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cbs 2025-03-28 09:16:06 +08:00
parent f39b075104
commit 06fd682e48
6 changed files with 105 additions and 10 deletions
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45
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
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@ -1,6 +1,7 @@
package cn.iocoder.yudao.module.system.api.robot;
import cn.hutool.core.util.ObjectUtil;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
@ -11,6 +12,7 @@ import cn.iocoder.yudao.module.system.api.robot.dto.RobotCompleteTaskDTO;
import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotExecutionStateConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.controller.admin.log.vo.RobotTaskDetailActionLogSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.*;
@ -29,6 +31,7 @@ import cn.iocoder.yudao.module.system.enums.robot.task.RobotStatusCodeEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
import cn.iocoder.yudao.module.system.enums.wait.WaitStatusEnum;
import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogService;
import cn.iocoder.yudao.module.system.service.path.PathPlanningService;
import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
import cn.iocoder.yudao.module.system.service.robot.RobotTaskDetailService;
@ -67,6 +70,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
@Resource
private RobotTaskDetailActionLogMapper taskDetailActionLogMapper;
@Resource
private RobotTaskDetailActionLogService taskDetailActionLogService;
@Autowired
private RobotInformationService robotInformationService;
@ -134,17 +140,37 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
}
}
/**
* 上一条明细设置为完成
* @param mac
* @return
*/
public RobotTaskDetailActionLogDO setLastLogDone(String mac){
String robotNo = robotInformationService.getRobotNoByMac(mac);
RobotTaskDetailActionLogDO lastLog = taskDetailActionLogService.getLastTaskByRobotNo(robotNo);
if (ObjectUtil.isNotEmpty(lastLog)) {
lastLog.setEndTime(LocalDateTime.now());
lastLog.setActionStatus(ActionStatusEnum.DONE.getType());
RobotTaskDetailActionLogSaveReqVO updateObj = BeanUtils.toBean(lastLog, RobotTaskDetailActionLogSaveReqVO.class);
taskDetailActionLogService.updateTaskDetailActionLog(updateObj);
}
return lastLog;
}
/**
* @param robotCompleteTaskDTO
*/
private void robotTaskDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey) {
String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
RobotTaskDetailActionLogDO lastLog = setLastLogDone(robotCompleteTaskDTO.getMac());
if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
chargeDoing(robotCompleteTaskDTO, robotDoingActionKey);
chargeDoing(robotCompleteTaskDTO, robotDoingActionKey,lastLog);
} else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
logOne.setActionMsg("车辆正在前往等待点");
String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
logOne.setRobotNo(robotNo);
logOne.setStartTime(LocalDateTime.now());
logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
taskDetailActionLogMapper.insert(logOne);
redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
@ -191,6 +217,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
* @param robotCompleteTaskDTO
*/
private void robotTaskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
setLastLogDone(robotCompleteTaskDTO.getMac());
//todo 后面考虑下充电，车机目前对充电的逻辑未定义
if (PathTaskTypeEnum.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())
@ -302,21 +329,27 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
*
* @param robotCompleteTaskDTO
*/
private void chargeDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey) {
private void chargeDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey,RobotTaskDetailActionLogDO lastLog) {
RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
RobotCommandStateDTO commandStatus = robotCompleteTaskDTO.getCommandStatus();
Integer taskStatus = ChargeTaskStatusEnum.CHARGEING.getType();
if (ObjectUtil.isNotEmpty(commandStatus) && CommandTypeEnum.MOVE_POSES.getType().equals(commandStatus.getCommandType())) {
RobotChargeLogDO robotChargeLogDO = chargeLogMapper.selectById(robotCompleteTaskDTO.getOrderId());
logOne.setActionMsg("车辆正在前往充电点" + robotChargeLogDO.getDeviceNo());
logOne.setTaskStage(RobotTaskStageEnum.MOVE.getType());
taskStatus = ChargeTaskStatusEnum.DOING.getType();
} else if (ObjectUtil.isNotEmpty(commandStatus)) {
logOne.setActionMsg("车辆正在充电");
logOne.setTaskStage(RobotTaskStageEnum.CHARGEING.getType());
}
String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
logOne.setRobotNo(robotNo);
logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
logOne.setCommandType(lastLog.getCommandType());
logOne.setTaskNo(lastLog.getTaskNo());
logOne.setStartTime(LocalDateTime.now());
taskDetailActionLogMapper.insert(logOne);
redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
RobotChargeLogDO build = RobotChargeLogDO
@ -380,6 +413,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
Long taskStage = robotTaskDetailDO.getTaskStage();
RobotTaskDO robotTask = robotTaskMapper.selectById(robotTaskDetailDO.getRobotTaskId());
RobotCommandStateDTO commandStatus = robotCompleteTaskDTO.getCommandStatus();
String commandType = commandStatus.getCommandType();
@ -441,6 +476,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
logOne.setRobotNo(robotNo);
logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
logOne.setTaskStage(robotTaskDetailDO.getTaskStage());
logOne.setCommandType(PathTaskTypeEnum.getTaskType(robotTaskDetailDO.getTaskType()));
logOne.setTaskNo(robotTask.getTaskNo());
logOne.setStartTime(LocalDateTime.now());
taskDetailActionLogMapper.insert(logOne);
redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
robotTaskDetailMapper.updateById(robotTaskDetailDO);

14
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogPageReqVO.java
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@ -26,7 +26,7 @@ public class RobotTaskDetailActionLogPageReqVO extends PageParam {
@Schema(description = "车辆当前正在做的动作")
private String actionMsg;
@Schema(description = "动作状态(0:未开始、1:正在进行、2:完成)", example = "2")
@Schema(description = "动作状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)", example = "2")
private Integer actionStatus;
@Schema(description = "AGV编号")
@ -39,4 +39,16 @@ public class RobotTaskDetailActionLogPageReqVO extends PageParam {
@Schema(description = "robot_task_detail的id")
private Long taskDetailId;
@Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电、8:取消、9:人工完成、10:异常)")
private Long taskStage;
@Schema(description = "任务号")
private String taskNo;
@Schema(description = "开始时间")
private LocalDateTime startTime;
@Schema(description = "结束时间")
private LocalDateTime endTime;
}

19
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogRespVO.java
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@ -31,8 +31,8 @@ public class RobotTaskDetailActionLogRespVO {
@ExcelProperty("车辆当前正在做的动作")
private String actionMsg;
@Schema(description = "动作状态(0:未开始、1:正在进行、2:完成)", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@ExcelProperty("动作状态(0:未开始、1:正在进行、2:完成)")
@Schema(description = "动作状态(动作状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常))", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@ExcelProperty("动作状态(动作状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常))")
private Integer actionStatus;
@Schema(description = "AGV编号")
@ -46,4 +46,19 @@ public class RobotTaskDetailActionLogRespVO {
@Schema(description = "robot_task_detail的id")
private Long taskDetailId;
@Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电、8:取消、9:人工完成、10:异常)")
private Long taskStage;
@Schema(description = "任务号")
@ExcelProperty("任务号")
private String taskNo;
@Schema(description = "开始时间")
@ExcelProperty("开始时间")
private LocalDateTime startTime;
@Schema(description = "结束时间")
@ExcelProperty("结束时间")
private LocalDateTime endTime;
}

14
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogSaveReqVO.java
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@ -4,6 +4,7 @@ import io.swagger.v3.oas.annotations.media.Schema;
import lombok.*;
import javax.validation.constraints.*;
import java.time.LocalDateTime;
@Schema(description = "管理后台 - 车辆动作记录新增/修改 Request VO")
@Data
@ -24,8 +25,8 @@ public class RobotTaskDetailActionLogSaveReqVO {
@Schema(description = "车辆当前正在做的动作")
private String actionMsg;
@Schema(description = "动作状态(0:未开始、1:正在进行、2:完成)", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@NotNull(message = "动作状态(0:未开始、1:正在进行、2:完成)不能为空")
@Schema(description = "动作状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@NotNull(message = "动作状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)不能为空")
private Integer actionStatus;
@Schema(description = "AGV编号")
@ -34,4 +35,13 @@ public class RobotTaskDetailActionLogSaveReqVO {
@Schema(description = "robot_task_detail的id")
private Long taskDetailId;
@Schema(description = "任务号")
private String taskNo;
@Schema(description = "开始时间")
private LocalDateTime startTime;
@Schema(description = "结束时间")
private LocalDateTime endTime;
}

19
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/log/RobotTaskDetailActionLogDO.java
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@ -5,6 +5,8 @@ import lombok.*;
import com.baomidou.mybatisplus.annotation.*;
import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
import java.time.LocalDateTime;
/**
* 车辆动作记录 DO
*
@ -42,7 +44,7 @@ public class RobotTaskDetailActionLogDO extends BaseDO {
*/
private String actionMsg;
/**
* 动作状态(0:未开始、1:正在进行、2:完成)
* 动作状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)
*/
private Integer actionStatus;
/**
@ -59,4 +61,19 @@ public class RobotTaskDetailActionLogDO extends BaseDO {
*/
private Long taskStage;
/**
* 任务号
*/
private String taskNo;
/**
* 开始时间
*/
private LocalDateTime startTime;
/**
* 结束时间
*/
private LocalDateTime endTime;
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java
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@ -22,10 +22,12 @@ public interface RobotTaskDetailActionLogMapper extends BaseMapperX<RobotTaskDet
.eqIfPresent(RobotTaskDetailActionLogDO::getCommandType, reqVO.getCommandType())
.eqIfPresent(RobotTaskDetailActionLogDO::getCommandMsg, reqVO.getCommandMsg())
.likeIfPresent(RobotTaskDetailActionLogDO::getActionMsg, reqVO.getActionMsg())
.likeIfPresent(RobotTaskDetailActionLogDO::getTaskNo, reqVO.getTaskNo())
.eqIfPresent(RobotTaskDetailActionLogDO::getTaskStage, reqVO.getTaskStage())
.eqIfPresent(RobotTaskDetailActionLogDO::getActionStatus, reqVO.getActionStatus())
.eqIfPresent(RobotTaskDetailActionLogDO::getRobotNo, reqVO.getRobotNo())
.betweenIfPresent(RobotTaskDetailActionLogDO::getCreateTime, reqVO.getCreateTime())
.orderByDesc(RobotTaskDetailActionLogDO::getId));
.orderByDesc(RobotTaskDetailActionLogDO::getCreateTime));
}
/**