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Merge branch 'dev' of http://git.znkjfw.com/ak/zn-cloud-wcs into aikai

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# Conflicts:
#	yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
#	yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java
#	yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
#	yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
This commit is contained in:
aikai 2025-02-14 11:50:39 +08:00
commit 0a3498bc7e
24 changed files with 367 additions and 40 deletions
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20
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
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@ -19,16 +19,18 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.scheduling.annotation.Async;
import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.RestController;
import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
import static cn.iocoder.yudao.module.system.config.SystemJobConfiguration.NOTIFY_THREAD_POOL_TASK_EXECUTOR;
@Slf4j
@RestController // 提供 RESTful API 接口，给 Feign 调用
@Validated
@ -49,6 +51,9 @@ public class RobotStatusApiImpl implements RobotStatusApi {
@Value("${zn.robot_position_cache_time:600}")
private Long robotPositionCacheTime;
@Value("${zn.robot_error_level_time:30}")
private Long robotErrorLevelTime;
@Resource
private RequestProcessor processor;
@ -59,6 +64,7 @@ public class RobotStatusApiImpl implements RobotStatusApi {
* @return
*/
@Override
@Async(NOTIFY_THREAD_POOL_TASK_EXECUTOR)
public void robotStatusUpdate(RobotStatusDTO robotStatusDataDTO) {
TenantContextHolder.setTenantId(1L);
if (ObjectUtil.isEmpty(robotStatusDataDTO) || ObjectUtil.isEmpty(robotStatusDataDTO.getMac())) {
@ -109,7 +115,17 @@ public class RobotStatusApiImpl implements RobotStatusApi {
List<RobotWarnMsgDO> warnMsgDOS = new ArrayList<>();
//机器人异常等级
String errorLevelKey = RobotTaskChcheConstant.ROBOT_ERROR_LEVEL + robotStatusDataDTO.getMac();
Object errorLevel = redisUtil.get(errorLevelKey);
Integer level = ObjectUtil.isEmpty(errorLevel) ? 0 : Integer.valueOf(errorLevel.toString());
for (RobotStatusDataErrorDTO robotStatusData : errCode) {
if (level.intValue() < Integer.valueOf(robotStatusData.getCode_level()).intValue()) {
level = Integer.valueOf(robotStatusData.getCode_level());
}
List<RobotWarnCodeMappingDO> mappingDOS = warnCodeMapping.get(robotStatusData.getError_code());
if (ObjectUtil.isEmpty(mappingDOS)) {
log.info("当前告警类型查不到对应的告警信息 :{}", robotStatusData.getError_code());
@ -124,6 +140,8 @@ public class RobotStatusApiImpl implements RobotStatusApi {
.build();
warnMsgDOS.add(warnMsg);
}
redisUtil.set(errorLevelKey, level, robotErrorLevelTime);
warnMsgMapper.insertBatch(warnMsgDOS);
}
}

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java
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@ -22,4 +22,7 @@ public class RobotTaskChcheConstant {
//机器人充电模式 1:自动充电、2:机会充电、3:充满电 (拼接的是机器人编号)
public static String ROBOT_CHARGE_MODEL = "robot:information:charge:model";
//机器人异常等级 (拼接的是mac地址)
public static String ROBOT_ERROR_LEVEL = "robot:information:error:level";
}

15
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/DeviceInformationController.java
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@ -2,6 +2,7 @@ package cn.iocoder.yudao.module.system.controller.admin.information;
import cn.iocoder.yudao.module.system.controller.admin.information.dto.DeviceInformationDTO;
import cn.iocoder.yudao.module.system.controller.admin.information.dto.MapBindDeviceInfoDTO;
import cn.iocoder.yudao.module.system.controller.admin.information.dto.StatisticsInformationDTO;
import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationRespVO;
import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationSaveReqVO;
@ -116,4 +117,18 @@ public class DeviceInformationController {
return success(map);
}
@GetMapping("/deviceNumber")
@Operation(summary = "统计设备数量")
public CommonResult<List<StatisticsInformationDTO>> getDeviceNumber() {
List<StatisticsInformationDTO> list = informationService.getDeviceNumber();
return success(list);
}
@GetMapping("/getInformationList")
@Operation(summary = "获得所有设备信息(含最后通讯时间)")
@PreAuthorize("@ss.hasPermission('device:information:query')")
public CommonResult<List<DeviceInformationRespVO>> getInformationList(@Valid DeviceInformationPageReqVO pageReqVO) {
List<DeviceInformationDO> list = informationService.getInformationList(pageReqVO);
return success(BeanUtils.toBean(list, DeviceInformationRespVO.class));
}
}

13
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/dto/StatisticsInformationDTO.java Normal file
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@ -0,0 +1,13 @@
package cn.iocoder.yudao.module.system.controller.admin.information.dto;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.Data;
@Data
public class StatisticsInformationDTO {
@Schema(description = "设备类型 字典device_type", example = "2")
private Integer deviceType;
@Schema(description = "设备数量", example = "2")
private Integer number = 0;
}

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java
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@ -35,6 +35,7 @@ public class DeviceInformationPageReqVO extends PageParam {
@Schema(description = "深度")
private BigDecimal locationDeep;
//1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机
@Schema(description = "设备类型 字典device_type", example = "2")
private Integer deviceType;

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java
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@ -42,6 +42,7 @@ public class DeviceInformationRespVO {
@ExcelProperty("深度")
private BigDecimal locationDeep;
//1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机
@Schema(description = "设备类型 字典device_type", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@ExcelProperty("设备类型 字典device_type")
private Integer deviceType;

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java
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@ -35,6 +35,7 @@ public class DeviceInformationSaveReqVO {
@Schema(description = "深度")
private BigDecimal locationDeep;
//1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机
@Schema(description = "设备类型 字典device_type", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@NotNull(message = "设备类型不能为空")
private Integer deviceType;

37
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/path/PathPlanningController.java Normal file
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@ -0,0 +1,37 @@
package cn.iocoder.yudao.module.system.controller.admin.path;
import cn.iocoder.yudao.framework.common.pojo.CommonResult;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationSaveReqVO;
import cn.iocoder.yudao.module.system.service.path.PathPlanningService;
import io.swagger.v3.oas.annotations.Operation;
import io.swagger.v3.oas.annotations.tags.Tag;
import org.springframework.security.access.prepost.PreAuthorize;
import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.PutMapping;
import org.springframework.web.bind.annotation.RequestBody;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
import javax.annotation.Resource;
import javax.validation.Valid;
import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
@Tag(name = "管理后台 - 同步信息给路径规划")
@RestController
@RequestMapping("/system/path/planning")
@Validated
public class PathPlanningController {
@Resource
private PathPlanningService pathPlanningService;
@PutMapping("/synchronousPoint")
@Operation(summary = "同步全部的点位信息")
@PreAuthorize("@ss.hasPermission('robot:information:synchronousPoint')")
public CommonResult<String> synchronousPoint() {
pathPlanningService.synchronousPoint();
return success("同步完成");
}
}

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java
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@ -112,4 +112,12 @@ public class RobotInformationController {
return success(BeanUtils.toBean(result, RobotInformationRespVO.class));
}
@GetMapping("/list")
@Operation(summary = "获得车辆信息分页")
@PreAuthorize("@ss.hasPermission('robot:information:list')")
public CommonResult<PageResult<RobotInformationPageRespVO>> getRobotList(@Valid RobotInformationPageReqVO pageReqVO) {
pageReqVO.setPageSize(300);
PageResult<RobotInformationPageRespVO> pageResult = informationService.getInformationPage(pageReqVO);
return success(BeanUtils.toBean(pageResult, RobotInformationPageRespVO.class));
}
}

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationPageReqVO.java
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@ -33,6 +33,9 @@ public class RobotInformationPageReqVO extends PageParam {
@Schema(description = "mac地址")
private String macAddress;
@Schema(description = "车辆状态类型(待命:standby, 任务中:inTask, 锁定:doLock, 离线:offline, 充电中:charge, 故障:fault)")
private String robotStatisticsType;
@Schema(description = "上传图片附件", example = "https://www.iocoder.cn")
private String url;

22
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationPageRespVO.java
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@ -36,8 +36,24 @@ public class RobotInformationPageRespVO {
@ExcelProperty("电量")
private String electricity;
@Schema(description = "状态（0：待命、1：任务中、2：锁定、3：离线、4:充电中、5:故障）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@ExcelProperty("状态（0：待命、1：任务中、2：锁定、3：离线、4:充电中、5:故障）")
@Schema(description = "在线状态/离线状态（0：离线、1：在线）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@ExcelProperty("在线状态/离线状态（0：离线、1：在线）")
private Integer onlineStatus = 0;
@Schema(description = "车机状态（0：空闲、1：锁定、2:异常）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@ExcelProperty("车机状态（0：空闲、1：锁定、2:异常）")
private Integer robotEssenceStatus = 0;
@Schema(description = "任务状态（0：待命中、1：处理中、2:充电中）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@ExcelProperty("任务状态（0：待命中、1：处理中、2:充电中）")
private Integer robotTaskStatus = 0;
@Schema(description = "异常等级(0,1,2,3,4)", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@ExcelProperty("异常等级(0,1,2,3,4)")
private Integer robotCodeLevel = 0;
@Schema(description = "AGV状态（0：暂停且无任务、1：暂停(有处理中的任务)、2：任务中、3：待命）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@ExcelProperty("AGV状态（0：暂停且无任务、1：暂停(有处理中的任务)、2：任务中、3：待命）")
private Integer robotStatus;
@Schema(description = "自动充电电量")
@ -58,7 +74,7 @@ public class RobotInformationPageRespVO {
@Schema(description = "mac地址")
private String macAddress;
@Schema(description = "任务模式（0：拒收任务、1：正常）")
@Schema(description = "任务模式（0：拒收任务(锁定)、1：正常）")
private Integer robotTaskModel;
@Schema(description = "楼层/区域(json)")

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java
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@ -59,6 +59,7 @@ public class DeviceInformationDO extends BaseDO {
*/
private BigDecimal locationDeep;
/**
* 1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机
* 设备类型 字典device_type
*/
private Integer deviceType;

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/config/CommandConfigTypeEnum.java
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@ -10,9 +10,10 @@ import lombok.Getter;
@Getter
@AllArgsConstructor
public enum CommandConfigTypeEnum {
ONE(1); //充电设置(页面)
CHARG_CONFIG(1,"充电设置(页面)");
/**
* 类型
*/
private final Integer type;
private final String msg;
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceTypeEnum.java
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@ -8,7 +8,7 @@ import lombok.Getter;
public enum DeviceTypeEnum {
CHARGING_STATION(1, "充电桩"),
Conveyor_line(2, "输送线"),
CONVEYOR_LINE(2, "输送线"),
PALLETIZER(3, "码垛机"),
AUTOMATIC_DOOR(4, "自动门"),
HOIST(5, "提升机"),

22
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/PictureConfigEnum.java Normal file
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@ -0,0 +1,22 @@
package cn.iocoder.yudao.module.system.enums.device;
import lombok.AllArgsConstructor;
import lombok.Getter;
@Getter
@AllArgsConstructor
public enum PictureConfigEnum {
DEFAULT(1, "默认图片"),
UPLOAD(2, "上传图片"),
NOT_DISPLAY(3, "不显示图片");
/**
* 类型
*/
private final Integer type;
/**
* 说明
*/
private final String msg;
}

25
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/information/RobotStatisticsTypeEnum.java Normal file
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@ -0,0 +1,25 @@
package cn.iocoder.yudao.module.system.enums.robot.information;
import lombok.AllArgsConstructor;
import lombok.Getter;
/**
* 车辆分页-车辆状态
*/
@Getter
@AllArgsConstructor
public enum RobotStatisticsTypeEnum {
STANDBY("standby","待命"),
INTASK("inTask","任务中"),
DOLOCK("doLock","锁定"),
OFFLINE("offline","离线"),
CHARGE("charge","充电中"),
FAULT("fault","故障");
/**
* 类型
*/
private final String type;
private final String msg;
}

14
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationService.java
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@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.service.information;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.module.system.controller.admin.information.dto.DeviceInformationDTO;
import cn.iocoder.yudao.module.system.controller.admin.information.dto.MapBindDeviceInfoDTO;
import cn.iocoder.yudao.module.system.controller.admin.information.dto.StatisticsInformationDTO;
import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
@ -92,4 +93,17 @@ public interface DeviceInformationService {
* @return
*/
Map<Integer, List<DeviceInformationDO>> classification();
/**
* 统计设备
* @return
*/
List<StatisticsInformationDTO> getDeviceNumber();
/**
* 查看全部设备
* @param pageReqVO
* @return
*/
List<DeviceInformationDO> getInformationList(@Valid DeviceInformationPageReqVO pageReqVO);
}

80
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java
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@ -8,11 +8,16 @@ import cn.iocoder.yudao.module.grpc.api.GrpcServiceApi;
import cn.iocoder.yudao.module.system.constant.device.DeviceChcheConstant;
import cn.iocoder.yudao.module.system.controller.admin.information.dto.DeviceInformationDTO;
import cn.iocoder.yudao.module.system.controller.admin.information.dto.MapBindDeviceInfoDTO;
import cn.iocoder.yudao.module.system.controller.admin.information.dto.StatisticsInformationDTO;
import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.dict.DictDataDO;
import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
import cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper;
import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
import cn.iocoder.yudao.module.system.enums.device.DeviceStatusEnum;
import cn.iocoder.yudao.module.system.enums.device.PictureConfigEnum;
import cn.iocoder.yudao.module.system.service.dict.DictDataService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import lombok.extern.slf4j.Slf4j;
@ -45,6 +50,9 @@ public class DeviceInformationServiceImpl implements DeviceInformationService {
@Resource
private DeviceInformationMapper informationMapper;
@Resource
private DictDataService dictDataService;
@Resource
private GrpcServiceApi grpcServiceApi;
@ -59,6 +67,17 @@ public class DeviceInformationServiceImpl implements DeviceInformationService {
if (ObjectUtil.isNotEmpty(pageResult.getList())) {
throw exception(INFORMATION_MAC_EXIST);
}
//默认图片
if (PictureConfigEnum.DEFAULT.getType().equals(createReqVO.getPictureConfig())) {
List<DictDataDO> deviceType = dictDataService.getDictDataListByDictType("device_type");
DictDataDO dictDataDO = deviceType.stream()
.filter(v -> Integer.valueOf(v.getValue()).equals(createReqVO.getDeviceType()))
.findFirst()
.orElse(new DictDataDO());
createReqVO.setUrl(dictDataDO.getRemark());
}
// 插入
DeviceInformationDO information = BeanUtils.toBean(createReqVO, DeviceInformationDO.class);
information.setDeviceStatus(1);
@ -191,6 +210,67 @@ public class DeviceInformationServiceImpl implements DeviceInformationService {
return collect;
}
/**
* 统计设备
* @return
*/
@Override
public List<StatisticsInformationDTO> getDeviceNumber() {
List<DeviceInformationDO> deviceInformationDOS = informationMapper.selectList(new LambdaQueryWrapper<DeviceInformationDO>());
if (ObjectUtil.isEmpty(deviceInformationDOS)) {
return new ArrayList<>();
}
List<StatisticsInformationDTO> list = deviceInformationDOS.stream()
.filter(v -> ObjectUtil.isNotEmpty(v.getDeviceType()))
.collect(Collectors.groupingBy(DeviceInformationDO::getDeviceType))
.entrySet().stream()
.map(v -> {
Integer key = v.getKey();
int number = v.getValue().size();
StatisticsInformationDTO statisticsInformationDTO = new StatisticsInformationDTO();
statisticsInformationDTO.setDeviceType(key);
statisticsInformationDTO.setNumber(number);
return statisticsInformationDTO;
}).collect(Collectors.toList());
return list;
}
@Override
public List<DeviceInformationDO> getInformationList(DeviceInformationPageReqVO dto) {
List<DeviceInformationDO> deviceInformationDOS = informationMapper.selectList(new LambdaQueryWrapper<DeviceInformationDO>()
.like(dto.getDeviceNo() != null, DeviceInformationDO::getDeviceNo, dto.getDeviceNo())
.eq(dto.getDeviceType() != null, DeviceInformationDO::getDeviceType, dto.getDeviceType())
);
if (ObjectUtil.isEmpty(deviceInformationDOS)) {
return new ArrayList<>();
}
// todo 需要设置设备通讯的时间
for (DeviceInformationDO deviceInformationDO : deviceInformationDOS) {
String deviceKey = DeviceChcheConstant.DEVICE_LAST_TIME +deviceInformationDO.getMacAddress();
Object object = redisUtil.get(deviceKey);
if (ObjectUtil.isEmpty(object)) {
deviceInformationDO.setDeviceStatus(DeviceStatusEnum.OFF_LINE.getType());
continue;
}
try {
DateTimeFormatter df = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
LocalDateTime curTimeLDT = LocalDateTime.parse((String)object, df);
deviceInformationDO.setDeviceLastTime(curTimeLDT);
deviceInformationDO.setDeviceStatus(DeviceStatusEnum.ON_LINE.getType());
} catch (Exception e) {
log.info("查询设备最后通讯时间异常 :{}",e.getMessage());
}
}
return deviceInformationDOS;
}
@Override
public void mapBindDeviceInfo(MapBindDeviceInfoDTO dto) {
DeviceInformationDO deviceInformationDO = informationMapper.selectById(dto.getDeviceInfoId());

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningService.java Normal file
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@ -0,0 +1,5 @@
package cn.iocoder.yudao.module.system.service.path;
public interface PathPlanningService {
void synchronousPoint();
}

22
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java Normal file
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@ -0,0 +1,22 @@
package cn.iocoder.yudao.module.system.service.path;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;
import org.springframework.validation.annotation.Validated;
/**
* 同步信息给车辆
*/
@Slf4j
@Service
public class PathPlanningServiceImpl implements PathPlanningService {
/**
* 同步全部的点位信息
*/
@Override
public void synchronousPoint() {
}
}

102
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
View File

@ -5,7 +5,6 @@ import cn.hutool.core.util.ObjectUtil;
import cn.hutool.json.JSONUtil;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import cn.iocoder.yudao.module.system.api.robot.RequestProcessor;
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.controller.admin.robot.vo.*;
@ -151,7 +150,49 @@ public class RobotInformationServiceImpl implements RobotInformationService {
targetList.stream().forEach(v -> {
setMsgAndRobotStatus(v);
});
dataPage.setList(targetList);
if (ObjectUtil.isNotEmpty(pageReqVO.getRobotStatisticsType())) {
List<RobotInformationPageRespVO> resultList = new ArrayList<>();
for (RobotInformationPageRespVO v : targetList) {
if (RobotStatisticsTypeEnum.STANDBY.getType().equals(pageReqVO.getRobotStatisticsType())
&& v.getRobotTaskStatus().equals(0)) {
resultList.add(v);
continue;
}
if (RobotStatisticsTypeEnum.INTASK.getType().equals(pageReqVO.getRobotStatisticsType())
&& v.getRobotTaskStatus().equals(1)) {
resultList.add(v);
continue;
}
if (RobotStatisticsTypeEnum.CHARGE.getType().equals(pageReqVO.getRobotStatisticsType())
&& v.getRobotTaskStatus().equals(2)) {
resultList.add(v);
continue;
}
if (RobotStatisticsTypeEnum.DOLOCK.getType().equals(pageReqVO.getRobotStatisticsType())
&& v.getRobotEssenceStatus().equals(1)) {
resultList.add(v);
continue;
}
if (RobotStatisticsTypeEnum.OFFLINE.getType().equals(pageReqVO.getRobotStatisticsType())
&& v.getOnlineStatus().equals(1)) {
resultList.add(v);
continue;
}
if (RobotStatisticsTypeEnum.FAULT.getType().equals(pageReqVO.getRobotStatisticsType())
&& v.getRobotEssenceStatus().equals(2)) {
resultList.add(v);
}
}
dataPage.setList(resultList);
} else {
dataPage.setList(targetList);
}
return dataPage;
}
@ -173,38 +214,37 @@ public class RobotInformationServiceImpl implements RobotInformationService {
v.setElectricity(robotStatusDataPoseDTO.getBat_soc());
v.setFloor(robotStatusDataPoseDTO.getFloor());
v.setArea(robotStatusDataPoseDTO.getArea());
} else if (ObjectUtil.isEmpty(object)) {
//离线
v.setOnlineStatus(1);
}
if (RobotTaskModelEnum.REJECTION.getType().equals(v.getRobotTaskModel())) {
v.setRobotStatus(RobotInformationPageStatusEnum.DOLOCK.getType());
v.setMsg("车辆已经锁定");
} else if (ObjectUtil.isEmpty(object)) {
v.setRobotStatus(RobotInformationPageStatusEnum.OFFLINE.getType());
v.setMsg("车辆已经离线");
} else if (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())) {
//查看机器人最后做的任务是不是充电
RobotTaskDetailDO robotTaskDetailDO = taskDetailMapper.selectOne(new LambdaQueryWrapper<RobotTaskDetailDO>()
.eq(RobotTaskDetailDO::getRobotNo, v.getRobotNo())
.orderByDesc(RobotTaskDetailDO::getCreateTime)
.last("limit 1"));
if (ObjectUtil.isNotEmpty(robotTaskDetailDO)
&& RobotTaskTypeEnum.CHARGE.getType().equals(robotTaskDetailDO.getTaskType())
&& RobotTaskStatusEnum.DOING.getType().equals(robotTaskDetailDO.getTaskStatus())) {
v.setRobotStatus(RobotInformationPageStatusEnum.CHARGE.getType());
v.setMsg("车辆正在充电");
} else {
v.setRobotStatus(RobotInformationPageStatusEnum.STANDBY.getType());
v.setMsg("车辆正在待命");
}
} else if (RobotStatusEnum.DOING.getType().equals(v.getRobotStatus()) && ObjectUtil.isNotEmpty(action)) {
v.setRobotStatus(RobotInformationPageStatusEnum.INTASK.getType());
CommandTypeEnum commandType = CommandTypeEnum.getCommandType(String.valueOf(action));
if (ObjectUtil.isNotEmpty(commandType)) {
v.setMsg("车辆正在" + commandType.getMsg());
}
v.setRobotEssenceStatus(v.getRobotTaskModel());
//设置异常
String errorLevelKey = RobotTaskChcheConstant.ROBOT_ERROR_LEVEL + v.getMacAddress();
Object errorLevel = redisUtil.get(errorLevelKey);
if (ObjectUtil.isNotEmpty(errorLevel) && Integer.valueOf(errorLevel.toString()).intValue() >= 3) {
v.setRobotEssenceStatus(2);
}
if (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())) {
//待命中
v.setRobotTaskStatus(0);
v.setMsg("车辆正在待命中");
} else if (RobotStatusEnum.CHARGE.getType().equals(v.getRobotStatus())) {
//充电中
v.setRobotTaskStatus(2);
v.setMsg("车辆正在充电");
} else {
v.setRobotStatus(RobotInformationPageStatusEnum.FAULT.getType());
v.setMsg("车辆发生异常");
//任务中
v.setRobotTaskStatus(1);
if (RobotStatusEnum.DOING.getType().equals(v.getRobotStatus()) && ObjectUtil.isNotEmpty(action)) {
v.setRobotStatus(1);
CommandTypeEnum commandType = CommandTypeEnum.getCommandType(String.valueOf(action));
if (ObjectUtil.isNotEmpty(commandType)) {
v.setMsg("车辆正在" + commandType.getMsg());
}
}
}
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java
View File

@ -76,7 +76,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
public void autoChargeJob() {
TenantContextHolder.setTenantId(1L);
CommonConfigDO commonConfigDO = configMapper.selectOne(new LambdaQueryWrapper<CommonConfigDO>()
.eq(CommonConfigDO::getConfigType, CommandConfigTypeEnum.ONE.getType()));
.eq(CommonConfigDO::getConfigType, CommandConfigTypeEnum.CHARG_CONFIG.getType()));
if (ObjectUtil.isEmpty(commonConfigDO)) {
log.info("暂未配置充电信息");

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
View File

@ -127,7 +127,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> pair = Pair.of(new ArrayList<>(), new ArrayList<>());
CommonConfigDO commonConfigDO = configMapper.selectOne(new LambdaQueryWrapper<CommonConfigDO>()
.eq(CommonConfigDO::getConfigType, CommandConfigTypeEnum.ONE.getType()));
.eq(CommonConfigDO::getConfigType, CommandConfigTypeEnum.CHARG_CONFIG.getType()));
CommonConfigVO chargeConfig= JSONUtil.toBean(commonConfigDO.getConfigStr(),CommonConfigVO.class);
LocalDateTime now = LocalDateTime.now();
if ((ObjectUtil.isNotEmpty(chargeConfig.getScheduleChargeEndTime()) &&

3
yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
View File

@ -227,6 +227,7 @@ zn:
lift_height: 0.1 #抬高托盘高度
move_height: 0.1 #行走高度
lane_auto_move: true #线库是否自动移库 true:线库执行自动移库 、false：线库关闭执行自动移库
robot_position_cache_time: 10 #机器人上报点位存储时间
robot_position_cache_time: 10 #机器人上报点位存储时间(秒)
cycle_do_auto_move: true #存在循环的任务，是否开启自动移库. true:存在循环任务，开启自动移库; false：有循环任务不自动移库
full_electricity: 100 #机器人充满电的电量
robot_error_level_time: 30 #机器人异常存储时间(秒)