diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttFactory.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttFactory.java index d073045e2..9e610c655 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttFactory.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttFactory.java @@ -133,10 +133,16 @@ public class MqttFactory { public static MqttService getMqttFactory(String topic){ DefineSubTopicEnum defineSubTopicEnum = DefineSubTopicEnum.getDefineSubTopicEnumByTopic(topic); switch (defineSubTopicEnum){ - case ROBOT_GENERICS_STATUS: - return BeanUtils.getBean(RobotGenericsStatusServiceImpl.class); case ROBOT_STATUS: return BeanUtils.getBean(RobotStatusServiceImpl.class); + case ROBOT_REACTIVE_STATUS: + return BeanUtils.getBean(RobotReactiveStatusServiceImpl.class); + case ROBOT_GENERICS_STATUS: + return BeanUtils.getBean(RobotGenericsStatusServiceImpl.class); + case ROBOT_PATH_STATUS: + return BeanUtils.getBean(RobotPathStatusServiceImpl.class); + case ROBOT_WORK_STATUS: + return BeanUtils.getBean(RobotWorkStatusServiceImpl.class); case SYNCHRONOUS_ALL_MAP_REQUEST: return BeanUtils.getBean(PathPlanningInitDataServiceImpl.class); case TASK_ASSIGNMENT_FEEDBACK: diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java index 51c77065e..b6b9c3179 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java @@ -19,10 +19,12 @@ public enum DefineSubTopicEnum { ROBOT_TASK_STATUS("ROBOT_TASK_STATUS", 0,"机器人任务完成上报"), ROBOT_REACTIVE_STATUS("ROBOT_REACTIVE_STATUS", 0,"机器人响应式状态上报"), ROBOT_GENERICS_STATUS("ROBOT_GENERICS_STATUS", 0,"机器人异常"), + ROBOT_PATH_STATUS("ROBOT_PATH_STATUS", 0,"导航实时行为上报"), + ROBOT_WORK_STATUS("ROBOT_WORK_STATUS", 0,"作业实时行为上报"), SYNCHRONOUS_ALL_MAP_REQUEST("SYNCHRONOUS_ALL_MAP_REQUEST", 0,"路径规划需要初始数据上报"), TASK_ASSIGNMENT_FEEDBACK("TASK_ASSIGNMENT_FEEDBACK", 0,"路径规划任务分配上报"), - ROBOT_TASK_MOVE ("ROBOT_TASK_MOVE ", 0,"路径规划上报实时路径"), - TASK_ASSIGNMENT_FAIL("TASK_ASSIGNMENT_FAIL", 0,"路径规划失败上报"); + TASK_ASSIGNMENT_FAIL("TASK_ASSIGNMENT_FAIL", 0,"路径规划失败上报"), + ROBOT_TASK_MOVE ("ROBOT_TASK_MOVE ", 0,"路径规划上报实时路径"); private final String topic; diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/framework/system/SystemConfiguration.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/framework/system/SystemConfiguration.java index aaf0cb8bf..19e0ffa9f 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/framework/system/SystemConfiguration.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/framework/system/SystemConfiguration.java @@ -1,13 +1,11 @@ package cn.iododer.yudao.module.mqtt.framework.system; -import cn.iocoder.yudao.module.system.api.robot.RobotGenericsStatusApi; -import cn.iocoder.yudao.module.system.api.robot.RobotReactiveStatusApi; -import cn.iocoder.yudao.module.system.api.robot.RobotStatusApi; -import cn.iocoder.yudao.module.system.api.robot.RobotTaskStatusApi; +import cn.iocoder.yudao.module.system.api.robot.*; import org.springframework.cloud.openfeign.EnableFeignClients; import org.springframework.context.annotation.Configuration; @Configuration(proxyBeanMethods = false) -@EnableFeignClients(clients = {RobotGenericsStatusApi.class, RobotTaskStatusApi.class, RobotStatusApi.class, RobotReactiveStatusApi.class}) +@EnableFeignClients(clients = {RobotGenericsStatusApi.class, RobotTaskStatusApi.class, RobotStatusApi.class, RobotReactiveStatusApi.class, + RobotPathStatusApi.class,RobotWorkStatusApi.class}) public class SystemConfiguration { } diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotGenericsStatusServiceImpl.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotGenericsStatusServiceImpl.java index 71de557b8..cacfeb09d 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotGenericsStatusServiceImpl.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotGenericsStatusServiceImpl.java @@ -3,6 +3,7 @@ package cn.iododer.yudao.module.mqtt.service; import cn.iocoder.yudao.module.system.api.robot.RobotGenericsStatusApi; import cn.iocoder.yudao.module.system.api.robot.RobotStatusApi; import cn.iocoder.yudao.module.system.api.robot.dto.RobotGenericsDTO; +import cn.iocoder.yudao.module.system.api.robot.dto.RobotGenericsDataDTO; import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO; import com.alibaba.fastjson.JSON; import lombok.extern.slf4j.Slf4j; @@ -21,7 +22,7 @@ public class RobotGenericsStatusServiceImpl implements MqttService{ @Override public void analysisMessage(String message) { log.info("处理RobotGenericsStatusServiceImpl的消息 :{}",message); - RobotGenericsDTO robotStatusData = JSON.parseObject(message , RobotGenericsDTO.class); + RobotGenericsDataDTO robotStatusData = JSON.parseObject(message , RobotGenericsDataDTO.class); robotGenericsStatusApi.updateRobotCommonStatus(robotStatusData); } } diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotPathStatusServiceImpl.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotPathStatusServiceImpl.java new file mode 100644 index 000000000..f36666330 --- /dev/null +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotPathStatusServiceImpl.java @@ -0,0 +1,22 @@ +package cn.iododer.yudao.module.mqtt.service; + +import cn.iocoder.yudao.module.system.api.robot.RobotPathStatusApi; +import cn.iocoder.yudao.module.system.api.robot.RobotStatusApi; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Service; + +import javax.annotation.Resource; + +@Slf4j +@Service +public class RobotPathStatusServiceImpl implements MqttService{ + + @Resource + private RobotPathStatusApi robotPathStatusApi; + + @Override + public void analysisMessage(String message) { + log.info("导航实时行为上报 :{}", message); + robotPathStatusApi.robotPathStatus(message); + } +} diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotWorkStatusServiceImpl.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotWorkStatusServiceImpl.java new file mode 100644 index 000000000..3beedd05e --- /dev/null +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotWorkStatusServiceImpl.java @@ -0,0 +1,20 @@ +package cn.iododer.yudao.module.mqtt.service; + +import cn.iocoder.yudao.module.system.api.robot.RobotReactiveStatusApi; +import cn.iocoder.yudao.module.system.api.robot.RobotWorkStatusApi; +import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.stereotype.Service; + +@Slf4j +@Service +public class RobotWorkStatusServiceImpl implements MqttService{ + @Autowired + private RobotWorkStatusApi robotWorkStatusApi; + + @Override + public void analysisMessage(String message) { + log.info("作业实时行为上报 :{}", message); + robotWorkStatusApi.robotWorkStatus(message); + } +} diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApi.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApi.java index 78ab3633f..785412042 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApi.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApi.java @@ -1,6 +1,7 @@ package cn.iocoder.yudao.module.system.api.robot; import cn.iocoder.yudao.module.system.api.robot.dto.RobotGenericsDTO; +import cn.iocoder.yudao.module.system.api.robot.dto.RobotGenericsDataDTO; import cn.iocoder.yudao.module.system.enums.ApiConstants; import io.swagger.v3.oas.annotations.Operation; import io.swagger.v3.oas.annotations.tags.Tag; @@ -16,5 +17,5 @@ public interface RobotGenericsStatusApi { @PostMapping(PREFIX + "/updateRobotCommonStatus") @Operation(summary = "机器人异常上报/常规信息上报") - void updateRobotCommonStatus(@RequestBody RobotGenericsDTO robotStatusData); + void updateRobotCommonStatus(@RequestBody RobotGenericsDataDTO robotStatusData); } diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotPathStatusApi.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotPathStatusApi.java new file mode 100644 index 000000000..2255d2513 --- /dev/null +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotPathStatusApi.java @@ -0,0 +1,19 @@ +package cn.iocoder.yudao.module.system.api.robot; + +import cn.iocoder.yudao.module.system.enums.ApiConstants; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.tags.Tag; +import org.springframework.cloud.openfeign.FeignClient; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestParam; + +@FeignClient(name = ApiConstants.NAME) // TODO 芋艿：fallbackFactory = +@Tag(name = "导航实时行为上报") +public interface RobotPathStatusApi { + + String PREFIX = ApiConstants.PREFIX + "/task"; + + @PostMapping(PREFIX + "/robotPathStatus") + @Operation(summary = "导航实时行为上报") + void robotPathStatus(@RequestParam("message") String message); +} diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApi.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApi.java new file mode 100644 index 000000000..e64bb3c0f --- /dev/null +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApi.java @@ -0,0 +1,18 @@ +package cn.iocoder.yudao.module.system.api.robot; + +import cn.iocoder.yudao.module.system.enums.ApiConstants; +import io.swagger.v3.oas.annotations.Operation; +import io.swagger.v3.oas.annotations.tags.Tag; +import org.springframework.cloud.openfeign.FeignClient; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestParam; + +@FeignClient(name = ApiConstants.NAME) // TODO 芋艿：fallbackFactory = +@Tag(name = "作业实时行为上报") +public interface RobotWorkStatusApi { + String PREFIX = ApiConstants.PREFIX + "/task"; + + @PostMapping(PREFIX + "/robotWorkStatus") + @Operation(summary = "作业实时行为上报") + void robotWorkStatus(@RequestParam("message") String message); +} diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotGenericsDataDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotGenericsDataDTO.java index 89dd53225..ffed40be3 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotGenericsDataDTO.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotGenericsDataDTO.java @@ -5,7 +5,7 @@ import lombok.Data; @Data public class RobotGenericsDataDTO { //车身控制器状态 - private RobotHwStatesDTO hw_states; + private RobotHwStatesDTO hwStates; //mac地址 private String mac; private String ip; diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotHwStatesDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotHwStatesDTO.java index a95a8de20..21de939b1 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotHwStatesDTO.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotHwStatesDTO.java @@ -8,59 +8,59 @@ import lombok.Data; @Data public class RobotHwStatesDTO { //控制器状态 - private String controller_state; + private String controllerState; //转向电机角度，0 为正前方，逆时针正方向，顺时针负 - private String steer_angle; + private String steerAngle; //转向电机驱动器错误码 - private String steer_error_code; + private String steerErrorCode; //行走电机转速，m/s - private String walk_motor_vel; + private String walkMotorVel; //行走电机电流 - private String walk_motor_current; + private String walkMotorCurrent; //行走电机温度 - private String walk_motor_temperature; + private String walkMotorTemperature; //行走电机电源单元状态 - private String walk_motor_power_unit_state; + private String walkMotorPowerUnitState; //行走电机主接触器状态 - private String walk_motor_main_contactor_state; + private String walkMotorMainContactorState; //行走电机电子制动状态 - private String walk_motor_electric_brake_state; + private String walkMotorElectricBrakeState; //行走电机锁定开关状态 - private String walk_motor_lock_switch_state; + private String walkMotorLockSwitchState; //行走电机驱动器错误码 - private String walk_motor_error_code; + private String walkMotorErrorCode; //货叉高度 - private String fork_height; + private String forkHeight; //电池的剩余容量 - private String bat_soc; + private String batSoc; //电池电流 - private String bat_current; + private String batCurrent; //电池电压 - private String bat_voltage; + private String batVoltage; //电池温度 - private String bat_temperature; + private String batTemperature; //解析后的电池故障码 - private String bat_error_code; + private String batErrorCode; //充电接触器闭合 false 为开，true 为闭合 - private String charge_relay_closed; + private String chargeRelayClosed; //bms 状态：电池充电中，false 为放电，true 为充电 - private String bat_charging; + private String batCharging; //货物到位传感器触发状态：被按下则 true，否则 false - private String cargo_detected; + private String cargoDetected; //叉尖传感器触发状态：物体接近触发为 true，否则为 false - private String fork_tip_sensor_state; + private String forkTipSensorState; //急停按键状态：按下为 true，松开为 false - private String estop_button_state; + private String estopButtonState; //启动按键状态：按下为 true，松开为 false - private String start_button_state; + private String startButtonState; //复位按键状态：按下为 true，松开为 false - private String reset_button_state; + private String resetButtonState; //手动模式拨杆状态：true 表示在手动状态，false 为自动 - private String manual_switch_state; + private String manualSwitchState; //转向电机零位传感器状态，true 为触发，false 为未触发 - private String steer_sensor_state; + private String steerSensorState; //碰撞传感器触发状态：触发为 true，否则为 false - private String bumper_sensor_state; + private String bumperSensorState; //灯条状态代码 - private String led_state; + private String ledState; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java index 6f588a2ad..894927bc0 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java @@ -2,7 +2,7 @@ package cn.iocoder.yudao.module.system.api.robot; import cn.hutool.core.util.ObjectUtil; import cn.hutool.json.JSONUtil; -import cn.iocoder.yudao.module.system.api.robot.dto.RobotGenericsDTO; +import cn.iocoder.yudao.module.system.api.robot.dto.RobotGenericsDataDTO; import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO; import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant; import cn.iocoder.yudao.module.system.util.redis.RedisUtil; @@ -28,30 +28,24 @@ public class RobotGenericsStatusApiImpl implements RobotGenericsStatusApi { @Resource@Value("${zn.robot_position_cache_time:600}") private Long robotPositionCacheTime; - @Autowired - private ThreadPoolTaskExecutor taskExecutor; - @Override - public void updateRobotCommonStatus(RobotGenericsDTO robotStatusData) { - taskExecutor.execute(() -> { - doUpdateRobotCommonStatus(robotStatusData); - }); + public void updateRobotCommonStatus(RobotGenericsDataDTO robotStatusData) { + doUpdateRobotCommonStatus(robotStatusData); } - public void doUpdateRobotCommonStatus(RobotGenericsDTO robotStatusData) { - if (ObjectUtil.isEmpty(robotStatusData) || ObjectUtil.isEmpty(robotStatusData.getData()) - || ObjectUtil.isEmpty(robotStatusData.getData().getMac())) { + public void doUpdateRobotCommonStatus(RobotGenericsDataDTO robotStatusData) { + log.info("车机每3秒上报其他状态信息 :{}", JSONUtil.toJsonStr(robotStatusData)); + if (ObjectUtil.isEmpty(robotStatusData) || ObjectUtil.isEmpty(robotStatusData.getHwStates()) + || ObjectUtil.isEmpty(robotStatusData.getMac())) { log.info("参数不全 :{}", JSON.toJSONString(robotStatusData)); } - String mac = robotStatusData.getData().getMac(); + String mac = robotStatusData.getMac(); String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +mac; Object object = redisUtil.get(pose2dKey); RobotStatusDataPoseDTO robotStatusDataPoseDTO= JSONUtil.toBean((String)object, RobotStatusDataPoseDTO.class); - robotStatusDataPoseDTO.setArea(robotStatusData.getData().getZone()); - robotStatusDataPoseDTO.setFloor(robotStatusData.getData().getFloor()); - String batSoc = robotStatusData.getData().getHw_states().getBat_soc(); + String batSoc = robotStatusData.getHwStates().getBatSoc(); if (ObjectUtil.isNotEmpty(batSoc)) { BigDecimal a = new BigDecimal(batSoc); BigDecimal b = new BigDecimal("100"); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotPathStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotPathStatusApiImpl.java new file mode 100644 index 000000000..fa89f1487 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotPathStatusApiImpl.java @@ -0,0 +1,79 @@ +package cn.iocoder.yudao.module.system.api.robot; + +import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder; +import cn.iocoder.yudao.module.system.api.robot.vo.RobotPathStatusDTO; +import cn.iocoder.yudao.module.system.api.robot.vo.RobotReactiveStatusDTO; +import cn.iocoder.yudao.module.system.enums.path.PathIsReachEnum; +import cn.iocoder.yudao.module.system.service.path.PathPlanningService; +import cn.iocoder.yudao.module.system.service.robot.RobotInformationService; +import com.alibaba.fastjson.JSON; +import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor; +import org.springframework.validation.annotation.Validated; +import org.springframework.web.bind.annotation.RestController; + +import javax.annotation.Resource; + +@Slf4j +@RestController // 提供 RESTful API 接口，给 Feign 调用 +@Validated +public class RobotPathStatusApiImpl implements RobotPathStatusApi { + + @Autowired + private ThreadPoolTaskExecutor taskExecutor; + + @Autowired + private RobotInformationService robotInformationService; + + @Resource + private PathPlanningService pathPlanningService; + + /** + * 导航实时行为上报 + * @param message + */ + @Override + public void robotPathStatus(String message) { + taskExecutor.execute(() -> { + doRobotPathStatus(message); + }); + } + + private void doRobotPathStatus(String message) { + log.info("导航实时行为上报: {}", message); + TenantContextHolder.setTenantId(1L); + RobotPathStatusDTO data = JSON.parseObject(message, RobotPathStatusDTO.class); + String robotNo = robotInformationService.getRobotNoByMac(data.getMac()); + pathPlanningService.updateBehavior(data.getOrderId(), robotNo + , data.getPoseId(), data.getStatus()); + } + + + + + + + + + + + + + + + + + + + + + + + + + + + + +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java index 792241261..a4a941bb1 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java @@ -45,18 +45,9 @@ public class RobotStatusApiImpl implements RobotStatusApi { @Autowired private RobotInformationService robotInformationService; - @Resource - private RobotWarnCodeMappingMapper warnCodeMappingMapper; - - @Resource - private RobotWarnMsgMapper warnMsgMapper; - @Value("${zn.robot_position_cache_time:600}") private Long robotPositionCacheTime; - @Value("${zn.robot_error_level_time:30}") - private Long robotErrorLevelTime; - @Resource private RequestProcessor processor; @@ -66,80 +57,6 @@ public class RobotStatusApiImpl implements RobotStatusApi { @Autowired private ThreadPoolTaskExecutor taskExecutor; - @Resource - private RobotWarnMsgService warnMsgService; - - - public void doRobotStatusUpdate(RobotStatusDTO robotStatusDataDTO) { - TenantContextHolder.setTenantId(1L); - if (ObjectUtil.isEmpty(robotStatusDataDTO) || ObjectUtil.isEmpty(robotStatusDataDTO.getMac())) { - log.info("机器人上报的信息不全 :{}", JSON.toJSONString(robotStatusDataDTO)); - return; - } - - String robotNo = robotInformationService.getRobotNoByMac(robotStatusDataDTO.getMac()); - - if (ObjectUtil.isNotNull(robotStatusDataDTO.getData().getErr_code())) { - List errCode = robotStatusDataDTO.getData().getErr_code(); - - if (ObjectUtil.isNull(robotNo)) { - log.info("查不到机器人编号 :{}", robotStatusDataDTO.getMac()); - return; - } - - List warnCodes = - errCode.stream().map(RobotStatusDataErrorDTO::getErrorCode).collect(Collectors.toList()); - List robotWarnCodeMappingDOS = - warnCodeMappingMapper.selectList(new LambdaQueryWrapper() - .in(RobotWarnCodeMappingDO::getWarnCode, warnCodes)); - if (ObjectUtil.isEmpty(robotWarnCodeMappingDOS)) { - log.info("查不对应编号的告警信息 :{}", JSON.toJSONString(warnCodes)); - return; - } - - Map> warnCodeMapping = - robotWarnCodeMappingDOS.stream().collect(Collectors.groupingBy(RobotWarnCodeMappingDO::getWarnCode)); - - List warnMsgDOS = new ArrayList<>(); - - //机器人异常等级 - String errorLevelKey = RobotTaskChcheConstant.ROBOT_ERROR_LEVEL + robotStatusDataDTO.getMac(); - Object errorLevel = redisUtil.get(errorLevelKey); - - String errorMsgKey = RobotTaskChcheConstant.ROBOT_ERROR_MSG + robotStatusDataDTO.getMac(); - Object errorMsg = redisUtil.get(errorMsgKey); - - Integer level = ObjectUtil.isEmpty(errorLevel) ? 0 : Integer.valueOf(errorLevel.toString()); - - for (RobotStatusDataErrorDTO robotStatusData : errCode) { - List mappingDOS = warnCodeMapping.get(robotStatusData.getErrorCode()); - if (ObjectUtil.isEmpty(mappingDOS)) { - log.info("当前告警类型查不到对应的告警信息 :{}", robotStatusData.getErrorCode()); - continue; - } - RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(Integer.valueOf(robotStatusData.getCodeLevel())) - .warnCode(robotStatusData.getErrorCode()) - .robotNo(robotNo) - .warnType(RobotWarnType.ROBOT_WARN.getType()) - .warnMsg(robotNo+"_"+mappingDOS.get(0).getWarnMsg()) - .warnSolve(mappingDOS.get(0).getWarnSolve()) - .build(); - warnMsgDOS.add(warnMsg); - - if (level.intValue() < Integer.valueOf(robotStatusData.getCodeLevel()).intValue()) { - level = Integer.valueOf(robotStatusData.getCodeLevel()); - errorMsg = warnMsg.getWarnMsg(); - } - } - redisUtil.set(errorLevelKey, level, robotErrorLevelTime); - redisUtil.set(errorMsgKey, errorMsg, robotErrorLevelTime); - - warnMsgService.sendWarnMsgToWebsocket(errorMsg); - - warnMsgMapper.insertBatch(warnMsgDOS); - } - } - /** * 更新机器人点位/异常/能否做任务 * diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java new file mode 100644 index 000000000..f61b9269d --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java @@ -0,0 +1,22 @@ +package cn.iocoder.yudao.module.system.api.robot; + +import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder; +import cn.iocoder.yudao.module.system.api.robot.vo.RobotWorkStatusDTO; +import com.alibaba.fastjson.JSON; +import lombok.extern.slf4j.Slf4j; +import org.springframework.validation.annotation.Validated; +import org.springframework.web.bind.annotation.RestController; + +@Slf4j +@RestController // 提供 RESTful API 接口，给 Feign 调用 +@Validated +public class RobotWorkStatusApiImpl implements RobotWorkStatusApi { + + @Override + public void robotWorkStatus(String message) { + log.info("作业实时行为上报: {}", message); + TenantContextHolder.setTenantId(1L); + RobotWorkStatusDTO data = JSON.parseObject(message, RobotWorkStatusDTO.class); + } + +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotPathStatusDTO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotPathStatusDTO.java new file mode 100644 index 000000000..7c2ff7454 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotPathStatusDTO.java @@ -0,0 +1,15 @@ +package cn.iocoder.yudao.module.system.api.robot.vo; + +import lombok.Data; + +@Data +public class RobotPathStatusDTO { + /** + * mac地址 + */ + public String mac; + public String poseId; + ////到达："REACH",前进："MOVE“ + public String status; + public String orderId; +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotWorkStatusDTO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotWorkStatusDTO.java new file mode 100644 index 000000000..1bba34c2e --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotWorkStatusDTO.java @@ -0,0 +1,17 @@ +package cn.iocoder.yudao.module.system.api.robot.vo; + +import lombok.Data; + +@Data +public class RobotWorkStatusDTO { + public String orderId; + public String orderType; + public String commandType; + public String workProgress; + public String executionState; + /** + * mac地址 + */ + public String mac; + +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/SystemJobConfiguration.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/SystemJobConfiguration.java index bc820d257..abbea565a 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/SystemJobConfiguration.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/SystemJobConfiguration.java @@ -13,11 +13,11 @@ public class SystemJobConfiguration { @Bean(NOTIFY_THREAD_POOL_TASK_EXECUTOR) public ThreadPoolTaskExecutor notifyThreadPoolTaskExecutor() { ThreadPoolTaskExecutor executor = new ThreadPoolTaskExecutor(); - executor.setCorePoolSize(8); // 设置核心线程数 - executor.setMaxPoolSize(16); // 设置最大线程数 - executor.setKeepAliveSeconds(60); // 设置空闲时间 - executor.setQueueCapacity(100); // 设置队列大小 - executor.setThreadNamePrefix("notify-task-"); // 配置线程池的前缀 + executor.setCorePoolSize(8); + executor.setMaxPoolSize(16); + executor.setKeepAliveSeconds(60); + executor.setQueueCapacity(100); + executor.setThreadNamePrefix("notify-task-"); executor.setRejectedExecutionHandler(new ThreadPoolExecutor.CallerRunsPolicy()); // 进行加载 executor.initialize();