联调修改

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);

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
         });
     }

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());

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;
     }
 
     /**

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

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<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<>();

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<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();
+            Integer electricity = getSocByMac(robot);
-            Object socObject = redisUtil.get(socKey);
+            if (ObjectUtil.isEmpty(electricity)) {
-
-            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());
                 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

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())

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)) {
+        if ( ObjectUtil.isEmpty(poseCache) || ObjectUtil.isEmpty(o)) {
-            return;
+            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;
     }
 
     /**

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<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());