添加处理中任务的校验

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java

@@ -178,7 +178,7 @@ public interface ErrorCodeConstants {
 
     // ========== 库位 1-002-032-000 ==========
     ErrorCode HOUSE_LOCATION_NOT_EXISTS = new ErrorCode(1-002-032-001, "库位不存在");
-    ErrorCode HOUSE_LOCATION_NO_EXIST = new ErrorCode(1-002-032-002, "库位编号重复");
+    ErrorCode HOUSE_LOCATION_HAVE_TASK = new ErrorCode(1-002-032-002, "库位存在处理中的任务");
 
     // ========== 车辆类型 1-002-033-000==========
     ErrorCode MODEL_NOT_EXISTS = new ErrorCode(1-002-033-001, "车辆类型不存在");
@@ -191,6 +191,7 @@ public interface ErrorCodeConstants {
     ErrorCode ROBOT_LAST_TASK_DELETE = new ErrorCode(1-002-034-005, "超过限制的时间,无法继续执行前一个任务");
     ErrorCode ROBOT_NOT_FOUND_WAIT_ITEM = new ErrorCode(1-002-034-006, "没有空闲的停车点");
     ErrorCode ROBOT_NOT_FOUND_FREE_CHARGING_STATION = new ErrorCode(1-002-034-007, "没有空闲的充电桩");
+    ErrorCode ROBOT_HAVE_DOING_TASK = new ErrorCode(1-002-034-010, "车辆有处理中的任务");
 
     // ========== 机器人任务主表 1-002-035-000 ==========
     ErrorCode TASK_NOT_EXISTS = new ErrorCode(1-002-035-001, "机器人任务主表不存在");

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java

@@ -142,10 +142,11 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 
     /**
      * 上一条明细设置为完成
+     *
      * @param mac
      * @return
      */
-    public RobotTaskDetailActionLogDO setLastLogDone(String mac){
+    public RobotTaskDetailActionLogDO setLastLogDone(String mac) {
         String robotNo = robotInformationService.getRobotNoByMac(mac);
         return taskDetailActionLogService.setPreviousTaskDoneByRobotNo(robotNo);
     }
@@ -158,7 +159,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         RobotTaskDetailActionLogDO lastLog = setLastLogDone(robotCompleteTaskDTO.getMac());
 
         if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
-            chargeDoing(robotCompleteTaskDTO, robotDoingActionKey,lastLog);
+            chargeDoing(robotCompleteTaskDTO, robotDoingActionKey, lastLog);
         } else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())) {
             RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
             logOne.setActionMsg("车辆正在前往等待点");
@@ -178,10 +179,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 
         if ((PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
                 || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()))
-            && ObjectUtil.isNotEmpty(robotCompleteTaskDTO.getCommandStatus())
+                && ObjectUtil.isNotEmpty(robotCompleteTaskDTO.getCommandStatus())
-            && CommandTypeEnum.MOVE_POSES.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType())
+                && CommandTypeEnum.MOVE_POSES.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType())
-            && RobotExecutionStateConstant.DONE.equals(robotCompleteTaskDTO.getCommandStatus().getExecutionState())) {
+                && RobotExecutionStateConstant.DONE.equals(robotCompleteTaskDTO.getCommandStatus().getExecutionState())) {
-            log.info("充电任务准备让充电设备自动伸出 :{}",robotCompleteTaskDTO.getOrderId());
+            log.info("充电任务准备让充电设备自动伸出 :{}", robotCompleteTaskDTO.getOrderId());
             RobotChargeLogDO robotChargeLog = chargeLogMapper.selectById(robotCompleteTaskDTO.getOrderId());
             deviceInformationService.chargeDeviceExtend(robotChargeLog.getDeviceNo());
         }
@@ -189,7 +190,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         sendStartDoActionToPP(robotCompleteTaskDTO.getCommandStatus(), robotCompleteTaskDTO.getMac(),
                 String.valueOf(robotCompleteTaskDTO.getOrderId()));
 
-        taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DOING.getType());
+        taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DOING.getType()
+                , null);
     }
 
     /**
@@ -241,7 +243,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                     .build();
             chargeLogMapper.updateById(build);
         }
-        taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType());
+        taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType(), LocalDateTime.now());
     }
 
 
@@ -326,7 +328,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      *
      * @param robotCompleteTaskDTO
      */
-    private void chargeDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey,RobotTaskDetailActionLogDO lastLog) {
+    private void chargeDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey, RobotTaskDetailActionLogDO lastLog) {
         RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
         RobotCommandStateDTO commandStatus = robotCompleteTaskDTO.getCommandStatus();
         Integer taskStatus = ChargeTaskStatusEnum.CHARGEING.getType();
@@ -476,6 +478,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         logOne.setTaskStage(robotTaskDetailDO.getTaskStage());
         logOne.setCommandType(PathTaskTypeEnum.getTaskType(robotTaskDetailDO.getTaskType()));
         logOne.setTaskNo(robotTask.getTaskNo());
+        logOne.setActionStatus(ActionStatusEnum.DOING.getType());
         logOne.setStartTime(LocalDateTime.now());
         taskDetailActionLogMapper.insert(logOne);
         redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapItemController.java

@@ -8,6 +8,7 @@ import cn.iocoder.yudao.framework.common.util.collection.CollectionUtils;
 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.system.api.path.PathApi;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.NodeBaseDTO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemRespVO;
@@ -48,6 +49,9 @@ public class PositionMapItemController {
     @Resource
     private UserOperationLogService userOperationLogService;
 
+    @Resource
+    private PathApi pathApi;
+
     // -- 前端给所有的节点信息 -
     @PostMapping("/batchSaveOrEditOrDel")
     @Operation(summary = "批量新增编辑删除节点")
@@ -71,6 +75,8 @@ public class PositionMapItemController {
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
 
+        pathApi.pathInitData();
+
         return success(true);
     }
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java

@@ -8,6 +8,8 @@ import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLo
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
 
+import java.time.LocalDateTime;
+
 /**
  * 车辆动作记录 Mapper
  *
@@ -36,5 +38,6 @@ public interface RobotTaskDetailActionLogMapper extends BaseMapperX<RobotTaskDet
      * @param actionStatus
      */
     void updateActionStatus(@Param("taskDetailId") Long taskDetailId,
-                            @Param("actionStatus") int actionStatus);
+                            @Param("actionStatus") int actionStatus,
+                            @Param("time") LocalDateTime time);
 }

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

@@ -115,4 +115,11 @@ public interface RobotTaskDetailMapper extends BaseMapperX<RobotTaskDetailDO> {
      * @param ids
      */
     void updateDoneByIds(@Param("ids") List<Long> ids);
+
+    /**
+     * 查询此库位处理中的任务
+     * @param ids
+     * @return
+     */
+    List<RobotTaskDetailDO> getDoingTaskDetailByLocationIds(@Param("ids") List<Long> ids);
 }

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

@@ -79,4 +79,11 @@ public interface RobotTaskMapper extends BaseMapperX<RobotTaskDO> {
      * @param ids
      */
     void updateDoneByIds(@Param("ids") List<Long> ids);
+
+    /**
+     * 查询车辆当前在做的任务
+     * @param robotNo
+     * @return
+     */
+    List<RobotTaskDO> selectDoingTaskByRobotNo(@Param("robotNo") String robotNo);
 }

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

@@ -9,7 +9,9 @@ public enum ActionStatusEnum {
 
     UN_DO(0,"未开始"),
     DOING(1,"正在进行"),
-    DONE(2,"完成");
+    DONE(2,"完成"),
+    CLOSE(3,"已取消"),
+    EXCEPTION(4,"异常");
     /**
      * 类型
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/HouseLocationStrategyImpl.java

@@ -8,8 +8,11 @@ import cn.iocoder.yudao.framework.common.util.collection.CollectionUtils;
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationRespVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.NodeBaseDTO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
 import cn.iocoder.yudao.module.system.service.houselocation.HouseLocationService;
+import cn.iocoder.yudao.module.system.service.robot.RobotTaskDetailService;
 import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
 import org.springframework.stereotype.Component;
 
 import javax.annotation.Resource;
@@ -18,15 +21,21 @@ import java.util.ArrayList;
 import java.util.List;
 import java.util.stream.Collectors;
 
+import static cn.hutool.core.collection.CollUtil.isNotEmpty;
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
-import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.HOUSE_LOCATION_NO_EXIST;
+import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception0;
-import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.TASK_DETAIL_CHANGE_ROBOT;
+import static cn.iocoder.yudao.framework.common.util.collection.CollectionUtils.convertList;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
 import static com.baomidou.mybatisplus.core.toolkit.IdWorker.getId;
 @Slf4j
 @Component
 public class HouseLocationStrategyImpl implements NodeProcessingStrategy {
     @Resource
     private HouseLocationService houseLocationService;
+
+    @Resource
+    private RobotTaskDetailService taskDetailService;
+
     //库位编号格式 - 第一个通配符为地图id 第二个通配符为随机数四位最后一个通配符为库位点层数
     private static final String KW_NO_FORMAT = "KW-%s-%s-%s";
 
@@ -83,6 +92,35 @@ public class HouseLocationStrategyImpl implements NodeProcessingStrategy {
         List<WareHouseLocationDO> oldList = houseLocationService.getByMapId(positionMapId);
         List<List<WareHouseLocationDO>> list = CollectionUtils.compareLists(oldList, newList,
                 (oldVal, newVal) -> ObjectUtil.equal(oldVal.getId(), newVal.getId()));
+
+        if (isNotEmpty(list.get(2))) {
+            checkLocationHaveDoingTask(list);
+        }
+
         houseLocationService.batchSaveOrEditOrDel(positionMapId, list);
     }
+
+    /**
+     * 校验要删除的库位是否有处理中的任务
+     * @param list
+     */
+    public void checkLocationHaveDoingTask(List<List<WareHouseLocationDO>> list) {
+        List<Long> ids = convertList(list.get(2), WareHouseLocationDO::getId);
+        List<RobotTaskDetailDO> details = taskDetailService.getDoingTaskDetailByLocationIds(ids);
+        if (ObjectUtil.isNotEmpty(details)) {
+            List<String> locationNos = new ArrayList<>();
+            for (RobotTaskDetailDO detail : details) {
+                if (ObjectUtil.isNotEmpty(detail.getFromLocationId()) && ids.contains(detail.getFromLocationId())) {
+                    locationNos.add(detail.getFromLocationNo());
+                    continue;
+                }
+                if (ObjectUtil.isNotEmpty(detail.getToLocationId()) && ids.contains(detail.getToLocationId())) {
+                    locationNos.add(detail.getToLocationNo());
+                }
+            }
+
+            String join = StringUtils.join(locationNos, ",");
+            throw exception0(HOUSE_LOCATION_HAVE_TASK.getCode(), "以下库位存在处理中的任务:"+join,join);
+        }
+    }
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskDetailActionLogService.java

@@ -59,7 +59,7 @@ public interface RobotTaskDetailActionLogService {
     void addLogInCache(List<RobotTaskDetailActionLogDO> logs);
 
     /**
-     * 设置上一条数据完成
+     * 设置上一条数据完成（非主任务）
      * @param robotNo
      * @return
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskDetailActionLogServiceImpl.java

@@ -103,10 +103,10 @@ public class RobotTaskDetailActionLogServiceImpl implements RobotTaskDetailActio
                 .eq(RobotTaskDetailActionLogDO::getRobotNo, robotNo)
                 .orderByDesc(RobotTaskDetailActionLogDO::getCreateTime)
                 .last("limit 1"));
-        if (ObjectUtil.isNotEmpty(lastLog)) {
+        if (ObjectUtil.isNotEmpty(lastLog) && ObjectUtil.isEmpty(lastLog.getCommandId())) {
             lastLog.setEndTime(LocalDateTime.now());
             lastLog.setActionStatus(ActionStatusEnum.DONE.getType());
-            taskDetailActionLogMapper.selectById(lastLog);
+            taskDetailActionLogMapper.updateById(lastLog);
         }
         return lastLog;
     }

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

@@ -258,14 +258,22 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     }
 
     @Override
+    @Transactional(rollbackFor = Exception.class)
     public void deleteInformation(Long id) {
+        // 校验存在
+        validateInformationExists(id);
         RobotInformationDO robotInformationDO = informationMapper.selectById(id);
+
+        List<RobotTaskDO> list = taskMapper.selectDoingTaskByRobotNo(robotInformationDO.getRobotNo());
+
+        if (ObjectUtil.isNotEmpty(list)) {
+            throw exception(ROBOT_HAVE_DOING_TASK);
+        }
+
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
                 .operateAction("删除车辆 " + robotInformationDO.getRobotNo())
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
-        // 校验存在
-        validateInformationExists(id);
         // 删除
         informationMapper.deleteById(id);
     }

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

@@ -73,4 +73,11 @@ public interface RobotTaskDetailService {
      * @return
      */
     void manuallyCompleted(Long id);
+
+    /**
+     * 查询此库位处理中的任务
+     * @param ids 库位id
+     * @return
+     */
+    List<RobotTaskDetailDO> getDoingTaskDetailByLocationIds(List<Long> ids);
 }

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

@@ -26,6 +26,7 @@ import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 
 
+import java.util.Collections;
 import java.util.List;
 
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
@@ -152,4 +153,9 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
         String mac = informationService.getMacByRobotNo(robotTaskDetailDO.getRobotNo());
         informationService.robotCloseTaskDetail(String.valueOf(taskDetailId),mac,"");
     }
+
+    @Override
+    public List<RobotTaskDetailDO> getDoingTaskDetailByLocationIds(List<Long> ids) {
+        return taskDetailMapper.getDoingTaskDetailByLocationIds(ids);
+    }
 }

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

@@ -1,6 +1,7 @@
 package cn.iocoder.yudao.module.system.service.robot;
 
 import cn.hutool.core.bean.BeanUtil;
+import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.json.JSONUtil;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
@@ -239,7 +240,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                     .collect(Collectors.joining(" "));
 
             if (ObjectUtil.isNotEmpty(robotNo)) {
-                throw exception0(TASK_CHECK_EXCEPTION.getCode(), "以下机器人已被禁用 ", robotNo);
+                throw exception0(TASK_CHECK_EXCEPTION.getCode(), "以下机器人已被禁用 " +robotNo, robotNo);
             }
         }
         //校验任务号是否重复
@@ -487,6 +488,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         Integer robotStatus = RobotStatusEnum.DOING.getType();
 
         RobotChargeLogDO robotChargeLogs = null;
+        String taskNo ="";
         if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getOrderType())
                 || PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getOrderType())) {
             robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getOrderId());
@@ -495,13 +497,19 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             chargeLogMapper.updateById(robotChargeLogs);
 
             robotStatus = RobotStatusEnum.CHARGE.getType();
+
             if (ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId())) {
                 deviceNoMap.put(robotChargeLogs.getTaskDetailId(), robotChargeLogs.getDeviceNo());
+            }else {
+                String signDate = DateUtil.date().setTimeZone(TimeZone.getTimeZone("UTC")).toString("yyyyMMdd'T'HHmmss'Z'");
+                taskNo = "AUTO_CHARGE_"+ signDate;
             }
             detailId = ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId()) ? robotChargeLogs.getTaskDetailId() : null;
 
         } else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(taskAssignDTO.getOrderType())) {
             moveToWaitService.updateWaitStatusAndItrmId(taskAssignDTO.getOrderId(), WaitStatusEnum.GO_TO_WAIT.getType(), taskAssignDTO.getWaitId());
+            String signDate = DateUtil.date().setTimeZone(TimeZone.getTimeZone("UTC")).toString("yyyyMMdd'T'HHmmss'Z'");
+            taskNo = "MOVE_TO_WAIT_"+ signDate;
         } else {
             detailId = taskAssignDTO.getOrderId();
         }
@@ -511,7 +519,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         robotInformationMapper.updateRobotListStatus(taskAssignDTO.getRobotNo(), robotStatus, taskAssignDTO.getOrderId());
 
         if (ObjectUtil.isNotEmpty(detailId)) {
-            setTaskDoing(detailId, taskAssignDTO.getRobotNo(), deviceNoMap, taskAssignDTO.getWaitId());
+            RobotTaskDO robotTaskDO = setTaskDoing(detailId, taskAssignDTO.getRobotNo(), deviceNoMap, taskAssignDTO.getWaitId());
+            taskNo = robotTaskDO.getTaskNo();
         }
 
         if (ObjectUtil.isNotEmpty(robotChargeLogs)) {
@@ -522,6 +531,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         logOne.setCommandType(taskAssignDTO.getOrderType());
         logOne.setActionMsg(taskAssignDTO.getRobotActionMsg());
         logOne.setRobotNo(taskAssignDTO.getRobotNo());
+        logOne.setStartTime(LocalDateTime.now());
+        logOne.setTaskNo(taskNo);
         logOne.setCommandId(-1L);
         logOne.setTaskDetailId(taskAssignDTO.getOrderId());
         taskDetailActionLogMapper.insert(logOne);
@@ -621,7 +632,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         build.setHeight(height);
     }
 
-    public RobotTaskDetailDO setTaskDoing(Long detailId, String robotNo, Map<Long, String> deviceNoMap,
+    public RobotTaskDO setTaskDoing(Long detailId, String robotNo, Map<Long, String> deviceNoMap,
                                           String waitId) {
         RobotTaskDetailDO taskDetailDO = taskDetailMapper.selectById(detailId);
         taskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
@@ -643,7 +654,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         RobotTaskDO task = taskMapper.selectById(taskDetailDO.getRobotTaskId());
         task.setTaskStatus(RobotTaskStatusEnum.DOING.getType());
         taskMapper.updateById(task);
-        return taskDetailDO;
+        return task;
     }
 
     /**

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

@@ -13,7 +13,8 @@
         update
             robot_task_detail_action_log
         set
-            action_status = #{actionStatus}
+            action_status = #{actionStatus},
+            end_time = #{time}
         where
             task_detail_id = #{taskDetailId}
         and command_id = '-1'

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

@@ -246,7 +246,30 @@
             t1.task_type = '5'
           and t1.task_status = '2'
     </select>
-
+    <select id="getDoingTaskDetailByLocationIds"
+            resultType="cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO">
+        select
+            t2.*
+        from
+            robot_task t1 left join robot_task_detail t2
+            on t1.id = t2.robot_task_id
+        where
+            t1.deleted = '0'
+            and t2.deleted = '0'
+            and t2.task_status in('0','1')
+            and t1.task_status in('0','1')
+            and (t2.to_location_id in
+            <foreach collection="ids" item="locationId" index="index" open="(" close=")"
+                                               separator=",">
+                #{locationId}
+            </foreach> or
+            t2.from_location_id in
+            <foreach collection="ids" item="locationId" index="index" open="(" close=")"
+                     separator=",">
+                #{locationId}
+            </foreach>
+            )
+    </select>
 
 
     <!--通过主键修改数据-->

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

@@ -328,6 +328,22 @@
         order by t1.create_time desc
     </select>
 
+    <select id="selectDoingTaskByRobotNo"
+            resultType="cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO">
+        select
+            DISTINCT
+            t1.*
+        from
+        robot_task t1 left join robot_task_detail t2
+        on t1.id = t2.robot_task_id
+        where
+            t1.deleted = '0'
+            and t2.deleted = '0'
+            and t2.robot_no = #{robotNo}
+            and t1.task_status in ('0','1')
+            and t2.task_status in ('0','1')
+    </select>
+
 
     <!--新增所有列-->
     <insert id="insertEntity" keyProperty="id" useGeneratedKeys="true">