus.OK);
+    }
+
+    @DeleteMapping
+    @Log("删除轨迹设备配置")
+    public ResponseEntity<Object> delete(@RequestBody Set<String> ids) {
+        trajectoryConfigurationService.deleteAll(ids);
+        return new ResponseEntity<>(HttpStatus.OK);
+    }
+
+    @PostMapping("/queryAllEnable")
+    @SaIgnore
+    public ResponseEntity<Object> queryAllEnable() {
+        return new ResponseEntity<>(TableDataInfo.build(trajectoryConfigurationService.queryAllEnable()), HttpStatus.OK);
+    }
+}

acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/controller/trajectory/TrajectoryController.java

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+package org.nl.system.controller.trajectory;
+
+import cn.dev33.satoken.annotation.SaIgnore;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.nl.common.logging.annotation.Log;
+import org.nl.system.service.trajectory.TrajectoryService;
+import org.springframework.http.HttpStatus;
+import org.springframework.http.ResponseEntity;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import javax.annotation.Resource;
+
+/**
+ * @author dsh
+ * 2025/6/19
+ */
+@RestController
+@RequestMapping("/api/trajectory")
+@RequiredArgsConstructor
+@Slf4j
+@SaIgnore
+public class TrajectoryController {
+
+    @Resource
+    private TrajectoryService trajectoryService;
+
+    @PostMapping("/queryDevice")
+    @Log(value = "查询设备状态")
+    @SaIgnore
+    public ResponseEntity<Object> queryDevice(@RequestBody String whereJson) throws Exception {
+        return new ResponseEntity<>(trajectoryService.queryDevice(whereJson), HttpStatus.OK);
+    }
+}

acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/trajectory/TrajectoryBackgroundService.java

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+package org.nl.system.service.trajectory;
+
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import org.nl.acs.common.base.CommonService;
+import org.nl.common.domain.query.PageQuery;
+import org.nl.system.service.trajectory.dto.TrajectoryBackground;
+
+import java.util.List;
+import java.util.Map;
+import java.util.Set;
+
+/**
+ * @author dsh
+ * 2025/6/19
+ */
+public interface TrajectoryBackgroundService extends CommonService<TrajectoryBackground> {
+
+    /**
+     * 分页
+     * @param whereJson
+     * @param page
+     * @return
+     */
+    IPage<TrajectoryBackground> queryAll(Map whereJson, PageQuery page);
+
+    /**
+     * 创建
+     * @param entity
+     */
+    void create(TrajectoryBackground entity);
+
+    /**
+     * 更新
+     * @param entity
+     */
+    void update(TrajectoryBackground entity);
+
+    /**
+     * 删除
+     * @param ids
+     */
+    void deleteAll(Set<String> ids);
+
+    /**
+     * 查询所有已启用的配置设备
+     * @return List<TrajectoryConfiguration>
+     */
+    List<TrajectoryBackground> queryAllEnable();
+
+}

acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/trajectory/TrajectoryConfigurationService.java

@@ -0,0 +1,50 @@
+package org.nl.system.service.trajectory;
+
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import org.nl.acs.common.base.CommonService;
+import org.nl.common.domain.query.PageQuery;
+import org.nl.system.service.trajectory.dto.TrajectoryConfiguration;
+
+import java.util.List;
+import java.util.Map;
+import java.util.Set;
+
+/**
+ * @author dsh
+ * 2025/6/19
+ */
+public interface TrajectoryConfigurationService extends CommonService<TrajectoryConfiguration> {
+
+    /**
+     * 分页
+     * @param whereJson
+     * @param page
+     * @return
+     */
+    IPage<TrajectoryConfiguration> queryAll(Map whereJson, PageQuery page);
+
+    /**
+     * 创建
+     * @param entity
+     */
+    void create(TrajectoryConfiguration entity);
+
+    /**
+     * 更新
+     * @param entity
+     */
+    void update(TrajectoryConfiguration entity);
+
+    /**
+     * 删除
+     * @param ids
+     */
+    void deleteAll(Set<String> ids);
+
+    /**
+     * 查询所有已启用的配置设备
+     * @return List<TrajectoryConfiguration>
+     */
+    List<TrajectoryConfiguration> queryAllEnable();
+
+}

acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/trajectory/TrajectoryService.java

@@ -0,0 +1,18 @@
+package org.nl.system.service.trajectory;
+
+import java.util.Map;
+
+/**
+ * @author dsh
+ * 2025/6/19
+ */
+public interface TrajectoryService {
+
+    /**
+     * 查询设备状态
+     *
+     * @param jsonObject 条件
+     * @return Map<String, Object>
+     */
+    Map<String, Object> queryDevice(String jsonObject) throws Exception;
+}

acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/trajectory/dto/TrajectoryBackground.java

@@ -0,0 +1,103 @@
+package org.nl.system.service.trajectory.dto;
+
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * @author liejiu
+ */
+@Data
+@TableName("trajectory_background")
+public class TrajectoryBackground implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 背景图标识
+     */
+    @TableId
+    private String background_uuid;
+
+    /**
+     * 背景图名称
+     */
+    private String background_code;
+
+    /**
+     * 背景图片编码
+     */
+    private String image_code;
+
+    /**
+     * 背景图片地址
+     */
+    private String image_name;
+
+    /**
+     * 缩放比例(0-1之间 百分比)
+     */
+    private String zoom_ratio;
+
+    /**
+     * 坐标原点(1左上  2左下 3右上  4右下)
+     */
+    private String coordinate_origin;
+
+    /**
+     * X坐标最大值
+     */
+    private String max_x;
+
+
+    /**
+     * Y坐标最大值
+     */
+    private String max_y;
+
+    /**
+     * 刷新时间(秒)
+     */
+    private Integer refresh_time;
+
+
+    /**
+     * 是否启用
+     */
+    private String is_active;
+
+    /**
+     * 是否删除
+     */
+    private String is_delete;
+
+    /**
+     * 创建者
+     */
+    private String create_id;
+    private String create_name;
+
+    /**
+     * 创建时间
+     */
+    private String create_time;
+
+    /**
+     * 修改者
+     */
+    private String update_id;
+    private String update_name;
+
+    /**
+     * 修改时间
+     */
+    private String update_time;
+
+    /**
+     * 备注
+     */
+    private String remark;
+
+}

acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/trajectory/dto/TrajectoryConfiguration.java

@@ -0,0 +1,86 @@
+package org.nl.system.service.trajectory.dto;
+
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import lombok.Data;
+
+import java.io.Serializable;
+
+/**
+ * @author liejiu
+ */
+@Data
+@TableName("trajectory_configuration")
+public class TrajectoryConfiguration implements Serializable {
+
+    private static final long serialVersionUID = 1L;
+
+    /**
+     * 配置标识
+     */
+    @TableId
+    private String configuration_uuid;
+
+    /**
+     * 配置名称
+     */
+    private String configuration_code;
+
+    /**
+     * 图标编码
+     */
+    private String image_code;
+
+    /**
+     * 图标名称
+     */
+    private String image_name;
+
+    /**
+     * 图标高度
+     */
+    private String image_height;
+
+    /**
+     * 图标宽度
+     */
+    private String image_width;
+
+    /**
+     * 绑定设备编码
+     */
+    private String device_code;
+
+    /**
+     * 是否启用
+     */
+    private String is_active;
+
+    /**
+     * 是否删除
+     */
+    private String is_delete;
+
+    /**
+     * 创建者
+     */
+    private String create_id;
+    private String create_name;
+
+    /**
+     * 创建时间
+     */
+    private String create_time;
+
+    /**
+     * 修改者
+     */
+    private String update_id;
+    private String update_name;
+
+    /**
+     * 修改时间
+     */
+    private String update_time;
+
+}

acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/trajectory/impl/TrajectoryBackgroundImpl.java

@@ -0,0 +1,92 @@
+package org.nl.system.service.trajectory.impl;
+
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.IdUtil;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.nl.acs.common.base.impl.CommonServiceImpl;
+import org.nl.common.domain.query.PageQuery;
+import org.nl.common.exception.BadRequestException;
+import org.nl.common.utils.SecurityUtils;
+import org.nl.system.service.trajectory.TrajectoryBackgroundService;
+import org.nl.system.service.trajectory.dto.TrajectoryBackground;
+import org.nl.system.service.trajectory.mapper.TrajectoryBackgroundMapper;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+import java.util.List;
+import java.util.Map;
+import java.util.Set;
+
+/**
+ * @author dsh
+ * 2025/6/19
+ */
+@Service
+public class TrajectoryBackgroundImpl extends CommonServiceImpl<TrajectoryBackgroundMapper, TrajectoryBackground> implements TrajectoryBackgroundService {
+
+    @Resource
+    private TrajectoryBackgroundMapper trajectoryBackgroundMapper;
+
+    @Override
+    public IPage<TrajectoryBackground> queryAll(Map whereJson, PageQuery page) {
+        LambdaQueryWrapper<TrajectoryBackground> lam = new LambdaQueryWrapper<>();
+        IPage<TrajectoryBackground> pages = new Page<>(page.getPage() + 1, page.getSize());
+        trajectoryBackgroundMapper.selectPage(pages,lam);
+        return pages;
+    }
+
+    @Override
+    public void create(TrajectoryBackground entity) {
+        TrajectoryBackground stage = trajectoryBackgroundMapper.selectOne(new LambdaQueryWrapper<TrajectoryBackground>().eq(TrajectoryBackground::getBackground_code, entity.getBackground_code()));
+        if (ObjectUtil.isNotEmpty(stage)) {
+            throw new BadRequestException("背景图名称[" + entity.getBackground_code() + "]已存在");
+        }
+        String currentUserId = SecurityUtils.getCurrentUserId();
+        String nickName = SecurityUtils.getCurrentNickName();
+        String now = DateUtil.now();
+
+        entity.setIs_active("1");
+        entity.setIs_delete("0");
+        entity.setBackground_uuid(IdUtil.simpleUUID());
+        entity.setCreate_id(currentUserId);
+        entity.setCreate_name(nickName);
+        entity.setCreate_time(now);
+        entity.setUpdate_id(currentUserId);
+        entity.setUpdate_name(nickName);
+        entity.setUpdate_time(now);
+        trajectoryBackgroundMapper.insert(entity);
+    }
+
+    @Override
+    public void update(TrajectoryBackground entity) {
+        TrajectoryBackground trajectoryBackground = trajectoryBackgroundMapper.selectOne(new LambdaQueryWrapper<TrajectoryBackground>().eq(TrajectoryBackground::getBackground_uuid, entity.getBackground_uuid()));
+        if (trajectoryBackground == null) {
+            throw new BadRequestException("未找到这条数据");
+        }
+
+        String currentUsername = SecurityUtils.getCurrentNickName();
+        String currentUserId = SecurityUtils.getCurrentUserId();
+        String now = DateUtil.now();
+        entity.setUpdate_time(now);
+        entity.setUpdate_id(currentUserId);
+        entity.setUpdate_name(currentUsername);
+        trajectoryBackgroundMapper.updateById(entity);
+    }
+
+    @Override
+    public void deleteAll(Set<String> ids) {
+        trajectoryBackgroundMapper.deleteBatchIds(ids);
+    }
+
+    @Override
+    public List<TrajectoryBackground> queryAllEnable() {
+        return new LambdaQueryChainWrapper<>(trajectoryBackgroundMapper)
+                .apply("is_delete= '0' AND is_active= '1'")
+                .orderByAsc(TrajectoryBackground::getBackground_uuid)
+                .list();
+    }
+}

acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/trajectory/impl/TrajectoryConfigurationImpl.java

@@ -0,0 +1,91 @@
+package org.nl.system.service.trajectory.impl;
+
+import cn.hutool.core.date.DateUtil;
+import cn.hutool.core.util.IdUtil;
+import cn.hutool.core.util.ObjectUtil;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.baomidou.mybatisplus.core.metadata.IPage;
+import com.baomidou.mybatisplus.extension.conditions.query.LambdaQueryChainWrapper;
+import com.baomidou.mybatisplus.extension.plugins.pagination.Page;
+import org.nl.acs.common.base.impl.CommonServiceImpl;
+import org.nl.common.domain.query.PageQuery;
+import org.nl.common.exception.BadRequestException;
+import org.nl.common.utils.SecurityUtils;
+import org.nl.system.service.trajectory.TrajectoryConfigurationService;
+import org.nl.system.service.trajectory.dto.TrajectoryConfiguration;
+import org.nl.system.service.trajectory.mapper.TrajectoryConfigurationMapper;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+import java.util.List;
+import java.util.Map;
+import java.util.Set;
+
+/**
+ * @author dsh
+ * 2025/6/19
+ */
+@Service
+public class TrajectoryConfigurationImpl extends CommonServiceImpl<TrajectoryConfigurationMapper, TrajectoryConfiguration> implements TrajectoryConfigurationService {
+
+    @Resource
+    private TrajectoryConfigurationMapper trajectoryConfigurationMapper;
+
+    @Override
+    public IPage<TrajectoryConfiguration> queryAll(Map whereJson, PageQuery page) {
+        LambdaQueryWrapper<TrajectoryConfiguration> lam = new LambdaQueryWrapper<>();
+        IPage<TrajectoryConfiguration> pages = new Page<>(page.getPage() + 1, page.getSize());
+        trajectoryConfigurationMapper.selectPage(pages,lam);
+        return pages;
+    }
+
+    @Override
+    public void create(TrajectoryConfiguration entity) {
+        TrajectoryConfiguration stage = trajectoryConfigurationMapper.selectOne(new LambdaQueryWrapper<TrajectoryConfiguration>().eq(TrajectoryConfiguration::getConfiguration_code, entity.getConfiguration_code()));
+        if (ObjectUtil.isNotEmpty(stage)) {
+            throw new BadRequestException("轨迹图配置编码[" + entity.getConfiguration_code() + "]已存在");
+        }
+        String currentUserId = SecurityUtils.getCurrentUserId();
+        String nickName = SecurityUtils.getCurrentNickName();
+        String now = DateUtil.now();
+
+        entity.setIs_delete("0");
+        entity.setConfiguration_uuid(IdUtil.simpleUUID());
+        entity.setCreate_id(currentUserId);
+        entity.setCreate_name(nickName);
+        entity.setCreate_time(now);
+        entity.setUpdate_id(currentUserId);
+        entity.setUpdate_name(nickName);
+        entity.setUpdate_time(now);
+        trajectoryConfigurationMapper.insert(entity);
+    }
+
+    @Override
+    public void update(TrajectoryConfiguration entity) {
+        TrajectoryConfiguration trajectoryBackground = trajectoryConfigurationMapper.selectOne(new LambdaQueryWrapper<TrajectoryConfiguration>().eq(TrajectoryConfiguration::getConfiguration_uuid, entity.getConfiguration_uuid()));
+        if (trajectoryBackground == null) {
+            throw new BadRequestException("未找到这条数据");
+        }
+
+        String currentUsername = SecurityUtils.getCurrentNickName();
+        String currentUserId = SecurityUtils.getCurrentUserId();
+        String now = DateUtil.now();
+        entity.setUpdate_time(now);
+        entity.setUpdate_id(currentUserId);
+        entity.setUpdate_name(currentUsername);
+        trajectoryConfigurationMapper.updateById(entity);
+    }
+
+    @Override
+    public void deleteAll(Set<String> ids) {
+        trajectoryConfigurationMapper.deleteBatchIds(ids);
+    }
+
+    @Override
+    public List<TrajectoryConfiguration> queryAllEnable() {
+        return new LambdaQueryChainWrapper<>(trajectoryConfigurationMapper)
+                .apply("is_delete= '0' AND is_active= '1'")
+                .orderByAsc(TrajectoryConfiguration::getConfiguration_uuid)
+                .list();
+    }
+}

acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/trajectory/impl/TrajectoryImpl.java

@@ -0,0 +1,75 @@
+package org.nl.system.service.trajectory.impl;
+
+import com.alibaba.fastjson.JSONArray;
+import com.alibaba.fastjson.JSONObject;
+import org.nl.acs.device_driver.basedriver.agv.ndcone.AgvNdcOneDeviceDriver;
+import org.nl.common.exception.BadRequestException;
+import org.nl.system.service.trajectory.TrajectoryService;
+import org.springframework.http.HttpStatus;
+import org.springframework.stereotype.Service;
+
+import java.util.Collections;
+import java.util.Map;
+import java.util.Random;
+
+/**
+ * @author dsh
+ * 2025/6/19
+ */
+@Service
+public class TrajectoryImpl implements TrajectoryService {
+
+    @Override
+    public Map<String, Object> queryDevice(String jsonObject) throws Exception {
+        JSONArray backja = new JSONArray();
+        JSONArray datas = JSONArray.parseArray(jsonObject);
+        //agv
+        AgvNdcOneDeviceDriver agvNdcOneDeviceDriver;
+
+        if (datas.size() == 0) {
+            throw new BadRequestException("缺少输入参数！");
+        }
+
+//        for (int i = 0; i < datas.size(); i++) {
+//            JSONObject jo = new JSONObject();
+//            JSONObject ja = new JSONObject();
+//            JSONObject data = datas.getJSONObject(i);
+//            String device_code = data.getString("device_code");
+//            Device device = deviceAppService.findDeviceByCode(device_code);
+//            if (ObjectUtil.isEmpty(device)) {
+//                throw new Exception("未找到对应设备:" + device_code);
+//            }
+//            if (device.getDeviceDriver() instanceof AgvNdcOneDeviceDriver) {
+//                agvNdcOneDeviceDriver = (AgvNdcOneDeviceDriver) device.getDeviceDriver();
+//                jo.put("device_code", agvNdcOneDeviceDriver.getDevice().getDevice_code());
+//                jo.put("x", agvNdcOneDeviceDriver.getX());
+//                jo.put("y", agvNdcOneDeviceDriver.getY());
+//                jo.put("angle", agvNdcOneDeviceDriver.getAngle());
+//                ja.put(agvNdcOneDeviceDriver.getDevice().getDevice_code(),jo);
+//            }
+//            backja.add(ja);
+//        }
+//        JSONObject resultJson = new JSONObject();
+//        resultJson.put("status", HttpStatus.OK.value());
+//        resultJson.put("message", "操作成功");
+//        resultJson.put("data", backja);
+//        return resultJson;
+        JSONObject resultJson = new JSONObject();
+        Random rand = new Random();
+        for (int i = 0; i < datas.size(); i++) {
+            JSONObject jo = new JSONObject();
+            JSONObject data = datas.getJSONObject(i);
+            String device_code = data.getString("device_code");
+            jo.put("x", rand.nextInt(1001));
+            jo.put("y", rand.nextInt(1001));
+            jo.put("angle", rand.nextInt(361));
+            jo.put("device_code", device_code);
+            backja.add(jo);
+        }
+        resultJson.put("status", HttpStatus.OK.value());
+        resultJson.put("message", "操作成功");
+        resultJson.put("data", backja);
+        return resultJson;
+    }
+
+}

acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/trajectory/mapper/TrajectoryBackgroundMapper.java

@@ -0,0 +1,12 @@
+package org.nl.system.service.trajectory.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import org.apache.ibatis.annotations.Mapper;
+import org.nl.system.service.trajectory.dto.TrajectoryBackground;
+
+/**
+ * @author liejiu
+ */
+@Mapper
+public interface TrajectoryBackgroundMapper extends BaseMapper<TrajectoryBackground> {
+}

acs/nladmin-system/nlsso-server/src/main/java/org/nl/system/service/trajectory/mapper/TrajectoryConfigurationMapper.java

@@ -0,0 +1,11 @@
+package org.nl.system.service.trajectory.mapper;
+
+import com.baomidou.mybatisplus.core.mapper.BaseMapper;
+import org.nl.system.service.trajectory.dto.TrajectoryConfiguration;
+
+/**
+ * @author liejiu
+ */
+public interface TrajectoryConfigurationMapper  extends BaseMapper<TrajectoryConfiguration> {
+
+}

acs/nladmin-ui/src/api/trajectory/configuration/trajectory_configuration.js

@@ -0,0 +1,27 @@
+import request from '@/utils/request'
+
+export function add(data) {
+  return request({
+    url: 'api/trajectoryConfiguration',
+    method: 'post',
+    data
+  })
+}
+
+export function del(ids) {
+  return request({
+    url: 'api/trajectoryConfiguration/',
+    method: 'delete',
+    data: ids
+  })
+}
+
+export function edit(data) {
+  return request({
+    url: 'api/trajectoryConfiguration',
+    method: 'put',
+    data
+  })
+}
+
+export default { add, edit, del }

acs/nladmin-ui/src/api/trajectory/trajectory_background.js

@@ -0,0 +1,27 @@
+import request from '@/utils/request'
+
+export function add(data) {
+  return request({
+    url: 'api/trajectoryBackground',
+    method: 'post',
+    data
+  })
+}
+
+export function del(ids) {
+  return request({
+    url: 'api/trajectoryBackground/',
+    method: 'delete',
+    data: ids
+  })
+}
+
+export function edit(data) {
+  return request({
+    url: 'api/trajectoryBackground',
+    method: 'put',
+    data
+  })
+}
+
+export default { add, edit, del }

acs/nladmin-ui/src/components/ShowTrack/index.vue

@@ -0,0 +1,164 @@
+<template>
+  <div class="container">
+    <div class="canvas-wrap" :style="getBgStyle(configInfo)">
+      <div v-for="e in carData" :key="e.device_code" class="car-wrap" :style="getCarWrapStyle(e)">
+        <div class="car_img" :style="getCarImgStyle(e)" />
+        <div class="car_name">{{ e.configuration_code }}</div>
+      </div>
+    </div>
+  </div>
+</template>
+
+<script>
+import { mapGetters } from 'vuex'
+import apiTrack from '@/components/ShowTrack/track'
+// const fullDomain = window.location.protocol + '//' + window.location.host
+export default {
+  data() {
+    return {
+      configInfo: { refresh_time: 1000 },
+      carData: [],
+      deviceData: [],
+      carCoor: []
+    }
+  },
+  computed: {
+    ...mapGetters([
+      'baseApi'
+    ])
+  },
+  async created() {
+    const res1 = await apiTrack.trackEdit()
+    this.configInfo = [...res1.content][0]
+    const res2 = await apiTrack.carEdit()
+    this.carData = [...res2.content]
+    this.deviceData = this.carData.map(e => { return { device_code: e.device_code } })
+    this._queryDevice(this.deviceData)
+    this.timerFun(this._queryDevice, this.configInfo.refresh_time * 1000)()
+  },
+  methods: {
+    timerFun(f, time) {
+      const _this = this
+      return function backFun() {
+        clearTimeout(_this.intervalId)
+        _this.intervalId = setTimeout(function() {
+          f(_this.deviceData)
+          backFun()
+        }, time)
+      }
+    },
+    _queryDevice(arr) {
+      apiTrack.queryDevice(arr).then(res => {
+        this.carCoor = [...res.data]
+      })
+    },
+    getBgStyle(obj) {
+      if (obj.image_code) {
+        const width = parseFloat(obj.max_x) * parseFloat(obj.zoom_ratio)
+        const height = parseFloat(obj.max_y) * parseFloat(obj.zoom_ratio)
+        // const fullImageUrl = require('@/assets/images/background.jpg')
+        const fullImageUrl = `${this.baseApi}/file/图片/${obj.image_code}`
+        return {
+          width: `${width}px`,
+          height: `${height}px`,
+          backgroundImage: `url(${fullImageUrl})`
+        }
+      }
+    },
+    getPositionById(code) {
+      const position = this.carCoor.find((p) => p.device_code === code)
+      return position || { x: 0, y: 0 }
+    },
+    getCarWrapStyle(el) {
+      const width = el.image_width
+      const height = el.image_height
+      const position = this.getPositionById(el.device_code)
+      const x = position.x * parseFloat(this.configInfo.zoom_ratio)
+      const y = position.y * parseFloat(this.configInfo.zoom_ratio)
+      let sty = {}
+      switch (this.configInfo.coordinate_origin) {
+        case '1':
+          sty = {
+            width: `${width}px`,
+            height: `${height}px`,
+            left: `${x}px`,
+            top: `${y}px`
+          }
+          break
+        case '2':
+          sty = {
+            width: `${width}px`,
+            height: `${height}px`,
+            left: `${x}px`,
+            bottom: `${y}px`
+          }
+          break
+        case '3':
+          sty = {
+            width: `${width}px`,
+            height: `${height}px`,
+            right: `${x}px`,
+            top: `${y}px`
+          }
+          break
+        case '4':
+          sty = {
+            width: `${width}px`,
+            height: `${height}px`,
+            right: `${x}px`,
+            bottom: `${y}px`
+          }
+          break
+        default:
+          sty = {}
+      }
+      return sty
+    },
+    getCarImgStyle(el) {
+      // const fullImageUrl = require('@/assets/images/avatar.png')
+      const fullImageUrl = `${this.baseApi}/file/图片/${el.image_code}`
+      const position = this.getPositionById(el.device_code)
+      const angle = parseFloat(position.angle)
+      return {
+        backgroundImage: `url(${fullImageUrl})`,
+        transform: `rotate(-${angle}deg)`
+      }
+    }
+  }
+}
+</script>
+
+<style scoped>
+.container {
+  overflow: auto;
+  scrollbar-width: none;
+}
+.container::-webkit-scrollbar {
+  display: none;
+}
+.canvas-wrap {
+  position: relative;
+  background: #f3f3f3 top center / 100% auto no-repeat;
+}
+.car-wrap {
+  position: absolute;
+  transform: translate(-50%, -50%);
+  transform-origin: center;
+}
+.car_img {
+  width: 100%;
+  height: 100%;
+  background: top center / 100% auto no-repeat;
+}
+.car_name {
+  position: absolute;
+  width: 100%;
+  bottom: -20px;
+  font-size: 12px;
+  color: #fff;
+  line-height: 16px;
+  display: flex;
+  justify-content: center;
+  white-space: nowrap;
+}
+</style>

acs/nladmin-ui/src/components/ShowTrack/track.js

@@ -0,0 +1,87 @@
+import request from '@/utils/request'
+
+export function trackEdit(data) {
+  return request({
+    url: 'api/trajectoryBackground/queryAllEnable',
+    method: 'post',
+    data
+  })
+}
+
+export function carEdit(data) {
+  return request({
+    url: 'api/trajectoryConfiguration/queryAllEnable',
+    method: 'post',
+    data
+  })
+}
+
+export function queryDevice(data) {
+  return request({
+    url: 'api/trajectory/queryDevice',
+    method: 'post',
+    data
+  })
+}
+
+// export function trackEdit() {
+//   const res = {
+//     code: 200,
+//     msg: 'ok',
+//     content: [{
+//       background_code: '图片',
+//       image_code: 'aaa.jpg',
+//       zoom_ratio: '0.5',
+//       coordinate_origin: '4',
+//       max_x: '1000',
+//       max_y: '1000',
+//       refresh_time: 10000
+//     }]
+//   }
+//   return new Promise((resolve, reject) => {
+//     resolve(res)
+//   })
+// }
+
+// export function carEdit() {
+//   const res = {
+//     code: 200,
+//     msg: 'ok',
+//     content: [{
+//       configuration_code: '1号agv',
+//       image_code: 'aaa.jpg',
+//       image_width: '20',
+//       image_height: '20',
+//       device_code: '1',
+//       x: 100,
+//       y: 100,
+//       angle: 90
+//     }, {
+//       configuration_code: '2号agv',
+//       image_code: 'aaa.jpg',
+//       image_width: '20',
+//       image_height: '20',
+//       device_code: '2',
+//       x: 200,
+//       y: 200,
+//       angle: 0
+//     }]
+//   }
+//   return new Promise((resolve, reject) => {
+//     resolve(res)
+//   })
+// }
+
+// export function queryDevice() {
+//   const res = {
+//     data: [{ device_code: '1', x: Math.floor(Math.random() * 10) * 100, y: Math.floor(Math.random() * 10) * 100, angle: 90 }, { device_code: '2', x: Math.floor(Math.random() * 10) * 100, y: Math.floor(Math.random() * 10) * 100, angle: 0 }],
+//     data1: [{ device_code: '1', x: 100, y: 100, angle: 90 }, { device_code: '2', x: 200, y: 200, angle: 0 }],
+//     status: '200',
+//     message: '操作成功'
+//   }
+//   return new Promise((resolve, reject) => {
+//     resolve(res)
+//   })
+// }
+
+export default { trackEdit, carEdit, queryDevice }

acs/nladmin-ui/src/router/routers.js

@@ -45,7 +45,8 @@ export const constantRouterMap = [
     children: [
       {
         path: 'dashboard',
-        component: (resolve) => require(['@/views/monitor/server/index'], resolve),
+        component: (resolve) => require(['@/views/track/showTrack'], resolve),
+        // component: (resolve) => require(['@/views/monitor/server/index'], resolve),
         name: 'Dashboard',
         meta: { title: i18n.t('auto.common.home'), icon: 'index', affix: true, noCache: true }
       }

acs/nladmin-ui/src/views/system/trajectory/configuration/index.vue

@@ -0,0 +1,270 @@
+<template>
+  <div class="app-container">
+    <!--工具栏-->
+    <div class="head-container">
+      <!--如果想在工具栏加入更多按钮，可以使用插槽方式， slot = 'left' or 'right'-->
+<!--      <div v-if="crud.props.searchToggle">-->
+<!--        &lt;!&ndash; 搜索 &ndash;&gt;-->
+<!--        <el-select-->
+<!--          v-model="query.device_type"-->
+<!--          class="filter-item"-->
+<!--          clearable-->
+<!--          placeholder="设备类型"-->
+<!--          size="small"-->
+<!--          style="width: 450px"-->
+<!--        >-->
+<!--          <el-option v-for="item in device_types" :key="item.id" :label="item.label" :value="item.value" />-->
+<!--        </el-select>-->
+<!--        <rrOperation />-->
+<!--      </div>-->
+      <crudOperation :permission="permission" />
+      <!--表单组件-->
+      <el-dialog
+        :before-close="crud.cancelCU"
+        :close-on-click-modal="false"
+        :title="crud.status.title"
+        :visible.sync="crud.status.cu > 0"
+        width="500px"
+      >
+        <el-form ref="form" :model="form" :rules="rules" label-width="80px" size="small">
+          <el-form-item label="图片上传" prop="image_code">
+            <el-upload
+              :action="imagesUploadApi"
+              :before-upload="beforeUpload_u"
+              :file-list="fileList"
+              :headers="headers"
+              :limit="1"
+              list-type="picture"
+              :on-success="handleSuccess"
+              class="upload-demo"
+              multiple
+            >
+              <el-button size="small" type="primary">点击上传</el-button>
+            </el-upload>
+          </el-form-item>
+          <el-form-item label="图标高度" prop="image_height">
+            <el-input v-model="form.image_height" style="width: 370px;" />
+          </el-form-item>
+          <el-form-item label="图标宽度" prop="image_width">
+            <el-input v-model="form.image_width" style="width: 370px;" />
+          </el-form-item>
+          <el-form-item label="配置名称" prop="configuration_code">
+            <el-input v-model="form.configuration_code" style="width: 370px;" />
+          </el-form-item>
+          <el-form-item label="绑定设备" prop="device_code">
+            <el-select v-model="form.device_code" placeholder="请选择">
+              <el-option
+                v-for="item in options"
+                :key="item.device_code"
+                :label="item.device_name"
+                :value="item.device_code">
+              </el-option>
+            </el-select>
+          </el-form-item>
+          <el-form-item label="是否启用">
+            <el-switch
+              v-model="form.is_active"
+              active-value="1"
+              inactive-value="0"
+              active-color="#13ce66"
+              inactive-color="#ff4949">
+            </el-switch>
+          </el-form-item>
+        </el-form>
+        <div slot="footer" class="dialog-footer">
+          <el-button type="text" @click="crud.cancelCU">取消</el-button>
+          <el-button :loading="crud.cu === 2" type="primary" @click="crud.submitCU">确认</el-button>
+        </div>
+      </el-dialog>
+      <!--表格渲染-->
+      <el-table
+        ref="table"
+        v-loading="crud.loading"
+        :data="crud.data"
+        size="small"
+        style="width: 100%;"
+        @selection-change="crud.selectionChangeHandler"
+      >
+        <el-table-column type="selection" width="55" />
+        <el-table-column label="图标" prop="image_name">
+          <template slot-scope="{row}">
+            <el-image
+              :preview-src-list="[baseApi + '/file/图片/' + row.image_code]"
+              :src=" baseApi + '/file/图片/' + row.image_code"
+              class="el-avatar"
+              fit="contain"
+              lazy
+            >
+              <div slot="error">
+                <i class="el-icon-document" />
+              </div>
+            </el-image>
+          </template>
+        </el-table-column>
+        <el-table-column label="配置名称" prop="configuration_code" />
+        <el-table-column label="图标编号" prop="image_code" />
+        <el-table-column label="图标高度" prop="image_height" />
+        <el-table-column label="图标宽度" prop="image_width" />
+        <el-table-column label="绑定设备编号" prop="device_code" />
+        <el-table-column label="是否启用" prop="is_active">
+          <template slot-scope="{row}">
+            <span v-if="row.is_active === '1'"><el-tag type="success">启用</el-tag></span>
+            <span v-else><el-tag type="warning">未启用</el-tag></span>
+          </template>
+        </el-table-column>
+        <el-table-column prop="create_name" label="创建人" />
+        <el-table-column prop="create_time" label="创建时间" min-width="135" />
+        <el-table-column
+          v-permission="['admin','stageImage:edit','stageImage:del']"
+          align="center"
+          label="操作"
+          width="150px"
+        >
+          <template slot-scope="scope">
+            <udOperation
+              :data="scope.row"
+              :permission="permission"
+            />
+          </template>
+        </el-table-column>
+      </el-table>
+      <!--分页组件-->
+      <pagination />
+    </div>
+  </div>
+</template>
+
+<script>
+import CRUD, { crud, form, header, presenter } from '@crud/crud'
+import crudOperation from '@crud/CRUD.operation'
+import udOperation from '@crud/UD.operation'
+import pagination from '@crud/Pagination'
+import { mapGetters } from 'vuex'
+import { getToken } from '@/utils/auth'
+import { selectDeviceList } from '@/api/acs/device/device'
+import crudTrajectoryConfiguration from '@/api/trajectory/configuration/trajectory_configuration'
+
+const defaultForm = {
+  configuration_uuid: null,
+  configuration_code: null,
+  image_code: null,
+  image_name: null,
+  image_height: null,
+  image_width: null,
+  device_code: null,
+  is_active: '1',
+  is_delete: null,
+  create_by: null,
+  create_time: null,
+  update_by: null,
+  update_time: null
+}
+export default {
+  name: 'TrajectoryConfiguration',
+  components: { pagination, crudOperation, udOperation },
+  mixins: [presenter(), header(), form(defaultForm), crud()],
+  cruds() {
+    return CRUD({
+      title: '设备配置',
+      url: 'api/trajectoryConfiguration',
+      idField: 'configuration_uuid',
+      sort: 'configuration_uuid,desc',
+      crudMethod: { ...crudTrajectoryConfiguration },
+      optShow: {
+        add: true,
+        edit: true,
+        del: true
+      }
+    })
+  },
+  data() {
+    return {
+      value: [],
+      permission: {
+        add: ['admin', 'TrajectoryConfiguration:add'],
+        edit: ['admin', 'TrajectoryConfiguration:edit'],
+        del: ['admin', 'TrajectoryConfiguration:del']
+      },
+      headers: { 'Authorization': getToken() },
+      rules: {
+        configuration_code: [
+          { required: true, message: '配置名称不能为空', trigger: 'blur' }
+        ],
+        image_code: [
+          { required: true, message: '图标编号不能为空', trigger: 'blur' }
+        ],
+        image_name: [
+          { required: true, message: '图标名称不能为空', trigger: 'blur' }
+        ],
+        image_height: [
+          { required: true, message: '图标高度不能为空', trigger: 'blur' }
+        ],
+        image_width: [
+          { required: true, message: '图标宽度不能为空', trigger: 'blur' }
+        ],
+        device_code: [
+          { required: true, message: '绑定设备不能为空', trigger: 'blur' }
+        ]
+      },
+      fileList: [],
+      options: []
+    }
+  },
+  computed: {
+    ...mapGetters([
+      'imagesUploadApi',
+      'baseApi'
+    ])
+  },
+  mounted() {
+    // 获取所有设备
+    selectDeviceList().then(data => {
+      console.log(data)
+      this.options = data
+    })
+  },
+  methods: {
+    // 钩子：在获取表格数据之前执行，false 则代表不获取数据
+    [CRUD.HOOK.beforeRefresh]() {
+      return true
+    },
+    [CRUD.HOOK.afterSubmit]() {
+      this.fileList = []
+    }, [CRUD.HOOK.beforeToAdd]() {
+      this.fileList = []
+    },
+    [CRUD.HOOK.afterToEdit]() {
+      let new_lst = []
+      const image_code = this.form.image_code
+      const image_name = this.baseApi + '/file/图片/' + image_code
+      new_lst = [{ name: image_code, url: image_name }]
+      this.fileList = new_lst
+    },
+    beforeUpload_u(file) {
+      const testmsg = file.name.substring(file.name.lastIndexOf('.') + 1)
+      const extension = (testmsg === 'png' || testmsg === 'jpg' || testmsg === 'svg')
+
+      let bool = false
+      if (extension) {
+        bool = true
+      } else {
+        bool = false
+      }
+      if (!extension) {
+        this.$confirm(`上传文件只能是png/jpg/svg格式!`)
+      }
+
+      return bool
+    },
+    handleSuccess(response) {
+      console.log(response)
+      this.form.image_code = response.real_name
+      this.form.image_name = response.path
+    }
+  }
+}
+</script>
+
+<style scoped>
+
+</style>

acs/nladmin-ui/src/views/system/trajectory/index.vue

@@ -0,0 +1,270 @@
+<template>
+  <div class="app-container">
+    <!--工具栏-->
+    <div class="head-container">
+      <!--如果想在工具栏加入更多按钮，可以使用插槽方式， slot = 'left' or 'right'-->
+      <crudOperation :permission="permission" />
+      <!--表单组件-->
+      <el-dialog
+        :close-on-click-modal="false"
+        :before-close="crud.cancelCU"
+        :visible.sync="crud.status.cu > 0"
+        :title="crud.status.title"
+        width="500px"
+      >
+        <el-form ref="form" :model="form" :rules="rules" label-width="80px" size="small">
+          <el-form-item label="图片上传" prop="image_code">
+            <el-upload
+              :action="imagesUploadApi"
+              :before-upload="beforeUpload_u"
+              :file-list="fileList"
+              :headers="headers"
+              :limit="1"
+              list-type="picture"
+              :on-success="handleSuccess"
+              class="upload-demo"
+              multiple
+            >
+              <el-button size="small" type="primary">点击上传</el-button>
+            </el-upload>
+          </el-form-item>
+          <el-form-item label="背景图名称" prop="background_code">
+            <el-input v-model="form.background_code" style="width: 370px;" />
+          </el-form-item>
+          <el-form-item label="缩放比例" prop="zoom_ratio">
+            <el-input v-model="form.zoom_ratio" style="width: 370px;" />
+          </el-form-item>
+          <el-form-item label="坐标原点" prop="coordinate_origin">
+            <el-select v-model="form.coordinate_origin" placeholder="请选择">
+              <el-option
+                v-for="item in options"
+                :key="item.value"
+                :label="item.label"
+                :value="item.value">
+              </el-option>
+            </el-select>
+          </el-form-item>
+          <el-form-item label="X坐标最大值" prop="max_x">
+            <el-input v-model="form.max_x" style="width: 370px;" />
+          </el-form-item>
+          <el-form-item label="Y坐标最大值" prop="max_y">
+            <el-input v-model="form.max_y" style="width: 370px;" />
+          </el-form-item>
+          <el-form-item label="刷新时间(秒)" prop="refresh_time">
+            <el-input v-model="form.refresh_time" style="width: 370px;" />
+          </el-form-item>
+          <el-form-item label="图片描述" prop="remark">
+            <el-input v-model="form.remark" style="width: 370px;" />
+          </el-form-item>
+        </el-form>
+        <div slot="footer" class="dialog-footer">
+          <el-button type="text" @click="crud.cancelCU">{{ $t('auto.common.Cancel') }}</el-button>
+          <el-button :loading="crud.cu === 2" type="primary" @click="crud.submitCU">{{ $t('auto.common.Confirm') }}</el-button>
+        </div>
+      </el-dialog>
+      <!--表格渲染-->
+      <el-table
+        ref="table"
+        v-loading="crud.loading"
+        :data="crud.data"
+        size="small"
+        style="width: 100%;"
+        @selection-change="crud.selectionChangeHandler"
+      >
+        <el-table-column type="selection" width="55" />
+        <el-table-column label="背景图" prop="image_name">
+          <template slot-scope="{row}">
+            <el-image
+              :preview-src-list="[baseApi + '/file/图片/' + row.image_code]"
+              :src=" baseApi + '/file/图片/' + row.image_code"
+              class="el-avatar"
+              fit="contain"
+              lazy
+            >
+              <div slot="error">
+                <i class="el-icon-document" />
+              </div>
+            </el-image>
+          </template>
+        </el-table-column>
+        <el-table-column prop="background_code" label="背景图名称" />
+        <el-table-column prop="image_code" label="背景图片编码" />
+        <el-table-column prop="image_name" label="背景图片地址" />
+        <el-table-column prop="zoom_ratio" label="缩放比例" />
+        <el-table-column prop="coordinate_origin" label="坐标原点">
+          <template slot-scope="{row}">
+            <span v-if="options.length!==0">{{ getCoordinateOrigin(row.coordinate_origin) }}</span>
+          </template>
+        </el-table-column>
+        <el-table-column prop="max_x" label="X坐标最大值" />
+        <el-table-column prop="max_y" label="Y坐标最大值" />
+        <el-table-column prop="refresh_time" label="刷新时间(秒)" />
+        <el-table-column label="是否启用" prop="is_active">
+          <template slot-scope="{row}">
+            <span v-if="row.is_active === '1'"><el-tag type="success">启用</el-tag></span>
+            <span v-else><el-tag type="warning">未启用</el-tag></span>
+          </template>
+        </el-table-column>
+        <el-table-column prop="create_name" label="创建人" />
+        <el-table-column prop="create_time" label="创建时间" min-width="135" />
+        <el-table-column label="备注" prop="remark" />
+        <el-table-column v-permission="['admin','stage:edit','stage:del']" :label="$t('task.select.Operation')" width="150px" align="center">
+          <template slot-scope="scope">
+            <udOperation
+              :data="scope.row"
+              :permission="permission"
+            />
+          </template>
+        </el-table-column>
+      </el-table>
+      <!--分页组件-->
+      <pagination />
+    </div>
+  </div>
+</template>
+
+<script>
+import crudTrajectory from '@/api/trajectory/trajectory_background'
+import { get } from '@/views/system/dict/dictDetail'
+
+import CRUD, { presenter, header, form, crud } from '@crud/crud'
+import crudOperation from '@crud/CRUD.operation'
+import udOperation from '@crud/UD.operation'
+import pagination from '@crud/Pagination'
+// import i18n from '@/i18n'
+import { mapGetters } from 'vuex'
+import { getToken } from '@/utils/auth'
+
+const defaultForm = {
+  background_uuid: null,
+  background_code: null,
+  image_code: null,
+  image_name: null,
+  zoom_ratio: null,
+  coordinate_origin: null,
+  max_x: null,
+  max_y: null,
+  refresh_time: null,
+  is_active: null,
+  is_delete: null,
+  create_by: null,
+  create_time: null,
+  update_by: null,
+  update_time: null,
+  remark: null
+}
+export default {
+  name: 'Trajectory',
+  components: { pagination, crudOperation, udOperation },
+  mixins: [presenter(), header(), form(defaultForm), crud()],
+  cruds() {
+    return CRUD({
+      title: '轨迹背景图',
+      url: 'api/trajectoryBackground',
+      idField: 'background_uuid',
+      sort: 'background_uuid,desc',
+      crudMethod: { ...crudTrajectory },
+      optShow: {
+        add: true,
+        edit: true,
+        del: true
+      }
+    })
+  },
+  mounted() {
+    // 获取坐标原点字典
+    get('coordinate_origin').then(data => {
+      console.log(data)
+      this.options = data.content
+    })
+  },
+  data() {
+    return {
+      permission: {
+        add: ['admin', 'Trajectory:add'],
+        edit: ['admin', 'Trajectory:edit'],
+        del: ['admin', 'Trajectory:del']
+      },
+      rules: {
+        background_code: [
+          { required: true, message: '背景图名称不能为空', trigger: 'blur' }
+        ],
+        image_code: [
+          { required: true, message: '背景图不能为空', trigger: 'blur' }
+        ],
+        zoom_ratio: [
+          { required: true, message: '缩放比例不能为空,范围0-1', trigger: 'blur' }
+        ],
+        coordinate_origin: [
+          { required: true, message: '坐标原点不能为空', trigger: 'blur' }
+        ],
+        max_x: [
+          { required: true, message: 'X坐标最大值不能为空', trigger: 'blur' }
+        ],
+        max_y: [
+          { required: true, message: 'Y坐标最大值不能为空', trigger: 'blur' }
+        ],
+        refresh_time: [
+          { required: true, message: '刷新时间不能为空', trigger: 'blur' }
+        ]
+      },
+      fileList: [],
+      headers: { 'Authorization': getToken() },
+      options: []
+    }
+  },
+  computed: {
+    ...mapGetters([
+      'imagesUploadApi',
+      'baseApi'
+    ])
+  },
+  methods: {
+    // 钩子：在获取表格数据之前执行，false 则代表不获取数据
+    [CRUD.HOOK.beforeRefresh]() {
+      return true
+    },
+    [CRUD.HOOK.afterSubmit]() {
+      this.fileList = []
+    }, [CRUD.HOOK.beforeToAdd]() {
+      this.fileList = []
+    },
+    [CRUD.HOOK.afterToEdit]() {
+      let new_lst = []
+      const image_code = this.form.image_code
+      const image_name = this.baseApi + '/file/图片/' + image_code
+      new_lst = [{ name: image_code, url: image_name }]
+      this.fileList = new_lst
+    },
+    beforeUpload_u(file) {
+      const testmsg = file.name.substring(file.name.lastIndexOf('.') + 1)
+      const extension = (testmsg === 'png' || testmsg === 'jpg' || testmsg === 'svg')
+
+      let bool = false
+      if (extension) {
+        bool = true
+      } else {
+        bool = false
+      }
+      if (!extension) {
+        this.$confirm(`上传文件只能是png/jpg/svg格式!`)
+      }
+
+      return bool
+    },
+    handleSuccess(response) {
+      console.log(response)
+      this.form.image_code = response.real_name
+      this.form.image_name = response.path
+    },
+    getCoordinateOrigin(value) {
+      const item = this.options.find(item => item.value === value)
+      return item ? item.label : ''
+    }
+  }
+}
+</script>
+
+<style scoped>
+
+</style>

acs/nladmin-ui/src/views/track/showTrack.vue

@@ -0,0 +1,24 @@
+<template>
+  <div style="padding: 20px 20px 45px 20px;">
+    <el-row :gutter="24">
+      <el-col :xs="24" :sm="24" :md="24" :lg="24" :xl="24">
+        <el-card class="box-card">
+          <div slot="header" class="clearfix">
+            <span style="font-weight: bold;color: #666;font-size: 15px">AGV运行轨迹图</span>
+          </div>
+          <div>
+            <showTrack />
+          </div>
+        </el-card>
+      </el-col>
+    </el-row>
+  </div>
+</template>
+
+<script>
+import showTrack from '@/components/ShowTrack/index.vue'
+
+export default {
+  components: { showTrack }
+}
+</script>