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cbs 2025-07-11 18:31:36 +08:00
parent e7a79cf457
commit 20e0a18dd3
5 changed files with 25 additions and 10 deletions
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18
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
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@ -348,6 +348,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
public void addTask(RobotTaskSaveReqVO createReqVO) {
RobotTaskDO task = BeanUtils.toBean(createReqVO, RobotTaskDO.class);
task.setRemainingCycleNumber(task.getCycleNumber());
task.setStartTime(null);
task.setEndTime(null);
taskMapper.insert(task);
List<Long> laneIds = new ArrayList<>();
@ -535,7 +537,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
for (RobotInformationDO robotInformationDO : robotInformationDOS) {
String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robotInformationDO.getMacAddress();
Object cargoDetected = redisUtil.get(cargoDetectedKey);
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)))) {
robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType());
}
@ -650,7 +652,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
taskDetailActionLogService.createTaskDetailActionLog(logOne);
try {
TaskDistributionMessage mess = new TaskDistributionMessage(this,taskAssignDTO.getOrderId()+"",
TaskDistributionMessage mess = new TaskDistributionMessage(this, taskAssignDTO.getOrderId() + "",
RobotTaskEventTypeEnum.DISTRIBUTION.getType());
taskDistributionProducer.sendSmsSendMessage(mess);
} catch (Exception e) {
@ -661,7 +663,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
private RobotTaskDO ppCreateMove(TaskAssignDTO taskAssignDTO) {
RobotTaskDO task = new RobotTaskDO();
String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.MOVE_TASK_NO.getKey());
String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey());
task.setTaskNo(znConfigConstant.getMoveNo() + DateUtils.getYearMonthDay() + incrementByKey);
task.setId(IdUtil.getSnowflakeNextId());
task.setCycleNumber(0L);
@ -756,7 +758,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
}
log.info("发送任务给车机 :{}", JSON.toJSONString(build));
// commonApi.commonMethod(build, build.getTopic());
mqttUtils.pub(build.getTopic(),JSON.toJSONString(build));
mqttUtils.pub(build.getTopic(), JSON.toJSONString(build));
}
public RobotAssignTaskDataDTO getEmptyRobotAssignTaskData() {
@ -830,13 +832,15 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
}
taskDetailMapper.updateById(taskDetailDO);
RobotTaskDO robotTaskDO = taskMapper.selectById(taskDetailDO.getRobotTaskId());
RobotTaskDO task = new RobotTaskDO();
task.setId(taskDetailDO.getRobotTaskId());
task.setStartTime(LocalDateTime.now());
if (ObjectUtil.isEmpty(robotTaskDO.getStartTime())) {
task.setStartTime(LocalDateTime.now());
}
task.setTaskStatus(RobotTaskStatusEnum.DOING.getType());
taskMapper.updateById(task);
String taskNo = taskDetailMapper.getTaskNoByDetailId(detailId);
task.setTaskNo(taskNo);
task.setTaskNo(robotTaskDO.getTaskNo());
return task;
}

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

@ -499,7 +499,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
*/
public Long createChargeTask(String robotNo, List<RobotTaskDO> tasks, List<RobotTaskDetailAddVO> taskDetails, Long positionMapItemId, String deviceNo) {
RobotTaskDO task = new RobotTaskDO();
String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.CHARGE_TASK_NO.getKey());
String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey());
task.setTaskNo(znConfigConstant.getChargeNo() + DateUtils.getYearMonthDay() + incrementByKey);
task.setId(IdUtil.getSnowflakeNextId());
task.setCycleNumber(0L);

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java
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@ -95,7 +95,7 @@ public class CycleServiceImpl implements CycleService {
List<RobotTaskDO> taskDOList = new ArrayList<>();
List<RobotTaskDetailDO> taskDetailList = new LinkedList<>();
for (RobotTaskDO v : taskList) {
String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.MOVE_TASK_NO.getKey());
String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey());
RobotTaskDO taskData = getTaskData(incrementByKey, v);
List<RobotTaskDetailDO> taskDetailDOS = getTaskDetailData(taskData,taskIdMap,v.getId());
taskDOList.add(taskData);

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
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@ -288,7 +288,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
taskService.chargeDone(v.getRobotNo());
RobotTaskDO task = new RobotTaskDO();
String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.MOVE_TASK_NO.getKey());
String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey());
task.setTaskNo(znConfigConstant.getMoveNo() + DateUtils.getYearMonthDay() + incrementByKey);
task.setId(IdUtil.getSnowflakeNextId());
task.setCycleNumber(0L);

11
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/simulation/RobotSimulationServiceImpl.java
View File

@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.service.robot.simulation;
import cn.hutool.core.util.ObjectUtil;
import cn.iocoder.yudao.framework.common.util.date.DateUtils;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationPageReqVO;
@ -60,7 +61,9 @@ import java.util.List;
import java.util.Set;
import java.util.stream.Collectors;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception0;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.TASK_CHECK_EXIST_NO;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.TASK_CREATE_FAIL;
@Slf4j
@ -105,12 +108,20 @@ public class RobotSimulationServiceImpl implements RobotSimulationService{
if (ObjectUtil.isEmpty(createReqVO.getTaskNo())) {
String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey());
createReqVO.setTaskNo(znConfigConstant.getTaskNo() + DateUtils.getYearMonthDay() + incrementByKey);
}else {
List<RobotTaskDO> taskDOS = taskMapper.selectList(new LambdaQueryWrapperX<RobotTaskDO>()
.eq(RobotTaskDO::getTaskNo, createReqVO.getTaskNo()));
if (ObjectUtil.isNotEmpty(taskDOS)) {
throw exception(TASK_CHECK_EXIST_NO);
}
}
log.info("111111创建一个不校验的任务 :{}",createReqVO.getTaskNo());
RobotTaskDO task = BeanUtils.toBean(createReqVO, RobotTaskDO.class);
task.setRemainingCycleNumber(task.getCycleNumber());
task.setStartTime(null);
task.setEndTime(null);
taskMapper.insert(task);
List<Long> laneIds = new ArrayList<>();