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联调修改

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cbs 2025-06-03 14:40:36 +08:00
parent 133cacbca6
commit 432eeba127
10 changed files with 217 additions and 28 deletions
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8
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java
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@ -23,9 +23,9 @@ public class CommonApiImpl implements CommonApi {
String str = JSON.toJSONString(obj);
mqttUtils.pub(topic, JSON.toJSONString(obj));
if (str.length() > 510) {
log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str.substring(0, 500));
// 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);
// 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);
@ -37,9 +37,9 @@ public class CommonApiImpl implements CommonApi {
try {
mqttUtils.pub(topic, str);
if (str.length() > 510) {
log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str.substring(0, 500));
// 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);
// 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);

11
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java
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@ -4,6 +4,7 @@ package cn.iocoder.yudao.module.system.api.path;
import cn.hutool.core.util.ObjectUtil;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.system.config.ratelimiter.SystemRateLimiter;
import cn.iocoder.yudao.module.system.constant.CommonConstant;
import cn.iocoder.yudao.module.system.controller.admin.path.dto.GraphMatchDataDTO;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnMsgSaveReqVO;
@ -14,6 +15,7 @@ import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
import cn.iocoder.yudao.module.system.service.tool.ToolsService;
import com.alibaba.fastjson.JSON;
import lombok.extern.slf4j.Slf4j;
import org.slf4j.MDC;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.scheduling.annotation.Async;
import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
@ -21,6 +23,7 @@ import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.RestController;
import javax.annotation.Resource;
import java.util.UUID;
@Slf4j
@RestController // 提供 RESTful API 接口，给 Feign 调用
@ -78,7 +81,13 @@ public class PathApiImpl implements PathApi {
public void ppDistributionTask(String message) {
taskExecutor.execute(() -> {
TenantContextHolder.setTenantId(1L);
taskService.assignTasks(message);
String requestId = UUID.randomUUID().toString().replace("-", "");
MDC.put(CommonConstant.REQUEST_ID, requestId);
try {
taskService.assignTasks(message);
} finally {
MDC.clear();
}
// taskService.ppDistributionTask(message); 废弃了
});
}

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
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@ -91,7 +91,13 @@ public class RobotStatusApiImpl implements RobotStatusApi {
if (ObjectUtil.isNotEmpty(robotStatusDataDTO.getPose2d())) {
robotStatusDataPoseDTO.setX(robotStatusDataDTO.getPose2d().getX());
robotStatusDataPoseDTO.setY(robotStatusDataDTO.getPose2d().getY());
robotStatusDataPoseDTO.setYaw(robotStatusDataDTO.getPose2d().getYaw());
if (robotStatusDataDTO.getPose2d().getYaw().length()>7) {
String yaw = robotStatusDataDTO.getPose2d().getYaw().substring(0, 7);
robotStatusDataPoseDTO.setYaw(yaw);
}else {
robotStatusDataPoseDTO.setYaw(robotStatusDataDTO.getPose2d().getYaw());
}
}
robotStatusDataPoseDTO.setRobotNo(robotNo);
robotStatusDataPoseDTO.setFloor(floorZoneDTO.getFloor());

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
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@ -237,6 +237,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
//todo 后面考虑下充电，车机目前对充电的逻辑未定义
if (PathTaskTypeEnum.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
@ -501,7 +502,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
robotTaskMapper.updateRobot(robotTaskDO);
taskCycleMapper.deletByRobotTaskId(taskDetails.get(0).getRobotTaskId());
}
return detailDO;
return robotTaskDetailDO;
}
/**

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ScheduledTasks.java
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@ -42,7 +42,7 @@ public class ScheduledTasks {
private static final ExecutorService fixedThreadPool = Executors.newFixedThreadPool(3);
// 这个方法将每200毫秒执行一次
@Scheduled(fixedDelay = 300, timeUnit = TimeUnit.MILLISECONDS)
// @Scheduled(fixedDelay = 300, timeUnit = TimeUnit.MILLISECONDS)
public void executeTask() {
fixedThreadPool.execute(new Runnable() {
@Override

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
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@ -1431,7 +1431,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
List<String> robotNos = robots.stream().map(RobotInformationDO::getRobotNo).collect(Collectors.toList());
List<String> list = new ArrayList<>();
String floorArea = floor + "-" + area;
String floorArea = floor + CommonConstant.SYMBOL + area;
Map<Object, Object> hmget = redisUtil.hmget(floorArea);
if (ObjectUtil.isEmpty(hmget)) {
return new ArrayList<>();

181
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java
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@ -8,6 +8,7 @@ import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.system.api.robot.websocket.RobotStatusDataPoseDTO;
import cn.iocoder.yudao.module.system.constant.robot.RobotStatusCodeConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.controller.admin.config.vo.CommonConfigVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO;
@ -115,6 +116,24 @@ public class AutoChargeServiceImpl implements AutoChargeService {
if (ObjectUtil.isEmpty(deviceInformationDOS)) {
log.info("充电任务,没有空闲的充电桩");
robots = getNeedChargeRobot(robots, chargeConfig);
log.info("需要充电的车辆 :{}", JSON.toJSONString(robots));
if (ObjectUtil.isEmpty(robots)) {
return;
}
List<RobotInformationDO> chargeIngRobots = robotInformationMapper.selectList(new LambdaQueryWrapperX<RobotInformationDO>()
.eq(RobotInformationDO::getRobotStatus, RobotStatusEnum.CHARGE.getType())
.eq(RobotInformationDO::getRobotTaskModel, RobotTaskModelEnum.NORMAL.getType()));
if (ObjectUtil.isEmpty(chargeIngRobots)) {
log.info("没有充电中的车辆");
return;
}
chargeIngRobots = getCanLeaveChargingRobots(chargeIngRobots, chargeConfig, robots.size());
if (ObjectUtil.isEmpty(chargeIngRobots)) {
log.info("充电中的车辆未充满电");
return;
}
return;
}
@ -163,6 +182,150 @@ public class AutoChargeServiceImpl implements AutoChargeService {
}
/**
* 查询充电达到阀值，能离开的车辆
*
* @param robots
* @param chargeConfig sum 需要移动的车辆数量
* @return
*/
private List<RobotInformationDO> getCanLeaveChargingRobots(List<RobotInformationDO> robots, CommonConfigVO chargeConfig, int sum) {
List<RobotInformationDO> needChargeRobots = new ArrayList<>();
Map<String, Integer> map = new HashMap<>();
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.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);
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;
}
Boolean adequateBatteryCapacity = remainingElectricityBigger(chargeConfig, robot);
if (adequateBatteryCapacity) {
String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC + robot.getMacAddress();
Object o = redisUtil.get(socKey);
Integer soc = ObjectUtil.isEmpty(o) ? 0 : Integer.parseInt(o.toString());
map.put(robot.getRobotNo(), soc);
}
}
if (ObjectUtil.isEmpty(map)) {
return needChargeRobots;
}
map = map.entrySet().stream()
.sorted(Collections.reverseOrder(Map.Entry.comparingByValue()))
.collect(Collectors.toMap(Map.Entry::getKey, Map.Entry::getValue, (x1, x2) -> x2, LinkedHashMap::new));
return needChargeRobots;
}
/**
* 查询需要充电的车辆
*
* @param robots
* @return
*/
private List<RobotInformationDO> getNeedChargeRobot(List<RobotInformationDO> robots, CommonConfigVO chargeConfig) {
List<RobotInformationDO> needChargeRobots = new ArrayList<>();
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.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);
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;
}
Boolean adequateBatteryCapacity = remainingElectricityBigger(chargeConfig, robot);
if (!adequateBatteryCapacity) {
needChargeRobots.add(robot);
}
}
return needChargeRobots;
}
/**
* 剩余电量是否大于设置的充电阀值
*
* @param chargeConfig
* @param robot
*/
private Boolean remainingElectricityBigger(CommonConfigVO chargeConfig, RobotInformationDO robot) {
String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + robot.getMacAddress();
String chargeModelKey = RobotTaskChcheConstant.ROBOT_CHARGE_MODEL + robot.getRobotNo();
Object chargeModelCache = redisUtil.get(chargeModelKey);
Object poseCache = redisUtil.get(pose2dKey);
// RobotStatusDataPoseDTO dataPoseDTO = JSON.parseObject((String) poseCache, RobotStatusDataPoseDTO.class);
// log.info("充电机器人编号:{} ,信息: {}", robot.getRobotNo(), JSON.toJSONString(dataPoseDTO));
String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC + robot.getMacAddress();
Object o = redisUtil.get(socKey);
String soc = ObjectUtil.isEmpty(o) ? "0" : o.toString();
if (ObjectUtil.isEmpty(poseCache) || ObjectUtil.isEmpty(o)) {
log.info("没有点位信息/或者没有电量信息 :{}", robot.getRobotNo());
return false;
}
//车子剩余电量
BigDecimal robotRemainingElectricity = new BigDecimal(soc);
//设置离开的电量
BigDecimal robotEndElectricity = new BigDecimal("30");
if (ObjectUtil.isNotEmpty(robot.getAutoCharge()) && ObjectUtil.isNotEmpty(chargeModelCache)
&& !ChargeModelEnum.FULL.getType().equals((Integer) chargeModelCache)) {
robotEndElectricity = new BigDecimal(String.valueOf(robot.getAutoCharge()));
} else if (ObjectUtil.isNotEmpty(chargeModelCache) && ChargeModelEnum.FULL.getType().equals((Integer) chargeModelCache)) {
robotEndElectricity = new BigDecimal(fullElectricity);
} else if (ObjectUtil.isNotEmpty(chargeModelCache) && ChargeModelEnum.CHANCE.getType().equals((Integer) chargeModelCache)
&& ObjectUtil.isNotEmpty(chargeConfig.getEndAutoCharge())) {
robotEndElectricity = new BigDecimal(String.valueOf(chargeConfig.getChanceChargeEnd()));
} else if (ObjectUtil.isNotEmpty(chargeConfig.getEndAutoCharge())) {
robotEndElectricity = new BigDecimal(String.valueOf(chargeConfig.getEndAutoCharge()));
}
if (robotRemainingElectricity.compareTo(robotEndElectricity) >= 0) {
return true;
} 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());
}
return false;
}
public Integer getSocByMac(RobotInformationDO robot) {
String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC + robot.getMacAddress();
Object socObject = redisUtil.get(socKey);
if (ObjectUtil.isEmpty(socObject)) {
log.info("当前机器人查不到电量信息,所以不执行充电 :{}", robot.getRobotNo());
return null;
}
String[] split = socObject.toString().split("\\.");
return Integer.valueOf(split[0]);
}
/**
* 组装充电任务
*
@ -181,13 +344,13 @@ public class AutoChargeServiceImpl implements AutoChargeService {
for (RobotInformationDO robot : robots) {
String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + robot.getMacAddress();
Object poseCache = redisUtil.get(pose2dKey);
RobotStatusDataPoseDTO dataPoseDTO = JSON.parseObject((String) poseCache, RobotStatusDataPoseDTO.class);
if (ObjectUtil.isEmpty(poseCache)) {
log.info("查不到车辆的点位信息 :{}", robot.getRobotNo());
continue;
}
String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC + robot.getMacAddress();
Object socObject = redisUtil.get(socKey);
if (ObjectUtil.isEmpty(dataPoseDTO) || ObjectUtil.isEmpty(socObject)) {
log.info("当前机器人查不到电量信息,所以不执行充电 :{}", robot.getRobotNo());
Integer electricity = getSocByMac(robot);
if (ObjectUtil.isEmpty(electricity)) {
continue;
}
@ -211,12 +374,12 @@ public class AutoChargeServiceImpl implements AutoChargeService {
logDo.setDeviceNo(deviceInformationDO.getDeviceNo());
logDo.setPositionMapItemId(deviceInformationDO.getPositionMapItemId());
String[] split = socObject.toString().split("\\.");
logDo.setStartElectricity(Integer.valueOf(split[0]));
logDo.setStartElectricity(electricity);
//配置的充满电电量
BigDecimal robotFullElectricity = new BigDecimal(fullElectricity);
//车子剩余电量
BigDecimal robotRemainingElectricity = new BigDecimal(split[0]);
BigDecimal robotRemainingElectricity = new BigDecimal(electricity + "");
if (ObjectUtil.isNotEmpty(chargeConfig.getChanceCycle()) && !chargeFullNos.contains(robot.getRobotNo())
&& robotRemainingElectricity.compareTo(robotFullElectricity) < 0) {
//充满电

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java
View File

@ -131,6 +131,7 @@ public class CycleServiceImpl implements CycleService {
.takeType(v.getReleaseType())
.releaseId(v.getTakeId())
.takeId(v.getReleaseId())
.robotNo(v.getRobotNo())
.fromLocationNo(v.getToLocationNo())
.fromLocationId(v.getToLocationId())
.fromLaneId(v.getToLaneId())

22
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
View File

@ -156,7 +156,10 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
&& RobotStatusEnum.CHARGE.getType().equals(robot.getRobotStatus())) {
setRobotStatus(commonConfigDO, robot);
}*/
setRobotStatus(commonConfigDO, robot);
Boolean b = remainingElectricityBigger(chargeConfig, robot);
if (b) {
robot.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
}
}
robots = robots.stream()
@ -229,12 +232,12 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
}
/**
* 设置机器人的状态
* 剩余电量是否大于设置的充电阀值
*
* @param commonConfigDO
* @param chargeConfig
* @param robot
*/
private void setRobotStatus(CommonConfigDO commonConfigDO, RobotInformationDO robot) {
private Boolean remainingElectricityBigger(CommonConfigVO chargeConfig, RobotInformationDO robot) {
String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + robot.getMacAddress();
String chargeModelKey = RobotTaskChcheConstant.ROBOT_CHARGE_MODEL + robot.getRobotNo();
Object chargeModelCache = redisUtil.get(chargeModelKey);
@ -246,16 +249,14 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
Object o = redisUtil.get(socKey);
String soc = ObjectUtil.isEmpty(o) ? "0": o.toString();
if (ObjectUtil.isEmpty(commonConfigDO) || ObjectUtil.isEmpty(poseCache) || ObjectUtil.isEmpty(o)) {
return;
if ( ObjectUtil.isEmpty(poseCache) || ObjectUtil.isEmpty(o)) {
return false;
}
CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfigDO.getConfigStr(), CommonConfigVO.class);
//车子剩余电量
BigDecimal robotRemainingElectricity = new BigDecimal(soc);
//设置离开的电量
BigDecimal robotEndElectricity = new BigDecimal("10");
BigDecimal robotEndElectricity = new BigDecimal("30");
if (ObjectUtil.isNotEmpty(robot.getAutoCharge()) && ObjectUtil.isNotEmpty(chargeModelCache)
&& !ChargeModelEnum.FULL.getType().equals((Integer) chargeModelCache)) {
@ -270,10 +271,11 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
}
if (robotRemainingElectricity.compareTo(robotEndElectricity) >= 0) {
robot.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
return true;
}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());
}
return false;
}
/**

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
View File

@ -183,6 +183,13 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
*/
private void moveRobotToWait(List<RobotInformationDO> robots) {
List<RobotTaskDetailDO> detailDOS = robotTaskDetailMapper.selectAutoCreateCycleTask();
if (ObjectUtil.isNotEmpty(detailDOS)) {
log.info("---存在需要自动创建循环的任务，不移动到等待点--");
return;
}
robots = robots.stream()
.filter(v -> v.getRobotStatus().equals(RobotStatusEnum.STAND_BY.getType()))
.collect(Collectors.toList());