From 20e0a18dd3064ce94a7a8538569d1e301a1c45fe Mon Sep 17 00:00:00 2001
From: cbs <18617195505@163.com>
Date: Fri, 11 Jul 2025 18:31:36 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BB=BB=E5=8A=A1=E7=BC=96=E5=8F=B7?=
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---
 .../service/robot/RobotTaskServiceImpl.java    | 18 +++++++++++-------
 .../robot/job/AutoChargeServiceImpl.java       |  2 +-
 .../service/robot/job/CycleServiceImpl.java    |  2 +-
 .../RobotPathPlanningServiceImpl.java          |  2 +-
 .../simulation/RobotSimulationServiceImpl.java | 11 +++++++++++
 5 files changed, 25 insertions(+), 10 deletions(-)

diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
index f86196dfe..4913de51a 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
@@ -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;
     }
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java
index 9f6d09670..ec0dfb3b1 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java
@@ -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);
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java
index 1fe4f1f36..de3a0e24d 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java
@@ -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);
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
index 4075e1e5b..9e4072519 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
@@ -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);
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/simulation/RobotSimulationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/simulation/RobotSimulationServiceImpl.java
index b92d914f6..0b772ff88 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/simulation/RobotSimulationServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/simulation/RobotSimulationServiceImpl.java
@@ -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<>();