diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java index 0a2e3902d..91762ff26 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java @@ -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); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java index f256e41dd..fe7dff64e 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java @@ -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 }); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java index 06afa608e..ce8a7b843 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java @@ -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()); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java index deb6a8963..94841c488 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java @@ -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; } /** diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ScheduledTasks.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ScheduledTasks.java index cbe2c07c8..0a1f30b37 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ScheduledTasks.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ScheduledTasks.java @@ -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 diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java index c33ac6047..1618635a5 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java @@ -1431,7 +1431,7 @@ public class RobotInformationServiceImpl extends ServiceImpl robotNos = robots.stream().map(RobotInformationDO::getRobotNo).collect(Collectors.toList()); List list = new ArrayList<>(); - String floorArea = floor + "-" + area; + String floorArea = floor + CommonConstant.SYMBOL + area; Map hmget = redisUtil.hmget(floorArea); if (ObjectUtil.isEmpty(hmget)) { return new ArrayList<>(); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java index 3972468d7..5a77f2e38 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java @@ -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 chargeIngRobots = robotInformationMapper.selectList(new LambdaQueryWrapperX() + .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 getCanLeaveChargingRobots(List robots, CommonConfigVO chargeConfig, int sum) { + List needChargeRobots = new ArrayList<>(); + Map 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 getNeedChargeRobot(List robots, CommonConfigVO chargeConfig) { + List 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 diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java index 062d31383..819f01c83 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java @@ -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()) diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java index ea909c633..7fcccb484 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java @@ -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; } /** diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java index 0d761d0e2..37f835f7d 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java @@ -183,6 +183,13 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { */ private void moveRobotToWait(List robots) { + List 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());