任务优化

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);
             }

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 static final ExecutorService executorService = Executors.newFixedThreadPool(5);
-    private ThreadPoolTaskExecutor taskExecutor;
 
+    /*@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) {
+        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);
-        });
     }
 }

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
+            chargeLogMapper.updateChargStatusByTaskId(robotCompleteTaskDTO.getOrderId(),ChargeTaskStatusEnum.DONE.getType());
-                    .builder()
-                    .id(robotCompleteTaskDTO.getOrderId())
-                    .taskStatus(ChargeTaskStatusEnum.CHARGEING.getType())
-                    .build();
-            chargeLogMapper.updateById(build);
         }
         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
+        chargeLogMapper.updateChargStatusByTaskId(robotCompleteTaskDTO.getOrderId(),ChargeTaskStatusEnum.CHARGEING.getType());
-                .builder()
-                .id(robotCompleteTaskDTO.getOrderId())
-                .taskStatus(taskStatus)
-                .build();
-        chargeLogMapper.updateById(build);
     }
 
-    /**
+    public RobotTaskDetailDO setTaskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
-     * 任务完成
-     *
-     * @param robotCompleteTaskDTO
-     */
-    private void taskDone(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<RobotTaskDetailDO> 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<RobotInformationDO>()
                 .eq(RobotInformationDO::getRobotNo, robotTaskDetailDO.getRobotNo()));

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<RobotChargeLogDO> {
      */
     List<String> getChargeFullRobotNos(@Param("chanceCycle") Integer chanceCycle,
                                        @Param("robotNos") List<String> robotNos);
+
+    /**
+     *
+     * @param taskDetailId
+     * @param taskStatus
+     */
+    void updateChargStatusByTaskId(@Param("taskDetailId") Long taskDetailId, @Param("taskStatus")  Integer taskStatus);
 }

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<RemoteCo
     @Resource
     private RobotTaskDetailService taskDetailService;
 
+    @Resource
+    @Lazy
+    private RobotTaskService taskService;
+
     @Resource
     private ControllerTaskTransferLogService controllerTaskTransferLogService;
 
@@ -324,7 +330,12 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
                 } catch (InterruptedException e) {
                     throw new RuntimeException(e);
                 }
-               return doRobotChangeMode(remoteMode, remoteIp, robotNo,remoteControllerPort,remoteControllerIp);
+                RemoteRobotTransferDTO dto = doRobotChangeMode(remoteMode, remoteIp, robotNo, remoteControllerPort, remoteControllerIp);
+                if (!RemoteModeEnum.AUTOMATIC.getType().equals(remoteMode)) {
+                    taskService.chargeDone(robotNo);
+                }
+
+                return dto;
             } finally {
                 lock.unlock();
             }

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

@@ -109,4 +109,10 @@ public interface RobotTaskService extends IService<RobotTaskDO> {
      * 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);
 }

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

@@ -553,27 +553,27 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
         if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getOrderType())
                 || PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getOrderType())) {
-            robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getOrderId());
+            robotChargeLogs = chargeLogMapper.selectOne(new LambdaQueryWrapperX<RobotChargeLogDO>()
-
+                    .eq(RobotChargeLogDO::getTaskDetailId, taskAssignDTO.getOrderId())
-            robotChargeLogs.setTaskStatus(ChargeTaskStatusEnum.DOING.getType());
+                    .orderByDesc(RobotChargeLogDO::getCreateTime)
-            chargeLogMapper.updateById(robotChargeLogs);
+                    .last("limit 1"));
 
+            chargeLogMapper.updateChargStatusByTaskId(taskAssignDTO.getOrderId(),ChargeTaskStatusEnum.CHARGEING.getType());
             robotStatus = RobotStatusEnum.CHARGE.getType();
-
+            if (ObjectUtil.isNotEmpty(robotChargeLogs) && ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId())) {
-            if (ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId())) {
                 deviceNoMap.put(robotChargeLogs.getTaskDetailId(), robotChargeLogs.getDeviceNo());
             }
-        }
-
-        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());
             }
+        }
+
+//        chargeDone(taskAssignDTO.getRobotNo());
+
+        robotInformationMapper.updateRobotListStatus(taskAssignDTO.getRobotNo(), robotStatus, taskAssignDTO.getOrderId());
+
+        RobotTaskDO robotTaskDO = setTaskDoing(taskAssignDTO.getOrderId(), taskAssignDTO.getRobotNo(), deviceNoMap, taskAssignDTO.getWaitId());
 
         RobotTaskDetailActionLogSaveReqVO logOne = new RobotTaskDetailActionLogSaveReqVO();
         logOne.setCommandType(taskAssignDTO.getOrderType());
@@ -1459,10 +1459,12 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
      *
      * @param robotNo
      */
-    private void chargeDone(String robotNo) {
+    @Override
+    public void chargeDone(String robotNo) {
         RobotInformationDO robotInformationDO = robotInformationMapper.selectOne(new LambdaQueryWrapperX<RobotInformationDO>()
                 .eq(RobotInformationDO::getRobotNo, robotNo));
         if (!RobotStatusEnum.CHARGE.getType().equals(robotInformationDO.getRobotStatus())) {
+            log.info("车辆非充电状态:{}",robotNo);
             return;
         }
 

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<RobotCameraMapper, Robot
 
     /**
      * 判断IP是否存在
+     *
      * @param cameraAddVOList
      */
     @Override
@@ -116,20 +119,47 @@ public class RobotCameraServiceImpl extends ServiceImpl<RobotCameraMapper, Robot
         List<RobotCameraDO> cameraDOList = BeanUtils.toBean(cameraAddVOList, RobotCameraDO.class);
         for (RobotCameraDO robotCameraDO : cameraDOList) {
             try {
-                if (ObjectUtil.isEmpty(robotCameraDO.getId())) {
+                setCameraAccountAndPassword(robotCameraDO);
-                    robotCameraDO.setCameraAccount(AESEncryptionUtil.encrypt(robotCameraDO.getCameraAccount(),cameraSecretKey));
-                    robotCameraDO.setCameraPassword(AESEncryptionUtil.encrypt(robotCameraDO.getCameraPassword(),cameraSecretKey));
-                }
             } 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

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<RobotTaskDetailAddVO> taskDetails = new ArrayList<>();
         List<RobotTaskDO> 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<String> robotDoTake = getRobotDoTake(robots);
 
+        for (RobotInformationDO robot : robots) {
+            taskService.chargeDone(robot.getRobotNo());
+        }
+
         List<PositionMapItemDO> positionMapItems = positionMapItemMapper.selectList(new LambdaQueryWrapperX<PositionMapItemDO>()
                 .eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType())
                 .eq(PositionMapItemDO::getUseStatus, UseStatusEnum.FREE.getType()));
@@ -493,6 +506,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
     /**
      * 设置放货高度
+     *
      * @param pathPlanning
      * @param toLocation
      */

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);

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

@@ -2,6 +2,17 @@
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
 <mapper namespace="cn.iocoder.yudao.module.system.dal.mysql.robot.RobotChargeLogMapper">
 
+
+    <update id="updateChargStatusByTaskId">
+        update
+            robot_charge_log
+        set
+            task_status = #{taskStatus}
+        where
+            task_detail_id = #{taskDetailId}
+        and deleted = '0'
+    </update>
+
     <!--
         一般情况下，尽可能使用 Mapper 进行 CRUD 增删改查即可。
         无法满足的场景，例如说多表关联查询，才使用 XML 编写 SQL。