处理车机上报的信息

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

@@ -749,50 +749,34 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
 
         List<TaskPPDistribution> list = Arrays.asList(distribution);
 
-        List<TaskPPDistribution> taskList = list.stream()
-                .filter(v -> TaskTypeEnum.TASK.getType().equals(v.getType()))
-                .collect(Collectors.toList());
-
-        List<TaskPPDistribution> chargeList = list.stream()
-                .filter(v -> TaskTypeEnum.CHARGE.getType().equals(v.getType()))
-                .collect(Collectors.toList());
-
         List<Long> detailIds = new ArrayList<>();
 
-        Map<Long, TaskPPDistribution> taskMap =
-                list.stream().collect(Collectors.toMap(v -> v.getId(), Function.identity()));
-
         Map<Long,String> deviceNoMap = new HashMap<>();
-        List<RobotChargeLogDO> robotChargeLogs = null;
+        RobotChargeLogDO robotChargeLogs = null;
+        Set<String> robotNos = new HashSet<>();
+        robotNos.add(distribution.getRobotNo());
         /**
          * 充电
          */
-        if (ObjectUtil.isNotEmpty(chargeList)) {
+        if (TaskTypeEnum.CHARGE.getType().equals(distribution.getType())) {
-            List<Long> chargeIds = chargeList.stream().map(TaskPPDistribution::getId).collect(Collectors.toList());
+            robotChargeLogs = chargeLogMapper.selectById(distribution.getId());
-            robotChargeLogs = chargeLogMapper.selectBatchIds(chargeIds);
+
-            robotChargeLogs.stream().forEach(taskDetailDO -> {
+            robotChargeLogs.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
-                taskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
-            });
             chargeLogMapper.updateBatch(robotChargeLogs);
-            Set<String> robotNos = chargeList.stream().map(TaskPPDistribution::getRobotNo).collect(Collectors.toSet());
+
             robotInformationMapper.updateRobotListStatus(robotNos,RobotStatusEnum.CHARGE.getType());
-            robotChargeLogs.stream()
+            if (ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId())) {
-                    .filter(v -> ObjectUtil.isNotEmpty(v.getTaskDetailId()))
+                deviceNoMap.put(robotChargeLogs.getTaskDetailId(),robotChargeLogs.getDeviceNo());
-                    .forEach(v -> {
+                detailIds.add(robotChargeLogs.getTaskDetailId());
-                        deviceNoMap.put(v.getTaskDetailId(),v.getDeviceNo());
+            }
-                        detailIds.add(v.getTaskDetailId());
-                    });
         }
 
         /**
          * 任务
          */
-        if (ObjectUtil.isNotEmpty(taskList)) {
+        if (TaskTypeEnum.TASK.getType().equals(distribution.getType())) {
-            Set<String> robotNos = taskList.stream().map(TaskPPDistribution::getRobotNo).collect(Collectors.toSet());
             robotInformationMapper.updateRobotListStatus(robotNos,RobotStatusEnum.DOING.getType());
-
+            detailIds.add(distribution.getId());
-            List<Long> ids = taskList.stream().map(TaskPPDistribution::getId).collect(Collectors.toList());
-            detailIds.addAll(ids);
         }
 
         if (ObjectUtil.isNotEmpty(detailIds)) {
@@ -800,9 +784,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
             taskDetailDOS.stream().forEach(taskDetailDO -> {
                 taskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
                 taskDetailDO.setStartTime(LocalDateTime.now());
-                TaskPPDistribution taskPPDistribution = taskMap.get(taskDetailDO.getId());
+                if ( ObjectUtil.isEmpty(taskDetailDO.getRobotNo())) {
-                if (ObjectUtil.isNotEmpty(taskPPDistribution) && ObjectUtil.isEmpty(taskDetailDO.getRobotNo())) {
+                    taskDetailDO.setRobotNo(distribution.getRobotNo());
-                    taskDetailDO.setRobotNo(taskPPDistribution.getRobotNo());
                 }
                 if (ObjectUtil.isEmpty(taskDetailDO.getToLocationNo())
                         && ObjectUtil.isNotEmpty(deviceNoMap.get(taskDetailDO.getId()))) {
@@ -821,8 +804,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
             taskMapper.updateBatch(tasks);
         }
 
-        robotCommonTaskService.sendTaskToRobot(taskList);
+        robotCommonTaskService.sendTaskToRobot(distribution);
-        robotCommonTaskService.sendChargeTaskToRobot(chargeList,robotChargeLogs);
+        robotCommonTaskService.sendChargeTaskToRobot(distribution,robotChargeLogs);
     }
 
     /**

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

@@ -16,11 +16,11 @@ public interface RobotCommonTaskService {
      * 组装任务下发给车机
      * @param list
      */
-    void sendTaskToRobot(List<TaskPPDistribution> list);
+    void sendTaskToRobot(TaskPPDistribution taskPPDistribution);
 
     /**
      * 发送充电任务给车机
      * @param chargeList
      */
-    void sendChargeTaskToRobot(List<TaskPPDistribution> chargeList,List<RobotChargeLogDO> robotChargeLogs);
+    void sendChargeTaskToRobot(TaskPPDistribution chargeList,RobotChargeLogDO robotChargeLogs);
 }

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

@@ -133,54 +133,51 @@ public class RobotCommonTaskServiceImpl implements RobotCommonTaskService {
      */
     @Override
     @Async(NOTIFY_THREAD_POOL_TASK_EXECUTOR)
-    public void sendTaskToRobot(List<TaskPPDistribution> list) {
+    public void sendTaskToRobot(TaskPPDistribution v) {
-        List<Long> detailIds = list.stream().map(TaskPPDistribution::getId).collect(Collectors.toList());
+        RobotTaskDetailDO robotTaskDetailDO = taskDetailMapper.selectById(v.getId());
-        List<RobotTaskDetailDO> taskDetailDOS = taskDetailMapper.selectBatchIds(detailIds);
-        Map<Long, RobotTaskDetailDO> taskDetailMap =
-                taskDetailDOS.stream().collect(Collectors.toMap(v -> v.getId(), Function.identity()));
 
-        Set<Long> fromLocationIds = taskDetailDOS.stream().map(v -> v.getFromLocationId()).collect(Collectors.toSet());
-        Set<Long> toLocationIds = taskDetailDOS.stream().map(v -> v.getToLocationId()).collect(Collectors.toSet());
         Set<Long> locationIds = new HashSet<>();
-        locationIds.addAll(fromLocationIds);
+        if (ObjectUtil.isNotEmpty(robotTaskDetailDO.getFromLocationId())) {
-        locationIds.addAll(toLocationIds);
+            locationIds.add(robotTaskDetailDO.getFromLocationId());
+        }
+        if (ObjectUtil.isNotEmpty(robotTaskDetailDO.getToLocationId())) {
+            locationIds.add(robotTaskDetailDO.getToLocationId());
+        }
 
         List<WareHouseLocationDO> wareHouseLocationDOS =
                 houseLocationMapper.selectList(new LambdaQueryWrapperX<WareHouseLocationDO>()
                         .in(WareHouseLocationDO::getId, locationIds));
         Map<Long, WareHouseLocationDO> locationMap =
-                wareHouseLocationDOS.stream().collect(Collectors.toMap(v -> v.getId(), Function.identity()));
+                wareHouseLocationDOS.stream().collect(Collectors.toMap(s -> s.getId(), Function.identity()));
 
         List<RobotTaskDetailActionLogDO> logs = new ArrayList<>();
-        for (TaskPPDistribution v : list) {
-            RobotTaskDetailDO robotTaskDetailDO = taskDetailMap.get(v.getId());
-            RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO();
-            robotTask.setOrder_id(v.getId().toString());
 
-            String mac = robotInformationService.getMacByRobotNo(v.getRobotNo());
+        RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO();
-            robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC + mac);
+        robotTask.setOrder_id(v.getId().toString());
-            robotTask.setOrder_type(RobotTaksOrderTypeEnum.TASK.getType());
-            //取放
-            Pair<List<RobotAcceptTaskData>, List<RobotTaskDetailActionLogDO>> pair = null;
-            if (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(robotTaskDetailDO.getTaskType())) {
-                pair = takeReleaseTask(v, robotTaskDetailDO, locationMap);
-                //移动
-            } else if (RobotTaskTypeEnum.MOVE.getType().equals(robotTaskDetailDO.getTaskType())) {
-                pair = moveTask(v, robotTaskDetailDO, locationMap);
-                //仅取货
-            } else if (RobotTaskTypeEnum.TAKE.getType().equals(robotTaskDetailDO.getTaskType())) {
-                pair = takeTask(v, robotTaskDetailDO, locationMap);
-                //仅放货
-            } else if (RobotTaskTypeEnum.RELEASE.getType().equals(robotTaskDetailDO.getTaskType())) {
-                pair = releaseTask(v, robotTaskDetailDO, locationMap);
-            }
 
-            if (ObjectUtil.isNotEmpty(pair)) {
+        String mac = robotInformationService.getMacByRobotNo(v.getRobotNo());
-                robotTask.setData(pair.getLeft());
+        robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC + mac);
-                logs.addAll(pair.getRight());
+        robotTask.setOrder_type(RobotTaksOrderTypeEnum.TASK.getType());
-                log.info("发送给车机下发任务 :{}", JSON.toJSONString(robotTask));
+        //取放
-                commonApi.commonMethod(robotTask, robotTask.getTopic());
+        Pair<List<RobotAcceptTaskData>, List<RobotTaskDetailActionLogDO>> pair = null;
-            }
+        if (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(robotTaskDetailDO.getTaskType())) {
+            pair = takeReleaseTask(v, robotTaskDetailDO, locationMap);
+            //移动
+        } else if (RobotTaskTypeEnum.MOVE.getType().equals(robotTaskDetailDO.getTaskType())) {
+            pair = moveTask(v, robotTaskDetailDO, locationMap);
+            //仅取货
+        } else if (RobotTaskTypeEnum.TAKE.getType().equals(robotTaskDetailDO.getTaskType())) {
+            pair = takeTask(v, robotTaskDetailDO, locationMap);
+            //仅放货
+        } else if (RobotTaskTypeEnum.RELEASE.getType().equals(robotTaskDetailDO.getTaskType())) {
+            pair = releaseTask(v, robotTaskDetailDO, locationMap);
+        }
+
+        if (ObjectUtil.isNotEmpty(pair)) {
+            robotTask.setData(pair.getLeft());
+            logs.addAll(pair.getRight());
+            log.info("发送给车机下发任务 :{}", JSON.toJSONString(robotTask));
+            commonApi.commonMethod(robotTask, robotTask.getTopic());
         }
 
         taskDetailActionLogService.addLogInCache(logs);
@@ -667,41 +664,35 @@ public class RobotCommonTaskServiceImpl implements RobotCommonTaskService {
      */
     @Override
     @Async(NOTIFY_THREAD_POOL_TASK_EXECUTOR)
-    public void sendChargeTaskToRobot(List<TaskPPDistribution> chargeList, List<RobotChargeLogDO> robotChargeLogs) {
+    public void sendChargeTaskToRobot(TaskPPDistribution v, RobotChargeLogDO chargeLogDO) {
-        if (ObjectUtil.isEmpty(chargeList) || ObjectUtil.isEmpty(robotChargeLogs)) {
+        if (ObjectUtil.isEmpty(v) || ObjectUtil.isEmpty(chargeLogDO)) {
             return;
         }
 
-        Map<Long, RobotChargeLogDO> chargeMap =
-                robotChargeLogs.stream().collect(Collectors.toMap(v -> v.getId(), Function.identity()));
-
         List<RobotTaskDetailActionLogDO> logList = new ArrayList<>();
-        for (TaskPPDistribution v : chargeList) {
-            RobotChargeLogDO chargeLogDO = chargeMap.get(v.getId());
-            RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO();
-            robotTask.setOrder_id(v.getId().toString());
 
-            String mac = robotInformationService.getMacByRobotNo(v.getRobotNo());
+        RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO();
-            robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC + mac);
+        robotTask.setOrder_id(v.getId().toString());
-            robotTask.setOrder_type(RobotTaksOrderTypeEnum.AUTO_CHARGE.getType());
 
-            Integer serial = 1;
+        String mac = robotInformationService.getMacByRobotNo(v.getRobotNo());
+        robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC + mac);
+        robotTask.setOrder_type(RobotTaksOrderTypeEnum.AUTO_CHARGE.getType());
 
-            List<RobotAcceptTaskData> list = new ArrayList<>();
+        Integer serial = 1;
-            //移动
-            RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
-            String msg = charge + chargeLogDO.getDeviceNo();
-            RobotAcceptTaskData oneMoveAndFork = onlyMove(logOne, serial, v, msg);
 
-            list.add(oneMoveAndFork);
+        List<RobotAcceptTaskData> list = new ArrayList<>();
-            robotTask.setData(list);
+        //移动
-            logList.add(logOne);
+        RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
+        String msg = charge + chargeLogDO.getDeviceNo();
+        RobotAcceptTaskData oneMoveAndFork = onlyMove(logOne, serial, v, msg);
 
-            log.info("发送给车机下发--充电任务 :{}", JSON.toJSONString(robotTask));
+        list.add(oneMoveAndFork);
-            commonApi.commonMethod(robotTask, robotTask.getTopic());
+        robotTask.setData(list);
-        }
+        logList.add(logOne);
+
+        log.info("发送给车机下发--充电任务 :{}", JSON.toJSONString(robotTask));
+        commonApi.commonMethod(robotTask, robotTask.getTopic());
 
-        //todo 充电后往 task_detail更新下 to_location_no
         taskDetailActionLogService.addLogInCache(logList);
     }
 

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

@@ -245,8 +245,8 @@ zn:
     scan: 机器人正在扫描
     parking_space: 机器人正在前往停车位
     charge: 机器人正在前往充电位
-    action_entity_cache_time: 8*60*60 #机器人所有动作缓存时间
+    action_entity_cache_time: 28800 #机器人所有动作缓存时间 8小时
-    doing_action_cache_time: 3*60*60 #单个动作缓存时间
+    doing_action_cache_time: 28800 #单个动作缓存时间 8小时
   robot_chearg: #机器人充电的配置
     release_location_number_config: 50 #同一组序号，越大越先执行
     priority_config: 50 #优先级