操作记录

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java

@@ -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);

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogPageReqVO.java

@@ -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;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogRespVO.java

@@ -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")
+    @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(0:未开始、1:正在进行、2:完成)")
+    @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;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogSaveReqVO.java

@@ -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")
+    @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:正在进行、2:完成)不能为空")
+    @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;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/log/RobotTaskDetailActionLogDO.java

@@ -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;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java

@@ -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));
     }
 
     /**