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

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-local.yaml

@@ -35,7 +35,7 @@ mqtt:
   host: tcp://127.0.0.1:1883
   username: adminuser
   password: adminuser
-  qos: 0
+  qos: 2
   clientId: mqttx_b82345a52
   maxInflight: 10
   timeout: 10

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotStatusCodeConstant.java

@@ -13,5 +13,5 @@ public class RobotStatusCodeConstant {
     public static Boolean CARGO_DETECTED = true;
 
     //true表示可以做任务，如果是到达了充电点正在充电中应该返回true
-    public static Boolean TASK_STATUS_RUNNING = true;
+    public static Boolean CAN_DO_TASK = true;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/webSocket/WebSocketConstant.java

@@ -3,4 +3,8 @@ package cn.iocoder.yudao.module.system.constant.webSocket;
 public class WebSocketConstant {
     //webSocket推送给前端的告警信息key
     public static String AGV_WARN = "agv_warn";
+    /**
+     * webSocket推送给站内信息key
+     */
+    public static String STATION_WARN = "station_warn";
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotWarnMsgController.java

@@ -94,4 +94,19 @@ public class RobotWarnMsgController {
                         BeanUtils.toBean(list, RobotWarnMsgRespVO.class));
     }
 
+    @GetMapping("/readPage")
+    @Operation(summary = "获得机器人告警信息分页")
+    @PreAuthorize("@ss.hasPermission('robot:warn-msg:readPage')")
+    public CommonResult<List<RobotWarnMsgRespVO>> getReadPage() {
+        List<RobotWarnMsgDO> readPage = warnMsgService.getReadPage();
+        return success(BeanUtils.toBean(readPage, RobotWarnMsgRespVO.class));
+    }
+
+    @PostMapping("/allRead")
+    @Operation(summary = "全部标记为已读")
+    @PreAuthorize("@ss.hasPermission('robot:warn-msg:allRead')")
+    public CommonResult<String> allRead() {
+        return success(warnMsgService.allRead());
+    }
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgPageReqVO.java

@@ -41,4 +41,10 @@ public class RobotWarnMsgPageReqVO extends PageParam {
     @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
     private LocalDateTime[] createTime;
 
+    @Schema(description = "是否已读(0:未读, 1:已读)")
+    private Integer readStatus;
+
+    @Schema(description = "阅读时间")
+    private LocalDateTime readTime;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgRespVO.java

@@ -48,4 +48,12 @@ public class RobotWarnMsgRespVO {
     @ExcelProperty("创建时间")
     private LocalDateTime createTime;
 
+    @Schema(description = "是否已读(0:未读, 1:已读)")
+    @ExcelProperty("是否已读(0:未读, 1:已读)")
+    private Integer readStatus;
+
+    @Schema(description = "阅读时间")
+    @ExcelProperty("阅读时间")
+    private LocalDateTime readTime;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgSaveReqVO.java

@@ -1,5 +1,6 @@
 package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
 
+import com.alibaba.excel.annotation.ExcelProperty;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 import java.util.*;
@@ -36,4 +37,10 @@ public class RobotWarnMsgSaveReqVO {
     @NotNull(message = "结束时间不能为空")
     private LocalDateTime solveTime;
 
+    @Schema(description = "是否已读(0:未读, 1:已读)")
+    private Integer readStatus;
+
+    @Schema(description = "阅读时间")
+    private LocalDateTime readTime;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotWarnMsgDO.java

@@ -56,5 +56,13 @@ public class RobotWarnMsgDO extends BaseDO {
      * 结束时间
      */
     private LocalDateTime solveTime;
+    /**
+     * 是否已读(0:未读, 1:已读)
+     */
+    private Integer readStatus;
+    /**
+     * 阅读时间
+     */
+    private LocalDateTime readTime;
 
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskDetailMapper.java

@@ -41,12 +41,6 @@ public interface RobotTaskDetailMapper extends BaseMapperX<RobotTaskDetailDO> {
                 .orderByDesc(RobotTaskDetailDO::getId));
     }
 
-    /**
-     * 添加
-     * @param taskDetailList
-     */
-    void insertBatchList(@Param("taskDetailList") List<RobotTaskDetailAddVO> taskDetailList);
-
     /**
      * 查询未完成的库位任务
      * @param stockLocationIds
@@ -109,4 +103,10 @@ public interface RobotTaskDetailMapper extends BaseMapperX<RobotTaskDetailDO> {
      * @return
      */
     List<RobotTaskDetailDO> selectAutoCreateCycleTask();
+
+    /**
+     * 机器人最后做的任务
+     * @return
+     */
+    List<RobotTaskDetailDO> getLastTaskGroupByRobotNo();
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotWarnMsgMapper.java

@@ -21,6 +21,7 @@ public interface RobotWarnMsgMapper extends BaseMapperX<RobotWarnMsgDO> {
         return selectPage(reqVO, new LambdaQueryWrapperX<RobotWarnMsgDO>()
                 .eqIfPresent(RobotWarnMsgDO::getRobotNo, reqVO.getRobotNo())
                 .eqIfPresent(RobotWarnMsgDO::getWarnLevel, reqVO.getWarnLevel())
+                .eqIfPresent(RobotWarnMsgDO::getReadStatus, reqVO.getReadStatus())
                 .likeIfPresent(RobotWarnMsgDO::getWarnCode, reqVO.getWarnCode())
                 .eqIfPresent(RobotWarnMsgDO::getWarnMsg, reqVO.getWarnMsg())
                 .eqIfPresent(RobotWarnMsgDO::getWarnSolve, reqVO.getWarnSolve())
@@ -29,4 +30,14 @@ public interface RobotWarnMsgMapper extends BaseMapperX<RobotWarnMsgDO> {
                 .orderByDesc(RobotWarnMsgDO::getId));
     }
 
+    default PageResult<RobotWarnMsgDO> selectReadPage(RobotWarnMsgPageReqVO reqVO) {
+        return selectPage(reqVO, new LambdaQueryWrapperX<RobotWarnMsgDO>()
+                .eqIfPresent(RobotWarnMsgDO::getReadStatus, reqVO.getReadStatus())
+                .orderByDesc(RobotWarnMsgDO::getCreateTime));
+    }
+
+    /**
+     * 全部标记为已读
+     */
+    void updateAllRead();
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotStatusEnum.java

@@ -9,13 +9,13 @@ import lombok.Getter;
 @Getter
 @AllArgsConstructor
 public enum RobotStatusEnum {
-    NO_TASK_STOP(0),//暂停且无任务
+    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(1),//暂停且有处理中的任务
+    DOING(2,"任务中"),
-    DOING(2), //任务中
+    STAND_BY(3,"待命"),
-    STAND_BY(3), //待命
+    CHARGE(4,"充电中");
-    CHARGE(4); //充电中
     /**
      * 类型
      */
     private final Integer type;
+    private final String msg;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java

@@ -148,7 +148,7 @@ public class RobotJob {
     /**
      * 维护车机心跳
      */
-    @XxlJob("RcsHeartBeat")
+//    @XxlJob("RcsHeartBeat")
     @TenantJob
     public void rcsHeartBeat() {
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnMsgService.java

@@ -61,4 +61,8 @@ public interface RobotWarnMsgService extends IService<RobotWarnMsgDO> {
      * @param message
      */
     void addWarnMsg(String message);
+
+    List<RobotWarnMsgDO> getReadPage();
+
+    String allRead();
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnMsgServiceImpl.java

@@ -5,15 +5,19 @@ import cn.hutool.json.JSONUtil;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
 import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
 import cn.iocoder.yudao.module.system.constant.webSocket.WebSocketConstant;
+import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnMsgPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnMsgSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnMsgDO;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnMsgMapper;
+import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotWarnType;
+import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
@@ -46,6 +50,9 @@ public class RobotWarnMsgServiceImpl extends ServiceImpl<RobotWarnMsgMapper, Rob
     @Resource
     public WebSocketSenderApi webSocketSenderApi;
 
+    @Resource
+    private UserOperationLogService userOperationLogService;
+
     @Override
     public Long createWarnMsg(RobotWarnMsgSaveReqVO createReqVO) {
         // 插入
@@ -62,6 +69,10 @@ public class RobotWarnMsgServiceImpl extends ServiceImpl<RobotWarnMsgMapper, Rob
         // 更新
         RobotWarnMsgDO updateObj = BeanUtils.toBean(updateReqVO, RobotWarnMsgDO.class);
         warnMsgMapper.updateById(updateObj);
+
+        UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder().operateAction("查看告警信息: " + updateObj.getWarnMsg())
+                .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
+        userOperationLogService.createUserOperationLog(operationLog);
     }
 
     @Override
@@ -99,6 +110,7 @@ public class RobotWarnMsgServiceImpl extends ServiceImpl<RobotWarnMsgMapper, Rob
             webSocketSenderApi.sendObject(positionMapDO.getFloor() + "_" + positionMapDO.getArea(),
                     WebSocketConstant.AGV_WARN, JSONUtil.toJsonStr(errorMsg));
         }
+
     }
 
     @Override
@@ -113,4 +125,19 @@ public class RobotWarnMsgServiceImpl extends ServiceImpl<RobotWarnMsgMapper, Rob
         warnMsgMapper.insert(warnMsg);
     }
 
+    @Override
+    public List<RobotWarnMsgDO> getReadPage() {
+        RobotWarnMsgPageReqVO pageReqVO = new RobotWarnMsgPageReqVO();
+        pageReqVO.setPageSize(10);
+        pageReqVO.setPageNo(0);
+        pageReqVO.setReadStatus(ZeroOneEnum.ZERO.getType());
+        return warnMsgMapper.selectReadPage(pageReqVO).getList();
+    }
+
+    @Override
+    public String allRead() {
+        warnMsgMapper.updateAllRead();
+        return "更新成功";
+    }
+
 }

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

@@ -4,7 +4,6 @@ import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.json.JSONUtil;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
-import cn.iocoder.yudao.module.mqtt.api.task.RobotTaskApi;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.constant.robot.RobotStatusCodeConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
@@ -14,8 +13,6 @@ import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 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.mysql.config.CommonConfigMapper;
-import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
-import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
@@ -40,6 +37,8 @@ import java.math.BigDecimal;
 import java.time.LocalDateTime;
 import java.util.ArrayList;
 import java.util.List;
+import java.util.Map;
+import java.util.function.Function;
 import java.util.stream.Collectors;
 
 @Service
@@ -92,19 +91,32 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             return pair;
         }
 
+        //机器人最后做的任务
+        List<RobotTaskDetailDO> lastTaskDetails = robotTaskDetailMapper.getLastTaskGroupByRobotNo();
+        Map<String, RobotTaskDetailDO> lastTaskDetailMap = null;
+        if (ObjectUtil.isNotEmpty(lastTaskDetails)) {
+            lastTaskDetailMap = lastTaskDetails.stream().collect(Collectors.toMap(v -> v.getRobotNo(), Function.identity()));
+        }
+
         for (RobotInformationDO robot : robots) {
             String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robot.getMacAddress();
             String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robot.getMacAddress();
             Object taskStatus = redisUtil.get(taskStatusKey);
-            if (ObjectUtil.isEmpty(taskStatus) || !RobotStatusCodeConstant.TASK_STATUS_RUNNING.equals(Boolean.parseBoolean(String.valueOf(taskStatus)))) {
+            if (ObjectUtil.isEmpty(taskStatus) || !RobotStatusCodeConstant.CAN_DO_TASK.equals(Boolean.parseBoolean(String.valueOf(taskStatus)))) {
                 robot.setRobotStatus(RobotStatusEnum.DOING.getType());
+                log.info("车机上报不允许接任务 :{}",robot.getRobotNo());
                 continue;
             }
 
             Object cargoDetected = redisUtil.get(cargoDetectedKey);
-            // todo 后续需要判断(新建个任务明细表)，如果上一条任务是仅取货，且正常完成， 则能进行仅放货的任务
+            if (ObjectUtil.isNotEmpty(lastTaskDetailMap) && ObjectUtil.isNotEmpty(lastTaskDetailMap.get(robot.getRobotNo()))) {
+                robot.setRobotStatus(RobotStatusEnum.LAST_TASK_IS_TAKE.getType());
+                continue;
+            }
+
             if (ObjectUtil.isEmpty(cargoDetected) || RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))) {
                 robot.setRobotStatus(RobotStatusEnum.DOING.getType());
+                log.info("车机上报传感器被按下--不允许接任务 :{}",robot.getRobotNo());
                 continue;
             }
             //自动充电的车子，电量到达设定的阀值，也能执行任务
@@ -115,11 +127,12 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         }
 
         robots = robots.stream()
-                .filter(v -> RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus()))
+                .filter(v -> (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())
+                        || RobotStatusEnum.LAST_TASK_IS_TAKE.getType().equals(v.getRobotStatus())))
                 .collect(Collectors.toList());
 
         if (robots.isEmpty()) {
-            log.info("暂无可用的机器人,可能正在充电,可能机器人有任务");
+            log.info("暂无可用的机器人,可能正在充电,可能车机上报不允许接任务");
             return pair;
         }
 
@@ -147,13 +160,13 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             return pair;
         }
 
-        List<RobotTaskDetailDO> taskDetailDOS = getTaskDetail(montageTaskIds, singleTaskIds);
+        List<RobotTaskDetailDO> taskDetails = getTaskDetail(montageTaskIds, singleTaskIds);
 
-        if (taskDetailDOS.isEmpty()) {
+        if (taskDetails.isEmpty()) {
             log.info("暂无需要处理的明细任务");
             return pair;
         }
-        return ImmutablePair.of(robots, taskDetailDOS);
+        return ImmutablePair.of(robots, taskDetails);
     }
 
     /**
@@ -220,6 +233,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
 
         if (robotRemainingElectricity.compareTo(robotEndElectricity) >= 0) {
             robot.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
+        }else {
+            log.info("机器人正在充电,还没达到充电设置的电量,暂不能接任务:{} ", robot.getRobotNo());
         }
     }
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/RobotTaskAutoMoveServiceImpl.java

@@ -129,7 +129,7 @@ public class RobotTaskAutoMoveServiceImpl implements RobotTaskAutoMoveService {
     @Override
     @Transactional(rollbackFor = Exception.class)
     public void distributeAutoMoveJob() {
-        TenantContextHolder.setTenantId(1L);
+        /*TenantContextHolder.setTenantId(1L);
 
         //todo 有循环的任务，是否要关闭自动移库的功能.做成配置
         if (!cycleDoAutoMove) {
@@ -193,7 +193,7 @@ public class RobotTaskAutoMoveServiceImpl implements RobotTaskAutoMoveService {
         List<List<Long>> fromPartition = Lists.partition(locationIds, 100);
         fromPartition.forEach(list-> {
 //            locationMapper.updateLocationLockList(list,0l,LocationLockEnum.NO.getType());
-        });
+        });*/
 
         // todo 搬运任务下发给机器人
 

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

@@ -8,7 +8,6 @@ import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
 import cn.iocoder.yudao.module.mqtt.api.path.task.TaskLimitationAreaDTO;
 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.RobotTaskApi;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
@@ -20,13 +19,10 @@ import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotChargeLogDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.wait.MoveToWaitDO;
-import cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
-import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
 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.wait.MoveToWaitMapper;
 import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum;
@@ -39,6 +35,7 @@ import cn.iocoder.yudao.module.system.service.robot.job.DistributeTasksService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;
 import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.tuple.ImmutablePair;
 import org.apache.commons.lang3.tuple.Pair;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
@@ -132,6 +129,14 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
      */
     private void moveRobotToWait(List<RobotInformationDO> robots) {
 
+        robots = robots.stream()
+                .filter(v -> !v.getRobotStatus().equals(RobotStatusEnum.STAND_BY.getType()))
+                .collect(Collectors.toList());
+        if (ObjectUtil.isEmpty(robots)) {
+            log.info("------没有空闲的机器人可以去等待点-----");
+            return;
+        }
+
         List<PositionMapItemDO> positionMapItems = positionMapItemMapper.selectList(new LambdaQueryWrapperX<PositionMapItemDO>()
                 .eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType())
                 .eq(PositionMapItemDO::getUseStatus, ZeroOneEnum.ZERO.getType()));
@@ -332,15 +337,16 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         List<WareHouseLocationDO> locations = locationMapper.selectList(new LambdaQueryWrapperX<WareHouseLocationDO>()
                 .in(WareHouseLocationDO::getId, locationIds));
 
-
         Map<Long, WareHouseLocationDO> locationDOMap =
                 locations.stream().collect(Collectors.toMap(v -> v.getId(), Function.identity()));
 
         //能执行此任务的机器人 和 不能走的区域
-        List<TaskRobotNoLimittationAreaDTO> robotNoLimitationArea = getRobotNoLimitationArea(robots);
+        Pair<List<TaskRobotNoLimittationAreaDTO>, Map<String, TaskRobotNoLimittationAreaDTO>> pair = getRobotLimitationArea(robots);
+        Map<String, TaskRobotNoLimittationAreaDTO> robotDoReleaseMap = pair.getRight();
+        List<TaskRobotNoLimittationAreaDTO> robotNoLimitationArea = pair.getLeft();
 
-        Map<String, TaskRobotNoLimittationAreaDTO> robotNoLimittationAreaDTOMap =
+        //前一个任务是仅取货
-                robotNoLimitationArea.stream().collect(Collectors.toMap(v -> v.getRobotNo(), Function.identity()));
+        List<String> robotDoTake = getRobotDoTake(robots);
 
         log.info("开始组装需要下发给PP的任务");
         for (RobotTaskDetailDO taskDetailDO : taskDetailDOS) {
@@ -354,12 +360,19 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                     .createTime(taskDetailDO.getCreateTime())
                     .build();
 
+            if (ObjectUtil.isNotEmpty(robotDoTake) && ObjectUtil.isNotEmpty(taskDetailDO.getRobotNo())
+                    && robotDoTake.contains(taskDetailDO.getRobotNo())
+                    && !RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType())) {
+                log.info("机器人前一个任务是仅取货，当前任务非仅放货,所以当前任务不执行 :{}", taskDetailDO.getId());
+                continue;
+            }
+
             List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = null;
-            if (ObjectUtil.isNotEmpty(taskDetailDO.getRobotNo()) && ObjectUtil.isNotEmpty(robotNoLimittationAreaDTOMap)) {
+            if (ObjectUtil.isEmpty(taskDetailDO.getRobotNo())) {
-                TaskRobotNoLimittationAreaDTO taskRobotNoLimittationAreaDTO = robotNoLimittationAreaDTOMap.get(taskDetailDO.getRobotNo());
-                robotNoLimitions = Arrays.asList(taskRobotNoLimittationAreaDTO);
-            } else if (ObjectUtil.isEmpty(taskDetailDO.getRobotNo())) {
                 robotNoLimitions = robotNoLimitationArea;
+            } else {
+                TaskRobotNoLimittationAreaDTO taskRobotNoLimittationAreaDTO = robotDoReleaseMap.get(taskDetailDO.getRobotNo());
+                robotNoLimitions = Arrays.asList(taskRobotNoLimittationAreaDTO);
             }
 
             if (ObjectUtil.isEmpty(robotNoLimitions)) {
@@ -424,6 +437,57 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         }
     }
 
+    /**
+     * 获取能执行此任务的机器人 和 不能走的区域
+     *
+     * @param robots
+     * @return
+     */
+    private Pair<List<TaskRobotNoLimittationAreaDTO>, Map<String, TaskRobotNoLimittationAreaDTO>> getRobotLimitationArea(List<RobotInformationDO> robots) {
+        List<PositionMapDO> positionMapDOS = positionMapMapper.selectList(new LambdaQueryWrapperX<PositionMapDO>());
+
+        List<TaskRobotNoLimittationAreaDTO> robotNoLimitationAreaDTOS = new ArrayList<>();
+        Map<String, TaskRobotNoLimittationAreaDTO> map = new HashMap<>();
+        for (RobotInformationDO robot : robots) {
+            TaskRobotNoLimittationAreaDTO robotNoLimitationAreaDTO = new TaskRobotNoLimittationAreaDTO();
+            List<TaskLimitationAreaDTO> limitationAreaList = new ArrayList<>();
+            robotNoLimitationAreaDTO.setRobotNo(robot.getRobotNo());
+            for (PositionMapDO v : positionMapDOS) {
+                if (!robot.getFloorAreaJson().contains(v.getId())) {
+                    TaskLimitationAreaDTO taskLimitationAreaDTO = new TaskLimitationAreaDTO(v.getFloor(), v.getArea());
+                    limitationAreaList.add(taskLimitationAreaDTO);
+                }
+            }
+
+            robotNoLimitationAreaDTO.setLimitationAreaList(limitationAreaList);
+
+            if (RobotStatusEnum.LAST_TASK_IS_TAKE.getType().equals(robot.getRobotStatus())) {
+                map.put(robot.getRobotNo(), robotNoLimitationAreaDTO);
+            } else {
+                robotNoLimitationAreaDTOS.add(robotNoLimitationAreaDTO);
+                map.put(robot.getRobotNo(), robotNoLimitationAreaDTO);
+            }
+
+        }
+        return ImmutablePair.of(robotNoLimitationAreaDTOS, map);
+    }
+
+    /**
+     * 前一个任务是仅取货
+     *
+     * @param robots
+     */
+    private List<String> getRobotDoTake(List<RobotInformationDO> robots) {
+        return robots.stream()
+                .map(v -> {
+                    if (v.getRobotStatus().equals(RobotStatusEnum.LAST_TASK_IS_TAKE.getType())) {
+                        return v.getRobotNo();
+                    }
+                    return null;
+                })
+                .collect(Collectors.toList());
+    }
+
     /**
      * 设置机器人编号及不能行走的区域
      *

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailMapper.xml

@@ -231,23 +231,21 @@
              and t1.deleted = '0'
              and t2.deleted = '0'
     </select>
+    <select id="getLastTaskGroupByRobotNo"
+            resultType="cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO">
+        SELECT
+            t1.*
+        FROM
+            robot_task_detail t1
+                INNER JOIN ( SELECT MAX( update_time ) AS update_time, robot_no FROM robot_task_detail WHERE task_status = '2' GROUP BY robot_no ) t2
+                    ON t1.update_time = t2.update_time
+                AND t1.robot_no = t2.robot_no
+        WHERE
+            t1.task_type = '5'
+          and t1.task_status = '2'
+    </select>
 
 
-    <!--keyProperty="id" useGeneratedKeys="true"-->
-    <insert id="insertBatchList" >
-        insert into robot_task_detail(robot_task_id, task_type, release_type, take_type, release_id, take_id,
-        from_location_no, from_location_id, to_location_no, to_location_id, robot_no,from_location_storey,
-        to_location_storey,priority,from_lane_id,to_lane_id,from_location_number,to_location_number,
-        from_map_item_id,to_map_item_id)
-        values
-        <foreach collection="taskDetailList" item="entity" separator=",">
-            (#{entity.robotTaskId}, #{entity.taskType}, #{entity.releaseType}, #{entity.takeType}, #{entity.releaseId},
-            #{entity.takeId}, #{entity.fromLocationNo}, #{entity.fromLocationId}, #{entity.toLocationNo},
-            #{entity.toLocationId}, #{entity.robotNo}, #{entity.fromLocationStorey}, #{entity.toLocationStorey}
-            , #{entity.priority}, #{entity.fromLaneId}, #{entity.toLaneId}, #{entity.fromLocationNumber},
-            #{entity.toLocationNumber}, #{entity.fromMapItemId}, #{entity.toMapItemId})
-        </foreach>
-    </insert>
 
     <!--通过主键修改数据-->
     <update id="updateRobotDetailById">

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnMsgMapper.xml

@@ -9,4 +9,12 @@
         文档可见：https://www.iocoder.cn/MyBatis/x-plugins/
      -->
 
+    <update id="updateAllRead">
+        update
+            robot_warn_msg
+        set
+            read_status = '1'
+        where
+            read_status = '0'
+    </update>
 </mapper>