任务查询/更新、校验机器人区域

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

@@ -31,7 +31,8 @@ management:
 
 # MQTT
 mqtt:
-  host: tcp://192.168.0.116:1883
+#  host: tcp://192.168.0.54:1883
+  host: tcp://127.0.0.1:1883
   username: adminuser
   password: adminuser
   qos: 1

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java

@@ -194,6 +194,7 @@ public interface ErrorCodeConstants {
     ErrorCode TASK_CHECK_ID_EXCEPTION = new ErrorCode(1-002-035-006, "请输入ID");
     ErrorCode TASK_CHECK_TASK_PRIORITY = new ErrorCode(1-002-035-007, "非新单据不能修改优先级");
     ErrorCode TASK_CHECK_TASK_STATUS = new ErrorCode(1-002-035-100, "订单已完成");
+    ErrorCode TASK_CHECK_UPDATE_STATUS = new ErrorCode(1-002-035-101, "订单更新失败");
 
     // ========== 机器人任务明细 1-002-036-000 ==========
     ErrorCode TASK_DETAIL_NOT_EXISTS = new ErrorCode(1-002-036-001, "机器人任务明细不存在");

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

@@ -82,10 +82,10 @@ public class RobotTaskController {
         return success(taskService.getTaskNo());
     }
 
-    @GetMapping("/page")
+    @PostMapping("/page")
     @Operation(summary = "获得机器人任务主表分页")
     @PreAuthorize("@ss.hasPermission('robot:task:query')")
-    public CommonResult<PageResult<RobotTaskRespVO>> getTaskPage(@Valid RobotTaskPageReqVO pageReqVO) {
+    public CommonResult<PageResult<RobotTaskRespVO>> getTaskPage(@Valid @RequestBody RobotTaskPageReqVO pageReqVO) {
         PageResult<RobotTaskRespVO> pageResult = taskService.getTaskPage(pageReqVO);
         return success(BeanUtils.toBean(pageResult, RobotTaskRespVO.class));
     }

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

@@ -51,6 +51,9 @@ public class RobotTaskPageReqVO extends PageParam {
     @Schema(description = "任务号")
     private String taskNo;
 
+    @Schema(description = "机器人编号")
+    private String robotNo;
+
     @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消)", example = "2")
     private Integer taskStatus;
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationDO.java

@@ -146,4 +146,8 @@ public class WareHouseLocationDO extends BaseDO {
      * ware_position_map的id
      */
     private Long mapId;
+    /**
+     * ware_position_map_item的id
+     */
+    private Long mapItemId;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapItemDO.java

@@ -47,6 +47,10 @@ public class PositionMapItemDO extends BaseDO {
      * 坐标y轴
      */
     private String locationY;
+    /**
+     * 对应各个类型的独有属性Json格式 例如（{库位长度:1,库位宽度:2,库位方向:单向
+     */
+    private String dataJson;
     /**
      * 类型 1.行走点位 2.库位 3.充电桩 --- 后续补充
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java

@@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.dal.mysql.positionmap;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.module.mqtt.api.task.dto.Pose2ds;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemPageReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
 import org.apache.ibatis.annotations.Mapper;
@@ -26,4 +27,10 @@ public interface PositionMapItemMapper extends BaseMapperX<PositionMapItemDO> {
                 .orderByDesc(PositionMapItemDO::getId));
     }
 
+    /**
+     * 根据库位id查询
+     * @param locationId
+     * @return
+     */
+    Pose2ds selectByLocationId(Long locationId);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskDetailMapper.java

@@ -86,4 +86,10 @@ public interface RobotTaskDetailMapper extends BaseMapperX<RobotTaskDetailDO> {
     void updateRobotDetailById(RobotTaskDetailDO detailDO);
 
 
+    /**
+     * 查询正在处理中的任务主表id
+     * @return
+     */
+    List<Long> getDoingTaskIds();
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskMapper.java

@@ -7,6 +7,7 @@ import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskPageReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
+import com.baomidou.mybatisplus.core.metadata.IPage;
 import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
 
@@ -50,6 +51,15 @@ public interface RobotTaskMapper extends BaseMapperX<RobotTaskDO> {
      * 获取未完成的订单id
      * @return
      */
-    List<Long> getUnDoAndDoingTaskIds(@Param("montageTask") Integer montageTask);
+    List<Long> getUnDoAndDoingTaskIds(@Param("montageTask") Integer montageTask,
+                                      @Param("ids") List<Long> ids );
 
+    /**
+     * 分页查询
+     * @param mpPage
+     * @param pageReqVO
+     * @return
+     */
+    IPage<RobotTaskDO> selectPageList(@Param("mpPage") IPage mpPage,
+                                      @Param("pageReqVO") RobotTaskPageReqVO pageReqVO);
 }

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

@@ -16,6 +16,8 @@ public enum CommandTypeEnum {
     STOP("STOP"),//停止
     START("START"),//启动
     WAIT("WAIT"),//等待
+    GET_PALLET_TOPIC("GET_PALLET_TOPIC"),//获取托盘位置
+    MOVE_TO_PALLET_POSE("MOVE_TO_PALLET_POSE"),//让车机移动到取货终点
     FORK("FORK"); //控制货叉上下移动
     /**
      * 类型

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

@@ -9,7 +9,8 @@ public enum RobotTaskStatusEnum {
     NEW(0),//未开始
     DOING(1),//执行中
     DONE(2),//已完成
-    CLOSE(3); //已取消
+    CLOSE(3), //已取消
+    Exc(4); //异常
     /**
      * 类型
      */

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

@@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.service.robot;
 import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.common.util.date.DateUtils;
+import cn.iocoder.yudao.framework.mybatis.core.util.MyBatisUtils;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
@@ -16,6 +17,7 @@ import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
 import cn.iocoder.yudao.module.system.enums.robot.*;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import cn.iocoder.yudao.module.system.util.redis.RedissonUtils;
+import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.google.common.collect.Lists;
 import lombok.extern.slf4j.Slf4j;
 import org.redisson.api.RLock;
@@ -364,7 +366,8 @@ public class RobotTaskServiceImpl implements RobotTaskService {
      */
     @Transactional(rollbackFor = Exception.class)
     public void doDetectingTrays(RobotTaskDetailAddVO robotTaskVo) {
-
+        setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),new ArrayList<>());
+        locationMapper.updateLocationLockStatus(robotTaskVo.getToLocationId(),0,robotTaskVo.getRobotTaskId());
     }
 
     /**
@@ -373,7 +376,8 @@ public class RobotTaskServiceImpl implements RobotTaskService {
      */
     @Transactional(rollbackFor = Exception.class)
     public void doScan(RobotTaskDetailAddVO robotTaskVo) {
-
+        setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),new ArrayList<>());
+        locationMapper.updateLocationLockStatus(robotTaskVo.getToLocationId(),0,robotTaskVo.getRobotTaskId());
     }
 
     /**
@@ -445,7 +449,7 @@ public class RobotTaskServiceImpl implements RobotTaskService {
     }
 
     /**
-     * 设置停车/目标库位
+     * 设置停车/目标库位/扫描库位
      */
     @Transactional(rollbackFor = Exception.class)
     public void setToLocation(RobotTaskDetailAddVO robotTaskVo, Set<Long> mapIds, List<Long> locationIds){
@@ -530,7 +534,7 @@ public class RobotTaskServiceImpl implements RobotTaskService {
         List<RobotTaskDetailDO> doingTasks = taskDetailMapper.queryDoingTaskByIds(set);
         if (ObjectUtil.isNotEmpty(doingTasks)) {
             log.error("取货库位,存在未完成的任务 :{}", robotTaskVo.getTakeId());
-            throw new RuntimeException("取货库位,存在未完成的任务");
+            throw new RuntimeException("取货库位,存在未完成的任务 ");
         }
 
         //设置为锁定
@@ -542,6 +546,7 @@ public class RobotTaskServiceImpl implements RobotTaskService {
     @Transactional(rollbackFor = Exception.class)
     public void updateTask(RobotTaskSaveReqVO updateReqVO) {
         RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
+        String msg = "";
         if (lock.tryLock()){
             try {
                 // 校验存在
@@ -550,33 +555,53 @@ public class RobotTaskServiceImpl implements RobotTaskService {
                     throw exception(TASK_CHECK_ID_EXCEPTION);
                 }
                 // 更新
-                //修改优先级需要订单状态为未开始
+                //修改优先级需要订单状态为未开始/处理中
                 RobotTaskDO robotTaskDO = taskMapper.selectById(updateReqVO.getId());
-                if (ObjectUtil.isNotEmpty(updateReqVO.getPriority())) {
+                List<RobotTaskDetailDO> taskDetailDOS = taskDetailMapper.queryByTaskId(updateReqVO.getId());
-                    if (!RobotTaskStatusEnum.NEW.getType().equals(robotTaskDO.getTaskStatus())) {
+                if (ObjectUtil.isNotEmpty(updateReqVO.getPriority())
+                        && !updateReqVO.getPriority().equals(robotTaskDO.getPriority())) {
+                    if (!RobotTaskStatusEnum.NEW.getType().equals(robotTaskDO.getTaskStatus())
+                        && !RobotTaskStatusEnum.DOING.getType().equals(robotTaskDO.getTaskStatus())) {
                         throw exception(TASK_CHECK_TASK_PRIORITY);
                     }
-                    List<RobotTaskDetailDO> taskDetailDOS = taskDetailMapper.queryByTaskId(updateReqVO.getId());
                     for (RobotTaskDetailDO taskDetailDO : taskDetailDOS) {
                         taskDetailDO.setPriority(updateReqVO.getPriority());
-                        taskDetailMapper.updateRobotDetailById(taskDetailDO);
                     }
                 }
                 //修改订单状态
-                if (ObjectUtil.isNotEmpty(updateReqVO.getTaskStatus()) &&
+                if (ObjectUtil.isNotEmpty(updateReqVO.getTaskStatus())
-                        RobotTaskStatusEnum.DONE.getType().equals(robotTaskDO.getTaskStatus())) {
+                        && RobotTaskStatusEnum.DONE.getType().equals(robotTaskDO.getTaskStatus())
+                        && !robotTaskDO.getTaskStatus().equals(updateReqVO.getTaskStatus())) {
                     throw exception(TASK_CHECK_TASK_STATUS);
                 }
+                if (ObjectUtil.isNotEmpty(updateReqVO.getTaskStatus())
+                    && !robotTaskDO.getTaskStatus().equals(updateReqVO.getTaskStatus())) {
+                    for (RobotTaskDetailDO taskDetailDO : taskDetailDOS) {
+                        if (RobotTaskDetailStatusEnum.DONE.getType().equals(taskDetailDO.getTaskStatus())) {
+                            continue;
+                        }
+                        //后期需做状态映射
+                        taskDetailDO.setTaskStatus(updateReqVO.getTaskStatus());
+                    }
+                }
+
                 RobotTaskDO updateObj = BeanUtils.toBean(updateReqVO, RobotTaskDO.class);
                 taskMapper.updateById(updateObj);
+
+                taskDetailMapper.updateBatch(taskDetailDOS);
             } catch (Exception e) {
-                log.error("下发任务给车机出现异常 :{}",e.getMessage());
+                log.error("更新任务失败 :{}",e.getMessage());
+                msg = e.getMessage();
             } finally {
                 lock.unlock();
             }
         } else {
             throw exception(REDISSON_NOT_OBTAIN_LOCK);
         }
+
+        if (ObjectUtil.isNotEmpty(msg)) {
+            throw exception0(TASK_CHECK_UPDATE_STATUS.getCode(), msg);
+        }
     }
 
     @Override
@@ -600,10 +625,21 @@ public class RobotTaskServiceImpl implements RobotTaskService {
 
     @Override
     public PageResult<RobotTaskRespVO> getTaskPage(RobotTaskPageReqVO pageReqVO) {
-        PageResult<RobotTaskDO> pageResult = taskMapper.selectPage(pageReqVO);
+
+        PageResult<RobotTaskDO> pageResult = null;
         PageResult<RobotTaskRespVO> dataPage = new PageResult<>();
-        dataPage.setTotal(pageResult.getTotal());
+        List<RobotTaskDO> list = new ArrayList<>();
-        List<RobotTaskDO> list = pageResult.getList();
+        if (ObjectUtil.isEmpty(pageReqVO.getRobotNo())) {
+            pageResult = taskMapper.selectPage(pageReqVO);
+            dataPage.setTotal(pageResult.getTotal());
+            list = pageResult.getList();
+        }else {
+            IPage mpPage = MyBatisUtils.buildPage(pageReqVO);
+            IPage<RobotTaskDO> page = taskMapper.selectPageList(mpPage, pageReqVO);
+            dataPage.setTotal(page.getTotal());
+            list = page.getRecords();
+        }
+
         List<RobotTaskRespVO> targetList = BeanUtil.copyToList(list, RobotTaskRespVO.class);
         for (RobotTaskRespVO robotTaskRespVO : targetList) {
             robotTaskRespVO.setDetails(taskDetailMapper.queryByTaskId(robotTaskRespVO.getId()));

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

@@ -6,25 +6,29 @@ import cn.iocoder.yudao.module.mqtt.api.task.RobotTaskApi;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.Pose2ds;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskData;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
+import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
 import cn.iocoder.yudao.module.system.enums.robot.*;
+import com.alibaba.fastjson.JSON;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 
 import javax.annotation.Resource;
+import java.math.BigDecimal;
 import java.time.LocalDateTime;
-import java.util.ArrayList;
+import java.util.*;
-import java.util.Date;
+import org.apache.commons.lang3.tuple.ImmutablePair;
-import java.util.List;
+import org.apache.commons.lang3.tuple.Pair;
-import java.util.Optional;
-import java.util.stream.Collectors;
 
 @Service
 @Slf4j
@@ -42,6 +46,28 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
     @Resource
     private RobotTaskApi robotTaskApi;
 
+    @Resource
+    private PositionMapItemMapper positionMapItemMapper;
+
+    @Value("${zn.init_height:0.0}")
+    private double initHeight;
+
+    @Value("${zn.scan_height:0.4}")
+    private double scanHeight;
+
+    @Value("${zn.parm:5000}")
+    private Integer parm;
+
+    @Value("${zn.lift_height:0.1}")
+    private double liftHeight;
+
+    @Value("${zn.move_height:0.1}")
+    private double moveHeight;
+
+
+    @Resource
+    private WareHouseLocationMapper locationMapper;
+
     /**
      * 下发搬运任务
      */
@@ -56,9 +82,10 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         }
 
         //拼接任务id
-        List<Long> montageTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.YES.getType());
+        List<Long> detailDongIds = robotTaskDetailMapper.getDoingTaskIds();
+        List<Long> montageTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.YES.getType(),detailDongIds);
         //不拼接的任务id
-        List<Long> singleTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.NO.getType());
+        List<Long> singleTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.NO.getType(),new ArrayList<>());
 
         if (ObjectUtil.isEmpty(montageTaskIds) && ObjectUtil.isEmpty(singleTaskIds)) {
             log.info("暂无需要处理的主任务");
@@ -111,7 +138,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                 case TAKE_RELEASE:
                     doTakeReleaseDistribute(taskDetailDO, robots,robotTaskDOS);
                     break;
-                case PARK:
+                /*case PARK:
                     doParkDistribute(taskDetailDO, robots,robotTaskDOS);
                     break;
                 case CHARGE:
@@ -131,13 +158,14 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                     break;
                 case DETECTING_TRAYS:
                     doDetectingTraysDistribute(taskDetailDO,robots,robotTaskDOS);
-                    break;
+                    break;*/
                 default:
                     log.error("下发任务的类型不存在");
             }
         }
 
         if (ObjectUtil.isNotEmpty(robotTaskDOS)) {
+            log.info("任务下发给车机 :{}", JSON.toJSONString(robotTaskDOS));
             robotTaskApi.sendTaskToRobot(robotTaskDOS);
         }
     }
@@ -148,7 +176,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
      * @param robots
      * @param robotTaskDOS
      */
-    private void doDetectingTraysDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
+    @Transactional(rollbackFor = Exception.class)
+    public void doDetectingTraysDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
                                             List<RobotAcceptTaskDTO> robotTaskDOS) {
 
     }
@@ -159,7 +188,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
      * @param robots
      * @param robotTaskDOS
      */
-    private void doScanDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
+    @Transactional(rollbackFor = Exception.class)
+    public void doScanDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
                                   List<RobotAcceptTaskDTO> robotTaskDOS) {
 
     }
@@ -170,7 +200,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
      * @param robots
      * @param robotTaskDOS
      */
-    private void doReleaseDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
+    @Transactional(rollbackFor = Exception.class)
+    public void doReleaseDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
                                      List<RobotAcceptTaskDTO> robotTaskDOS) {
 
     }
@@ -181,7 +212,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
      * @param robots
      * @param robotTaskDOS
      */
-    private void doTakeDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
+    @Transactional(rollbackFor = Exception.class)
+    public void doTakeDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
                                   List<RobotAcceptTaskDTO> robotTaskDOS) {
 
     }
@@ -192,7 +224,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
      * @param robots
      * @param robotTaskDOS
      */
-    private void doMoveDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
+    @Transactional(rollbackFor = Exception.class)
+    public void doMoveDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
                                   List<RobotAcceptTaskDTO> robotTaskDOS) {
         String macAddress = "";
         String robotNo = taskDetailDO.getRobotNo();
@@ -250,7 +283,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
      * @param robots
      * @param robotTaskDOS
      */
-    private void doChargeDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
+    @Transactional(rollbackFor = Exception.class)
+    public void doChargeDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
                                     List<RobotAcceptTaskDTO> robotTaskDOS) {
 
     }
@@ -261,7 +295,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
      * @param robots
      * @param robotTaskDOS
      */
-    private void doParkDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
+    @Transactional(rollbackFor = Exception.class)
+    public void doParkDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
                                   List<RobotAcceptTaskDTO> robotTaskDOS) {
         String macAddress = "";
         String robotNo = taskDetailDO.getRobotNo();
@@ -308,21 +343,19 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
     @Transactional(rollbackFor = Exception.class)
     public void doTakeReleaseDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
                                          List<RobotAcceptTaskDTO> robotTaskDOS) {
+        WareHouseLocationDO query = WareHouseLocationDO.builder().id(taskDetailDO.getFromLocationId()).build();
+        WareHouseLocationDO fromLocation = locationMapper.queryAllByLimit(query);
 
-        String macAddress = "";
+        WareHouseLocationDO toQuery = WareHouseLocationDO.builder().id(taskDetailDO.getToLocationId()).build();
-        String robotNo = taskDetailDO.getRobotNo();
+        WareHouseLocationDO toLocation = locationMapper.queryAllByLimit(toQuery);
-        if (ObjectUtil.isNotEmpty(taskDetailDO.getRobotNo())) {
+
-             macAddress = robots.stream()
+        Pair<String,String> pair = getMadAddressRobotNo(taskDetailDO,robots,fromLocation,toLocation);
-                    .filter(v -> v.getRobotNo().equals(taskDetailDO.getRobotNo()))
+        String macAddress = pair.getLeft();
-                    .map(RobotInformationDO::getMacAddress)
+        String robotNo = pair.getRight();
-                    .findFirst()
+
-                    .orElse("");
+        if (ObjectUtil.isEmpty(macAddress) || ObjectUtil.isEmpty(robotNo)) {
-            if (ObjectUtil.isEmpty(macAddress) ) {
+            log.info("mac地址为空 :{}, 机器人编号 ：{}", macAddress, robotNo);
-                return;
+            return;
-            }
-        } else {
-            macAddress = robots.get(0).getMacAddress();
-            robotNo = robots.get(0).getRobotNo();
         }
 
         RobotAcceptTaskDTO robotTaskDO = new RobotAcceptTaskDTO();
@@ -337,17 +370,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         taskOne.setCommand_type(CommandTypeEnum.MOVE_POSES.getType());
 
         List<Pose2ds> pose2ds = new ArrayList<>();
-        Pose2ds pose2d1 = new Pose2ds();
+        Pose2ds pose2 = positionMapItemMapper.selectByLocationId(taskDetailDO.getFromLocationId());
-        pose2d1.setX(-1.305);
+        pose2ds.add(pose2);
-        pose2d1.setY(-0.553);
-        pose2d1.setYaw(0.091);
-        Pose2ds pose2d2 = new Pose2ds();
-        pose2d2.setX(-0.407);
-        pose2d2.setY(-0.566);
-        pose2d2.setYaw(0.117);
-        pose2ds.add(pose2d1);
-        pose2ds.add(pose2d2);
-
         taskOne.setPose2ds(pose2ds);
 
         //2
@@ -355,57 +379,157 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         taskTwo.setSerial("1");
         taskTwo.setCommand_id(taskDetailDO.getId().toString());
         taskTwo.setCommand_type(CommandTypeEnum.FORK.getType());
-        taskTwo.setTarget_height(0.0d);
+        taskTwo.setTarget_height(initHeight);
 
         //3
         RobotAcceptTaskData taskThree = new RobotAcceptTaskData();
         taskThree.setSerial("2");
         taskThree.setCommand_id(taskDetailDO.getId().toString());
-        taskThree.setCommand_type(CommandTypeEnum.WAIT.getType());
+        taskThree.setCommand_type(CommandTypeEnum.FORK.getType());
-        taskThree.setParm(2000);
+        taskThree.setTarget_height(scanHeight);
 
         //4
         RobotAcceptTaskData taskFour = new RobotAcceptTaskData();
         taskFour.setSerial("3");
         taskFour.setCommand_id(taskDetailDO.getId().toString());
-        taskFour.setCommand_type(CommandTypeEnum.FORK.getType());
+        taskFour.setCommand_type(CommandTypeEnum.WAIT.getType());
-        taskFour.setTarget_height(0.5);
+        taskFour.setParm(parm);
 
         //5
         RobotAcceptTaskData taskFive = new RobotAcceptTaskData();
         taskFive.setSerial("4");
         taskFive.setCommand_id(taskDetailDO.getId().toString());
-        taskFive.setCommand_type(CommandTypeEnum.MOVE_POSE.getType());
+        taskFive.setCommand_type(CommandTypeEnum.GET_PALLET_TOPIC.getType());
-        Pose2ds pose2d = new Pose2ds();
-        pose2d.setX(0.183);
-        pose2d.setY(-0.572);
-        pose2d.setYaw(-0.088);
-        taskFive.setPose2d(pose2d);
 
         //6
         RobotAcceptTaskData taskSix = new RobotAcceptTaskData();
         taskSix.setSerial("5");
         taskSix.setCommand_id(taskDetailDO.getId().toString());
         taskSix.setCommand_type(CommandTypeEnum.FORK.getType());
-        taskSix.setTarget_height(0.05);
+
+
+        double fromLocationTotalHeight = fromLocation.getLocationTotalHeight().doubleValue();
+        taskSix.setTarget_height(fromLocationTotalHeight);
 
         //7
         RobotAcceptTaskData taskSeven = new RobotAcceptTaskData();
         taskSeven.setSerial("6");
         taskSeven.setCommand_id(taskDetailDO.getId().toString());
-        taskSeven.setCommand_type(CommandTypeEnum.MOVE_POSE.getType());
+        taskSeven.setCommand_type(CommandTypeEnum.MOVE_TO_PALLET_POSE.getType());
-        Pose2ds pose2d7 = new Pose2ds();
+
-        pose2d7.setX(-0.407);
+
-        pose2d7.setY(-0.566);
-        pose2d7.setYaw(0.117);
-        taskSeven.setPose2d(pose2d7);
 
         //8
-        RobotAcceptTaskData taskEight = new RobotAcceptTaskData();
+        RobotAcceptTaskData taskEigth = new RobotAcceptTaskData();
-        taskEight.setSerial("7");
+        taskEigth.setSerial("7");
-        taskEight.setCommand_id(taskDetailDO.getId().toString());
+        taskEigth.setCommand_id(taskDetailDO.getId().toString());
-        taskEight.setCommand_type(CommandTypeEnum.FORK.getType());
+        taskEigth.setCommand_type(CommandTypeEnum.FORK.getType());
-        taskEight.setTarget_height(0.05);
+        BigDecimal b1 = new BigDecimal(Double.toString(fromLocationTotalHeight));
+        BigDecimal b2 = new BigDecimal(Double.toString(liftHeight));
+        taskEigth.setTarget_height(b1.add(b2).doubleValue());
+
+
+        //8-2
+        RobotAcceptTaskData taskEigth2 = new RobotAcceptTaskData();
+        taskEigth2.setSerial("8");
+        taskEigth2.setCommand_id(taskDetailDO.getId().toString());
+        taskEigth2.setCommand_type(CommandTypeEnum.MOVE_POSE.getType());
+        Pose2ds poseWait1 = positionMapItemMapper.selectByLocationId(100l);
+        taskEigth2.setPose2d(poseWait1);
+
+        //9
+        RobotAcceptTaskData taskNigth = new RobotAcceptTaskData();
+        taskNigth.setSerial("9");
+        taskNigth.setCommand_id(taskDetailDO.getId().toString());
+        taskNigth.setCommand_type(CommandTypeEnum.MOVE_POSES.getType());
+        List<Pose2ds> pose2dsNight = new ArrayList<>();
+
+        WareHouseLocationDO ware = WareHouseLocationDO.builder()
+                .laneId(-2l)
+                .build();
+        List<WareHouseLocationDO> releaseStockList =
+                locationMapper.selectLocations(ware,new ArrayList<>(),new HashSet<>());
+        for (WareHouseLocationDO wareHouseLocationDO : releaseStockList) {
+            Pose2ds pose = positionMapItemMapper.selectByLocationId(wareHouseLocationDO.getId());
+            pose2dsNight.add(pose);
+        }
+
+
+        /*Pose2ds poseOne = new Pose2ds();
+        poseOne.setX(-2.097);
+        poseOne.setY(-0.325);
+        poseOne.setYaw(1.571);
+        Pose2ds poseTwo = new Pose2ds();
+        poseTwo.setX(-0.856);
+        poseTwo.setY(1.622);
+        poseTwo.setYaw(0.034);
+        Pose2ds poseThree = new Pose2ds();
+        poseThree.setX(1.955);
+        poseThree.setY(-0.381);
+        poseThree.setYaw(-1.540);
+        Pose2ds poseFour = new Pose2ds();
+        poseFour.setX(3.046);
+        poseFour.setY(3.219);
+        poseFour.setYaw(-3.141);
+        pose2dsNight.add(poseOne);
+        pose2dsNight.add(poseTwo);
+        pose2dsNight.add(poseThree);
+        pose2dsNight.add(poseFour);*/
+        taskNigth.setPose2ds(pose2dsNight);
+
+        //10
+        RobotAcceptTaskData taskTen = new RobotAcceptTaskData();
+        taskTen.setSerial("9");
+        taskTen.setCommand_id(taskDetailDO.getId().toString());
+        taskTen.setCommand_type(CommandTypeEnum.FORK.getType());
+        taskTen.setTarget_height(moveHeight);
+
+        //11
+        RobotAcceptTaskData taskEleven = new RobotAcceptTaskData();
+        taskEleven.setSerial("10");
+        taskEleven.setCommand_id(taskDetailDO.getId().toString());
+        taskEleven.setCommand_type(CommandTypeEnum.FORK.getType());
+
+        double toLocationTotalHeight = toLocation.getLocationTotalHeight().doubleValue();
+        BigDecimal b3 = new BigDecimal(Double.toString(toLocationTotalHeight));
+        BigDecimal b4 = new BigDecimal(Double.toString(liftHeight));
+        taskEleven.setTarget_height(b3.add(b4).doubleValue());
+
+        //12
+        RobotAcceptTaskData taskTwelve = new RobotAcceptTaskData();
+        taskTwelve.setSerial("11");
+        taskTwelve.setCommand_id(taskDetailDO.getId().toString());
+        taskTwelve.setCommand_type(CommandTypeEnum.MOVE_POSE.getType());
+        Pose2ds poseEnd = positionMapItemMapper.selectByLocationId(taskDetailDO.getToLocationId());
+        taskTwelve.setPose2d(poseEnd);
+
+        //13
+        RobotAcceptTaskData taskThirteen = new RobotAcceptTaskData();
+        taskThirteen.setSerial("12");
+        taskThirteen.setCommand_id(taskDetailDO.getId().toString());
+        taskThirteen.setCommand_type(CommandTypeEnum.FORK.getType());
+        taskThirteen.setTarget_height(toLocationTotalHeight);
+
+        //14
+        RobotAcceptTaskData taskFourteen = new RobotAcceptTaskData();
+        taskFourteen.setSerial("13");
+        taskFourteen.setCommand_id(taskDetailDO.getId().toString());
+        taskFourteen.setCommand_type(CommandTypeEnum.MOVE_POSE.getType());
+        Pose2ds poseWait = positionMapItemMapper.selectByLocationId(99l);
+        taskFourteen.setPose2d(poseWait);
+        /*
+        Pose2ds poseWait = new Pose2ds();
+        poseWait.setX(3.046);
+        poseWait.setY(3.219);
+        poseWait.setYaw(-3.141);
+        taskFourteen.setPose2d(poseWait);*/
+
+        //15
+        RobotAcceptTaskData taskFifteen = new RobotAcceptTaskData();
+        taskFifteen.setSerial("14");
+        taskFifteen.setCommand_id(taskDetailDO.getId().toString());
+        taskFifteen.setCommand_type(CommandTypeEnum.FORK.getType());
+        taskFifteen.setTarget_height(initHeight);
 
         List<RobotAcceptTaskData> data = new ArrayList<>();
         data.add(taskOne);
@@ -415,7 +539,17 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         data.add(taskFive);
         data.add(taskSix);
         data.add(taskSeven);
-        data.add(taskEight);
+        data.add(taskEigth);
+        data.add(taskEigth2);
+        data.add(taskNigth);
+        data.add(taskTen);
+        data.add(taskEleven);
+        data.add(taskTwelve);
+        data.add(taskThirteen);
+        data.add(taskFourteen);
+        data.add(taskFifteen);
+
+
         robotTaskDO.setData(data);
 
         robotTaskDOS.add(robotTaskDO);
@@ -426,6 +560,29 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         updateTaskStatus(robotNo,taskDetailDO);
     }
 
+    private Pair<String, String> getMadAddressRobotNo(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
+                                                      WareHouseLocationDO fromLocation, WareHouseLocationDO toLocation) {
+        String macAddress = "";
+        String robotNo = taskDetailDO.getRobotNo();
+        if (ObjectUtil.isNotEmpty(robotNo)) {
+            macAddress = robots.stream()
+                    .filter(v -> v.getRobotNo().equals(taskDetailDO.getRobotNo()))
+                    .map(RobotInformationDO::getMacAddress)
+                    .findFirst()
+                    .orElse("");
+        } else {
+            RobotInformationDO robotInformationDO = robots.stream()
+                    .filter(v -> v.getFloorAreaJson().contains(fromLocation.getAreaId())
+                            && v.getFloorAreaJson().contains(toLocation.getAreaId()))
+                    .findFirst()
+                    .orElse(new RobotInformationDO());
+            macAddress = robotInformationDO.getMacAddress();
+            robotNo = robotInformationDO.getRobotNo();
+        }
+        Pair<String,String> pair = new ImmutablePair<>(macAddress,robotNo);
+        return pair;
+    }
+
     @Transactional(rollbackFor = Exception.class)
     public void updateTaskStatus(String robotNo, RobotTaskDetailDO taskDetailDO) {
         robotInformationMapper.updateRobotStatus(robotNo, RobotStatusEnum.DOING.getType());

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

@@ -182,3 +182,12 @@ justauth:
     type: REDIS
     prefix: 'social_auth_state:' # 缓存前缀，目前只对 Redis 缓存生效，默认 JUSTAUTH::STATE::
     timeout: 24h # 超时时长，目前只对 Redis 缓存生效，默认 3 分钟
+
+zn:
+  task-no: ZN #任务号开头
+  do_cycle: true #是否开启循环
+  init_height: 0.0 #初始化高度
+  scan_height: 0.4 #扫描高度
+  parm: 5000 #等待时间
+  lift_height: 0.1 #抬高托盘高度
+  move_height: 0.1 #行走高度

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

@@ -223,3 +223,12 @@ justauth:
 map:
   file:
     upload-path: /Users/aikai/Documents/map/ # 地图文件上传路径
+
+zn:
+  task-no: ZN #任务号开头
+  do_cycle: true #是否开启循环
+  init_height: 0.0 #初始化高度
+  scan_height: 0.4 #扫描高度
+  parm: 5000 #等待时间
+  lift_height: 0.1 #抬高托盘高度
+  move_height: 0.1 #行走高度

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

@@ -207,6 +207,3 @@ yudao:
 
 debug: false
 
-zn:
-  task-no: ZN #任务号开头
-  do_cycle: true #是否开启循环

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationMapper.xml

@@ -30,6 +30,8 @@
         <result property="locationStorey" column="location_storey" jdbcType="INTEGER"/>
         <result property="locationType" column="location_type" jdbcType="INTEGER"/>
         <result property="locationNumber" column="location_number" jdbcType="INTEGER"/>
+        <result property="mapId" column="map_id" jdbcType="INTEGER"/>
+        <result property="mapItemId" column="map_item_id" jdbcType="INTEGER"/>
         <result property="creator" column="creator" jdbcType="VARCHAR"/>
         <result property="createTime" column="create_time" jdbcType="TIMESTAMP"/>
         <result property="updater" column="updater" jdbcType="VARCHAR"/>
@@ -67,6 +69,8 @@
                location_storey,
                location_type,
                location_number,
+               map_id,
+               map_item_id,
                creator,
                create_time,
                updater,
@@ -652,6 +656,7 @@
                 </foreach>
             </if>
         </where>
+        order by id asc
     </select>
     <select id="getLocationByName" resultType="cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationRespVO">
         <choose>

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml

@@ -8,5 +8,258 @@
         代码生成器暂时只生成 Mapper XML 文件本身，更多推荐 MybatisX 快速开发插件来生成查询。
         文档可见：https://www.iocoder.cn/MyBatis/x-plugins/
      -->
+    <resultMap id="BaseResultMap" type="cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO">
+        <!--@Table ware_position_map_item-->
+        <result property="id" column="id" jdbcType="INTEGER"/>
+        <result property="positionMapId" column="position_map_id" jdbcType="INTEGER"/>
+        <result property="areaId" column="area_id" jdbcType="INTEGER"/>
+        <result property="laneId" column="lane_id" jdbcType="INTEGER"/>
+        <result property="locationX" column="location_x" jdbcType="VARCHAR"/>
+        <result property="locationY" column="location_y" jdbcType="VARCHAR"/>
+        <result property="type" column="type" jdbcType="INTEGER"/>
+        <result property="dataJson" column="data_json" jdbcType="VARCHAR"/>
+        <result property="creator" column="creator" jdbcType="VARCHAR"/>
+        <result property="createTime" column="create_time" jdbcType="TIMESTAMP"/>
+        <result property="updater" column="updater" jdbcType="VARCHAR"/>
+        <result property="updateTime" column="update_time" jdbcType="TIMESTAMP"/>
+        <result property="deleted" column="deleted" jdbcType="INTEGER"/>
+    </resultMap>
 
+    <!--查询单个-->
+    <sql id="base_sql" >
+               id,
+               position_map_id,
+               area_id,
+               lane_id,
+               location_x,
+               location_y,
+               type,
+               data_json,
+               creator,
+               create_time,
+               updater,
+               update_time,
+               deleted,
+               tenant_id
+    </sql>
+
+    <!--查询指定行数据-->
+    <select id="queryAllByLimit" resultMap="BaseResultMap">
+        select
+        id, position_map_id, area_id, lane_id, location_x, location_y, type, data_json, creator, create_time, updater,
+        update_time, deleted, tenant_id
+        from ware_position_map_item
+        <where>
+            <if test="id != null">
+                and id = #{id}
+            </if>
+            <if test="positionMapId != null">
+                and position_map_id = #{positionMapId}
+            </if>
+            <if test="areaId != null">
+                and area_id = #{areaId}
+            </if>
+            <if test="laneId != null">
+                and lane_id = #{laneId}
+            </if>
+            <if test="locationX != null and locationX != ''">
+                and location_x = #{locationX}
+            </if>
+            <if test="locationY != null and locationY != ''">
+                and location_y = #{locationY}
+            </if>
+            <if test="type != null">
+                and type = #{type}
+            </if>
+            <if test="dataJson != null and dataJson != ''">
+                and data_json = #{dataJson}
+            </if>
+            <if test="creator != null and creator != ''">
+                and creator = #{creator}
+            </if>
+            <if test="createTime != null">
+                and create_time = #{createTime}
+            </if>
+            <if test="updater != null and updater != ''">
+                and updater = #{updater}
+            </if>
+            <if test="updateTime != null">
+                and update_time = #{updateTime}
+            </if>
+            <if test="deleted != null">
+                and deleted = #{deleted}
+            </if>
+            <if test="tenantId != null">
+                and tenant_id = #{tenantId}
+            </if>
+        </where>
+        limit #{pageable.offset}, #{pageable.pageSize}
+    </select>
+
+    <!--通过实体作为筛选条件查询-->
+    <select id="queryAll" resultMap="BaseResultMap">
+    select
+    id, position_map_id, area_id, lane_id, location_x, location_y, type, data_json, creator, create_time, updater,
+    update_time, deleted, tenant_id
+    from zn_wcs.ware_position_map_item
+    </select>
+    <!--统计总行数-->
+    <select id="count" resultType="java.lang.Long">
+        select count(1)
+        from ware_position_map_item
+        <where>
+            <if test="id != null">
+                and id = #{id}
+            </if>
+            <if test="positionMapId != null">
+                and position_map_id = #{positionMapId}
+            </if>
+            <if test="areaId != null">
+                and area_id = #{areaId}
+            </if>
+            <if test="laneId != null">
+                and lane_id = #{laneId}
+            </if>
+            <if test="locationX != null and locationX != ''">
+                and location_x = #{locationX}
+            </if>
+            <if test="locationY != null and locationY != ''">
+                and location_y = #{locationY}
+            </if>
+            <if test="type != null">
+                and type = #{type}
+            </if>
+            <if test="dataJson != null and dataJson != ''">
+                and data_json = #{dataJson}
+            </if>
+            <if test="creator != null and creator != ''">
+                and creator = #{creator}
+            </if>
+            <if test="createTime != null">
+                and create_time = #{createTime}
+            </if>
+            <if test="updater != null and updater != ''">
+                and updater = #{updater}
+            </if>
+            <if test="updateTime != null">
+                and update_time = #{updateTime}
+            </if>
+            <if test="deleted != null">
+                and deleted = #{deleted}
+            </if>
+            <if test="tenantId != null">
+                and tenant_id = #{tenantId}
+            </if>
+        </where>
+    </select>
+
+
+    <select id="selectByLocationId" resultType="cn.iocoder.yudao.module.mqtt.api.task.dto.Pose2ds">
+        select
+            t1.location_x as x,
+            t1.location_y as y,
+            t2.location_yaw as yaw
+        from
+            ware_position_map_item t1 ,ware_house_location t2
+        where t1.id = t2.map_item_id
+        and t2.id = #{locationId}
+    </select>
+
+    <!--新增所有列-->
+    <insert id="insertEntity" keyProperty="id" useGeneratedKeys="true">
+        insert into ware_position_map_item(position_map_id, area_id, lane_id, location_x, location_y, type, data_json,
+                                           creator, create_time, updater, update_time, deleted, tenant_id)
+        values (#{positionMapId}, #{areaId}, #{laneId}, #{locationX}, #{locationY}, #{type}, #{dataJson}, #{creator},
+                #{createTime}, #{updater}, #{updateTime}, #{deleted}, #{tenantId})
+    </insert>
+
+    <insert id="insertBatch" keyProperty="id" useGeneratedKeys="true">
+        insert into ware_position_map_item(position_map_id, area_id, lane_id, location_x, location_y, type, data_json,
+        creator, create_time, updater, update_time, deleted, tenant_id)
+        values
+        <foreach collection="entities" item="entity" separator=",">
+            (#{entity.positionMapId}, #{entity.areaId}, #{entity.laneId}, #{entity.locationX}, #{entity.locationY},
+            #{entity.type}, #{entity.dataJson}, #{entity.creator}, #{entity.createTime}, #{entity.updater},
+            #{entity.updateTime}, #{entity.deleted}, #{entity.tenantId})
+        </foreach>
+    </insert>
+
+    <insert id="insertOrUpdateBatch" keyProperty="id" useGeneratedKeys="true">
+        insert into ware_position_map_item(position_map_id, area_id, lane_id, location_x, location_y, type, data_json,
+        creator, create_time, updater, update_time, deleted, tenant_id)
+        values
+        <foreach collection="entities" item="entity" separator=",">
+            (#{entity.positionMapId}, #{entity.areaId}, #{entity.laneId}, #{entity.locationX}, #{entity.locationY},
+            #{entity.type}, #{entity.dataJson}, #{entity.creator}, #{entity.createTime}, #{entity.updater},
+            #{entity.updateTime}, #{entity.deleted}, #{entity.tenantId})
+        </foreach>
+        on duplicate key update
+        position_map_id = values(position_map_id),
+        area_id = values(area_id),
+        lane_id = values(lane_id),
+        location_x = values(location_x),
+        location_y = values(location_y),
+        type = values(type),
+        data_json = values(data_json),
+        creator = values(creator),
+        create_time = values(create_time),
+        updater = values(updater),
+        update_time = values(update_time),
+        deleted = values(deleted),
+        tenant_id = values(tenant_id)
+    </insert>
+
+    <!--通过主键修改数据-->
+    <update id="update">
+        update ware_position_map_item
+        <set>
+            <if test="positionMapId != null">
+                position_map_id = #{positionMapId},
+            </if>
+            <if test="areaId != null">
+                area_id = #{areaId},
+            </if>
+            <if test="laneId != null">
+                lane_id = #{laneId},
+            </if>
+            <if test="locationX != null and locationX != ''">
+                location_x = #{locationX},
+            </if>
+            <if test="locationY != null and locationY != ''">
+                location_y = #{locationY},
+            </if>
+            <if test="type != null">
+                type = #{type},
+            </if>
+            <if test="dataJson != null and dataJson != ''">
+                data_json = #{dataJson},
+            </if>
+            <if test="creator != null and creator != ''">
+                creator = #{creator},
+            </if>
+            <if test="createTime != null">
+                create_time = #{createTime},
+            </if>
+            <if test="updater != null and updater != ''">
+                updater = #{updater},
+            </if>
+            <if test="updateTime != null">
+                update_time = #{updateTime},
+            </if>
+            <if test="deleted != null">
+                deleted = #{deleted},
+            </if>
+            <if test="tenantId != null">
+                tenant_id = #{tenantId},
+            </if>
+        </set>
+        where id = #{id}
+    </update>
+
+    <!--通过主键删除-->
+    <delete id="deleteById">
+        delete
+        from ware_position_map_item
+        where id = #{id}
+    </delete>
 </mapper>

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailMapper.xml

@@ -148,7 +148,7 @@
     id, robot_task_id, task_type, release_type, take_type, release_id, take_id, from_location_no, from_location_id,
     to_location_no, to_location_id, robot_no, robot_action, task_status, task_stage, start_time, end_time, creator,
     create_time, updater, update_time, deleted, tenant_id
-    from zn_wcs.robot_task_detail
+    from robot_task_detail
     </select>
     <!--统计总行数-->
     <select id="count" resultType="java.lang.Long">
@@ -333,6 +333,17 @@
         order by priority desc, create_time asc ,robot_no desc
     </select>
 
+    <select id="getDoingTaskIds" resultType="java.lang.Long">
+        select
+            distinct
+            robot_task_id
+        from
+            robot_task_detail
+        where
+            task_status = '1'
+        and deleted = '0'
+    </select>
+
     <!--新增所有列-->
     <insert id="insertSelect" keyProperty="id" useGeneratedKeys="true">
         insert into robot_task_detail(robot_task_id, task_type, release_type, take_type, release_id, take_id,

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskMapper.xml

@@ -236,6 +236,55 @@
             deleted = '0'
         and montage_task = #{montageTask}
         and task_status in ('0','1')
+        <if test= " ids != null and ids.size() > 0">
+            AND id not in
+            <foreach collection="ids" item="id" index="index" open="(" close=")"
+                     separator=",">
+                #{id}
+            </foreach>
+        </if>
+    </select>
+
+    <select id="selectPageList" resultMap="BaseResultMap">
+        select
+            DISTINCT
+            t1.id,
+            t1.montage_task,
+            t1.montage_number,
+            t1.sku_info,
+            t1.sku_batch,
+            t1.sku_number,
+            t1.priority,
+            t1.other_msg,
+            t1.do_cycle,
+            t1.do_move_all,
+            t1.cycle_number,
+            t1.remaining_cycle_number,
+            t1.task_no,
+            t1.task_status,
+            t1.task_stage,
+            t1.start_time,
+            t1.end_time
+        from
+            robot_task t1 left join robot_task_detail t2
+            on t1.id = t2.robot_task_id
+        <where>
+             t1.deleted = '0'
+            and t2.deleted = '0'
+            <if test="pageReqVO.taskNo != null and pageReqVO.taskNo != ''">
+                and t1.task_no like concat('%', #{pageReqVO.taskNo}, '%')
+            </if>
+            <if test="pageReqVO.taskStatus != null">
+                and t1.task_status = #{pageReqVO.taskStatus}
+            </if>
+            <if test="pageReqVO.taskStage != null">
+                and t1.task_stage = #{pageReqVO.taskStage}
+            </if>
+            <if test="pageReqVO.robotNo != null">
+                and t2.robot_no like concat('%', #{pageReqVO.robotNo}, '%')
+            </if>
+        </where>
+        order by t1.create_time desc
     </select>