Merge branch 'master' of http://101.43.238.71:3000/zouju/auto-solution

auto-solution-admin/src/main/java/com/solution/web/controller/scene/SceneController.java

@@ -55,4 +55,13 @@ public class SceneController extends BaseController {
     {
         return success(sceneService.findOneById(id));
     }
+
+    /**
+     * 根据场景id获取场景下所有行为树
+     */
+    @GetMapping("/getAllTree/{id}")
+    @ApiOperation("根据场景id获取场景下所有行为树")
+    public AjaxResult getAllTree(@PathVariable Integer id){
+        return success(sceneService.getAllTree(id));
+    }
 }

auto-solution-behaviour/src/main/java/com/solution/system/domain/Behaviortree.java

@@ -49,6 +49,17 @@ public class Behaviortree extends BaseEntity
     @Excel(name = "平台ID")
     private Integer platformId;
 
+    @Excel(name = "场景ID")
+    private Integer scenarioId;
+
+    public Integer getScenarioId() {
+        return scenarioId;
+    }
+
+    public void setScenarioId(Integer scenarioId) {
+        this.scenarioId = scenarioId;
+    }
+
     public Integer getPlatformId() {
         return platformId;
     }

auto-solution-behaviour/src/main/java/com/solution/system/mapper/PlatformMapper.java

@@ -2,6 +2,7 @@ package com.solution.system.mapper;
 
 import com.solution.system.domain.PlatformTree;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
 
 import java.util.List;
 
@@ -13,12 +14,12 @@ public interface PlatformMapper {
      * @param id
      * @return
      */
-    PlatformTree getPlatformByTreeId(Long id);
+    PlatformTree getPlatformByTreeId(Integer id);
 
     /**
      * 根据下属平台英文名获取中文名返回
      * @param underlingEnglishName
      * @return
      */
-    List<String> selectPlatformChineseName(List<String> underlingEnglishName);
+    List<String> selectPlatformChineseName(@Param("underlingEnglishName") List<String> underlingEnglishName);
 }

auto-solution-behaviour/src/main/java/com/solution/system/service/impl/BehaviortreeServiceImpl.java

@@ -121,11 +121,11 @@ public class BehaviortreeServiceImpl implements IBehaviortreeService
             throw new RuntimeException(ExceptionConstants.PARAMETER_EXCEPTION);
         }
         Behaviortree behaviortree = behaviortreeMapper.selectBehaviortreeById(Long.valueOf(treeId));
-        if(ObjectUtil.isEmpty(behaviortree) && null == behaviortree.getId()){
+        if(ObjectUtil.isEmpty(behaviortree) || null == behaviortree.getId()){
             throw new RuntimeException(ExceptionConstants.PARAMETER_EXCEPTION);
         }
         //根据行为树id获取行为树所属平台
-        PlatformTree platform = platformMapper.getPlatformByTreeId(behaviortree.getId());
+        PlatformTree platform = platformMapper.getPlatformByTreeId(behaviortree.getPlatformId());
         //根据平台name获取平台下属英文名
         List<String> underlingEnglishName = platformCommunicationMapper.getUnderlingBytreeId(platform.getName());
         //根据下属平台英文名获取中文名返回

auto-solution-behaviour/src/main/resources/mapper/system/BehaviortreeMapper.xml

@@ -5,13 +5,15 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
 <mapper namespace="com.solution.system.mapper.BehaviortreeMapper">
     
     <resultMap type="Behaviortree" id="BehaviortreeResult">
-        <result property="id"    column="id"    />
+        <result property="id"          column="id"          />
-        <result property="name"    column="name"    />
+        <result property="name"        column="name"        />
-        <result property="description"    column="description"    />
+        <result property="description" column="description" />
-        <result property="createdAt"    column="created_at"    />
+        <result property="createdAt"   column="created_at"  />
-        <result property="updatedAt"    column="updated_at"    />
+        <result property="updatedAt"   column="updated_at"  />
-        <result property="englishName"    column="english_name"    />
+        <result property="englishName" column="english_name"/>
-        <result property="xmlContent"    column="xml_content"    />
+        <result property="xmlContent"  column="xml_content" />
+        <result property="platformId"  column="platform_id" />
+        <result property="scenarioId"  column="scenario_id" />
     </resultMap>
 
     <select id="findOneByPlatformId" resultMap="BehaviortreeResult">
@@ -37,7 +39,7 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     </select>
     
     <select id="selectBehaviortreeById" parameterType="Long" resultMap="BehaviortreeResult">
-        <include refid="selectBehaviortreeVo"/>
+        select id, name, description, created_at, updated_at, english_name,graph, xml_content ,platform_id, scenario_id from behaviortree
         where id = #{id}
     </select>
 

auto-solution-behaviour/src/main/resources/mapper/system/PlatformMapper.xml

@@ -6,7 +6,7 @@
 
 
     <select id="getPlatformByTreeId" resultType="com.solution.system.domain.PlatformTree"
-            parameterType="java.lang.Long">
+            parameterType="java.lang.Integer">
         SELECT id , name , description, scenario_id
         FROM platform
         WHERE id = #{id}

auto-solution-scene/pom.xml

@@ -36,6 +36,11 @@
             <artifactId>springfox-boot-starter</artifactId>
         </dependency>
 
+        <dependency>
+            <groupId>com.solution</groupId>
+            <artifactId>solution-behaviour</artifactId>
+        </dependency>
+
     </dependencies>
 
 </project>

auto-solution-scene/src/main/java/com/solution/scene/mapper/SceneMapper.java

@@ -2,6 +2,7 @@ package com.solution.scene.mapper;
 
 import com.solution.scene.domain.AfsimScenario;
 import com.solution.scene.domain.AfsimScenarioForm;
+import com.solution.system.domain.Behaviortree;
 import org.apache.ibatis.annotations.Mapper;
 
 import java.util.List;
@@ -26,4 +27,11 @@ public interface SceneMapper {
     List<AfsimScenario> selectSceneList();
 
     AfsimScenario findOneById(Long id);
+
+    /**
+     * 根据场景id获取场景下所有行为树
+     * @param id
+     * @return
+     */
+    List<Behaviortree> selectAllTreeBySceneId(Integer id);
 }

auto-solution-scene/src/main/java/com/solution/scene/service/SceneService.java

@@ -2,6 +2,7 @@ package com.solution.scene.service;
 
 import com.solution.scene.domain.AfsimScenario;
 import com.solution.scene.domain.AfsimScenarioForm;
+import com.solution.system.domain.Behaviortree;
 
 import java.util.List;
 
@@ -25,4 +26,11 @@ public interface SceneService {
     List<AfsimScenario> selectSceneList();
 
     AfsimScenario findOneById(Long id);
+
+    /**
+     * 根据场景id获取场景下所有行为树
+     * @param id
+     * @return
+     */
+    List<Behaviortree> getAllTree(Integer id);
 }

auto-solution-scene/src/main/java/com/solution/scene/service/impl/SceneServiceImpl.java

@@ -1,10 +1,13 @@
 package com.solution.scene.service.impl;
 
+import cn.hutool.core.collection.CollUtil;
+import com.solution.common.constant.ExceptionConstants;
 import com.solution.scene.domain.AfsimScenario;
 import com.solution.scene.domain.AfsimScenarioForm;
 import com.solution.scene.mapper.PlatFormCommunicationMapper;
 import com.solution.scene.mapper.SceneMapper;
 import com.solution.scene.service.SceneService;
+import com.solution.system.domain.Behaviortree;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
@@ -70,4 +73,21 @@ public class SceneServiceImpl implements SceneService {
         return sceneMapper.findOneById(id);
     }
 
+    /**
+     * 根据场景id获取场景下所有行为树
+     * @param id
+     * @return
+     */
+    @Override
+    public List<Behaviortree> getAllTree(Integer id) {
+        if(null ==  id || id <= 0){
+            throw new RuntimeException(ExceptionConstants.PARAMETER_EXCEPTION);
+        }
+        List<Behaviortree> allTree = sceneMapper.selectAllTreeBySceneId(id);
+        if(CollUtil.isEmpty(allTree)){
+            throw new RuntimeException("该场景下不存在行为树");
+        }
+        return allTree;
+    }
+
 }

auto-solution-scene/src/main/resources/mapper/scene/SceneMapper.xml

@@ -25,6 +25,12 @@ PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN"
     <select id="selectSceneList" resultMap="SceneMap">
         SELECT id, name, description, scenario_path, communication_graph FROM afsim_scenario
     </select>
+    <select id="selectAllTreeBySceneId" resultType="com.solution.system.domain.Behaviortree"
+            parameterType="java.lang.Integer">
+        SELECT id, name, description, created_at, updated_at, english_name, graph,xml_content,platform_id,scenario_id
+        FROM behaviortree
+        WHERE scenario_id=#{id}
+    </select>
 
     <insert id="update" parameterType="com.solution.scene.domain.AfsimScenario">
         update afsim_scenario

modeler/src/views/decision/designer/api.ts

@@ -28,6 +28,10 @@ export const findOneTreeByPlatformId = (platformId: number): Promise<BehaviorTre
   return req.get(`/system/behaviortree/platform/${platformId}`);
 };
 
+export const findSubPlatforms = (treeId: number): Promise<BehaviorTreeDetailsResponse> => {
+  return req.get(`/system/behaviortree/underling/${treeId}`);
+};
+
 export const findOneTreeById = (id: number): Promise<BehaviorTreeDetailsResponse> => {
   return req.get(`/system/behaviortree/${id}`);
 };

modeler/src/views/decision/designer/designer.vue

@@ -43,10 +43,11 @@
           <Properties
             v-if="graph"
             :platforms="platforms"
+            :sub-platforms="subPlatforms"
             :nodeCommands="nodeCommands"
             :element="selectedNodeTaskElement"
-            :graph="graph as any"
+            :graph="(graph as any)"
-            :node="selectedModelNode as any"
+            :node="(selectedModelNode as any)"
             :tree="currentBehaviorTree"
             :tree-editing="currentTreeEditing"
             @update-element="handleUpdateElement" />
@@ -74,8 +75,8 @@ import { createGraphTaskElementFromTemplate } from './utils';
 import { createGraphTaskElement, createLineOptions, type GraphContainer, type GraphTaskElement, hasElements, hasRootElementNode, resolveGraph, useGraphCanvas } from '../graph';
 import { registerNodeElement } from './register';
 import { findAllBasicPlatforms, findAllNodeCommands } from '../api';
-import type { Platform } from '../types';
+import type { NodeCommand, Platform } from '../types';
-import { createTree, findOneTreeById, findOneTreeByPlatformId, updateTree } from './api';
+import { createTree, findOneTreeById, findOneTreeByPlatformId, updateTree, findSubPlatforms } from './api';
 import TressCard from './trees-card.vue';
 import NodesCard from './nodes-card.vue';
 
@@ -112,6 +113,7 @@ export default defineComponent({
     const changed = ref<boolean>(false);
     const treesCardRef = ref<InstanceType<typeof TressCard> | null>(null);
     const platforms = ref<Platform[]>([]);
+    const subPlatforms = ref<Platform[]>([]);
     const nodeCommands = ref<NodeCommand[]>([])
     const currentScenarioId = ref<number | null>(null);
     const currentPlatformId = ref<number | null>(null);
@@ -153,6 +155,27 @@ export default defineComponent({
       loadNodeCommands();
     }
 
+    // 加载下属平台
+    const loadSubPlatforms = (treeId: number) => {
+      console.log(treeId);
+      
+      if (!treeId || treeId <= 0) {
+        subPlatforms.value = [];
+        return;
+      }
+      
+      findSubPlatforms(treeId).then(r => {
+        if (r.data && Array.isArray(r.data)) {
+          subPlatforms.value = r.data as Platform[];
+        } else {
+          subPlatforms.value = [];
+        }
+      }).catch(err => {
+        console.error('加载下属平台失败:', err);
+        subPlatforms.value = [];
+      });
+    };
+
     // 处理拖动开始
     const handleDragStart = (nm: NodeDragTemplate) => {
       draggedNodeData.value = nm;
@@ -267,6 +290,10 @@ export default defineComponent({
             graph: nodeGraph,
           };
           currentTreeEditing.value = true;
+          
+          // 加载下属平台
+          loadSubPlatforms(r.data.id);
+          
           nextTick(() => {
             initGraph();
           });
@@ -343,6 +370,7 @@ export default defineComponent({
       };
       selectedModelNode.value = null;
       selectedNodeTaskElement.value = null;
+      subPlatforms.value = []; // 重置下属平台
 
       nextTick(() => {
         initGraph();
@@ -487,6 +515,7 @@ export default defineComponent({
       nodeCommands,
       currentScenarioId,
       platforms,
+      subPlatforms,
       treesCardRef,
       handleCreateTree,
       currentTreeEditing,

modeler/src/views/decision/designer/properties.vue

@@ -101,7 +101,7 @@
                         size="small"
                         type="editable-card"
                         @edit="onEditParameterTab">
-                  <a-tab-pane v-for="(grouped,index) in groupedParameters" :key="index" :tab="`平台 ${index + 1}`" :closable="true">
+                  <a-tab-pane v-for="(grouped,index) in groupedParameters" :key="index" :tab="getPlatformTabName(index)" :closable="true">
                     <a-form-item v-for="setting in grouped" :label="setting.description">
                       <a-input-number v-if="setting.dataType === 'double'"
                                       v-model:value="setting.defaultValue"
@@ -109,7 +109,7 @@
                       <a-select :placeholder="`请选择${setting.description}`"
                                 allow-clear
                                 v-else-if="setting.paramKey === 'platforms'" v-model:value="setting.defaultValue">
-                        <a-select-option v-for="pl in platforms" :value="pl.name">{{pl.description}}</a-select-option>
+                        <a-select-option v-for="pl in getAvailablePlatforms()" :value="pl.name">{{pl.description}}</a-select-option>
                       </a-select>
                       <a-select :placeholder="`请选择${setting.description}`"
                                 allow-clear
@@ -194,11 +194,13 @@ export default defineComponent({
     node: { type: [Object, null] as PropType<Node<NodeProperties> | null | undefined>, required: false },
     graph: { type: [Object, null] as PropType<Graph | null | undefined>, required: true },
     platforms: { type: Array as PropType<Platform[]>, required: true },
+    subPlatforms: { type: Array as PropType<Platform[]>, required: false, default: () => [] },
     nodeCommands: { type: Array as PropType<NodeCommand[]>, required: true },
   },
   emits: ['update-element', 'update-tree'],
   setup(props, { emit }) {
     const platforms = ref<Platform[]>(props.platforms ?? []);
+    const subPlatforms = ref<Platform[]>(props.subPlatforms ?? []);
     const nodeCommands = ref<NodeCommand[]>(props.nodeCommands ?? []);
 
     const activeTopTabsKey = ref<string>('1');
@@ -299,6 +301,41 @@ export default defineComponent({
       multiableParameters.value = multiable === true && groupedParameters.value.length > 0;
     };
 
+    // 获取平台Tab显示名称
+    const getPlatformTabName = (index: number): string => {
+      if (!currentTree.value?.platformId) {
+        return `平台 ${index + 1}`;
+      }
+      
+      // 查找当前行为树绑定的平台
+      const currentPlatform = platforms.value.find(p => p.id === currentTree.value?.platformId);
+      if (!currentPlatform) {
+        return `平台 ${index + 1}`;
+      }
+      
+      // 如果有多个分组，显示平台名称和索引
+      if (groupedParameters.value.length > 1) {
+        return `${currentPlatform.name || '未知平台'}-${index + 1}`;
+      }
+      
+      return currentPlatform.name || '平台';
+    };
+
+    // 获取可用的平台列表（包括当前平台和其下属平台）
+    const getAvailablePlatforms = (): Platform[] => {
+      if (!currentTree.value?.platformId) {
+        return platforms.value;
+      }
+      
+      // 如果有下属平台，返回下属平台列表
+      if (subPlatforms.value && subPlatforms.value.length > 0) {
+        return subPlatforms.value;
+      }
+      
+      // 否则返回所有平台
+      return platforms.value;
+    };
+
 
     const resolveNode = (n?: Node | null | undefined) => {
       groupedParametersActiveTab.value = 0;
@@ -389,6 +426,7 @@ export default defineComponent({
 
     watch(() => props.nodeCommands, (n: NodeCommand[] | null | undefined) => nodeCommands.value = n ?? [], { deep: true, immediate: true });
     watch(() => props.platforms, (n: Platform[] | null | undefined) => platforms.value = n ?? [], { deep: true, immediate: true });
+    watch(() => props.subPlatforms, (n: Platform[] | null | undefined) => subPlatforms.value = n ?? [], { deep: true, immediate: true });
 
     onMounted(() => load());
 
@@ -400,6 +438,8 @@ export default defineComponent({
       multiableParameters,
       onEditParameterTab,
       groupedParameters,
+      getPlatformTabName,
+      getAvailablePlatforms,
       actionSpaceColumns,
       activeTopTabsKey,
       activeBottomTabsKey,