更新机器人任务

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

@@ -109,4 +109,12 @@ public class RobotInformationController {
         return success(BeanUtils.toBean(result, RobotInformationRespVO.class));
     }
 
+    @PostMapping("/getAllRobot")
+    @Operation(summary = "查询所有车辆")
+    @PreAuthorize("@ss.hasPermission('robot:information:getAllRobot')")
+    public CommonResult<List<RobotInformationRespVO>> getAllRobot() {
+        List<RobotInformationDO> result = informationService.getAllRobot();
+        return success(BeanUtils.toBean(result, RobotInformationRespVO.class));
+    }
+
 }

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

@@ -87,7 +87,7 @@ public class RobotTaskController {
     @PreAuthorize("@ss.hasPermission('robot:task:query')")
     public CommonResult<PageResult<RobotTaskRespVO>> getTaskPage(@Valid @RequestBody RobotTaskPageReqVO pageReqVO) {
         PageResult<RobotTaskRespVO> pageResult = taskService.getTaskPage(pageReqVO);
-        return success(BeanUtils.toBean(pageResult, RobotTaskRespVO.class));
+        return success(pageResult);
     }
 
     @GetMapping("/export-excel")

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java

@@ -93,7 +93,8 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
                                               @Param("mapIds")  Set<Long> mapIds);
 
     void updateLocationLockList( @Param("locationIds") List<Long> locationIds,
-                                 @Param("taskId") Long taskId);
+                                 @Param("taskId") Long taskId,
+                                 @Param("locationLock") Integer locationLock);
 
     /**
      * 根据类型查库位/线库/区域

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

@@ -64,4 +64,12 @@ public interface RobotInformationMapper extends BaseMapperX<RobotInformationDO>
      * @return
      */
     List<RobotInformationDO> selectByRobotNos(@Param("robotNos")  Set<String> robotNos);
+
+    /**
+     * 更新任务模式（0：拒收任务、1：正常）
+     * @param robotNos
+     * @param robotTaskModel
+     */
+    void updateRobotTaskModel(@Param("robotNos") Set<String> robotNos,
+                              @Param("robotTaskModel") Integer robotTaskModel);
 }

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

@@ -32,7 +32,7 @@ public interface RobotTaskMapper extends BaseMapperX<RobotTaskDO> {
                 .eqIfPresent(RobotTaskDO::getDoMoveAll, reqVO.getDoMoveAll())
                 .eqIfPresent(RobotTaskDO::getCycleNumber, reqVO.getCycleNumber())
                 .eqIfPresent(RobotTaskDO::getRemainingCycleNumber, reqVO.getRemainingCycleNumber())
-                .eqIfPresent(RobotTaskDO::getTaskNo, reqVO.getTaskNo())
+                .likeIfPresent(RobotTaskDO::getTaskNo, reqVO.getTaskNo())
                 .eqIfPresent(RobotTaskDO::getTaskStatus, reqVO.getTaskStatus())
                 .eqIfPresent(RobotTaskDO::getTaskStage, reqVO.getTaskStage())
                 .betweenIfPresent(RobotTaskDO::getStartTime, reqVO.getStartTime())

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

@@ -66,4 +66,11 @@ public interface RobotInformationService {
      * @return
      */
     List<RobotInformationDO> getCanUseRobot();
+
+    /**
+     * 查询所有车辆
+     * @return
+     */
+    List<RobotInformationDO> getAllRobot();
+
 }

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

@@ -173,4 +173,10 @@ public class RobotInformationServiceImpl implements RobotInformationService {
         return informationMapper.queryAllByLimit(query);
     }
 
+    @Override
+    public List<RobotInformationDO> getAllRobot() {
+        RobotInformationDO query = new RobotInformationDO();
+        return informationMapper.queryAllByLimit(query);
+    }
+
 }

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

@@ -166,6 +166,8 @@ public class RobotTaskServiceImpl implements RobotTaskService {
         RobotTaskDO task = BeanUtils.toBean(createReqVO, RobotTaskDO.class);
         taskMapper.insert(task);
 
+        // todo 更新数据库顺序 后续改为xxl-job一致
+
         //查找库位
         if (MoveAllEnum.NO.getType().equals(createReqVO.getDoMoveAll())) {
             setSingleLocationIdNo(createReqVO.getTaskDetailList(),task);
@@ -269,12 +271,12 @@ public class RobotTaskServiceImpl implements RobotTaskService {
         //跟新库位状态为锁定
         List<List<Long>> toPartition = Lists.partition(toLocationIds, 100);
         toPartition.forEach(list-> {
-            locationMapper.updateLocationLockList(list,taskId);
+            locationMapper.updateLocationLockList(list,taskId,LocationLockEnum.NO.getType());
         });
 
         List<List<Long>> fromPartition = Lists.partition(fromLocationIds, 100);
         fromPartition.forEach(list-> {
-            locationMapper.updateLocationLockList(list,taskId);
+            locationMapper.updateLocationLockList(list,taskId,LocationLockEnum.NO.getType());
         });
 
     }
@@ -574,7 +576,11 @@ public class RobotTaskServiceImpl implements RobotTaskService {
                         && !robotTaskDO.getTaskStatus().equals(updateReqVO.getTaskStatus())) {
                     throw exception(TASK_CHECK_TASK_STATUS);
                 }
+
+                List<Long> locationIds = new ArrayList<>();
+                Set<String> robotNos = new HashSet<>();
                 if (ObjectUtil.isNotEmpty(updateReqVO.getTaskStatus())
+                    && RobotTaskStatusEnum.CLOSE.getType().equals(updateReqVO.getTaskStatus())
                     && !robotTaskDO.getTaskStatus().equals(updateReqVO.getTaskStatus())) {
                     for (RobotTaskDetailDO taskDetailDO : taskDetailDOS) {
                         if (RobotTaskDetailStatusEnum.DONE.getType().equals(taskDetailDO.getTaskStatus())) {
@@ -582,6 +588,18 @@ public class RobotTaskServiceImpl implements RobotTaskService {
                         }
                         //后期需做状态映射
                         taskDetailDO.setTaskStatus(updateReqVO.getTaskStatus());
+
+                        // todo 关闭需要下发任务给车机   。 还需要考虑下处理中的任务怎么处理
+
+                        if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())) {
+                            locationIds.add(taskDetailDO.getFromLocationId());
+                        }
+                        if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())) {
+                            locationIds.add(taskDetailDO.getToLocationId());
+                        }
+                        if (ObjectUtil.isNotEmpty(taskDetailDO.getRobotNo())) {
+                            robotNos.add(taskDetailDO.getRobotNo());
+                        }
                     }
                 }
 
@@ -589,6 +607,17 @@ public class RobotTaskServiceImpl implements RobotTaskService {
                 taskMapper.updateById(updateObj);
 
                 taskDetailMapper.updateBatch(taskDetailDOS);
+
+                if (ObjectUtil.isNotEmpty(locationIds)) {
+                    locationMapper.updateLocationLockList(locationIds,robotTaskDO.getId()
+                        ,LocationLockEnum.YES.getType());
+                }
+
+                // todo 执行中的需要锁车。 需要添加执行中的判断
+                if (ObjectUtil.isNotEmpty(robotNos)) {
+//                    informationMapper.updateRobotTaskModel(robotNos,RobotTaskModelEnum.REJECTION.getType());
+                }
+
             } catch (Exception e) {
                 log.error("更新任务失败 :{}",e.getMessage());
                 msg = e.getMessage();

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

@@ -101,6 +101,10 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
 
         //如果系统暂停  则不下发任务
 
+        //todo 更新数据库顺序 后续改为和创建订单一致
+
+        // todo 更新数据库 改为批量修改
+
         //任务下发给机器人
         distributeTasks(robots,taskDetailDOS);
     }

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationMapper.xml

@@ -500,7 +500,7 @@
         update
             ware_house_location
         set
-            location_lock = '0',
+            location_lock = #{locationLock},
             task_id = #{taskId}
         where
             id in

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

@@ -251,6 +251,19 @@
             robot_no = #{robotNo}
     </update>
 
+    <update id="updateRobotTaskModel">
+        update
+            robot_information
+        set
+            robot_task_model = #{robotTaskModel}
+        where
+            robot_no in
+        <foreach collection="robotNos" item="robotNo" index="index" open="(" close=")"
+                 separator=",">
+            #{robotNo}
+        </foreach>
+    </update>
+
     <!--通过主键删除-->
     <delete id="deleteById">
         delete