From 4beceefef74817fa5a35ace325f8c325cfcd809d Mon Sep 17 00:00:00 2001
From: cbs <18617195505@163.com>
Date: Tue, 3 Jun 2025 15:42:30 +0800
Subject: [PATCH] =?UTF-8?q?=E5=85=85=E7=94=B5=E8=87=AA=E5=8A=A8=E7=A7=BB?=
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---
 .../robot/job/AutoChargeServiceImpl.java       | 18 +++++++++++++-----
 .../pathplanning/RobotPathPlanningService.java |  2 ++
 .../RobotPathPlanningServiceImpl.java          |  3 ++-
 3 files changed, 17 insertions(+), 6 deletions(-)

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 5a77f2e38..4b006edd3 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
@@ -129,11 +129,12 @@ public class AutoChargeServiceImpl implements AutoChargeService {
                 log.info("没有充电中的车辆");
                 return;
             }
-            chargeIngRobots = getCanLeaveChargingRobots(chargeIngRobots, chargeConfig, robots.size());
-            if (ObjectUtil.isEmpty(chargeIngRobots)) {
+            List<RobotInformationDO>  moveToWaitRobots = getCanLeaveChargingRobots(chargeIngRobots, chargeConfig, robots.size());
+            if (ObjectUtil.isEmpty(moveToWaitRobots)) {
                 log.info("充电中的车辆未充满电");
                 return;
             }
+            robotPathPlanningService.moveRobotToWait(moveToWaitRobots);
             return;
         }
 
@@ -192,6 +193,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
     private List<RobotInformationDO> getCanLeaveChargingRobots(List<RobotInformationDO> robots, CommonConfigVO chargeConfig, int sum) {
         List<RobotInformationDO> needChargeRobots = new ArrayList<>();
         Map<String, Integer> map = new HashMap<>();
+        Map<String, RobotInformationDO> robotMap = new HashMap<>();
         for (RobotInformationDO robot : robots) {
             String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robot.getMacAddress();
             String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robot.getMacAddress();
@@ -215,6 +217,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
                 Object o = redisUtil.get(socKey);
                 Integer soc = ObjectUtil.isEmpty(o) ? 0 : Integer.parseInt(o.toString());
                 map.put(robot.getRobotNo(), soc);
+                robotMap.put(robot.getRobotNo(),robot);
             }
         }
 
@@ -226,9 +229,14 @@ public class AutoChargeServiceImpl implements AutoChargeService {
                 .sorted(Collections.reverseOrder(Map.Entry.comparingByValue()))
                 .collect(Collectors.toMap(Map.Entry::getKey, Map.Entry::getValue, (x1, x2) -> x2, LinkedHashMap::new));
 
-
-
-
+        log.info("排序后的集合 :{}",JSON.toJSONString(map));
+        for (Map.Entry<String, Integer> item : map.entrySet()) {
+            if (needChargeRobots.size() > sum) {
+                break;
+            }
+            needChargeRobots.add(robotMap.get(item.getKey()));
+        }
+        log.info("充电达到阀值，可以移动到等待点的车辆 :{}",JSON.toJSONString(needChargeRobots));
         return needChargeRobots;
     }
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningService.java
index abad18799..937890492 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningService.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningService.java
@@ -17,4 +17,6 @@ public interface RobotPathPlanningService {
                             List<RobotInformationDO> robots);
 
     List<TaskRobotNoLimittationAreaDTO> getRobotNoLimitationArea(List<RobotInformationDO> robots);
+
+    void moveRobotToWait(List<RobotInformationDO> robots);
 }
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 37f835f7d..1ea7aaee7 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
@@ -181,7 +181,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
      *
      * @param robots
      */
-    private void moveRobotToWait(List<RobotInformationDO> robots) {
+    @Override
+    public void moveRobotToWait(List<RobotInformationDO> robots) {
 
         List<RobotTaskDetailDO> detailDOS = robotTaskDetailMapper.selectAutoCreateCycleTask();