修改地图添加校验

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java

@@ -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");

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

@@ -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));

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

@@ -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() {

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

@@ -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);
         }
     }
 

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

@@ -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
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/webSocket/WebSocketConstant.java

@@ -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";
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemService.java

@@ -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);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java

@@ -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);
+    }
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java

@@ -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());

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/statistics/RobotWorkingHoursStatisticsServiceImpl.java

@@ -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

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/housearea/HouseAreaMapper.xml

@@ -11,7 +11,7 @@
 
     <update id="deleteHouseAreaByMapId">
         update ware_house_area
-        set deleted = '1'
+        set deleted = 1
         where position_map_id = #{mapId}
     </update>
 </mapper>

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselane/WareHouseLaneMapper.xml

@@ -11,7 +11,7 @@
 
     <update id="deleteHouseLaneByMapId">
         update ware_house_lane
-        set deleted = '1'
+        set deleted = 1
         where position_map_id = #{mapId}
     </update>
 </mapper>

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationMapper.xml

@@ -81,7 +81,7 @@
         update
             ware_house_location
         set
-            deleted = '1'
+            deleted = 1
         where
             map_id = #{mapId}
     </update>

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/information/DeviceInformationMapper.xml

@@ -32,7 +32,7 @@
         update
             device_information
         set
-            deleted = '1'
+            deleted = 1
         where
             position_map_id = #{mapId}
     </update>

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/parkingspot/ParkingSpotMapper.xml

@@ -11,7 +11,7 @@
 
     <update id="deleteParkingByMapId">
         update ware_parking_spot
-        set deleted = '1'
+        set deleted = 1
         where position_map_id = #{mapId}
     </update>
 </mapper>

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionChangePointBindingMapper.xml

@@ -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>
 

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml

@@ -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>

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapLineMapper.xml

@@ -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>