diff --git a/yudao-framework/yudao-spring-boot-starter-web/src/main/java/cn/iocoder/yudao/framework/apilog/core/interceptor/ApiAccessLogInterceptor.java b/yudao-framework/yudao-spring-boot-starter-web/src/main/java/cn/iocoder/yudao/framework/apilog/core/interceptor/ApiAccessLogInterceptor.java index 448cfd05d..d7c4b0213 100644 --- a/yudao-framework/yudao-spring-boot-starter-web/src/main/java/cn/iocoder/yudao/framework/apilog/core/interceptor/ApiAccessLogInterceptor.java +++ b/yudao-framework/yudao-spring-boot-starter-web/src/main/java/cn/iocoder/yudao/framework/apilog/core/interceptor/ApiAccessLogInterceptor.java @@ -36,6 +36,7 @@ public class ApiAccessLogInterceptor implements HandlerInterceptor { private static final List ignoreInterfaceUrls = Arrays.asList("/rpc-api/system/task/robotStatusUpdate", "/rpc-api/system/task/robotReactiveStatus", + "/rpc-api/infra/websocket/send", "/rpc-api/system/task/updateRobotCommonStatus"); @Override diff --git a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/common/CommonApi.java b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/common/CommonApi.java index 52278dd7c..0268932bc 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/common/CommonApi.java +++ b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/common/CommonApi.java @@ -18,11 +18,11 @@ public interface CommonApi { String PREFIX = ApiConstants.PREFIX + "/config"; - @PostMapping(PREFIX + "/commonMethod") + /* @PostMapping(PREFIX + "/commonMethod") @Operation(summary = "公共方法") void commonMethod(@RequestBody Object obj, @RequestParam("topic") String topic); @PostMapping(PREFIX + "/commonMethodStr") @Operation(summary = "公共方法") - void commonMethodStr(@RequestParam("str") String str, @RequestParam("topic") String topic); + void commonMethodStr(@RequestParam("str") String str, @RequestParam("topic") String topic);*/ } diff --git a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/RobotDimensionsDTO.java b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/RobotDimensionsDTO.java index adeb48e37..7d9daaeae 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/RobotDimensionsDTO.java +++ b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/RobotDimensionsDTO.java @@ -35,4 +35,10 @@ public class RobotDimensionsDTO { @Schema(description = "偏移量") private Double robotOffset; + @Schema(description = "检测点最短距离") + private Double checkShortestDistance; + + @Schema(description = "检测点最长距离") + private Double checkLongestDistance; + } diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/config/server/TCPServerApplicationRunner.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/config/server/TCPServerApplicationRunner.java index a325c3e98..8f535f775 100644 --- a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/config/server/TCPServerApplicationRunner.java +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/config/server/TCPServerApplicationRunner.java @@ -44,7 +44,7 @@ public class TCPServerApplicationRunner implements ApplicationRunner { System.out.println(new String(bytes,0,len)); OutputStream os= socket.getOutputStream(); //响应给客户端 - os.write("收到谢谢".getBytes()); + os.write("socket :".getBytes()); socket.close(); } catch (IOException e) { e.printStackTrace(); diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java index 0f77f8dc2..e48f9ec05 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java @@ -329,4 +329,7 @@ public interface ErrorCodeConstants { // ========== 车辆工作时长统计 1_002_058_001 ========== ErrorCode ROBOT_WORKING_HOURS_STATISTICS_NOT_EXISTS = new ErrorCode(1_002_058_001, "车辆工作时长统计不存在"); + + // ========== 库位类型 1_002_059_001 ========== + ErrorCode HOUSE_LOCATION_TYPE_NOT_EXISTS = new ErrorCode(1_002_059_001, "库位类型不存在"); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java index cde0c4452..6e4e881a9 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java @@ -388,7 +388,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { .id(robotCompleteTaskDTO.getOrderId().toString()) .build(); // commonApi.commonMethod(closePathPlanting, PathPlanningTopicConstant.KILL_TASK); - mqttUtils.pub(PathPlanningTopicConstant.KILL_TASK,JSON.toJSONString(closePathPlanting)); + mqttUtils.pub(PathPlanningTopicConstant.KILL_TASK, JSON.toJSONString(closePathPlanting)); log.info("通知PP把任务取消 :{}", robotCompleteTaskDTO.getOrderId()); } @@ -424,9 +424,11 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { robotTaskDetailDO.setOccurError(ZeroOneEnum.ZERO.getType()); robotTaskDetailMapper.updateById(robotTaskDetailDO); String taskNo = taskDetailService.getTaskNoByDetailId(robotCompleteTaskDTO.getOrderId()); - msg = robotNo + "_" + "车辆发生异常,重新分配其他车辆执行此任务" + taskNo; + msg = robotNo + "_" + "车辆发生异常,重新分配其他车辆执行此任务" + taskNo + " - " + robotCompleteTaskDTO.getOrderId(); } } + + //先不释放库位状态 /*if (RobotTaksOrderTypeEnum.TASK.getType().equals(robotCompleteTaskDTO.getOrderType())) { RobotTaskDetailDO robotTaskDetailDO = closeTaskDetail(robotCompleteTaskDTO.getOrderId()); @@ -581,12 +583,12 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getFromLocationNo() + "取货"); robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_TAKE.getType()); } else if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(commandType)) { - logOne.setActionMsg("车辆正在取货"); + logOne.setActionMsg("车辆正在取货" + robotTaskDetailDO.getFromLocationNo()); if (!RobotTaskStageEnum.GO_RELEASE.getType().equals(taskStage)) { robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING.getType()); } } else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(commandType)) { - logOne.setActionMsg("车辆正在放货"); + logOne.setActionMsg("车辆正在放货" + robotTaskDetailDO.getToLocationNo()); robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING.getType()); } else if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) { logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo() + "放货"); @@ -599,10 +601,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { || PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) { RobotChargeLogDO robotChargeLogDO = chargeLogMapper.selectById(robotCompleteTaskDTO.getOrderId()); if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) { - logOne.setActionMsg("车辆正在前往" + robotChargeLogDO.getDeviceNo() + "充电"); + logOne.setActionMsg("车辆正在前往 " + robotChargeLogDO.getDeviceNo() + "充电"); robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.MOVE.getType()); } else { - logOne.setActionMsg("车辆正在充电"); + logOne.setActionMsg("车辆正在充电 " + robotChargeLogDO.getDeviceNo()); robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.CHARGEING.getType()); } @@ -623,7 +625,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getFromLocationNo() + "取货"); robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_TAKE.getType()); } else if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(commandType)) { - logOne.setActionMsg("车辆正在取货"); + logOne.setActionMsg("车辆正在取货" + robotTaskDetailDO.getFromLocationNo()); if (!RobotTaskStageEnum.DONE.getType().equals(taskStage)) { robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING.getType()); } @@ -634,7 +636,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo() + "放货"); robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType()); } else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(commandType)) { - logOne.setActionMsg("车辆正在放货"); + logOne.setActionMsg("车辆正在放货"+ robotTaskDetailDO.getToLocationNo()); if (!RobotTaskStageEnum.DONE.getType().equals(taskStage)) { robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING.getType()); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/ZnConfigConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/ZnConfigConstant.java index 1029c4cf4..2ac2c62a6 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/ZnConfigConstant.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/ZnConfigConstant.java @@ -34,4 +34,6 @@ public class ZnConfigConstant { private Boolean sendRobotInitPose; private Integer synchronousAllMapNode; private Boolean taskNotCheck; + private Double checkShortestDistance; + private Double checkLongestDistance; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseLocationTypeController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseLocationTypeController.java new file mode 100644 index 000000000..6ca589bbc --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseLocationTypeController.java @@ -0,0 +1,105 @@ +package cn.iocoder.yudao.module.system.controller.admin.houselocation; + +import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationTypePageReqVO; +import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationTypeRespVO; +import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationTypeSaveReqVO; +import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationTypeDO; +import cn.iocoder.yudao.module.system.service.houselocation.WareHouseLocationTypeService; +import org.springframework.web.bind.annotation.*; +import javax.annotation.Resource; +import org.springframework.validation.annotation.Validated; +import org.springframework.security.access.prepost.PreAuthorize; +import io.swagger.v3.oas.annotations.tags.Tag; +import io.swagger.v3.oas.annotations.Parameter; +import io.swagger.v3.oas.annotations.Operation; + +import javax.validation.constraints.*; +import javax.validation.*; +import javax.servlet.http.*; +import java.util.*; +import java.io.IOException; + +import cn.iocoder.yudao.framework.common.pojo.PageParam; +import cn.iocoder.yudao.framework.common.pojo.PageResult; +import cn.iocoder.yudao.framework.common.pojo.CommonResult; +import cn.iocoder.yudao.framework.common.util.object.BeanUtils; +import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success; + +import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils; + +import cn.iocoder.yudao.framework.apilog.core.annotation.ApiAccessLog; +import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.*; + + +@Tag(name = "管理后台 - 库位类型") +@RestController +@RequestMapping("/system/ware/house-location-type") +@Validated +public class WareHouseLocationTypeController { + + @Resource + private WareHouseLocationTypeService houseLocationTypeService; + + @PostMapping("/create") + @Operation(summary = "创建库位类型") + @PreAuthorize("@ss.hasPermission('ware:house-location-type:create')") + public CommonResult createHouseLocationType(@Valid @RequestBody WareHouseLocationTypeSaveReqVO createReqVO) { + return success(houseLocationTypeService.createHouseLocationType(createReqVO)); + } + + @PutMapping("/update") + @Operation(summary = "更新库位类型") + @PreAuthorize("@ss.hasPermission('ware:house-location-type:update')") + public CommonResult updateHouseLocationType(@Valid @RequestBody WareHouseLocationTypeSaveReqVO updateReqVO) { + houseLocationTypeService.updateHouseLocationType(updateReqVO); + return success(true); + } + + @DeleteMapping("/delete") + @Operation(summary = "删除库位类型") + @Parameter(name = "id", description = "编号", required = true) + @PreAuthorize("@ss.hasPermission('ware:house-location-type:delete')") + public CommonResult deleteHouseLocationType(@RequestParam("id") Long id) { + houseLocationTypeService.deleteHouseLocationType(id); + return success(true); + } + + @GetMapping("/get") + @Operation(summary = "获得库位类型") + @Parameter(name = "id", description = "编号", required = true, example = "1024") + @PreAuthorize("@ss.hasPermission('ware:house-location-type:query')") + public CommonResult getHouseLocationType(@RequestParam("id") Long id) { + WareHouseLocationTypeDO houseLocationType = houseLocationTypeService.getHouseLocationType(id); + return success(BeanUtils.toBean(houseLocationType, WareHouseLocationTypeRespVO.class)); + } + + @GetMapping("/getList") + @Operation(summary = "获得库位类型集合") + @PreAuthorize("@ss.hasPermission('ware:house-location-type:getList')") + public CommonResult> getHouseLocationTypeList() { + List list = houseLocationTypeService.getHouseLocationTypeList(); + return success(BeanUtils.toBean(list, WareHouseLocationTypeRespVO.class)); + } + + @GetMapping("/page") + @Operation(summary = "获得库位类型分页") + @PreAuthorize("@ss.hasPermission('ware:house-location-type:query')") + public CommonResult> getHouseLocationTypePage(@Valid WareHouseLocationTypePageReqVO pageReqVO) { + PageResult pageResult = houseLocationTypeService.getHouseLocationTypePage(pageReqVO); + return success(BeanUtils.toBean(pageResult, WareHouseLocationTypeRespVO.class)); + } + + @GetMapping("/export-excel") + @Operation(summary = "导出库位类型 Excel") + @PreAuthorize("@ss.hasPermission('ware:house-location-type:export')") + @ApiAccessLog(operateType = EXPORT) + public void exportHouseLocationTypeExcel(@Valid WareHouseLocationTypePageReqVO pageReqVO, + HttpServletResponse response) throws IOException { + pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE); + List list = houseLocationTypeService.getHouseLocationTypePage(pageReqVO).getList(); + // 导出 Excel + ExcelUtils.write(response, "库位类型.xls", "数据", WareHouseLocationTypeRespVO.class, + BeanUtils.toBean(list, WareHouseLocationTypeRespVO.class)); + } + +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationPageReqVO.java index 75f773e55..c9fe027c7 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationPageReqVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationPageReqVO.java @@ -111,4 +111,7 @@ public class WareHouseLocationPageReqVO extends PageParam { @Schema(description = "ware_position_map的id", example = "1") private Long mapId; + @Schema(description = "库位类型表的id") + private Long locationTypeId; + } \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationRespVO.java index 0de71cb62..dc2d7a4c9 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationRespVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationRespVO.java @@ -144,4 +144,8 @@ public class WareHouseLocationRespVO { @Schema(description = "ware_position_map_item的id", example = "1") @ExcelProperty("ware_position_map_item的id") private Long mapItemId; + + @Schema(description = "库位类型表的id") + @ExcelProperty("库位类型表的id") + private Long locationTypeId; } \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationSaveReqVO.java index fa70d496b..0e3c86566 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationSaveReqVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationSaveReqVO.java @@ -1,5 +1,6 @@ package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo; +import com.alibaba.excel.annotation.ExcelProperty; import io.swagger.v3.oas.annotations.media.Schema; import lombok.Data; @@ -103,4 +104,7 @@ public class WareHouseLocationSaveReqVO { @Schema(description = "ware_position_map的id", example = "1") private Long mapId; + + @Schema(description = "库位类型表的id") + private Long locationTypeId; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationTypePageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationTypePageReqVO.java new file mode 100644 index 000000000..ebc4ed6f0 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationTypePageReqVO.java @@ -0,0 +1,40 @@ +package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo; + +import lombok.*; +import java.util.*; +import io.swagger.v3.oas.annotations.media.Schema; +import cn.iocoder.yudao.framework.common.pojo.PageParam; +import org.springframework.format.annotation.DateTimeFormat; +import java.time.LocalDateTime; + +import static cn.iocoder.yudao.framework.common.util.date.DateUtils.FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND; + +@Schema(description = "管理后台 - 库位类型分页 Request VO") +@Data +@EqualsAndHashCode(callSuper = true) +@ToString(callSuper = true) +public class WareHouseLocationTypePageReqVO extends PageParam { + + @Schema(description = "库位类型名称", example = "赵六") + private String typeName; + + @Schema(description = "排序,越大越靠前") + private Integer locationSort; + + @Schema(description = "宽度,单位厘米") + private String locationWide; + + @Schema(description = "深度,单位厘米") + private String locationDeep; + + @Schema(description = "高,单位厘米") + private String locationHeight; + + @Schema(description = "载重,单位公斤") + private String locationLoad; + + @Schema(description = "创建时间") + @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND) + private LocalDateTime[] createTime; + +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationTypeRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationTypeRespVO.java new file mode 100644 index 000000000..b407b1c14 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationTypeRespVO.java @@ -0,0 +1,47 @@ +package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo; + +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.*; +import java.util.*; +import org.springframework.format.annotation.DateTimeFormat; +import java.time.LocalDateTime; +import com.alibaba.excel.annotation.*; + +@Schema(description = "管理后台 - 库位类型 Response VO") +@Data +@ExcelIgnoreUnannotated +public class WareHouseLocationTypeRespVO { + + @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "8811") + @ExcelProperty("主键ID") + private Long id; + + @Schema(description = "库位类型名称", example = "赵六") + @ExcelProperty("库位类型名称") + private String typeName; + + @Schema(description = "排序,越大越靠前") + @ExcelProperty("排序,越大越靠前") + private Integer locationSort; + + @Schema(description = "宽度,单位厘米") + @ExcelProperty("宽度,单位厘米") + private String locationWide; + + @Schema(description = "深度,单位厘米") + @ExcelProperty("深度,单位厘米") + private String locationDeep; + + @Schema(description = "高,单位厘米") + @ExcelProperty("高,单位厘米") + private String locationHeight; + + @Schema(description = "载重,单位公斤") + @ExcelProperty("载重,单位公斤") + private String locationLoad; + + @Schema(description = "创建时间", requiredMode = Schema.RequiredMode.REQUIRED) + @ExcelProperty("创建时间") + private LocalDateTime createTime; + +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationTypeSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationTypeSaveReqVO.java new file mode 100644 index 000000000..ae6461246 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationTypeSaveReqVO.java @@ -0,0 +1,33 @@ +package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo; + +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.*; +import java.util.*; +import javax.validation.constraints.*; + +@Schema(description = "管理后台 - 库位类型新增/修改 Request VO") +@Data +public class WareHouseLocationTypeSaveReqVO { + + @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "8811") + private Long id; + + @Schema(description = "库位类型名称", example = "赵六") + private String typeName; + + @Schema(description = "排序,越大越靠前") + private Integer locationSort; + + @Schema(description = "宽度,单位厘米") + private String locationWide; + + @Schema(description = "深度,单位厘米") + private String locationDeep; + + @Schema(description = "高,单位厘米") + private String locationHeight; + + @Schema(description = "载重,单位公斤") + private String locationLoad; + +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java index e278d79b9..98b8b29f6 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java @@ -163,4 +163,21 @@ public class RobotInformationController { public CommonResult> getRobotByFloorAndArea(@RequestParam("floor") String floor, @RequestParam("area") String area) { return success(informationService.getRobotByFloorAndArea(floor,area)); } + + + @PostMapping("/stopRobot") + @Operation(summary = "暂停车辆") + @PreAuthorize("@ss.hasPermission('robot:information:stopRobot')") + public CommonResult stopRobot(@RequestParam("robotNo") String robotNo) { + informationService.stopRobot(robotNo); + return success(true); + } + + @PostMapping("/continueRobot") + @Operation(summary = "恢复车辆") + @PreAuthorize("@ss.hasPermission('robot:information:continueRobot')") + public CommonResult continueRobot(@RequestParam("robotNo") String robotNo) { + informationService.continueRobot(robotNo); + return success(true); + } } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationPageRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationPageRespVO.java index c301b11b9..1a9eddca2 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationPageRespVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationPageRespVO.java @@ -100,4 +100,7 @@ public class RobotInformationPageRespVO { @Schema(description = "车辆是否有货") private String cargoDetected; + + @Schema(description = "车辆是否暂停 : 1:已暂停, 其他:未暂停, ") + private Integer isStop; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationDO.java index fb254d6e1..28fec4f28 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationDO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationDO.java @@ -2,6 +2,7 @@ package cn.iocoder.yudao.module.system.dal.dataobject.houselocation; import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO; import com.baomidou.mybatisplus.annotation.*; +import io.swagger.v3.oas.annotations.media.Schema; import lombok.*; import java.math.BigDecimal; @@ -163,4 +164,9 @@ public class WareHouseLocationDO extends BaseDO { * ware_position_map_item的id */ private Long mapItemId; + + /** + * 库位类型表的id + */ + private Long locationTypeId; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationTypeDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationTypeDO.java new file mode 100644 index 000000000..d5831a7c1 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationTypeDO.java @@ -0,0 +1,55 @@ +package cn.iocoder.yudao.module.system.dal.dataobject.houselocation; + +import lombok.*; +import java.util.*; +import java.time.LocalDateTime; +import java.time.LocalDateTime; +import com.baomidou.mybatisplus.annotation.*; +import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO; + +/** + * 库位类型 DO + * + * @author 陈宾顺 + */ +@TableName("ware_house_location_type") +@KeySequence("ware_house_location_type_seq") // 用于 Oracle、PostgreSQL、Kingbase、DB2、H2 数据库的主键自增。如果是 MySQL 等数据库,可不写。 +@Data +@EqualsAndHashCode(callSuper = true) +@ToString(callSuper = true) +@Builder +@NoArgsConstructor +@AllArgsConstructor +public class WareHouseLocationTypeDO extends BaseDO { + + /** + * 主键ID + */ + @TableId + private Long id; + /** + * 库位类型名称 + */ + private String typeName; + /** + * 排序,越大越靠前 + */ + private Integer locationSort; + /** + * 宽度,单位厘米 + */ + private String locationWide; + /** + * 深度,单位厘米 + */ + private String locationDeep; + /** + * 高,单位厘米 + */ + private String locationHeight; + /** + * 载重,单位公斤 + */ + private String locationLoad; + +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationTypeMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationTypeMapper.java new file mode 100644 index 000000000..17204f4b6 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationTypeMapper.java @@ -0,0 +1,32 @@ +package cn.iocoder.yudao.module.system.dal.mysql.houselocation; + +import java.util.*; + +import cn.iocoder.yudao.framework.common.pojo.PageResult; +import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX; +import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX; +import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationTypePageReqVO; +import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationTypeDO; +import org.apache.ibatis.annotations.Mapper; + +/** + * 库位类型 Mapper + * + * @author 陈宾顺 + */ +@Mapper +public interface WareHouseLocationTypeMapper extends BaseMapperX { + + default PageResult selectPage(WareHouseLocationTypePageReqVO reqVO) { + return selectPage(reqVO, new LambdaQueryWrapperX() + .likeIfPresent(WareHouseLocationTypeDO::getTypeName, reqVO.getTypeName()) + .eqIfPresent(WareHouseLocationTypeDO::getLocationSort, reqVO.getLocationSort()) + .eqIfPresent(WareHouseLocationTypeDO::getLocationWide, reqVO.getLocationWide()) + .eqIfPresent(WareHouseLocationTypeDO::getLocationDeep, reqVO.getLocationDeep()) + .eqIfPresent(WareHouseLocationTypeDO::getLocationHeight, reqVO.getLocationHeight()) + .eqIfPresent(WareHouseLocationTypeDO::getLocationLoad, reqVO.getLocationLoad()) + .betweenIfPresent(WareHouseLocationTypeDO::getCreateTime, reqVO.getCreateTime()) + .orderByDesc(WareHouseLocationTypeDO::getId)); + } + +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotStatusEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotStatusEnum.java index 9b56cd0df..f01b6e109 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotStatusEnum.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotStatusEnum.java @@ -9,7 +9,9 @@ import lombok.Getter; @Getter @AllArgsConstructor public enum RobotStatusEnum { - LAST_TASK_IS_TAKE(1,"上一个任务是仅取货(这是一个过渡状态,数据库没有这种状态)"), + LAST_TASK_IS_TAKE(-1,"上一个任务是仅取货(这是一个过渡状态,数据库没有这种状态)"), + STOP_FREE(0,"暂停且待命中"), + STOP_DOING(1,"暂停且任务中"), DOING(2,"任务中"), STAND_BY(3,"待命"), CHARGE(4,"充电中"); @@ -18,4 +20,13 @@ public enum RobotStatusEnum { */ private final Integer type; private final String msg; + + public static String getMsg(Integer type) { + for (RobotStatusEnum item : RobotStatusEnum.values()) { + if (item.getType().equals(type)) { + return item.getMsg(); + } + } + return ""; + } } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotCommandTypeEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotCommandTypeEnum.java index 8b616eaf3..c2301d713 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotCommandTypeEnum.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotCommandTypeEnum.java @@ -13,8 +13,8 @@ public enum RobotCommandTypeEnum { WORK_DROP_OFF_GOODS("WORK_DROP_OFF_GOODS","放货"), MOVE_POSE("MOVE_POSE","仿真移动点位"), MODE("MODE","远遥/RCS模式切换"), - EMERGENCY_STOP("EMERGENCY_STOP","急停车辆"), - RECOVERY("RECOVERY","恢复车辆"); + PAUSE("PAUSE","急停车辆"), + CONTINUE("CONTINUE","恢复车辆"); /** * 类型 */ diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotTaskStageEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotTaskStageEnum.java index ec385b837..1aa9407b1 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotTaskStageEnum.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotTaskStageEnum.java @@ -16,7 +16,9 @@ public enum RobotTaskStageEnum { CHARGEING(7L,"待执行正在充电"), CLOSE(8L,"任务已取消"), MANUALLY_COMPLETED(9L,"人工完成"), - EXCEPTION(10L,"异常"); + EXCEPTION(10L,"异常"), + TAKEING_EXCEPTION(11L,"取货异常"), + RELEASEING_EXCEPTION(12L,"放货异常"); /** * 类型 */ diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java index 5c1a88b72..900f5aa14 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java @@ -40,7 +40,7 @@ public class RcsMapScheduled { private static final ExecutorService FIXED_THREAD_POOL = Executors.newFixedThreadPool(10); // 这个方法将每200毫秒执行一次 - @Scheduled(fixedDelay = 100, timeUnit = TimeUnit.MILLISECONDS) + @Scheduled(fixedDelay = 150, timeUnit = TimeUnit.MILLISECONDS) public void executeTask() { FIXED_THREAD_POOL.execute(this::sendRobotInformationToRcsMap); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseLocationTypeService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseLocationTypeService.java new file mode 100644 index 000000000..e67d37dc1 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseLocationTypeService.java @@ -0,0 +1,63 @@ +package cn.iocoder.yudao.module.system.service.houselocation; + +import java.util.*; +import javax.validation.*; + +import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationTypePageReqVO; +import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationTypeSaveReqVO; +import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationTypeDO; +import com.baomidou.mybatisplus.extension.service.IService; +import cn.iocoder.yudao.framework.common.pojo.PageResult; +import cn.iocoder.yudao.framework.common.pojo.PageParam; + +/** + * 库位类型 Service 接口 + * + * @author 陈宾顺 + */ +public interface WareHouseLocationTypeService extends IService { + + /** + * 创建库位类型 + * + * @param createReqVO 创建信息 + * @return 编号 + */ + Long createHouseLocationType(@Valid WareHouseLocationTypeSaveReqVO createReqVO); + + /** + * 更新库位类型 + * + * @param updateReqVO 更新信息 + */ + void updateHouseLocationType(@Valid WareHouseLocationTypeSaveReqVO updateReqVO); + + /** + * 删除库位类型 + * + * @param id 编号 + */ + void deleteHouseLocationType(Long id); + + /** + * 获得库位类型 + * + * @param id 编号 + * @return 库位类型 + */ + WareHouseLocationTypeDO getHouseLocationType(Long id); + + /** + * 获得库位类型分页 + * + * @param pageReqVO 分页查询 + * @return 库位类型分页 + */ + PageResult getHouseLocationTypePage(WareHouseLocationTypePageReqVO pageReqVO); + + /** + * 获取所有库位类型 + * @return + */ + List getHouseLocationTypeList(); +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseLocationTypeServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseLocationTypeServiceImpl.java new file mode 100644 index 000000000..1495b4b3b --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseLocationTypeServiceImpl.java @@ -0,0 +1,88 @@ +package cn.iocoder.yudao.module.system.service.houselocation; + +import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationTypePageReqVO; +import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationTypeSaveReqVO; +import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO; +import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationTypeDO; +import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationTypeMapper; +import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; +import org.springframework.stereotype.Service; +import javax.annotation.Resource; +import org.springframework.validation.annotation.Validated; +import org.springframework.transaction.annotation.Transactional; + +import java.util.*; +import cn.iocoder.yudao.framework.common.pojo.PageResult; +import cn.iocoder.yudao.framework.common.pojo.PageParam; +import cn.iocoder.yudao.framework.common.util.object.BeanUtils; +import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; + + +import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception; +import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.HOUSE_LOCATION_TYPE_NOT_EXISTS; + +/** + * 库位类型 Service 实现类 + * + * @author 陈宾顺 + */ +@Service +@Validated +public class WareHouseLocationTypeServiceImpl extends ServiceImpl implements WareHouseLocationTypeService { + + @Resource + private WareHouseLocationTypeMapper houseLocationTypeMapper; + + @Override + public Long createHouseLocationType(WareHouseLocationTypeSaveReqVO createReqVO) { + // 插入 + WareHouseLocationTypeDO houseLocationType = BeanUtils.toBean(createReqVO, WareHouseLocationTypeDO.class); + houseLocationTypeMapper.insert(houseLocationType); + // 返回 + return houseLocationType.getId(); + } + + @Override + public void updateHouseLocationType(WareHouseLocationTypeSaveReqVO updateReqVO) { + // 校验存在 + validateHouseLocationTypeExists(updateReqVO.getId()); + // 更新 + WareHouseLocationTypeDO updateObj = BeanUtils.toBean(updateReqVO, WareHouseLocationTypeDO.class); + houseLocationTypeMapper.updateById(updateObj); + } + + @Override + public void deleteHouseLocationType(Long id) { + // 校验存在 + validateHouseLocationTypeExists(id); + // 删除 + houseLocationTypeMapper.deleteById(id); + } + + private void validateHouseLocationTypeExists(Long id) { + if (houseLocationTypeMapper.selectById(id) == null) { + throw exception(HOUSE_LOCATION_TYPE_NOT_EXISTS); + } + } + + @Override + public WareHouseLocationTypeDO getHouseLocationType(Long id) { + return houseLocationTypeMapper.selectById(id); + } + + @Override + public PageResult getHouseLocationTypePage(WareHouseLocationTypePageReqVO pageReqVO) { + return houseLocationTypeMapper.selectPage(pageReqVO); + } + + /** + * 获取所有库位类型 + * @return + */ + @Override + public List getHouseLocationTypeList() { + return houseLocationTypeMapper.selectList(new LambdaQueryWrapper() + .orderByDesc(WareHouseLocationTypeDO::getLocationSort)); + } + +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java index 8458d1564..e14011475 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java @@ -84,9 +84,6 @@ import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.PATH_PLANN @Service public class PathPlanningServiceImpl implements PathPlanningService { - private static final double PI = Math.PI; - - @Resource private PositionMapLineMapper positionMapLineMapper; @@ -459,9 +456,7 @@ public class PathPlanningServiceImpl implements PathPlanningService { @Override public void robotDimensions() { - List list = informationMapper.selectRobotDimensions(); -// commonApi.commonMethod(list, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS); - mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS,JSON.toJSONString(list)); + robotInformationService.sendRobotConfigToPP(); } /** diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java index a90109928..0034b4cc4 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java @@ -6,7 +6,7 @@ import cn.iocoder.yudao.framework.common.pojo.PageResult; import cn.iocoder.yudao.framework.common.util.object.BeanUtils; import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX; import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils; -import cn.iocoder.yudao.module.mqtt.api.common.CommonApi; +import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO; import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO; import cn.iocoder.yudao.module.system.api.path.PathApi; import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotDTO; @@ -418,7 +418,7 @@ public class PositionMapServiceImpl extends ServiceImpl robotNos = new ArrayList<>(); String str = ""; @@ -426,8 +426,8 @@ public class PositionMapServiceImpl extends ServiceImpl { * @param robotNos * @param str */ - void sendEmergencyStopOrRecoveryToRobot(RobotSimulationPoseDTO robotSimulationPose, List robotNos, String str); + void sendEmergencyStopOrRecoveryToRobot(RobotAcceptTaskDTO robotSimulationPose, List robotNos, String str); /** * 查询机器人处理中的任务 @@ -255,4 +256,10 @@ public interface RobotInformationService extends IService { * @return */ Long getRobotMapIdByRobotNo(String robotNo); + + void sendRobotConfigToPP(); + + void stopRobot(String robotNo); + + void continueRobot(String robotNo); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java index 1557d2de3..0c675a99d 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java @@ -10,13 +10,11 @@ import cn.iocoder.yudao.framework.common.util.object.BeanUtils; import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX; import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils; import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder; -import cn.iocoder.yudao.module.mqtt.api.common.CommonApi; import cn.iocoder.yudao.module.mqtt.api.path.dto.RobotDimensionsDTO; import cn.iocoder.yudao.module.mqtt.api.path.task.TaskRobotNoLimittationAreaDTO; import cn.iocoder.yudao.module.mqtt.api.path.task.TaskToPathPlanningDTO; import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO; import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotRcsHeartBeatDTO; -import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO; import cn.iocoder.yudao.module.mqtt.enums.task.ExecutionTypeEnum; import cn.iocoder.yudao.module.system.api.path.vo.RobotClosePathPlantingDTO; import cn.iocoder.yudao.module.system.api.robot.processor.RequestProcessor; @@ -78,6 +76,7 @@ import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogServic import cn.iocoder.yudao.module.system.service.log.UserOperationLogService; import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService; import cn.iocoder.yudao.module.system.service.robot.camera.RobotCameraService; +import cn.iocoder.yudao.module.system.service.robot.mapstop.RobotMapStopService; import cn.iocoder.yudao.module.system.service.robot.pathplanning.RobotPathPlanningService; import cn.iocoder.yudao.module.system.util.redis.RedisUtil; import cn.iocoder.yudao.module.system.util.redis.RedissonUtils; @@ -87,7 +86,7 @@ import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl; import lombok.extern.slf4j.Slf4j; import org.redisson.api.RLock; import org.springframework.beans.factory.annotation.Autowired; -import org.springframework.beans.factory.annotation.Value; +import org.springframework.context.annotation.Lazy; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; import org.springframework.validation.annotation.Validated; @@ -182,12 +181,16 @@ public class RobotInformationServiceImpl extends ServiceImpl list = informationMapper.selectRobotDimensions(); -// commonApi.commonMethod(list, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS); - mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS, JSON.toJSONString(list)); + sendRobotConfigToPP(); redisUtil.del(key); // 返回 @@ -341,6 +342,48 @@ public class RobotInformationServiceImpl extends ServiceImpl robotDimensionsList = informationMapper.selectRobotDimensions(); + if (ObjectUtil.isNotEmpty(robotDimensionsList)) { + for (RobotDimensionsDTO robotDimensionsDTO : robotDimensionsList) { + robotDimensionsDTO.setCheckShortestDistance(znConfigConstant.getCheckShortestDistance()); + robotDimensionsDTO.setCheckLongestDistance(znConfigConstant.getCheckLongestDistance()); + } + } + mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS, JSON.toJSONString(robotDimensionsList)); + } + + @Override + @Transactional(rollbackFor = Exception.class) + public void stopRobot(String robotNo) { + RobotInformationDO robotInformationDO = informationMapper.selectOne(new LambdaQueryWrapper() + .eq(RobotInformationDO::getRobotNo, robotNo) + .last("limit 1")); + + RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO(); + robotTask.setOrderId(robotInformationDO.getTaskDetailId()+""); + robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + robotInformationDO.getMacAddress()); + robotTask.setExecutionType(ExecutionTypeEnum.PAUSE.getType()); + mqttUtils.pub(robotTask.getTopic(), JSON.toJSONString(robotTask)); + mapStopService.rcsStopRobotAddLog(robotNo); + } + + @Override + @Transactional(rollbackFor = Exception.class) + public void continueRobot(String robotNo) { + RobotInformationDO robotInformationDO = informationMapper.selectOne(new LambdaQueryWrapper() + .eq(RobotInformationDO::getRobotNo, robotNo) + .last("limit 1")); + + RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO(); + robotTask.setOrderId(robotInformationDO.getTaskDetailId()+""); + robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + robotInformationDO.getMacAddress()); + robotTask.setExecutionType(ExecutionTypeEnum.CONTINUE.getType()); + mqttUtils.pub(robotTask.getTopic(), JSON.toJSONString(robotTask)); + mapStopService.rcsDeleteStopRobotAddLog(robotNo); + } + /** * 校验IP地址是否合法 @@ -358,6 +401,7 @@ public class RobotInformationServiceImpl extends ServiceImpl robotDimensions = informationMapper.selectRobotDimensions(); -// commonApi.commonMethod(robotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS); - mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS, JSON.toJSONString(robotDimensions)); + sendRobotConfigToPP(); } /** @@ -562,9 +611,7 @@ public class RobotInformationServiceImpl extends ServiceImpl robotDimensions = informationMapper.selectRobotDimensions(); -// commonApi.commonMethod(robotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS); - mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS, JSON.toJSONString(robotDimensions)); + sendRobotConfigToPP(); String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + robotInformationDO.getMacAddress(); redisUtil.del(pose2dKey); @@ -594,9 +641,9 @@ public class RobotInformationServiceImpl extends ServiceImpl robotNoList = Arrays.asList(robotInformationDO.getRobotNo()); + RobotAcceptTaskDTO robotSimulationPose = new RobotAcceptTaskDTO(); + robotSimulationPose.setExecutionType(RobotCommandTypeEnum.CONTINUE.getType()); + List robotNoList = Collections.singletonList(robotInformationDO.getRobotNo()); sendEmergencyStopOrRecoveryToRobot(robotSimulationPose, robotNoList, "删除车辆时恢复车辆"); mapStopMapper.deleteRobotMapStopByRobotNos(robotNoList); @@ -672,8 +719,14 @@ public class RobotInformationServiceImpl extends ServiceImpl list = pageResult.getList(); List targetList = BeanUtil.copyToList(list, RobotInformationPageRespVO.class); + List allRobotMapStops = mapStopService.getAllRobotMapStops(ZeroOneEnum.ONE.getType()); + List stopRobotNos = new ArrayList<>(); + if (ObjectUtil.isNotEmpty(allRobotMapStops)) { + stopRobotNos = allRobotMapStops.stream().map(RobotMapStopDO::getRobotNo).collect(Collectors.toList()); + } + for (RobotInformationPageRespVO v : targetList) { - setMsgAndRobotStatus(v, pageReqVO.getRobotStatisticsType()); + setMsgAndRobotStatus(v,stopRobotNos); } if (ObjectUtil.isNotEmpty(pageReqVO.getRobotStatisticsType())) { @@ -736,7 +789,12 @@ public class RobotInformationServiceImpl extends ServiceImpl stopRobotNos) { + + if (ObjectUtil.isNotEmpty(stopRobotNos) && stopRobotNos.contains(v.getRobotNo())) { + v.setIsStop(ZeroOneEnum.ONE.getType()); + } + String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + v.getMacAddress(); Object object = redisUtil.get(pose2dKey); RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class); @@ -1193,10 +1251,10 @@ public class RobotInformationServiceImpl extends ServiceImpl robotNos, String str) { - for (String robotNo : robotNos) { - String mac = getMacByRobotNo(robotNo); -// commonApi.commonMethod(robotSimulationPose, RobotTopicConstant.ROBOT_COMMAND_TOPIC + mac); - mqttUtils.pub(RobotTopicConstant.ROBOT_COMMAND_TOPIC + mac, JSON.toJSONString(robotSimulationPose)); + public void sendEmergencyStopOrRecoveryToRobot(RobotAcceptTaskDTO robotSimulationPose, List robotNos, String str) { + List robotInformationDOS = informationMapper.selectList(new LambdaQueryWrapperX() + .in(RobotInformationDO::getRobotNo, robotNos)); + for (RobotInformationDO robotInformationDO : robotInformationDOS) { + robotSimulationPose.setOrderId(robotInformationDO.getTaskDetailId()+""); + mqttUtils.pub(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + robotInformationDO.getMacAddress(), JSON.toJSONString(robotSimulationPose)); UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder() - .operateAction(str + robotNo) + .operateAction(str + robotInformationDO.getRobotNo()) .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build(); userOperationLogService.createUserOperationLog(operationLog); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java index a8b7dcb0d..cfe07949e 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java @@ -250,9 +250,24 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService { @Override public void setTaskDetailError(Long id) { + RobotTaskDetailDO detailDO = taskDetailMapper.selectById(id); RobotTaskDetailDO robotTaskDetailDO = new RobotTaskDetailDO(); robotTaskDetailDO.setId(id); - robotTaskDetailDO.setTaskStatus(RobotTaskStatusEnum.Exc.getType()); + if (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(detailDO.getTaskType())) { + if (RobotTaskStageEnum.UN_START.getType().equals(detailDO.getTaskStage()) + || RobotTaskStageEnum.GO_TAKE.getType().equals(detailDO.getTaskStage()) + || RobotTaskStageEnum.TAKEING.getType().equals(detailDO.getTaskStage())) { + robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING_EXCEPTION.getType()); + }else { + robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING_EXCEPTION.getType()); + } + } else if(RobotTaskTypeEnum.TAKE.getType().equals(detailDO.getTaskType())) { + robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING_EXCEPTION.getType()); + }else if(RobotTaskTypeEnum.RELEASE.getType().equals(detailDO.getTaskType())) { + robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING_EXCEPTION.getType()); + }else { + robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.EXCEPTION.getType()); + } robotTaskDetailDO.setOccurError(ZeroOneEnum.ONE.getType()); taskDetailMapper.updateById(robotTaskDetailDO); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopService.java index 60dba2bc4..0916fe872 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopService.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopService.java @@ -8,7 +8,6 @@ import cn.iocoder.yudao.module.system.controller.admin.robot.mapstop.RobotMapSto import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotMapStopDO; import com.baomidou.mybatisplus.extension.service.IService; import cn.iocoder.yudao.framework.common.pojo.PageResult; -import cn.iocoder.yudao.framework.common.pojo.PageParam; /** * 车辆(地图)急停记录 Service 接口 @@ -127,4 +126,8 @@ public interface RobotMapStopService extends IService { * @return */ List getStopRobotNoByRobotNoList(List robotNos); + + void rcsStopRobotAddLog(String robotNo); + + void rcsDeleteStopRobotAddLog(String robotNo); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopServiceImpl.java index 31ca642a6..60bb7fb88 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/mapstop/RobotMapStopServiceImpl.java @@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.service.robot.mapstop; import cn.hutool.core.util.ObjectUtil; import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX; import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils; +import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO; import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO; import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO; import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant; @@ -186,9 +187,9 @@ public class RobotMapStopServiceImpl extends ServiceImpl list = Arrays.asList(robotNo); + RobotAcceptTaskDTO robotSimulationPose = new RobotAcceptTaskDTO(); + robotSimulationPose.setExecutionType(RobotCommandTypeEnum.PAUSE.getType()); + List list = Collections.singletonList(robotNo); informationService.sendEmergencyStopOrRecoveryToRobot(robotSimulationPose, list, "远遥暂停车辆"); String mac = informationService.getMacByRobotNo(robotNo); @@ -240,9 +241,9 @@ public class RobotMapStopServiceImpl extends ServiceImpl list = Arrays.asList(robotNo); + RobotAcceptTaskDTO robotSimulationPose = new RobotAcceptTaskDTO(); + robotSimulationPose.setExecutionType(RobotCommandTypeEnum.CONTINUE.getType()); + List list = Collections.singletonList(robotNo); informationService.sendEmergencyStopOrRecoveryToRobot(robotSimulationPose, list, "远遥恢复车辆"); deleteRobotMapStopByRobotNos(list); @@ -271,5 +272,43 @@ public class RobotMapStopServiceImpl extends ServiceImpl list = Collections.singletonList(robotNo); + String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + mac; + Object o = redisUtil.get(floorAreaKey); + + Long id = -1l; + if (ObjectUtil.isNotEmpty(o)) { + FloorZoneDTO floorZone = JSON.parseObject((String) o, FloorZoneDTO.class); + PositionMapDO positionMap = positionMapMapper.selectOne(new LambdaQueryWrapperX() + .eq(PositionMapDO::getFloor, floorZone.getFloor()) + .eq(PositionMapDO::getArea, floorZone.getArea())); + if (ObjectUtil.isNotEmpty(positionMap)) { + id = positionMap.getId(); + } + } + + createRobotMapStop(id, list); + } + + @Override + public void rcsDeleteStopRobotAddLog(String robotNo) { + List stopRobotNoByRobotNo = getStopRobotNoByRobotNo(robotNo); + if (ObjectUtil.isEmpty(stopRobotNoByRobotNo) ){ + return; + } + Long mapId = stopRobotNoByRobotNo.get(0).getPositionMapId(); + deleteRobotMapStopByRobotNos(Collections.singletonList(robotNo)); + List positionMapItems = mapStopMapper.selectList(new LambdaQueryWrapperX() + .eq(RobotMapStopDO::getStopType, ZeroOneEnum.ONE.getType()) + .eq(RobotMapStopDO::getPositionMapId, mapId)); + if (ObjectUtil.isNotEmpty(positionMapItems)) { + return; + } + mapStopMapper.deleteRobotMapStopByMapId(mapId); + } + } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml index f1e8ab99c..a3e289bf4 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml @@ -212,6 +212,8 @@ zn: send_robot_init_pose: true # 是否为发送默认的车辆所在地图和点位 synchronous_all_map_node: 500 # 点位信息每次发送的数据量 task_not_check: true # 创建任务不校验 + check_shortest_distance: 1.5 # 检测点最短距离 + check_longest_distance: 3.0 # 检测点最长距离 #海康威视的相关配置 diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml index f83e04636..9d0a2bc20 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml @@ -247,6 +247,8 @@ zn: send_robot_init_pose: true # 是否为发送默认的车辆所在地图和点位 synchronous_all_map_node: 500 # 点位信息每次发送的数据量 task_not_check: true # 创建任务不校验 + check_shortest_distance: 1.5 # 检测点最短距离 + check_longest_distance: 3.0 # 检测点最长距离 logging: file: diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml index 681d06597..2fc976a48 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml @@ -240,6 +240,8 @@ zn: send_robot_init_pose: true # 是否为发送默认的车辆所在地图和点位 synchronous_all_map_node: 500 # 点位信息每次发送的数据量 task_not_check: true # 创建任务不校验 + check_shortest_distance: 1.5 # 检测点最短距离 + check_longest_distance: 3.0 # 检测点最长距离 #海康威视的相关配置 isc: diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationTypeMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationTypeMapper.xml new file mode 100644 index 000000000..2c5f6076a --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationTypeMapper.xml @@ -0,0 +1,12 @@ + + + + + + + \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailMapper.xml index 5a5f1f1eb..594280437 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailMapper.xml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailMapper.xml @@ -346,7 +346,7 @@ t1.deleted = '0' and t2.deleted = '0' and t2.occur_error = '1' - and ((t2.task_type = '1' and t2.task_stage in ('2','3','4')) or (t2.task_type = '6') or (t2.task_type = '5' and t2.task_stage = '2')) + and ((t2.task_type = '1' and t2.task_stage in ('1','2','3','4')) or (t2.task_type = '6') or (t2.task_type = '5' and t2.task_stage = '2')) and t2.task_status = '1' and t1.task_status = '1'