修复bug

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

@@ -191,7 +191,7 @@ public interface ErrorCodeConstants {
     ErrorCode ROBOT_LAST_TASK_DELETE = new ErrorCode(1-002-034-005, "超过限制的时间,无法继续执行前一个任务");
     ErrorCode ROBOT_NOT_FOUND_WAIT_ITEM = new ErrorCode(1-002-034-006, "没有空闲的停车点");
     ErrorCode ROBOT_NOT_FOUND_FREE_CHARGING_STATION = new ErrorCode(1-002-034-007, "没有空闲的充电桩");
-    ErrorCode ROBOT_HAVE_DOING_TASK = new ErrorCode(1-002-034-010, "车辆有处理中的任务");
+    ErrorCode ROBOT_HAVE_DOING_TASK = new ErrorCode(1-002-034-010, "车辆有处理中的任务,不允许修改/删除车辆编号和Mac地址");
 
     // ========== 机器人任务主表 1-002-035-000 ==========
     ErrorCode TASK_NOT_EXISTS = new ErrorCode(1-002-035-001, "机器人任务主表不存在");

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

@@ -156,4 +156,11 @@ public class RobotInformationController {
         informationService.doTaskContinue(robotNo);
         return success(true);
     }
+
+    @PostMapping("/getRobotByFloorAndArea")
+    @Operation(summary = "获取楼层区域对应的机器人编号")
+    @PreAuthorize("@ss.hasPermission('robot:information:getRobotByFloorAndArea')")
+    public CommonResult<List<String>> getRobotByFloorAndArea(@RequestParam("floor") String floor,@RequestParam("area") String area) {
+        return success(informationService.getRobotByFloorAndArea(floor,area));
+    }
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/HouseLocationServiceImpl.java

@@ -5,6 +5,7 @@ import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
+import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationRespVO;
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationSaveReqVO;
@@ -12,6 +13,7 @@ import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHous
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
+import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.robot.LocationEnableEnum;
 import cn.iocoder.yudao.module.system.enums.robot.LocationUseStatusEnum;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
@@ -25,6 +27,8 @@ import org.springframework.validation.annotation.Validated;
 import javax.annotation.Resource;
 import java.util.Collections;
 import java.util.List;
+import java.util.Map;
+import java.util.function.Function;
 import java.util.stream.Collectors;
 
 import static cn.hutool.core.collection.CollUtil.isNotEmpty;
@@ -62,8 +66,27 @@ public class HouseLocationServiceImpl extends ServiceImpl<WareHouseLocationMappe
     public void updateHouseLocation(WareHouseLocationSaveReqVO updateReqVO) {
         // 校验存在
         validateHouseLocationExists(updateReqVO.getId());
-        String str = "修改库位信息 ";
+
         WareHouseLocationDO wareHouseLocationDO = houseLocationMapper.selectById(updateReqVO.getId());
+        // 更新
+        WareHouseLocationDO updateObj = BeanUtils.toBean(updateReqVO, WareHouseLocationDO.class);
+
+        String str = getChangeInfo(wareHouseLocationDO, updateObj);
+        if (ObjectUtil.isNotEmpty(str)) {
+            str = "修改库位信息:" + updateReqVO.getLocationNo() + "_" + str;
+        }
+
+        UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
+                .operateAction(str)
+                .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
+        userOperationLogService.createUserOperationLog(operationLog);
+
+        houseLocationMapper.updateById(updateObj);
+
+    }
+
+    public String getChangeInfo(WareHouseLocationDO wareHouseLocationDO, WareHouseLocationDO updateReqVO) {
+        String str = "";
         if (!wareHouseLocationDO.getLocationEnable().equals(updateReqVO.getLocationEnable())) {
             if (LocationEnableEnum.YES.getType().equals(updateReqVO.getLocationEnable())) {
                 str = str + "设置库位" + LocationEnableEnum.YES.getMsg() + " ";
@@ -91,15 +114,16 @@ public class HouseLocationServiceImpl extends ServiceImpl<WareHouseLocationMappe
             str = str + "设置库位物料信息为 " + updateReqVO.getSkuInfo();
         }
 
-        UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
+        if (!wareHouseLocationDO.getLocationUseStatus().equals(updateReqVO.getLocationUseStatus())
-                .operateAction(str)
+            && ZeroOneEnum.ZERO.getType().equals(updateReqVO.getLocationUseStatus())) {
-                .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
+            str = str + "设置库位锁定状态为正常" ;
-        userOperationLogService.createUserOperationLog(operationLog);
+        }else if (!wareHouseLocationDO.getLocationUseStatus().equals(updateReqVO.getLocationUseStatus())
-        // 更新
+                && ZeroOneEnum.ONE.getType().equals(updateReqVO.getLocationUseStatus())) {
-        WareHouseLocationDO updateObj = BeanUtils.toBean(updateReqVO, WareHouseLocationDO.class);
+            str = str + "设置库位锁定状态为锁定" ;
-        houseLocationMapper.updateById(updateObj);
+        }
 
 
+        return str;
     }
 
     @Override
@@ -156,15 +180,39 @@ public class HouseLocationServiceImpl extends ServiceImpl<WareHouseLocationMappe
     }
 
     @Override
+    @Transactional(rollbackFor = Exception.class)
     public void updateHouseLocationList(List<WareHouseLocationSaveReqVO> list) {
         List<WareHouseLocationDO> locationDOList = BeanUtils.toBean(list, WareHouseLocationDO.class);
+        List<String> locationNos = locationDOList.stream().map(WareHouseLocationDO::getLocationNo).collect(Collectors.toList());
+        List<WareHouseLocationDO> locations = houseLocationMapper.selectList(new LambdaQueryWrapper<WareHouseLocationDO>()
+                .in(WareHouseLocationDO::getLocationNo, locationNos));
+        Map<Long, WareHouseLocationDO> locationMap =
+                locations.stream().collect(Collectors.toMap(WareHouseLocationDO::getId, Function.identity(), (v1, v2) -> v1));
+
         houseLocationMapper.updateById(locationDOList);
 
-        List<String> locationNos = locationDOList.stream().map(WareHouseLocationDO::getLocationNo).collect(Collectors.toList());
+        StringBuilder str = new StringBuilder();
-        String str = StringUtils.join(locationNos, ",");
+        for (WareHouseLocationDO updateLocation : locationDOList) {
+            WareHouseLocationDO oldLocation = locationMap.get(updateLocation.getId());
+            if (ObjectUtil.isEmpty(oldLocation)) {
+                continue;
+            }
+            String updateStr = getChangeInfo(oldLocation, updateLocation);
+            if (ObjectUtil.isNotEmpty(updateStr)) {
+                str.append("修改库位信息:").append(oldLocation.getLocationNo()).append("_").append(updateStr).append(";");
+            }
+        }
+
+        if (ObjectUtil.isEmpty(str.toString())) {
+            return;
+        }
+
+        if (str.length() > 100) {
+            str = new StringBuilder(str.substring(0, 95));
+        }
 
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
-                .operateAction(str)
+                .operateAction(str.toString())
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
     }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java

@@ -17,15 +17,18 @@ import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.dict.DictDataDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
 import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
 import cn.iocoder.yudao.module.system.enums.device.DeviceAttributeEnum;
 import cn.iocoder.yudao.module.system.enums.device.DeviceStatusEnum;
 import cn.iocoder.yudao.module.system.enums.device.DeviceTypeEnum;
 import cn.iocoder.yudao.module.system.enums.device.PictureConfigEnum;
+import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum;
 import cn.iocoder.yudao.module.system.service.config.CommonConfigService;
 import cn.iocoder.yudao.module.system.service.dict.DictDataService;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
+import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
 import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
 import cn.iocoder.yudao.module.system.util.modbus3.ModbusUtils;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
@@ -83,6 +86,9 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
     @Resource
     private CommonConfigService configService;
 
+    @Resource
+    private PositionMapItemService positionMapItemService;
+
     @Override
     public Long createInformation(DeviceInformationSaveReqVO createReqVO) {
         // -- 先判断库里是否有相通的mac地址数据
@@ -138,6 +144,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
     }
 
     @Override
+    @Transactional(rollbackFor = Exception.class)
     public void deleteInformation(Long id) {
         // 校验存在
         validateInformationExists(id);
@@ -148,6 +155,13 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
         // 删除
         informationMapper.deleteById(id);
 
+        if (ObjectUtil.isNotEmpty(deviceInformationDO.getPositionMapItemId())) {
+            PositionMapItemDO positionMapItem = positionMapItemService.getPositionMapItem(deviceInformationDO.getPositionMapItemId());
+            positionMapItem.setType(PositionMapItemEnum.PATH.getType());
+            positionMapItem.setDataJson(null);
+            positionMapItemService.updateById(positionMapItem);
+        }
+
         userOperationLogService.createUserOperationLog(operationLog);
     }
 
@@ -307,10 +321,12 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
         // todo 需要设置设备通讯的时间
         for (DeviceInformationRespVO deviceInformationDO : beans) {
 
+            PositionMapDO positionMapDO = positionMap.get(deviceInformationDO.getPositionMapId());
             if (ObjectUtil.isNotEmpty(deviceInformationDO.getPositionMapId())
-                    && ObjectUtil.isNotEmpty(positionMap.get(deviceInformationDO.getPositionMapId()))) {
+                    && ObjectUtil.isNotEmpty(positionMapDO)) {
-                deviceInformationDO.setFloor(positionMap.get(deviceInformationDO.getPositionMapId()).getFloor() + "");
+                deviceInformationDO.setFloor(positionMapDO.getFloor() + "");
-                deviceInformationDO.setArea(positionMap.get(deviceInformationDO.getPositionMapId()).getArea());
+                deviceInformationDO.setArea(positionMapDO.getArea());
+                deviceInformationDO.setDeviceLocation(positionMapDO.getFloor()+"层-"+positionMapDO.getArea());
             }
 
             String deviceKey = DeviceChcheConstant.DEVICE_LAST_TIME + deviceInformationDO.getMacAddress();

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

@@ -158,4 +158,12 @@ public interface RobotInformationService extends IService<RobotInformationDO> {
      * @param orderType
      */
     void robotCloseTaskDetail(String id, String mac, String orderType);
+
+    /**
+     * 获取楼层区域对应的机器人编号
+     * @param floor
+     * @param area
+     * @return
+     */
+    List<String> getRobotByFloorAndArea(String floor, String area);
 }

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

@@ -208,8 +208,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         // 校验存在
         validateInformationExists(updateReqVO.getId());
         RobotInformationDO robotInformationDO = informationMapper.selectById(updateReqVO.getId());
-        if (robotInformationDO == null) {
+
-            throw exception(ROBOT_INFORMATION_NOT_EXISTS);
+        if (!updateReqVO.getRobotNo().equals(robotInformationDO.getRobotNo())
+                || !updateReqVO.getMacAddress().equals(robotInformationDO.getMacAddress())) {
+            List<RobotTaskDO> list = taskMapper.selectDoingTaskByRobotNo(robotInformationDO.getRobotNo());
+
+            if (ObjectUtil.isNotEmpty(list)) {
+                throw exception(ROBOT_HAVE_DOING_TASK);
+            }
         }
 
         //校验MAC地址
@@ -747,14 +753,21 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                 || PathTaskTypeEnum.RELEASE.getType().equals(log.getCommandType())) {
             takeReleaseCleanTrafficManagement(robotTaskDetail);
         }
-        //不释放机器人状态，怕机器人接新任务
+
+        RobotInformationDO robotInformationDO = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
+                .eq(RobotInformationDO::getRobotNo, robotNo)
+                .last("limit 1"));
+        robotInformationDO.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
+        robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType());
+        informationMapper.updateById(robotInformationDO);
     }
 
     public RobotTaskDetailActionLogDO closeTask(String robotNo) {
         CleanAgvDTO build = CleanAgvDTO.builder().robotNo(robotNo).build();
         commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
         RobotTaskDetailActionLogDO log = taskDetailActionLogService.getLastTaskByRobotNo(robotNo);
-        if (ObjectUtil.isEmpty(log) || ActionStatusEnum.DONE.getType().equals(log.getActionStatus())) {
+        if (ObjectUtil.isEmpty(log) || ActionStatusEnum.DONE.getType().equals(log.getActionStatus())
+                || ActionStatusEnum.CLOSE.getType().equals(log.getActionStatus())) {
             return null;
         }
         String mac = getMacByRobotNo(robotNo);
@@ -768,6 +781,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
      * @param robotNo
      */
     @Override
+    @Transactional(rollbackFor = Exception.class)
     public void doTaskContinue(String robotNo) {
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
                 .operateAction("继续做任务 " + robotNo)
@@ -805,6 +819,17 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         if (ObjectUtil.isNotEmpty(msg)) {
             throw exception0(TASK_CHECK_EXCEPTION.getCode(), msg);
         }
+
+        RobotInformationDO robotInformationDO = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
+                .eq(RobotInformationDO::getRobotNo, robotNo)
+                .last("limit 1"));
+        if (PathTaskTypeEnum.CHARGE.getType().equals(pathPlanning.getOrderType())
+            || PathTaskTypeEnum.AUTO_CHARGE.getType().equals(pathPlanning.getOrderType())) {
+            robotInformationDO.setRobotStatus(RobotStatusEnum.CHARGE.getType());
+        }else {
+            robotInformationDO.setRobotStatus(RobotStatusEnum.DOING.getType());
+        }
+        informationMapper.updateById(robotInformationDO);
     }
 
     /**
@@ -1050,5 +1075,36 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         commonApi.commonMethod(robotTask, robotTask.getTopic());
     }
 
+    /**
+     * 获取楼层区域对应的机器人编号
+     * @param floor
+     * @param area
+     * @return
+     */
+    @Override
+    public List<String> getRobotByFloorAndArea(String floor, String area) {
+        RobotInformationDO query = new RobotInformationDO();
+        List<RobotInformationDO> robotInformations = informationMapper.queryAllByLimit(query);
+
+        List<String> list = new ArrayList<>();
+        if (ObjectUtil.isEmpty(robotInformations)) {
+            return list;
+        }
+
+        for (RobotInformationDO robotInformationDO : robotInformations) {
+            String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + robotInformationDO.getMacAddress();
+            Object floorAreaObject = redisUtil.get(floorAreaKey);
+            if (ObjectUtil.isEmpty(floorAreaObject)) {
+                continue;
+            }
+            FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
+            if (floor.equals(floorZoneDTO.getFloor()) && area.equals(floorZoneDTO.getArea()) ) {
+                list.add(robotInformationDO.getRobotNo());
+            }
+        }
+
+        return list;
+    }
+
 
 }

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

@@ -181,13 +181,19 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
         String addResult = "";
         if (lock.tryLock(60l, TimeUnit.MINUTES)) {
-            try {
+            /*try {
                 addResult = addTask(createReqVO);
             } catch (Exception e) {
                 log.error("下发任务出现异常 :{}", e);
                 addResult = ObjectUtil.isNotEmpty(e.getMessage()) ? e.getMessage(): "创建任务失败";
             } finally {
                 lock.unlock();
+            }*/
+
+            try {
+                addResult = addTask(createReqVO);
+            } finally {
+                lock.unlock();
             }
         } else {
             throw exception(REDISSON_NOT_OBTAIN_LOCK);

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/user/AdminUserServiceImpl.java

@@ -272,6 +272,11 @@ public class AdminUserServiceImpl implements AdminUserService {
         // 2.2 删除用户岗位
         userPostMapper.deleteByUserId(id);
 
+        UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
+                .operateAction("删除用户 " + user.getUsername())
+                .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
+        userOperationLogService.createUserOperationLog(operationLog);
+
         // 3. 记录操作日志上下文
         LogRecordContext.putVariable("user", user);
     }