优化

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYArgDTO.java

@@ -13,6 +13,7 @@ import java.util.List;
 @AllArgsConstructor
 public class PathToRobotChangeXYArgDTO {
     private List<PathToRobotChangeXYArgMovePoseDTO> pose2ds;
+    private PathToRobotChangeXYArgMovePoseDTO pose2d;
     private PathToRobotChangeXYArgPoseDTO backPose;
     private PathToRobotChangeXYArgPoseDTO cargoPose;
     private Double height;

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java

@@ -23,11 +23,14 @@ public class CommonApiImpl implements CommonApi {
         try {
             String str = JSON.toJSONString(obj);
             mqttUtils.pub(topic, JSON.toJSONString(obj));
-            /*if (str.length() > 510) {
+            if(topic.equals("AGV_POSE")) {
+                return;
+            }
+            if (str.length() > 510) {
                 log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str.substring(0, 500));
             }else {
                 log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str);
-            }*/
+            }
         } catch (MqttException e) {
             log.info("MQTT消息发送异常 :{}",e);
         }
@@ -37,11 +40,14 @@ public class CommonApiImpl implements CommonApi {
     public void commonMethodStr(String str, String topic) {
         try {
             mqttUtils.pub(topic, str);
-            /*if (str.length() > 510) {
+            if(topic.equals("AGV_POSE")) {
+                return;
+            }
+            if (str.length() > 510) {
                 log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str.substring(0, 500));
             }else {
                 log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str);
-            }*/
+            }
         } catch (MqttException e) {
             log.info("MQTT消息发送异常 :{}",e);
         }

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

@@ -33,9 +33,10 @@ management:
 
 # MQTT
 mqtt:
-  host: tcp://123.57.12.40:1883
+#  host: tcp://123.57.12.40:1883
 #  host: tcp://127.0.0.1:1883
 #  host: tcp://10.10.7.116:1883
+  host: tcp://10.10.7.114:1883
   username: adminuser
   password: adminuser
   qos: 2

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

@@ -140,8 +140,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 
         if (!RobotStatusCodeEnum.SUCCESS.getType().equals(robotCompleteTaskDTO.getStatusCode())) {
             log.info("车机上报异常 :{}", JSON.toJSONString(robotCompleteTaskDTO));
-            closeTask(robotCompleteTaskDTO);//todo 取不了和放不了的异常
+            //todo 取不了和放不了的异常
             redisUtil.del(robotDoingActionKey);
+            closeTask(robotCompleteTaskDTO);
             return;
         }
 
@@ -396,6 +397,12 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      */
     @Transactional(rollbackFor = Exception.class)
     public void closeTask(RobotCompleteTaskDTO robotCompleteTaskDTO) {
+
+        if (RobotStatusCodeEnum.EXCEEDING_SECONDS.getType().equals(robotCompleteTaskDTO.getStatusCode())) {
+            doTaskContinue(robotCompleteTaskDTO);
+            return;
+        }
+
         PPCloseOrder(robotCompleteTaskDTO);
 //        taskService.closeTaskDetail(robotCompleteTaskDTO.getOrderId().toString(),robotCompleteTaskDTO.getMac());
         String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
@@ -470,6 +477,12 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         warnMsgService.sendWarnMsgToWebsocket(warnMsg.getWarnMsg());
     }
 
+    private void doTaskContinue(RobotCompleteTaskDTO robotCompleteTaskDTO) {
+        log.info("恢复任务");
+        String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
+        robotInformationService.doTaskContinue(robotNo, true);
+    }
+
     /**
      * 处理充电中
      *
@@ -566,13 +579,17 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_TAKE.getType());
             } else if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(commandType)) {
                 logOne.setActionMsg("车辆正在取货");
-                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING.getType());
+                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");
                 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");
-                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
+                if (!RobotTaskStageEnum.DONE.getType().equals(taskStage)) {
+                    robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
+                }
             }
 
         } else if (PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
@@ -604,7 +621,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_TAKE.getType());
             } else if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(commandType)) {
                 logOne.setActionMsg("车辆正在取货");
-                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING.getType());
+                if (!RobotTaskStageEnum.DONE.getType().equals(taskStage)) {
+                    robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING.getType());
+                }
             }
 
         } else if (PathTaskTypeEnum.RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
@@ -613,7 +632,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
             } else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(commandType)) {
                 logOne.setActionMsg("车辆正在放货");
-                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING.getType());
+                if (!RobotTaskStageEnum.DONE.getType().equals(taskStage)) {
+                    robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING.getType());
+                }
             }
         }
 

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

@@ -4,9 +4,15 @@ import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.system.api.robot.vo.RobotWorkStatusDTO;
 import cn.iocoder.yudao.module.system.constant.robot.RobotExecutionStateConstant;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.RobotOperationLogSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
+import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
 import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.path.PathIsReachEnum;
 import cn.iocoder.yudao.module.system.enums.robot.CommandTypeEnum;
+import cn.iocoder.yudao.module.system.enums.robot.RobotTaskDetailStatusEnum;
+import cn.iocoder.yudao.module.system.enums.robot.RobotTaskTypeEnum;
+import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
+import cn.iocoder.yudao.module.system.enums.robot.task.WorkProgressEnum;
 import cn.iocoder.yudao.module.system.service.log.RobotOperationLogService;
 import cn.iocoder.yudao.module.system.service.path.PathPlanningService;
 import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
@@ -32,6 +38,9 @@ public class RobotWorkStatusApiImpl implements RobotWorkStatusApi {
     @Resource
     private PathPlanningService pathPlanningService;
 
+    @Autowired
+    private RobotTaskDetailMapper robotTaskDetailMapper;
+
     @Override
     public void robotWorkStatus(String message) {
         log.info("111111作业实时行为上报: {}", message);
@@ -61,6 +70,59 @@ public class RobotWorkStatusApiImpl implements RobotWorkStatusApi {
                     , data.getCommandType(), PathIsReachEnum.END_WORK.getType());
         }
 
+        if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(data.getCommandType())
+                && RobotExecutionStateConstant.DONE.equals(Integer.valueOf(data.getExecutionState()))
+                && WorkProgressEnum.FORK_OFFSET.getType().equals(data.getWorkProgress())) {
+            setTakeDone(data.getOrderId());
+        }else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(data.getCommandType())
+                && RobotExecutionStateConstant.DONE.equals(Integer.valueOf(data.getExecutionState()))
+                && WorkProgressEnum.FORK_OFFSET.getType().equals(data.getWorkProgress())) {
+            setReleaseDone(data.getOrderId());
+        }
+
     }
 
+    private void setReleaseDone(String orderId) {
+        RobotTaskDetailDO data = new RobotTaskDetailDO();
+        data.setId(Long.valueOf(orderId));
+        data.setTaskStage(RobotTaskStageEnum.DONE.getType());
+        data.setTaskStatus(RobotTaskDetailStatusEnum.DONE.getType());
+        robotTaskDetailMapper.updateRobotDetailById(data);
+    }
+
+    private void setTakeDone(String orderId) {
+        RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(orderId);
+        if (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(robotTaskDetailDO.getTaskType())) {
+            RobotTaskDetailDO data = new RobotTaskDetailDO();
+            data.setId(robotTaskDetailDO.getId());
+            data.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
+            robotTaskDetailMapper.updateRobotDetailById(data);
+        }else if (RobotTaskTypeEnum.TAKE.getType().equals(robotTaskDetailDO.getTaskType())){
+            RobotTaskDetailDO data = new RobotTaskDetailDO();
+            data.setId(robotTaskDetailDO.getId());
+            data.setTaskStage(RobotTaskStageEnum.DONE.getType());
+            data.setTaskStatus(RobotTaskDetailStatusEnum.DONE.getType());
+            robotTaskDetailMapper.updateRobotDetailById(data);
+        }
+    }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/ZnConfigConstant.java

@@ -0,0 +1,34 @@
+package cn.iocoder.yudao.module.system.config.poperties;
+
+import cn.iocoder.yudao.module.system.config.poperties.dto.RobotConfig;
+import cn.iocoder.yudao.module.system.config.poperties.dto.RobotDoingAction;
+import cn.iocoder.yudao.module.system.config.poperties.dto.Task;
+import lombok.Data;
+import org.springframework.boot.context.properties.ConfigurationProperties;
+import org.springframework.cloud.context.config.annotation.RefreshScope;
+import org.springframework.stereotype.Component;
+
+@Data
+@RefreshScope
+@Component
+@ConfigurationProperties(prefix = "zn")
+public class ZnConfigConstant {
+    private String taskNo;
+    private String moveNo;
+    private String chargeNo;
+    private String cameraSecretKey;
+    private Boolean doCycle;
+    private Boolean laneAutoMove;
+    private Long robotPositionCacheTime;
+    private Boolean cycleDoAutoMove;
+    private String fullElectricity;
+    private String taskNeedSingle;
+    private String locationNumberReduce;
+    private RobotDoingAction robotDoingAction;
+    private Task task ;
+    private RobotConfig robotConfig;
+    private Boolean openRateLimiter;
+    private Boolean isSimulation ;
+    private Boolean sendRobotInitPose;
+    private Boolean synchronousAllMapNode;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/RobotConfig.java

@@ -0,0 +1,9 @@
+package cn.iocoder.yudao.module.system.config.poperties.dto;
+
+import lombok.Data;
+
+@Data
+public class RobotConfig {
+    private Double offsetHeight;
+    private Double defaultTrayHeight;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/RobotDoingAction.java

@@ -0,0 +1,8 @@
+package cn.iocoder.yudao.module.system.config.poperties.dto;
+
+import lombok.Data;
+
+@Data
+public class RobotDoingAction {
+    private Long doingActionCacheTime;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/Task.java

@@ -0,0 +1,9 @@
+package cn.iocoder.yudao.module.system.config.poperties.dto;
+
+import lombok.Data;
+
+@Data
+public class Task {
+    private Boolean checkSkuInfo;
+    private Long taskChcheTime;
+}

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

@@ -153,7 +153,7 @@ public class RobotInformationController {
     @Operation(summary = "恢复任务")
     @PreAuthorize("@ss.hasPermission('robot:information:doTaskContinue')")
     public CommonResult<Boolean> doTaskContinue(@RequestParam("robotNo") String robotNo) {
-        informationService.doTaskContinue(robotNo);
+        informationService.doTaskContinue(robotNo,false);
         return success(true);
     }
 

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

@@ -13,7 +13,8 @@ public enum RobotStatusCodeEnum {
     FAIL_JSON("10001","入参JSON解析失败"),
     FAIL_SYSTEM("10002","系统内部异常"),
     FAIL_UN_KNOW("10003","未知错误"),
-    FAIL_UN_SUPPOD("10004","未支持该指令执行");
+    FAIL_UN_SUPPOD("10004","未支持该指令执行"),
+    EXCEEDING_SECONDS("10017","PP发送的任务超过5秒到达");
     /**
      * 类型
      */

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

@@ -0,0 +1,17 @@
+package cn.iocoder.yudao.module.system.enums.robot.task;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum WorkProgressEnum {
+
+    FORK_OFFSET("FORK_OFFSET","取放货");
+
+    /**
+     * 类型
+     */
+    private final String type;
+    private final String msg;
+}

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

@@ -84,9 +84,11 @@ public class RobotJob {
         RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
         if (lock.tryLock()){
             try {
-                log.info("----下发自动充电任务----");
+                log.info("----111111下发自动充电任务----");
                 autoChargeService.autoChargeJob();
-            }  finally {
+            } catch (Exception e) {
+                log.info("自动充电异常 :{}",e);
+            } finally {
                 lock.unlock();
             }
         }else {
@@ -105,9 +107,11 @@ public class RobotJob {
         RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
         if (lock.tryLock()){
             try {
-                log.info("----下发任务给路径规划----");
+                log.info("----111111下发任务给路径规划----");
                 robotPathPlanningService.sendTaskToPP();
-            }  finally {
+            } catch (Exception e) {
+                log.info("----分配任务异常---- :{}",e);
+            } finally {
                 lock.unlock();
             }
         }else {
@@ -127,12 +131,16 @@ public class RobotJob {
 
         RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_ADD_LOCK.getKey());
         if (lock.tryLock()){
+
             try {
-                log.info("----创建循环任务----");
+                log.info("----111111创建循环任务----");
                 cycleService.cycleTaskJob();
-            }  finally {
+            } catch (Exception e) {
+                log.error("创建循环任务异常 :{}",e);
+            } finally {
                 lock.unlock();
             }
+
         }else {
             log.info("下发任务给路径规划未获取到锁");
             throw exception(REDISSON_NOT_OBTAIN_LOCK);
@@ -173,7 +181,9 @@ public class RobotJob {
                 log.info("----统计时长开始----");
                 TenantContextHolder.setTenantId(1L);
                 robotWorkingHoursStatisticsService.statisticsRobotDuration();
-            }  finally {
+            } catch (Exception e) {
+                log.info("统计工作时长异常 :{}",e);
+            } finally {
                 lock.unlock();
             }
         }else {

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java

@@ -11,12 +11,14 @@ import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.scheduling.annotation.EnableScheduling;
+import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Component;
 
 import javax.annotation.Resource;
 import java.util.Map;
 import java.util.concurrent.ExecutorService;
 import java.util.concurrent.Executors;
+import java.util.concurrent.TimeUnit;
 
 @EnableScheduling
 @Component

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

@@ -162,7 +162,7 @@ public interface RobotInformationService extends IService<RobotInformationDO> {
      * 继续做任务
      * @param robotNo
      */
-    void doTaskContinue(String robotNo);
+    void doTaskContinue(String robotNo,Boolean isRobot);
 
     /**
      *

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

@@ -162,13 +162,10 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Value("${zn.is_simulation:false}")
     private Boolean isSimulation;
 
-    @Value("${zn.restore_task_restart:true}")
-    private Boolean restoreTaskRestart;
-
     @Value("${zn.full_electricity:95}")
     private String fullElectricity;
 
-    @Value("${zn.path_planning.task_chche_time:604800}")
+    @Value("${zn.task.task_chche_time:604800}")
     private Long taskChcheTime;
 
     @Resource
@@ -369,17 +366,17 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         validateInformationExists(updateReqVO.getId());
         RobotInformationDO robotInformationDO = informationMapper.selectById(updateReqVO.getId());
 
-        if (RobotStatusEnum.STAND_BY.getType().equals(robotInformationDO.getRobotStatus()) ) {
+        if (RobotStatusEnum.STAND_BY.getType().equals(robotInformationDO.getRobotStatus())) {
             PositionMapItemDO positionMapItem = positionMapItemMapper.selectOne(new LambdaQueryWrapper<PositionMapItemDO>()
                     .eq(PositionMapItemDO::getRobotNo, robotInformationDO.getRobotNo())
                     .eq(PositionMapItemDO::getUseStatus, UseStatusEnum.USEING.getType())
                     .eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType())
                     .last("limit 1"));
             if (ObjectUtil.isNotEmpty(positionMapItem) && ObjectUtil.isEmpty(updateReqVO.getFloorAreaJson())) {
-                log.info("车辆 :{} ,停靠在 :{},",robotInformationDO.getRobotNo(), positionMapItem.getPositionMapId());
+                log.info("车辆 :{} ,停靠在 :{},", robotInformationDO.getRobotNo(), positionMapItem.getPositionMapId());
                 throw exception(ROBOT_PART_AREA);
-            }else if (ObjectUtil.isNotEmpty(positionMapItem) && ObjectUtil.isNotEmpty(updateReqVO.getFloorAreaJson())
+            } else if (ObjectUtil.isNotEmpty(positionMapItem) && ObjectUtil.isNotEmpty(updateReqVO.getFloorAreaJson())
-                && !updateReqVO.getFloorAreaJson().contains(positionMapItem.getPositionMapId())) {
+                    && !updateReqVO.getFloorAreaJson().contains(positionMapItem.getPositionMapId())) {
                 throw exception(ROBOT_PART_AREA);
             }
         }
@@ -1167,7 +1164,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
      */
     @Override
     @Transactional(rollbackFor = Exception.class)
-    public void doTaskContinue(String robotNo) {
+    public void doTaskContinue(String robotNo, Boolean isRobot) {
 
         RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getOriginalLastTaskByRobotNo(robotNo);
         if (ObjectUtil.isEmpty(actionLog)) {
@@ -1208,16 +1205,20 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         TaskToPathPlanningDTO pathPlanning = JSONUtil.toBean((String) o, TaskToPathPlanningDTO.class);
 
-        RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
+        if (isRobot) {
-        if (lock.tryLock()) {
+            resendToPP(pathPlanning, actionLog, robotInformationDO);
-            try {
-                resendToPP(pathPlanning, actionLog, robotInformationDO);
-            } finally {
-                lock.unlock();
-            }
         } else {
-            log.info("下发任务给路径规划未获取到锁");
+            RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
-            throw exception(REDISSON_NOT_OBTAIN_LOCK);
+            if (lock.tryLock()) {
+                try {
+                    resendToPP(pathPlanning, actionLog, robotInformationDO);
+                } finally {
+                    lock.unlock();
+                }
+            } else {
+                log.info("下发任务给路径规划未获取到锁");
+                throw exception(REDISSON_NOT_OBTAIN_LOCK);
+            }
         }
 
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
@@ -1254,9 +1255,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = Arrays.asList(taskRobotNoLimittationAreaDTO);
         pathPlanning.setRobotNoLimitationAreaDTOS(robotNoLimitions);
 
-        if (!isSimulation || !restoreTaskRestart) {
+        resendToPPData(pathPlanning, actionLog, robotInformationDO, false);
-            resendToPPData(pathPlanning, actionLog, robotInformationDO, false);
-        }
 
         List<TaskToPathPlanningDTO> pathPlanningList = new ArrayList<>();
         pathPlanningList.add(pathPlanning);
@@ -1329,27 +1328,35 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         Object cargoDetected = redisUtil.get(cargoDetectedKey);
         if (ObjectUtil.isNotEmpty(cargoDetected) && RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))) {
             //说明取货完成
-            pathPlanning.setTakeLevel(null);
+            takeDone(pathPlanning,robotTaskDetail);
-            pathPlanning.setTakeGroupId(null);
+        } else if (!RobotTaskStageEnum.UN_START.getType().equals(robotTaskDetail.getTaskStage())
-            pathPlanning.setTakeLocationNumber(null);
+                && !RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetail.getTaskStage())
-            pathPlanning.setTakePointId(null);
+                && !RobotTaskStageEnum.TAKEING.getType().equals(robotTaskDetail.getTaskStage())) {
-            pathPlanning.setTakeOffsetHeight(null);
+            takeDone(pathPlanning,robotTaskDetail);
-            pathPlanning.setTakeOffsetHeight(null);
-            pathPlanning.setTaskType(PathTaskTypeToRobotEnum.DROP_OFF_GOODS.getType());
-            WareHouseLocationDO wareHouseLocation = wareHouseLocationMapper.selectById(robotTaskDetail.getFromLocationId());
-            if (wareHouseLocation.getTaskId().equals(robotTaskDetail.getTakeId()) && LocationLockEnum.NO.getType().equals(wareHouseLocation.getLocationLock())) {
-                wareHouseLocation.setSkuInfo(null);
-                wareHouseLocation.setSkuNumber(0L);
-                wareHouseLocation.setLocationLock(LocationLockEnum.YES.getType());
-                wareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.NO.getType());
-                wareHouseLocationMapper.updateById(wareHouseLocation);
-            }
         } else {
             takeCheck(robotTaskDetail.getFromLocationId(), robotTaskDetail.getRobotTaskId(), isRemote);
         }
         releaseCheck(robotTaskDetail.getToLocationId(), robotTaskDetail.getRobotTaskId());
     }
 
+    public void takeDone(TaskToPathPlanningDTO pathPlanning,RobotTaskDetailDO robotTaskDetail) {
+        pathPlanning.setTakeLevel(null);
+        pathPlanning.setTakeGroupId(null);
+        pathPlanning.setTakeLocationNumber(null);
+        pathPlanning.setTakePointId(null);
+        pathPlanning.setTakeOffsetHeight(null);
+        pathPlanning.setTakeOffsetHeight(null);
+        pathPlanning.setTaskType(PathTaskTypeToRobotEnum.DROP_OFF_GOODS.getType());
+        WareHouseLocationDO wareHouseLocation = wareHouseLocationMapper.selectById(robotTaskDetail.getFromLocationId());
+        if (wareHouseLocation.getTaskId().equals(robotTaskDetail.getTakeId()) && LocationLockEnum.NO.getType().equals(wareHouseLocation.getLocationLock())) {
+            wareHouseLocation.setSkuInfo(null);
+            wareHouseLocation.setSkuNumber(0L);
+            wareHouseLocation.setLocationLock(LocationLockEnum.YES.getType());
+            wareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.NO.getType());
+            wareHouseLocationMapper.updateById(wareHouseLocation);
+        }
+    }
+
     /**
      * 校验放货任务
      *

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

@@ -193,13 +193,11 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     @Value("${zn.task_not_check:true}")
     private Boolean taskNotCheck;
 
-    @Value("${zn.is_simulation:false}")
-    private Boolean isSimulation;
 
     @Override
     @Transactional(rollbackFor = Exception.class)
     public Long createTask(RobotTaskSaveReqVO createReqVO) throws InterruptedException {
-        if (taskNotCheck && isSimulation) {
+        if (taskNotCheck) {
             robotSimulationService.createTask(createReqVO);
             return 1L;
         }

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

@@ -90,11 +90,12 @@ public class CycleServiceImpl implements CycleService {
         Map<Long, List<RobotTaskDetailDO>> taskIdMap =
                 detailDOS.stream().collect(Collectors.groupingBy(RobotTaskDetailDO::getRobotTaskId));
 
-        String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey());
+
 
         List<RobotTaskDO> taskDOList = new ArrayList<>();
         List<RobotTaskDetailDO> taskDetailList = new LinkedList<>();
         for (RobotTaskDO v : taskList) {
+            String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey());
             RobotTaskDO taskData = getTaskData(incrementByKey, v);
             List<RobotTaskDetailDO> taskDetailDOS = getTaskDetailData(taskData,taskIdMap,v.getId());
             taskDOList.add(taskData);
@@ -102,10 +103,21 @@ public class CycleServiceImpl implements CycleService {
             v.setRemainingCycleNumber(0l);
         }
 
-        taskMapper.insertBatch(taskDOList);
+        taskMapper.insert(taskDOList);
         taskMapper.updateById(taskList);
-        Collections.reverse(taskDetailList);
+
-        taskDetailMapper.insertBatch(taskDetailList);
+        List<RobotTaskDetailDO> moves = taskDetailList.stream().filter(v -> RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(v.getTaskType())).collect(Collectors.toList());
+        List<RobotTaskDetailDO> takes = taskDetailList.stream().filter(v -> !RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(v.getTaskType())).collect(Collectors.toList());
+        List<RobotTaskDetailDO> taskDetails= new LinkedList<>();
+        if (ObjectUtil.isNotEmpty(moves)) {
+            taskDetails.addAll(moves);
+        }
+        if (ObjectUtil.isNotEmpty(takes)) {
+            Collections.reverse(takes);
+            taskDetails.addAll(takes);
+        }
+
+        taskDetailMapper.insert(taskDetails);
 
         List<Long> fromLocationIds = taskDetailList.stream().map(RobotTaskDetailDO::getFromLocationId).collect(Collectors.toList());
         List<Long> toLocationIds = taskDetailList.stream().map(RobotTaskDetailDO::getToLocationId).collect(Collectors.toList());
@@ -118,7 +130,7 @@ public class CycleServiceImpl implements CycleService {
             locationMapper.updateLocationLockList(list, -1l, LocationLockEnum.NO.getType());
         });
 
-        List<RobotTaskDetailAddVO> bean = BeanUtils.toBean(taskDetailList, RobotTaskDetailAddVO.class);
+        List<RobotTaskDetailAddVO> bean = BeanUtils.toBean(taskDetails, RobotTaskDetailAddVO.class);
         Map<Long, List<RobotTaskDetailAddVO>> taskDetailMap =
                 bean.stream().collect(Collectors.groupingBy(RobotTaskDetailAddVO::getRobotTaskId));
         taskDetailMap.forEach((k,v) ->{

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

@@ -92,7 +92,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                 .in(RobotInformationDO::getRobotStatus, RobotStatusEnum.STAND_BY.getType(), RobotStatusEnum.CHARGE.getType())
                 .eq(RobotInformationDO::getRobotTaskModel, RobotTaskModelEnum.NORMAL.getType()));
 
-        if (robots.isEmpty()) {
+        if (ObjectUtil.isEmpty(robots)) {
             log.info("暂无空闲的机器人");
             return pair;
         }

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

@@ -95,7 +95,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     @Value("${zn.robot_config.offset_height}")
     private Double offsetHeight;
 
-    @Value("${zn.path_planning.task_chche_time:604800}")
+    @Value("${zn.task.task_chche_time:604800}")
     private Long taskChcheTime;
 
     @Value("${zn.move-no:MOVE}")
@@ -148,8 +148,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             return;
         }
 
-        log.info("-------查找车子------ ,:{}",JSON.toJSONString(robots));
+        log.info("-------可以分配任务的车辆编号------ ,:{}",JSON.toJSONString(robots.stream().map(RobotInformationDO::getRobotNo).collect(Collectors.toList())));
-        log.info("-------查找任务------ ,:{}",JSON.toJSONString(taskDetailDOS));
+        log.info("-------需要执行的任务id------ ,:{}",JSON.toJSONString(taskDetailDOS.stream().map(RobotTaskDetailDO::getId).collect(Collectors.toList())));
         distributeTasksToPP(robots, taskDetailDOS);
 
     }

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

@@ -238,16 +238,16 @@ zn:
     priority_config: 50 #优先级
   task: #任务相关的配置
     check_sku_info: true #校验物料信息
+    task_chche_time: 1209600 #任务缓存的时间， 默认一星期
   robot_config: #机器人取放货默认配置
     offset_height: 0.1 #叉起货需要在原来高度基础上偏移的高度
     default_tray_height: 0.82 #默认每层高度
   open_rate_limiter: true #是否开启限流
   path_planning:
     task_chche_time: 1209600 #任务缓存的时间， 默认一星期
-  is_simulation: true # 是否为仿真环境
+  is_simulation: false # 是否为仿真环境
   send_robot_init_pose: true # 是否为发送默认的车辆所在地图和点位
-  restore_task_restart: true # 恢复任务是否全部重新执行  true:全部重新开始
+#  synchronous_all_map_node: 500 # 点位信息每次发送的数据量
-  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
 
 logging: