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修改地图添加校验

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cbs 2025-05-28 17:01:29 +08:00
parent 7a1627711c
commit 0a16b93ace
18 changed files with 92 additions and 11 deletions
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1
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
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@ -245,6 +245,7 @@ public interface ErrorCodeConstants {
ErrorCode THERE_ARE_ALREADY_STORAGE_LOCATIONS_IN_OTHER_STORAGE_AREAS = new ErrorCode(1_002_038_008, "已有库位在其它区域内");
ErrorCode MAP_DOES_NOT_EXIST_AGV = new ErrorCode(1_002_038_009, "此楼层区域不存在车辆需要暂停或恢复");
ErrorCode MAP_EXIST_TASK_EXIST_TASK = new ErrorCode(1_002_038_010, "修改地图:此楼层区域存在处理中的任务或者库位上还有货物");
ErrorCode MAP_EXIST_BINDING_POINT = new ErrorCode(1_002_038_011, "修改地图:此楼层区域的地图交换点尚未解绑");
// ========== 机器人自动移库 1-002-039-000 ==========
ErrorCode TASK_AUTO_MOVE_NOT_EXISTS = new ErrorCode(1_002_039_001, "车辆自动移库不存在");

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
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@ -322,6 +322,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
return;
}
RobotSkuInfoDTO robotSkuInfo = new RobotSkuInfoDTO();
robotSkuInfo.setHaveSku(ZeroOneEnum.ONE.getType());
robotSkuInfo.setSkuNumber(wareHouseLocationDO.getSkuNumber());
robotSkuInfo.setSkuInfo(wareHouseLocationDO.getSkuInfo());
redisUtil.set(RobotTaskChcheConstant.ROBOT_TASK_SKU_INFO + robotCompleteTaskDTO.getMac(), JSON.toJSONString(robotSkuInfo));

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/processor/RequestProcessor.java
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@ -2,6 +2,7 @@ package cn.iocoder.yudao.module.system.api.robot.processor;
import cn.hutool.core.map.MapUtil;
import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
import cn.iocoder.yudao.module.system.constant.webSocket.WebSocketConstant;
import com.alibaba.fastjson.JSON;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Component;
@ -47,7 +48,7 @@ public class RequestProcessor {
// -- 发送给对应的websocket
// System.out.println("key:" + map + "发送数据：" + data);
// log.info("key:" + map + "发送数据：" + data);
webSocketSenderApi.sendObject(map, "map_push", data);
webSocketSenderApi.sendObject(map, WebSocketConstant.MAP_PUSH, data);
}
public void shutdown() {

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/schedul/ScheduledTasks.java
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@ -6,6 +6,7 @@ import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.constant.webSocket.WebSocketConstant;
import cn.iocoder.yudao.module.system.controller.admin.robot.task.TaskAssignDTO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
import cn.iocoder.yudao.module.system.service.positionmap.PositionMapService;
@ -85,7 +86,7 @@ public class ScheduledTasks {
});
// log.info("3D发送数据:{}", JSON.toJSONString(map));
webSocketSenderApi.sendObject(key, "3d_map_push", map);
webSocketSenderApi.sendObject(key, WebSocketConstant.THREE_D_MAP_PUSH, map);
}
}

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotSkuInfoDTO.java
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@ -5,6 +5,11 @@ import lombok.Data;
@Data
public class RobotSkuInfoDTO {
/**
* 1:有物料， 0:没有物料
*/
private Integer haveSku = 1;
/**
* 物料信息
*/

10
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/webSocket/WebSocketConstant.java
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@ -7,4 +7,14 @@ public class WebSocketConstant {
* webSocket推送车机要走的点位id
*/
public static String PLANNING_MOVE_POSE = "planning_move_pose";
/**
* 3D地图的信息
*/
public static String THREE_D_MAP_PUSH = "3d_map_push";
/**
* 推送地图点位信息
*/
public static String MAP_PUSH = "map_push";
}

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemService.java
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@ -145,4 +145,10 @@ public interface PositionMapItemService extends IService<PositionMapItemDO> {
* @param mapId
*/
void deleteByMapId(Long mapId);
/**
* 校验此地图的交换点，有没有被其他地图绑定
* @param mapId
*/
void checkHaveBindChangePoint(Long mapId);
}

55
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java
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@ -12,26 +12,36 @@ import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSa
import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionMapConditionDTO;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnMsgSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionChangePointBindingDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionChangePointBindingMapper;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum;
import cn.iocoder.yudao.module.system.enums.item.UseStatusEnum;
import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import org.apache.commons.lang3.StringUtils;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.validation.annotation.Validated;
import javax.annotation.Resource;
import java.time.LocalDateTime;
import java.util.Collections;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
import static cn.hutool.core.collection.CollUtil.isNotEmpty;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
import static cn.iocoder.yudao.framework.common.util.collection.CollectionUtils.convertList;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.MAP_EXIST_BINDING_POINT;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.MAP_EXIST_TASK_EXIST_TASK;
/**
* 仓库点位地图子表 Service 实现类
@ -50,6 +60,12 @@ public class PositionMapItemServiceImpl extends ServiceImpl<PositionMapItemMappe
@Resource
private UserOperationLogService userOperationLogService;
@Resource
private RobotWarnMsgService warnMsgService;
@Resource
private PositionChangePointBindingMapper positionChangePointBindingMapper;
@Override
public Long createPositionMapItem(PositionMapItemSaveReqVO createReqVO) {
// 插入
@ -211,4 +227,43 @@ public class PositionMapItemServiceImpl extends ServiceImpl<PositionMapItemMappe
positionMapItemMapper.deleteByMapId(mapId);
}
/**
* 校验此地图的交换点，有没有被其他地图绑定
* @param mapId
*/
@Override
public void checkHaveBindChangePoint(Long mapId) {
List<PositionMapItemDO> list = positionMapItemMapper.selectList(new LambdaQueryWrapperX<PositionMapItemDO>()
.eq(PositionMapItemDO::getPositionMapId, mapId)
.eq(PositionMapItemDO::getType,PositionMapItemEnum.CHANGE.getType()));
if (ObjectUtil.isEmpty(list)) {
return;
}
List<Long> ids = list.stream().map(PositionMapItemDO::getId).collect(Collectors.toList());
List<PositionChangePointBindingDO> bindingList = positionChangePointBindingMapper.selectList(new LambdaQueryWrapperX<PositionChangePointBindingDO>()
.ne(PositionChangePointBindingDO::getPositionMapId, mapId)
.in(PositionChangePointBindingDO::getEndPointId, ids));
if (ObjectUtil.isEmpty(bindingList)) {
return;
}
List<Long> sortNums = bindingList.stream().map(PositionChangePointBindingDO::getStartingPointSortNum).collect(Collectors.toList());
warnMsgService.sendWarnMsgToWebsocket(MAP_EXIST_TASK_EXIST_TASK.getMsg());
RobotWarnMsgSaveReqVO warnMsgSaveReqVO = new RobotWarnMsgSaveReqVO();
String locationStr = StringUtils.join(sortNums, ",");
if (locationStr.length() > 160) {
locationStr = locationStr.substring(0,160);
}
warnMsgSaveReqVO.setWarnMsg(MAP_EXIST_BINDING_POINT.getMsg()+locationStr);
warnMsgSaveReqVO.setWarnLevel(4);
warnMsgSaveReqVO.setWarnCode("MAP");
warnMsgSaveReqVO.setSolveTime(LocalDateTime.now());
warnMsgService.createWarnMsg(warnMsgSaveReqVO);
throw exception(MAP_EXIST_BINDING_POINT);
}
}

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java
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@ -249,6 +249,7 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
warnMsgService.createWarnMsg(warnMsgSaveReqVO);
throw exception(MAP_EXIST_TASK_EXIST_TASK);
}
positionMapItemService.checkHaveBindChangePoint(positionMap.getId());
positionMapItemService.deleteByMapId(positionMap.getId());
positionMapLineService.deleteByMapId(positionMap.getId());
houseLocationService.deleteHouseLocationByMapId(positionMap.getId());

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/statistics/RobotWorkingHoursStatisticsServiceImpl.java
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@ -116,7 +116,7 @@ public class RobotWorkingHoursStatisticsServiceImpl extends ServiceImpl<RobotWor
/**
* 创建这台车的空闲时间
*
* 别改事务传播
* @param robotNo
*/
@Override

2
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/housearea/HouseAreaMapper.xml
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@ -11,7 +11,7 @@
<update id="deleteHouseAreaByMapId">
update ware_house_area
set deleted = '1'
set deleted = 1
where position_map_id = #{mapId}
</update>
</mapper>

2
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselane/WareHouseLaneMapper.xml
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@ -11,7 +11,7 @@
<update id="deleteHouseLaneByMapId">
update ware_house_lane
set deleted = '1'
set deleted = 1
where position_map_id = #{mapId}
</update>
</mapper>

2
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationMapper.xml
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@ -81,7 +81,7 @@
update
ware_house_location
set
deleted = '1'
deleted = 1
where
map_id = #{mapId}
</update>

2
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/information/DeviceInformationMapper.xml
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@ -32,7 +32,7 @@
update
device_information
set
deleted = '1'
deleted = 1
where
position_map_id = #{mapId}
</update>

2
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/parkingspot/ParkingSpotMapper.xml
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@ -11,7 +11,7 @@
<update id="deleteParkingByMapId">
update ware_parking_spot
set deleted = '1'
set deleted = 1
where position_map_id = #{mapId}
</update>
</mapper>

2
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionChangePointBindingMapper.xml
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@ -5,7 +5,7 @@
<update id="deleteBindIngByMapId">
update ware_position_change_point_binding
set deleted = '1'
set deleted = 1
where position_map_id = #{mapId}
</update>

2
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml
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@ -155,7 +155,7 @@
</delete>
<update id="deleteByMapId">
update ware_position_map_item
set deleted = '1'
set deleted = 1
where position_map_id = #{mapId}
</update>
</mapper>

2
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapLineMapper.xml
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@ -37,7 +37,7 @@
</resultMap>
<update id="deleteByMapId">
update ware_position_map_line
set deleted = '1'
set deleted = 1
where position_map_id = #{mapId}
</update>