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代码优化

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cbs 2025-06-11 19:48:02 +08:00
parent 593d4d983b
commit 0f3a4ac1ed
20 changed files with 112 additions and 44 deletions
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4
yudao-framework/yudao-spring-boot-starter-web/src/main/java/cn/iocoder/yudao/framework/apilog/core/interceptor/ApiAccessLogInterceptor.java
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@ -34,7 +34,9 @@ public class ApiAccessLogInterceptor implements HandlerInterceptor {
private static final String ATTRIBUTE_STOP_WATCH = "ApiAccessLogInterceptor.StopWatch"; private static final String ATTRIBUTE_STOP_WATCH = "ApiAccessLogInterceptor.StopWatch";
private static final List<String> ignoreInterfaceUrls = Arrays.asList("/rpc-api/system/task/robotStatusUpdate","/rpc-api/system/task/updateRobotCommonStatus"); private static final List<String> ignoreInterfaceUrls = Arrays.asList("/rpc-api/system/task/robotStatusUpdate",
"/rpc-api/system/task/robotReactiveStatus",
"/rpc-api/system/task/updateRobotCommonStatus");
@Override @Override
public boolean preHandle(HttpServletRequest request, HttpServletResponse response, Object handler) { public boolean preHandle(HttpServletRequest request, HttpServletResponse response, Object handler) {

2
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java
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@ -22,7 +22,7 @@ public class RobotStatusServiceImpl implements MqttService {
*/ */
@Override @Override
public void analysisMessage(String message) { public void analysisMessage(String message) {
// log.info("处理RobotStatusServiceImpl的消息 :{}", message); log.info("处理RobotStatusServiceImpl的消息 :{}", message);
RobotPoseStatusDTO robotStatusData = JSON.parseObject(message, RobotPoseStatusDTO.class); RobotPoseStatusDTO robotStatusData = JSON.parseObject(message, RobotPoseStatusDTO.class);
robotStatusApi.robotStatusUpdate(robotStatusData); robotStatusApi.robotStatusUpdate(robotStatusData);
} }

6
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-local.yaml
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@ -33,9 +33,9 @@ management:
# MQTT # MQTT
mqtt: mqtt:
# host: tcp://123.57.12.40:1883 host: tcp://123.57.12.40:1883
host: tcp://127.0.0.1:1883 # host: tcp://127.0.0.1:1883
# host: tcp://10.10.7.195:1883 # host: tcp://10.10.7.116:1883
username: adminuser username: adminuser
password: adminuser password: adminuser
qos: 2 qos: 2

1
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
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@ -202,6 +202,7 @@ public interface ErrorCodeConstants {
ErrorCode ROBOT_PORT_NOT_COMPLIANCE = new ErrorCode(1-002-034-016, "车辆端口范围在4096至65535之间"); ErrorCode ROBOT_PORT_NOT_COMPLIANCE = new ErrorCode(1-002-034-016, "车辆端口范围在4096至65535之间");
ErrorCode ROBOT_IP_NOT_COMPLIANCE = new ErrorCode(1-002-034-017, "请检测车辆IP是否符合规范"); ErrorCode ROBOT_IP_NOT_COMPLIANCE = new ErrorCode(1-002-034-017, "请检测车辆IP是否符合规范");
ErrorCode ROBOT_IP_OR_PORT_EMPTY = new ErrorCode(1-002-034-020, "车辆IP或者端口为空"); ErrorCode ROBOT_IP_OR_PORT_EMPTY = new ErrorCode(1-002-034-020, "车辆IP或者端口为空");
ErrorCode ROBOT_PART_AREA = new ErrorCode(1-002-034-021, "车辆选择的楼层,不包含目前车辆停靠的楼层");
// ========== 机器人任务主表 1-002-035-000 ========== // ========== 机器人任务主表 1-002-035-000 ==========
ErrorCode TASK_NOT_EXISTS = new ErrorCode(1-002-035-001, "车辆任务主表不存在"); ErrorCode TASK_NOT_EXISTS = new ErrorCode(1-002-035-001, "车辆任务主表不存在");

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java
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@ -108,7 +108,7 @@ public class PathApiImpl implements PathApi {
@Override @Override
public void pathPlanningMove(String message) { public void pathPlanningMove(String message) {
log.info("收到路径规划路径的消息 :{}", message); log.info("111111收到路径规划路径的消息 :{}", message);
taskExecutor.execute(() -> { taskExecutor.execute(() -> {
TenantContextHolder.setTenantId(1L); TenantContextHolder.setTenantId(1L);
pathPlanningService.sendPosedsToRobot(message); pathPlanningService.sendPosedsToRobot(message);
@ -145,7 +145,7 @@ public class PathApiImpl implements PathApi {
@Override @Override
public void graphMatchData(String message) { public void graphMatchData(String message) {
TenantContextHolder.setTenantId(1L); TenantContextHolder.setTenantId(1L);
log.info("匹配路网的消息 :{}",message); log.info("111111匹配路网的消息 :{}",message);
pathPlanningService.graphMatchData(message); pathPlanningService.graphMatchData(message);
} }

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java
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@ -30,7 +30,7 @@ public class RobotGenericsStatusApiImpl implements RobotGenericsStatusApi {
} }
public void doUpdateRobotCommonStatus(RobotGenericsDataDTO robotStatusData) { public void doUpdateRobotCommonStatus(RobotGenericsDataDTO robotStatusData) {
// log.info("车机每3秒上报其他状态信息 :{}", JSONUtil.toJsonStr(robotStatusData)); // log.info("111111车机每3秒上报其他状态信息 :{}", JSONUtil.toJsonStr(robotStatusData));
if (ObjectUtil.isEmpty(robotStatusData) || ObjectUtil.isEmpty(robotStatusData.getHwStates()) if (ObjectUtil.isEmpty(robotStatusData) || ObjectUtil.isEmpty(robotStatusData.getHwStates())
|| ObjectUtil.isEmpty(robotStatusData.getMac())) { || ObjectUtil.isEmpty(robotStatusData.getMac())) {
log.info("参数不全 :{}", JSON.toJSONString(robotStatusData)); log.info("参数不全 :{}", JSON.toJSONString(robotStatusData));

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotObstaclesStatusApiImpl.java
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@ -41,7 +41,7 @@ public class RobotObstaclesStatusApiImpl implements RobotObstaclesStatusApi{
@Override @Override
public void robotObstaclesStatus(String message) { public void robotObstaclesStatus(String message) {
log.info("障碍物状态上报 :{}" ,message); log.info("111111障碍物状态上报 :{}" ,message);
RobotObstaclesStatusDTO data = JSON.parseObject(message, RobotObstaclesStatusDTO.class); RobotObstaclesStatusDTO data = JSON.parseObject(message, RobotObstaclesStatusDTO.class);
if (!data.getObstacles()) { if (!data.getObstacles()) {

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotPathStatusApiImpl.java
View File

@ -41,7 +41,7 @@ public class RobotPathStatusApiImpl implements RobotPathStatusApi {
} }
private void doRobotPathStatus(String message) { private void doRobotPathStatus(String message) {
log.info("导航实时行为上报: {}", message); log.info("111111导航实时行为上报: {}", message);
TenantContextHolder.setTenantId(1L); TenantContextHolder.setTenantId(1L);
RobotPathStatusDTO data = JSON.parseObject(message, RobotPathStatusDTO.class); RobotPathStatusDTO data = JSON.parseObject(message, RobotPathStatusDTO.class);
String robotNo = robotInformationService.getRobotNoByMac(data.getMac()); String robotNo = robotInformationService.getRobotNoByMac(data.getMac());

31
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
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@ -128,7 +128,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
@Transactional(rollbackFor = Exception.class) @Transactional(rollbackFor = Exception.class)
public void doRobotDoneTask(RobotCompleteTaskDTO robotCompleteTaskDTO) { public void doRobotDoneTask(RobotCompleteTaskDTO robotCompleteTaskDTO) {
log.info("机器人完成任务上报 :{}", JSON.toJSONString(robotCompleteTaskDTO)); log.info("111111机器人完成任务上报 :{}", JSON.toJSONString(robotCompleteTaskDTO));
TenantContextHolder.setTenantId(1L); TenantContextHolder.setTenantId(1L);
String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_QUERY_DOING_ACTION + robotCompleteTaskDTO.getMac(); String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_QUERY_DOING_ACTION + robotCompleteTaskDTO.getMac();
@ -193,7 +193,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
, null); , null);
if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()) if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()) ) { || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
chargeDoing(robotCompleteTaskDTO); chargeDoing(robotCompleteTaskDTO);
} }
} }
@ -206,6 +206,12 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
* @param orderId * @param orderId
*/ */
public void sendStartDoActionToPP(RobotCommandStateDTO commandStatus, String mac, String orderId) { public void sendStartDoActionToPP(RobotCommandStateDTO commandStatus, String mac, String orderId) {
if (ObjectUtil.isNotEmpty(commandStatus)
|| CommandTypeEnum.WORK_PICK_UP_GOODS_MOVE_TO_CHECK.getType().equals(commandStatus.getCommandType())
|| CommandTypeEnum.WORK_DROP_OFF_GOODS_MOVE_TO_CHECK.getType().equals(commandStatus.getCommandType())) {
log.info("不发作业");
return;
}
if (ObjectUtil.isNotEmpty(commandStatus) && RobotExecutionStateConstant.DOING.equals(commandStatus.getExecutionState()) if (ObjectUtil.isNotEmpty(commandStatus) && RobotExecutionStateConstant.DOING.equals(commandStatus.getExecutionState())
&& !CommandTypeEnum.MOVE_POSES.getType().equals(commandStatus.getCommandType())) { && !CommandTypeEnum.MOVE_POSES.getType().equals(commandStatus.getCommandType())) {
String robotNo = robotInformationService.getRobotNoByMac(mac); String robotNo = robotInformationService.getRobotNoByMac(mac);
@ -247,10 +253,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
} else if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) { } else if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId()); RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType())) { if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType())) {
log.info("告诉路径规划任务完成 :{}, 状态: {}", robotCompleteTaskDTO.getOrderId(), PathIsReachEnum.END_WORK.getType()); log.info("告诉路径规划取货任务完成 :{}, 状态: {}", robotCompleteTaskDTO.getOrderId(), PathIsReachEnum.END_WORK.getType());
pathPlanningService.updateBehavior(String.valueOf(robotCompleteTaskDTO.getOrderId()), robotTaskDetailDO.getRobotNo() pathPlanningService.updateBehavior(String.valueOf(robotCompleteTaskDTO.getOrderId()), robotTaskDetailDO.getRobotNo()
, "", PathIsReachEnum.END_WORK.getType()); , "", PathIsReachEnum.END_WORK.getType());
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING.getType()); robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
robotTaskDetailMapper.updateById(robotTaskDetailDO); robotTaskDetailMapper.updateById(robotTaskDetailDO);
return; return;
} else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType())) { } else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType())) {
@ -260,7 +266,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()) if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) { || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
chargeLogMapper.updateChargStatusByTaskId(robotCompleteTaskDTO.getOrderId(),ChargeTaskStatusEnum.DONE.getType()); chargeLogMapper.updateChargStatusByTaskId(robotCompleteTaskDTO.getOrderId(), ChargeTaskStatusEnum.DONE.getType());
} }
taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType(), LocalDateTime.now()); taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType(), LocalDateTime.now());
@ -289,7 +295,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
toWareHouseLocation.setLocationLock(LocationLockEnum.YES.getType()); toWareHouseLocation.setLocationLock(LocationLockEnum.YES.getType());
toWareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.YES.getType()); toWareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.YES.getType());
locationMapper.updateById(toWareHouseLocation); locationMapper.updateById(toWareHouseLocation);
pushWareLocation(toWareHouseLocation,robotCompleteTaskDTO.getMac(),ZeroOneEnum.ONE.getType()); pushWareLocation(toWareHouseLocation, robotCompleteTaskDTO.getMac(), ZeroOneEnum.ONE.getType());
} }
/** /**
@ -345,7 +351,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
wareHouseLocationDO.setLocationLock(LocationLockEnum.YES.getType()); wareHouseLocationDO.setLocationLock(LocationLockEnum.YES.getType());
wareHouseLocationDO.setLocationUseStatus(LocationUseStatusEnum.NO.getType()); wareHouseLocationDO.setLocationUseStatus(LocationUseStatusEnum.NO.getType());
locationMapper.updateById(wareHouseLocationDO); locationMapper.updateById(wareHouseLocationDO);
pushWareLocation(wareHouseLocationDO,robotCompleteTaskDTO.getMac(),ZeroOneEnum.ZERO.getType()); pushWareLocation(wareHouseLocationDO, robotCompleteTaskDTO.getMac(), ZeroOneEnum.ZERO.getType());
} }
public void pushWareLocation(WareHouseLocationDO wareHouseLocationDO, String mac, Integer type) { public void pushWareLocation(WareHouseLocationDO wareHouseLocationDO, String mac, Integer type) {
@ -393,10 +399,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
// taskService.closeTaskDetail(robotCompleteTaskDTO.getOrderId().toString(),robotCompleteTaskDTO.getMac()); // taskService.closeTaskDetail(robotCompleteTaskDTO.getOrderId().toString(),robotCompleteTaskDTO.getMac());
String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac()); String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
String msg = ""; String msg = null;
RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType()) if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())) { || PathTaskTypeEnum.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
if (RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetailDO.getTaskStage()) if (RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetailDO.getTaskStage())
|| RobotTaskStageEnum.UN_START.getType().equals(robotTaskDetailDO.getTaskStage())) { || RobotTaskStageEnum.UN_START.getType().equals(robotTaskDetailDO.getTaskStage())) {
robotTaskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.NEW.getType()); robotTaskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.NEW.getType());
@ -439,8 +445,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
String solve = ""; String solve = "";
String taskNo = ""; String taskNo = "";
if (!PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()) if (ObjectUtil.isEmpty(msg)) {
&& ObjectUtil.isEmpty(msg)) {
taskNo = taskDetailService.getTaskNoByDetailId(robotCompleteTaskDTO.getOrderId()); taskNo = taskDetailService.getTaskNoByDetailId(robotCompleteTaskDTO.getOrderId());
solve = " 并且到任务列表关闭任务 " + taskNo; solve = " 并且到任务列表关闭任务 " + taskNo;
taskDetailService.setTaskDetailError(robotCompleteTaskDTO.getOrderId()); taskDetailService.setTaskDetailError(robotCompleteTaskDTO.getOrderId());
@ -478,7 +483,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
setTaskDone(robotCompleteTaskDTO); setTaskDone(robotCompleteTaskDTO);
} }
chargeLogMapper.updateChargStatusByTaskId(robotCompleteTaskDTO.getOrderId(),ChargeTaskStatusEnum.CHARGEING.getType()); chargeLogMapper.updateChargStatusByTaskId(robotCompleteTaskDTO.getOrderId(), ChargeTaskStatusEnum.CHARGEING.getType());
} }
public RobotTaskDetailDO setTaskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) { public RobotTaskDetailDO setTaskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
@ -513,7 +518,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
*/ */
private void taskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) { private void taskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
RobotTaskDetailDO robotTaskDetailDO = setTaskDone(robotCompleteTaskDTO); RobotTaskDetailDO robotTaskDetailDO = setTaskDone(robotCompleteTaskDTO);
RobotInformationDO robotInformationDO = robotInformationMapper.selectOne(new LambdaQueryWrapperX<RobotInformationDO>() RobotInformationDO robotInformationDO = robotInformationMapper.selectOne(new LambdaQueryWrapperX<RobotInformationDO>()
.eq(RobotInformationDO::getRobotNo, robotTaskDetailDO.getRobotNo())); .eq(RobotInformationDO::getRobotNo, robotTaskDetailDO.getRobotNo()));

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotUpdatePalletHeightApiImpl.java
View File

@ -50,7 +50,7 @@ public class RobotUpdatePalletHeightApiImpl implements RobotUpdatePalletHeightAp
@Override @Override
@Transactional(rollbackFor = Exception.class) @Transactional(rollbackFor = Exception.class)
public void updatePalletHeight(String message) { public void updatePalletHeight(String message) {
log.info("高度反馈 :{}", message); log.info("111111高度反馈 :{}", message);
TenantContextHolder.setTenantId(1L); TenantContextHolder.setTenantId(1L);
RobotUpdatePalletHeightDTO data = JSON.parseObject(message, RobotUpdatePalletHeightDTO.class); RobotUpdatePalletHeightDTO data = JSON.parseObject(message, RobotUpdatePalletHeightDTO.class);
if (RobotCommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(data.getCommandType())) { if (RobotCommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(data.getCommandType())) {

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java
View File

@ -34,7 +34,7 @@ public class RobotWorkStatusApiImpl implements RobotWorkStatusApi {
@Override @Override
public void robotWorkStatus(String message) { public void robotWorkStatus(String message) {
log.info("作业实时行为上报: {}", message); log.info("111111作业实时行为上报: {}", message);
TenantContextHolder.setTenantId(1L); TenantContextHolder.setTenantId(1L);
RobotWorkStatusDTO data = JSON.parseObject(message, RobotWorkStatusDTO.class); RobotWorkStatusDTO data = JSON.parseObject(message, RobotWorkStatusDTO.class);

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotTaskController.java
View File

@ -130,4 +130,11 @@ public class RobotTaskController {
return success(true); return success(true);
} }
@GetMapping("/getRobotTaskNum")
@Operation(summary = "获取这台车工作的任务总数")
@Parameter(name = "robotNo", description = "车辆编号", required = true, example = "1024")
@PreAuthorize("@ss.hasPermission('robot:task:getRobotTaskNum')")
public CommonResult<Integer> getRobotTaskNum(@RequestParam("robotNo") String robotNo) {
return success(taskService.getRobotTaskNum(robotNo));
}
} }

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/cycle/TaskCycleMapper.java
View File

@ -27,4 +27,10 @@ public interface TaskCycleMapper extends BaseMapperX<TaskCycleDO> {
} }
void deletByRobotTaskId(@Param("robotTaskId") Long robotTaskId); void deletByRobotTaskId(@Param("robotTaskId") Long robotTaskId);
/**
* 批量删除
* @param taskIds
*/
void deletByRobotTaskIds(@Param("taskIds") Set<Long> taskIds);
} }

36
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
View File

@ -369,6 +369,21 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
validateInformationExists(updateReqVO.getId()); validateInformationExists(updateReqVO.getId());
RobotInformationDO robotInformationDO = informationMapper.selectById(updateReqVO.getId()); RobotInformationDO robotInformationDO = informationMapper.selectById(updateReqVO.getId());
if (RobotStatusEnum.STAND_BY.getType().equals(robotInformationDO.getRobotStatus()) ) {
PositionMapItemDO positionMapItem = positionMapItemMapper.selectOne(new LambdaQueryWrapper<PositionMapItemDO>()
.eq(PositionMapItemDO::getRobotNo, robotInformationDO.getRobotNo())
.eq(PositionMapItemDO::getUseStatus, UseStatusEnum.USEING.getType())
.eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType())
.last("limit 1"));
if (ObjectUtil.isNotEmpty(positionMapItem) && ObjectUtil.isEmpty(updateReqVO.getFloorAreaJson())) {
log.info("车辆 :{} ,停靠在 :{},",robotInformationDO.getRobotNo(), positionMapItem.getPositionMapId());
throw exception(ROBOT_PART_AREA);
}else if (ObjectUtil.isNotEmpty(positionMapItem) && ObjectUtil.isNotEmpty(updateReqVO.getFloorAreaJson())
&& !updateReqVO.getFloorAreaJson().contains(positionMapItem.getPositionMapId())) {
throw exception(ROBOT_PART_AREA);
}
}
RemoteControllerInformationDO remoteControllerInformation = controllerInformationMapper.selectOne(new LambdaQueryWrapper<RemoteControllerInformationDO>() RemoteControllerInformationDO remoteControllerInformation = controllerInformationMapper.selectOne(new LambdaQueryWrapper<RemoteControllerInformationDO>()
.eq(RemoteControllerInformationDO::getRobotNo, robotInformationDO.getRobotNo()) .eq(RemoteControllerInformationDO::getRobotNo, robotInformationDO.getRobotNo())
.last("limit 1")); .last("limit 1"));
@ -425,7 +440,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
checkIpAndPort(updateObj); checkIpAndPort(updateObj);
if (!updateReqVO.getRobotNo().equals(robotInformationDO.getRobotNo())) { if (!updateReqVO.getRobotNo().equals(robotInformationDO.getRobotNo())) {
updateRobotNo(robotInformationDO.getRobotNo(),updateReqVO.getRobotNo()); updateRobotNo(robotInformationDO.getRobotNo(), updateReqVO.getRobotNo());
} }
informationMapper.updateById(updateObj); informationMapper.updateById(updateObj);
@ -483,15 +498,16 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
/** /**
* 跟新车辆编号 * 跟新车辆编号
*
* @param oldRobotNo * @param oldRobotNo
* @param newRobotNo * @param newRobotNo
*/ */
@Transactional(rollbackFor = Exception.class) @Transactional(rollbackFor = Exception.class)
public void updateRobotNo(String oldRobotNo, String newRobotNo) { public void updateRobotNo(String oldRobotNo, String newRobotNo) {
deviceInformationMapper.updateRobotNo(oldRobotNo,newRobotNo); deviceInformationMapper.updateRobotNo(oldRobotNo, newRobotNo);
controllerInformationMapper.updateRobotNo(oldRobotNo,newRobotNo); controllerInformationMapper.updateRobotNo(oldRobotNo, newRobotNo);
RobotChargeLogDO robotChargeLog = chargeLogMapper.selectOne(new LambdaQueryWrapperX<RobotChargeLogDO>() RobotChargeLogDO robotChargeLog = chargeLogMapper.selectOne(new LambdaQueryWrapperX<RobotChargeLogDO>()
.eq(RobotChargeLogDO::getRobotNo, oldRobotNo) .eq(RobotChargeLogDO::getRobotNo, oldRobotNo)
@ -504,11 +520,11 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
//这表暂时不改 //这表暂时不改
// robotWorkingHoursStatisticsMapper // robotWorkingHoursStatisticsMapper
mapStopMapper.updateRobotNo(oldRobotNo,newRobotNo); mapStopMapper.updateRobotNo(oldRobotNo, newRobotNo);
moveToWaitMapper.updateRobotNo(oldRobotNo,newRobotNo); moveToWaitMapper.updateRobotNo(oldRobotNo, newRobotNo);
positionMapItemMapper.updateRobotNo(oldRobotNo,newRobotNo); positionMapItemMapper.updateRobotNo(oldRobotNo, newRobotNo);
} }
@Override @Override
@ -668,7 +684,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
if (ObjectUtil.isNotEmpty(cargoDetected) && RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))) { if (ObjectUtil.isNotEmpty(cargoDetected) && RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))) {
//说明取货完成 //说明取货完成
v.setCargoDetected("有货"); v.setCargoDetected("有货");
}else { } else {
v.setCargoDetected("空车"); v.setCargoDetected("空车");
} }
if (RobotStatisticsTypeEnum.STANDBY.getType().equals(pageReqVO.getRobotStatisticsType()) if (RobotStatisticsTypeEnum.STANDBY.getType().equals(pageReqVO.getRobotStatisticsType())
@ -1256,7 +1272,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
} else if (PathTaskTypeEnum.RELEASE.getType().equals(actionLog.getCommandType())) { } else if (PathTaskTypeEnum.RELEASE.getType().equals(actionLog.getCommandType())) {
releaseTask(pathPlanning); releaseTask(pathPlanning);
} else if (PathTaskTypeEnum.MOVE.getType().equals(actionLog.getCommandType()) } else if (PathTaskTypeEnum.MOVE.getType().equals(actionLog.getCommandType())
|| PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(actionLog.getCommandType())) { || PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(actionLog.getCommandType())) {
} }
} }
@ -1318,7 +1334,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
wareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.NO.getType()); wareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.NO.getType());
wareHouseLocationMapper.updateById(wareHouseLocation); wareHouseLocationMapper.updateById(wareHouseLocation);
} }
}else { } else {
takeCheck(robotTaskDetail.getFromLocationId(), robotTaskDetail.getRobotTaskId(), isRemote); takeCheck(robotTaskDetail.getFromLocationId(), robotTaskDetail.getRobotTaskId(), isRemote);
} }
releaseCheck(robotTaskDetail.getToLocationId(), robotTaskDetail.getRobotTaskId()); releaseCheck(robotTaskDetail.getToLocationId(), robotTaskDetail.getRobotTaskId());
@ -1493,7 +1509,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
List<String> robotNos = robots.stream().map(RobotInformationDO::getRobotNo).collect(Collectors.toList()); List<String> robotNos = robots.stream().map(RobotInformationDO::getRobotNo).collect(Collectors.toList());
List<String> list = new ArrayList<>(); List<String> list = new ArrayList<>();
String floorArea = floor + CommonConstant.SYMBOL + area; String floorArea = floor + CommonConstant.SYMBOL + area;
Map<Object, Object> hmget = redisUtil.hmget(floorArea); Map<Object, Object> hmget = redisUtil.hmget(floorArea);
if (ObjectUtil.isEmpty(hmget)) { if (ObjectUtil.isEmpty(hmget)) {
return new ArrayList<>(); return new ArrayList<>();

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java
View File

@ -246,6 +246,7 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
public void setTaskDetailError(Long id) { public void setTaskDetailError(Long id) {
RobotTaskDetailDO robotTaskDetailDO = new RobotTaskDetailDO(); RobotTaskDetailDO robotTaskDetailDO = new RobotTaskDetailDO();
robotTaskDetailDO.setId(id); robotTaskDetailDO.setId(id);
robotTaskDetailDO.setTaskStatus(RobotTaskStatusEnum.Exc.getType());
robotTaskDetailDO.setOccurError(ZeroOneEnum.ONE.getType()); robotTaskDetailDO.setOccurError(ZeroOneEnum.ONE.getType());
taskDetailMapper.updateById(robotTaskDetailDO); taskDetailMapper.updateById(robotTaskDetailDO);
} }

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskService.java
View File

@ -115,4 +115,11 @@ public interface RobotTaskService extends IService<RobotTaskDO> {
* @param robotNo * @param robotNo
*/ */
void chargeDone(String robotNo); void chargeDone(String robotNo);
/**
* 查询车辆的工作总数
* @param robotNo
* @return
*/
Integer getRobotTaskNum(String robotNo);
} }

18
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
View File

@ -512,6 +512,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
taskDetailMapper.updateById(taskDetailDOS); taskDetailMapper.updateById(taskDetailDOS);
taskCycleMapper.deletByRobotTaskId(robotTaskDO.getId());
if (ObjectUtil.isNotEmpty(locationIds)) { if (ObjectUtil.isNotEmpty(locationIds)) {
locationMapper.releaseLocationLockList(locationIds, robotTaskDO.getId() locationMapper.releaseLocationLockList(locationIds, robotTaskDO.getId()
, LocationLockEnum.YES.getType()); , LocationLockEnum.YES.getType());
@ -536,13 +538,11 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType()); robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType());
}*/ }*/
//因为机器人如果正在抬叉取货，这时把任务取消，如果货叉刚好伸到托盘底下，还是需要人为控制 //因为机器人如果正在抬叉取货，这时把任务取消，如果货叉刚好伸到托盘底下，还是需要人为控制
robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType()); // robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType());
robotInformationDO.setRobotStatus(RobotStatusEnum.STAND_BY.getType()); robotInformationDO.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
} }
informationMapper.updateById(robotInformationDOS); informationMapper.updateById(robotInformationDOS);
taskCycleMapper.deletByRobotTaskId(robotTaskDO.getId());
} }
@Override @Override
@ -582,7 +582,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
*/ */
@Override @Override
public void assignTasks(String message) { public void assignTasks(String message) {
log.info("PP分配任务,开始更新任务状态 :{}", message); log.info("111111PP分配任务,开始更新任务状态 :{}", message);
TaskAssignDTO taskAssignDTO = JSON.parseObject(message, TaskAssignDTO.class); TaskAssignDTO taskAssignDTO = JSON.parseObject(message, TaskAssignDTO.class);
String mac = robotInformationService.getMacByRobotNo(taskAssignDTO.getRobotNo()); String mac = robotInformationService.getMacByRobotNo(taskAssignDTO.getRobotNo());
@ -818,6 +818,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
taskDetailMapper.updateById(taskDetailDO); taskDetailMapper.updateById(taskDetailDO);
RobotTaskDO task = new RobotTaskDO(); RobotTaskDO task = new RobotTaskDO();
task.setId(taskDetailDO.getRobotTaskId()); task.setId(taskDetailDO.getRobotTaskId());
task.setStartTime(LocalDateTime.now());
task.setTaskStatus(RobotTaskStatusEnum.DOING.getType()); task.setTaskStatus(RobotTaskStatusEnum.DOING.getType());
taskMapper.updateById(task); taskMapper.updateById(task);
String taskNo = taskDetailMapper.getTaskNoByDetailId(detailId); String taskNo = taskDetailMapper.getTaskNoByDetailId(detailId);
@ -1622,6 +1623,15 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
} }
} }
@Override
public Integer getRobotTaskNum(String robotNo) {
List<RobotTaskDetailDO> taskDetailDOS = taskDetailMapper.selectList(new LambdaQueryWrapperX<RobotTaskDetailDO>()
.eq(RobotTaskDetailDO::getRobotNo, robotNo)
.ne(RobotTaskDetailDO::getTaskStatus, RobotTaskStatusEnum.NEW.getType()));
return ObjectUtil.isEmpty(taskDetailDOS) ? 0 : taskDetailDOS.size();
}
/** /**
* 任务日志分页 * 任务日志分页
* *

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java
View File

@ -7,6 +7,7 @@ import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO; import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO; import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO; import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
import cn.iocoder.yudao.module.system.dal.mysql.cycle.TaskCycleMapper;
import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper; import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper; import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper; import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
@ -59,6 +60,9 @@ public class CycleServiceImpl implements CycleService {
@Resource @Resource
private RobotTaskService robotTaskService; private RobotTaskService robotTaskService;
@Resource
private TaskCycleMapper taskCycleMapper;
/** /**
* 创建循环任务 * 创建循环任务
*/ */
@ -120,6 +124,7 @@ public class CycleServiceImpl implements CycleService {
taskDetailMap.forEach((k,v) ->{ taskDetailMap.forEach((k,v) ->{
robotTaskService.addCycle(k,v); robotTaskService.addCycle(k,v);
}); });
taskCycleMapper.deletByRobotTaskIds(taskIds);
} }
private List<RobotTaskDetailDO> getTaskDetailData(RobotTaskDO taskData, Map<Long, private List<RobotTaskDetailDO> getTaskDetailData(RobotTaskDO taskData, Map<Long,

10
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
View File

@ -484,15 +484,15 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + mac; String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + mac;
Object cargoDetected = redisUtil.get(cargoDetectedKey); Object cargoDetected = redisUtil.get(cargoDetectedKey);
log.info("传感器是否按下 :{}", cargoDetected); log.info("传感器是否按下 :{}", cargoDetected);
if (ObjectUtil.isEmpty(cargoDetected) || (RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected))) /* if (ObjectUtil.isNotEmpty(cargoDetected) && (RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))
&& !RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType()))) { && !RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType()))) {
log.info("车机上报传感器为空, 或者 被按下且任务非仅放货任务 :{} ,任务id ：{}", taskDetailDO.getRobotNo(), taskDetailDO.getId()); log.info("车机上报传感器为空, 或者 被按下且任务非仅放货任务 :{} ,任务id ：{}", taskDetailDO.getRobotNo(), taskDetailDO.getId());
continue; continue;
} else if (!RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected))) } else if (ObjectUtil.isNotEmpty(cargoDetected) && !RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))
&& RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType())) { && RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType())) {
log.info("仅放货任务,传感器未被按下，所以不执行任务 :{}, 任务id ：{}", taskDetailDO.getRobotNo(), taskDetailDO.getId()); log.info("仅放货任务,传感器未被按下，所以不执行任务 :{}, 任务id ：{}", taskDetailDO.getRobotNo(), taskDetailDO.getId());
continue; continue;
} }*/
List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = null; List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = null;
if (ObjectUtil.isEmpty(taskDetailDO.getRobotNo())) { if (ObjectUtil.isEmpty(taskDetailDO.getRobotNo())) {
@ -550,7 +550,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
} }
if (ObjectUtil.isNotEmpty(pathPlanningList)) { if (ObjectUtil.isNotEmpty(pathPlanningList)) {
log.info("作业任务下发给PP :{}", JSON.toJSONString(pathPlanningList)); log.info("111111作业任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST); commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
} }
} }
@ -578,7 +578,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
Integer locationStorey = toLocation.getLocationStorey() - 1; Integer locationStorey = toLocation.getLocationStorey() - 1;
double height = locationStorey * defaultTrayHeight; double height = locationStorey * defaultTrayHeight;
log.info("放货设置默认高度 :{}", pathPlanning.getReleaseHeight()); log.info("放货设置默认高度 :{}", height);
pathPlanning.setReleaseHeight(height); pathPlanning.setReleaseHeight(height);
} }

8
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/TaskCycleMapper.xml
View File

@ -12,4 +12,12 @@
<delete id="deletByRobotTaskId"> <delete id="deletByRobotTaskId">
delete from robot_task_cycle where robot_task_id = #{robotTaskId} delete from robot_task_cycle where robot_task_id = #{robotTaskId}
</delete> </delete>
<delete id="deletByRobotTaskIds">
delete from robot_task_cycle
where robot_task_id in
<foreach collection="taskIds" item="robotTaskId" index="index" open="(" close=")"
separator=",">
#{robotTaskId}
</foreach>
</delete>
</mapper> </mapper>