From 58755daf70cd4a705a14e263312aee3a759ef6fa Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Fri, 30 May 2025 14:16:30 +0800 Subject: [PATCH] =?UTF-8?q?=E4=BB=BB=E5=8A=A1=E4=BC=98=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../api/robot/RobotGenericsStatusApiImpl.java | 6 ++- .../system/api/robot/RobotStatusApiImpl.java | 16 ++++--- .../api/robot/RobotTaskStatusApiImpl.java | 42 +++++++++---------- .../dal/mysql/robot/RobotChargeLogMapper.java | 7 ++++ ...emoteControllerInformationServiceImpl.java | 13 +++++- .../service/robot/RobotTaskService.java | 6 +++ .../service/robot/RobotTaskServiceImpl.java | 26 ++++++------ .../robot/camera/RobotCameraServiceImpl.java | 42 ++++++++++++++++--- .../RobotPathPlanningServiceImpl.java | 24 ++++++++--- .../system/util/aes/AESEncryptionUtil.java | 14 +++++++ .../mapper/robot/RobotChargeLogMapper.xml | 11 +++++ 11 files changed, 154 insertions(+), 53 deletions(-) diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java index 054bd5578..26a3a33e8 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java @@ -42,7 +42,11 @@ public class RobotGenericsStatusApiImpl implements RobotGenericsStatusApi { String batSoc = robotStatusData.getHwStates().getBatSoc(); if (ObjectUtil.isNotEmpty(batSoc)) { String[] split = batSoc.split("\\."); - batSoc = split[1].substring(0,2); + batSoc = split[1]; + if (batSoc.length() > 2) { + batSoc = batSoc.substring(0,2); + } + if (batSoc.startsWith("0")) { batSoc = batSoc.substring(1); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java index 6a9547ad5..06afa608e 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java @@ -27,6 +27,8 @@ import org.springframework.web.bind.annotation.RestController; import javax.annotation.Resource; import java.util.HashMap; import java.util.Map; +import java.util.concurrent.ExecutorService; +import java.util.concurrent.Executors; @Slf4j @RestController // 提供 RESTful API 接口，给 Feign 调用 @@ -45,9 +47,11 @@ public class RobotStatusApiImpl implements RobotStatusApi { @Resource private RequestProcessor processor; - @Autowired - private ThreadPoolTaskExecutor taskExecutor; + private static final ExecutorService executorService = Executors.newFixedThreadPool(5); + /*@Autowired + private ThreadPoolTaskExecutor taskExecutor; +*/ @Resource private CommonApi commonApi; @@ -60,7 +64,9 @@ public class RobotStatusApiImpl implements RobotStatusApi { @Override @SystemRateLimiter(time = 1, count = 150, keyArg = "robotStatusUpdate", message = "机器人上报点位超过限流") public void robotStatusUpdate(RobotPoseStatusDTO robotStatusDataDTO) { - updateRobotPosed(robotStatusDataDTO); + executorService.execute(() -> { + updateRobotPosed(robotStatusDataDTO); + }); } /** @@ -126,8 +132,6 @@ public class RobotStatusApiImpl implements RobotStatusApi { } private void sendToPP(RobotStatusDataPoseDTO robotStatusDataPoseDTO) { - taskExecutor.execute(() -> { - commonApi.commonMethod(robotStatusDataPoseDTO, PathPlanningTopicConstant.AGV_POSE); - }); + commonApi.commonMethod(robotStatusDataPoseDTO, PathPlanningTopicConstant.AGV_POSE); } } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java index 484aee236..deb6a8963 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java @@ -192,7 +192,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DOING.getType() , null); - if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) { + if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()) + || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()) ) { chargeDoing(robotCompleteTaskDTO); } } @@ -258,12 +259,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()) || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) { - RobotChargeLogDO build = RobotChargeLogDO - .builder() - .id(robotCompleteTaskDTO.getOrderId()) - .taskStatus(ChargeTaskStatusEnum.CHARGEING.getType()) - .build(); - chargeLogMapper.updateById(build); + chargeLogMapper.updateChargStatusByTaskId(robotCompleteTaskDTO.getOrderId(),ChargeTaskStatusEnum.DONE.getType()); } taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType(), LocalDateTime.now()); @@ -472,28 +468,18 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { private void chargeDoing(RobotCompleteTaskDTO robotCompleteTaskDTO) { RobotCommandStateDTO commandStatus = robotCompleteTaskDTO.getCommandStatus(); - Integer taskStatus = ChargeTaskStatusEnum.CHARGEING.getType(); - //编辑地图会判断这表的状态,所以自动充电任务，移动到充电点就改为完成 + //自动充电任务，移动到充电点就改为完成 if (ObjectUtil.isNotEmpty(commandStatus) && CommandTypeEnum.MOVE_POSES.getType().equals(commandStatus.getCommandType()) && RobotExecutionStateConstant.DONE.equals(commandStatus.getExecutionState())) { taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType(), LocalDateTime.now()); + setTaskDone(robotCompleteTaskDTO); } - RobotChargeLogDO build = RobotChargeLogDO - .builder() - .id(robotCompleteTaskDTO.getOrderId()) - .taskStatus(taskStatus) - .build(); - chargeLogMapper.updateById(build); + chargeLogMapper.updateChargStatusByTaskId(robotCompleteTaskDTO.getOrderId(),ChargeTaskStatusEnum.CHARGEING.getType()); } - /** - * 任务完成 - * - * @param robotCompleteTaskDTO - */ - private void taskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) { + public RobotTaskDetailDO setTaskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) { //更新任务状态 RobotTaskDetailDO detailDO = new RobotTaskDetailDO(); detailDO.setId(robotCompleteTaskDTO.getOrderId()); @@ -505,7 +491,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId()); List taskDetails = robotTaskDetailMapper.queryByTaskId(robotTaskDetailDO.getRobotTaskId()); boolean done = - taskDetails.stream().noneMatch(v -> (v.getTaskStatus().equals(RobotTaskDetailStatusEnum.NEW.getType()))); + taskDetails.stream().noneMatch(v -> (v.getTaskStatus().equals(RobotTaskDetailStatusEnum.NEW.getType()) || + v.getTaskStatus().equals(RobotTaskDetailStatusEnum.DOING.getType()))); if (done) { RobotTaskDO robotTaskDO = new RobotTaskDO(); robotTaskDO.setId(taskDetails.get(0).getRobotTaskId()); @@ -514,6 +501,17 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { robotTaskMapper.updateRobot(robotTaskDO); taskCycleMapper.deletByRobotTaskId(taskDetails.get(0).getRobotTaskId()); } + return detailDO; + } + + /** + * 任务完成 + * + * @param robotCompleteTaskDTO + */ + private void taskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) { + + RobotTaskDetailDO robotTaskDetailDO = setTaskDone(robotCompleteTaskDTO); RobotInformationDO robotInformationDO = robotInformationMapper.selectOne(new LambdaQueryWrapperX() .eq(RobotInformationDO::getRobotNo, robotTaskDetailDO.getRobotNo())); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotChargeLogMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotChargeLogMapper.java index 8ef7e42f7..b2d7d8a12 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotChargeLogMapper.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotChargeLogMapper.java @@ -36,4 +36,11 @@ public interface RobotChargeLogMapper extends BaseMapperX { */ List getChargeFullRobotNos(@Param("chanceCycle") Integer chanceCycle, @Param("robotNos") List robotNos); + + /** + * + * @param taskDetailId + * @param taskStatus + */ + void updateChargStatusByTaskId(@Param("taskDetailId") Long taskDetailId, @Param("taskStatus") Integer taskStatus); } \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java index 95f5f8c95..26631f62b 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java @@ -50,6 +50,7 @@ import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogServic import cn.iocoder.yudao.module.system.service.log.UserOperationLogService; import cn.iocoder.yudao.module.system.service.robot.RobotInformationService; import cn.iocoder.yudao.module.system.service.robot.RobotTaskDetailService; +import cn.iocoder.yudao.module.system.service.robot.RobotTaskService; import cn.iocoder.yudao.module.system.service.robot.mapstop.RobotMapStopService; import cn.iocoder.yudao.module.system.util.redis.RedisUtil; import cn.iocoder.yudao.module.system.util.redis.RedissonUtils; @@ -57,6 +58,7 @@ import com.alibaba.fastjson.JSON; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; import lombok.extern.slf4j.Slf4j; import org.redisson.api.RLock; +import org.springframework.context.annotation.Lazy; import org.springframework.stereotype.Service; import javax.annotation.Resource; @@ -123,6 +125,10 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl { * 校验是否存在未完成的任务 */ void checkHaveDoingTask(); + + /** + * 设置车辆充电完成 + * @param robotNo + */ + void chargeDone(String robotNo); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java index 59e0b0e91..0844233d5 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java @@ -553,28 +553,28 @@ public class RobotTaskServiceImpl extends ServiceImpl() + .eq(RobotChargeLogDO::getTaskDetailId, taskAssignDTO.getOrderId()) + .orderByDesc(RobotChargeLogDO::getCreateTime) + .last("limit 1")); + chargeLogMapper.updateChargStatusByTaskId(taskAssignDTO.getOrderId(),ChargeTaskStatusEnum.CHARGEING.getType()); robotStatus = RobotStatusEnum.CHARGE.getType(); - - if (ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId())) { + if (ObjectUtil.isNotEmpty(robotChargeLogs) && ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId())) { deviceNoMap.put(robotChargeLogs.getTaskDetailId(), robotChargeLogs.getDeviceNo()); } + + if (ObjectUtil.isNotEmpty(robotChargeLogs) && ObjectUtil.isNotEmpty(robotChargeLogs.getDeviceNo())) { + setDeviceUseing(robotChargeLogs.getDeviceNo(), taskAssignDTO.getRobotNo()); + } } - chargeDone(taskAssignDTO.getRobotNo()); +// chargeDone(taskAssignDTO.getRobotNo()); robotInformationMapper.updateRobotListStatus(taskAssignDTO.getRobotNo(), robotStatus, taskAssignDTO.getOrderId()); RobotTaskDO robotTaskDO = setTaskDoing(taskAssignDTO.getOrderId(), taskAssignDTO.getRobotNo(), deviceNoMap, taskAssignDTO.getWaitId()); - if (ObjectUtil.isNotEmpty(robotChargeLogs) && ObjectUtil.isNotEmpty(robotChargeLogs.getDeviceNo())) { - setDeviceUseing(robotChargeLogs.getDeviceNo(), taskAssignDTO.getRobotNo()); - } - RobotTaskDetailActionLogSaveReqVO logOne = new RobotTaskDetailActionLogSaveReqVO(); logOne.setCommandType(taskAssignDTO.getOrderType()); String actionMsg = taskAssignDTO.getRobotActionMsg() + robotTaskDO.getTaskNo(); @@ -1459,10 +1459,12 @@ public class RobotTaskServiceImpl extends ServiceImpl() .eq(RobotInformationDO::getRobotNo, robotNo)); if (!RobotStatusEnum.CHARGE.getType().equals(robotInformationDO.getRobotStatus())) { + log.info("车辆非充电状态:{}",robotNo); return; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/camera/RobotCameraServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/camera/RobotCameraServiceImpl.java index ceff33824..e0436e75c 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/camera/RobotCameraServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/camera/RobotCameraServiceImpl.java @@ -15,7 +15,9 @@ import com.google.common.collect.Sets; import org.apache.commons.lang3.StringUtils; import org.springframework.beans.factory.annotation.Value; import org.springframework.stereotype.Service; + import javax.annotation.Resource; + import org.springframework.validation.annotation.Validated; import org.springframework.transaction.annotation.Transactional; @@ -90,6 +92,7 @@ public class RobotCameraServiceImpl extends ServiceImpl ips = robotCameraDOs.stream().map(RobotCameraDO::getCameraIp).collect(Collectors.toList()); String join = StringUtils.join(ips, ","); - throw exception(CAMERA_IP_EXIST,"以下摄像头IP已经存在 "+join); + throw exception(CAMERA_IP_EXIST, "以下摄像头IP已经存在 " + join); } @Override @@ -116,20 +119,47 @@ public class RobotCameraServiceImpl extends ServiceImpl cameraDOList = BeanUtils.toBean(cameraAddVOList, RobotCameraDO.class); for (RobotCameraDO robotCameraDO : cameraDOList) { try { - if (ObjectUtil.isEmpty(robotCameraDO.getId())) { - robotCameraDO.setCameraAccount(AESEncryptionUtil.encrypt(robotCameraDO.getCameraAccount(),cameraSecretKey)); - robotCameraDO.setCameraPassword(AESEncryptionUtil.encrypt(robotCameraDO.getCameraPassword(),cameraSecretKey)); - } + setCameraAccountAndPassword(robotCameraDO); } catch (Exception e) { - throw new RuntimeException(e); + throw exception(CAMERA_DECRYPTION_FAILED); } robotCameraDO.setRobotNo(robotNo); } cameraMapper.insert(cameraDOList); } + private void setCameraAccountAndPassword(RobotCameraDO robotCameraDO) { + if (ObjectUtil.isEmpty(robotCameraDO.getId())) { + try { + robotCameraDO.setCameraAccount(AESEncryptionUtil.encrypt(robotCameraDO.getCameraAccount(), cameraSecretKey)); + robotCameraDO.setCameraPassword(AESEncryptionUtil.encrypt(robotCameraDO.getCameraPassword(), cameraSecretKey)); + } catch (Exception e) { + throw new RuntimeException(e); + } + } else { + robotCameraDO.setCameraAccount(getEncrypt(robotCameraDO.getCameraAccount())); + robotCameraDO.setCameraPassword(getEncrypt(robotCameraDO.getCameraPassword())); + } + } + + public String getEncrypt(String str){ + try { + AESEncryptionUtil.decrypt(str, cameraSecretKey); + return str; + } catch (Exception e) { + + } + + try { + return AESEncryptionUtil.encrypt(str, cameraSecretKey); + } catch (Exception e) { + throw new RuntimeException(e); + } + } + /** * 根据车辆编号删除 + * * @param robotNo */ @Override 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 82cd7090b..0d761d0e2 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 @@ -34,6 +34,7 @@ import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum; import cn.iocoder.yudao.module.system.enums.robot.*; import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeModelEnum; import cn.iocoder.yudao.module.system.enums.robot.information.ChargeTypeEnum; +import cn.iocoder.yudao.module.system.service.robot.RobotTaskService; import cn.iocoder.yudao.module.system.service.robot.job.DistributeTasksService; import cn.iocoder.yudao.module.system.util.redis.RedisUtil; import com.alibaba.fastjson.JSON; @@ -42,6 +43,7 @@ import org.apache.commons.lang3.tuple.ImmutablePair; import org.apache.commons.lang3.tuple.Pair; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Value; +import org.springframework.context.annotation.Lazy; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; import org.springframework.validation.annotation.Validated; @@ -105,6 +107,10 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { @Resource private CommonApi commonApi; + @Resource + @Lazy + private RobotTaskService taskService; + /** * 下发任务给PP */ @@ -250,6 +256,9 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { List taskDetails = new ArrayList<>(); List tasks = new ArrayList<>(); for (PositionMapItemDO v : robotMapItems) { + + taskService.chargeDone(v.getRobotNo()); + RobotTaskDO task = new RobotTaskDO(); String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.MOVE_TASK_NO.getKey()); task.setTaskNo(moveTaskNo + DateUtils.getYearMonthDay() + incrementByKey); @@ -392,6 +401,10 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { //前一个任务是仅取货 List robotDoTake = getRobotDoTake(robots); + for (RobotInformationDO robot : robots) { + taskService.chargeDone(robot.getRobotNo()); + } + List positionMapItems = positionMapItemMapper.selectList(new LambdaQueryWrapperX() .eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType()) .eq(PositionMapItemDO::getUseStatus, UseStatusEnum.FREE.getType())); @@ -469,7 +482,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber()); pathPlanning.setReleasePointId(toLocation.getMapItemId()); - pathPlanningSetReleaseHeight(pathPlanning,toLocation); + pathPlanningSetReleaseHeight(pathPlanning, toLocation); pathPlanning.setReleaseLevel(toLocation.getLocationStorey()); pathPlanning.setReleaseOffsetHeight(offsetHeight); if (ObjectUtil.isNotEmpty(taskDetailDO.getToLaneId())) { @@ -493,18 +506,19 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { /** * 设置放货高度 + * * @param pathPlanning * @param toLocation */ private void pathPlanningSetReleaseHeight(TaskToPathPlanningDTO pathPlanning, WareHouseLocationDO toLocation) { - if ( ZeroOneEnum.ONE.getType().equals(toLocation.getLocationStorey())) { + if (ZeroOneEnum.ONE.getType().equals(toLocation.getLocationStorey())) { pathPlanning.setReleaseHeight(0.0); return; } WareHouseLocationDO nextLocation = locationMapper.selectOne(new LambdaQueryWrapperX() .eq(WareHouseLocationDO::getId, toLocation.getMapItemId()) - .eq(WareHouseLocationDO::getLocationStorey, toLocation.getLocationStorey()-1) + .eq(WareHouseLocationDO::getLocationStorey, toLocation.getLocationStorey() - 1) .last("limit 1")); if (ObjectUtil.isNotEmpty(nextLocation) && ObjectUtil.isNotEmpty(nextLocation.getLocationTotalHeight())) { pathPlanning.setReleaseHeight(Double.valueOf(nextLocation.getLocationTotalHeight() + "")); @@ -513,7 +527,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { Integer locationStorey = toLocation.getLocationStorey() - 1; double height = locationStorey * defaultTrayHeight; - log.info("放货设置默认高度 :{}",pathPlanning.getReleaseHeight()); + log.info("放货设置默认高度 :{}", pathPlanning.getReleaseHeight()); pathPlanning.setReleaseHeight(height); } @@ -530,7 +544,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { } Integer locationStorey = fromLocation.getLocationStorey(); double height = locationStorey * defaultTrayHeight; - log.info("取货设置默认取货高度 :{}",height); + log.info("取货设置默认取货高度 :{}", height); pathPlanning.setTakeHeight(height); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/aes/AESEncryptionUtil.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/aes/AESEncryptionUtil.java index acd4c0485..88233092c 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/aes/AESEncryptionUtil.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/aes/AESEncryptionUtil.java @@ -8,6 +8,13 @@ import java.util.Base64; public class AESEncryptionUtil { private static final String AES_ALGORITHM = "AES"; + /** + * 加密 + * @param plaintext + * @param key + * @return + * @throws Exception + */ public static String encrypt(String plaintext, String key) throws Exception { SecretKeySpec secretKey = new SecretKeySpec(key.getBytes(StandardCharsets.UTF_8), AES_ALGORITHM); Cipher cipher = Cipher.getInstance(AES_ALGORITHM); @@ -16,6 +23,13 @@ public class AESEncryptionUtil { return Base64.getEncoder().encodeToString(encryptedBytes); } + /** + * 解密 + * @param ciphertext + * @param key + * @return + * @throws Exception + */ public static String decrypt(String ciphertext, String key) throws Exception { SecretKeySpec secretKey = new SecretKeySpec(key.getBytes(StandardCharsets.UTF_8), AES_ALGORITHM); Cipher cipher = Cipher.getInstance(AES_ALGORITHM); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotChargeLogMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotChargeLogMapper.xml index 262a3d3bf..57b8eacdf 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotChargeLogMapper.xml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotChargeLogMapper.xml @@ -2,6 +2,17 @@ + + + update + robot_charge_log + set + task_status = #{taskStatus} + where + task_detail_id = #{taskDetailId} + and deleted = '0' + +