Merge branch 'dev' of http://git.znkjfw.com/ak/zn-cloud-wcs into aikai

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/PathPlanningApi.java

@@ -0,0 +1,22 @@
+package cn.iocoder.yudao.module.mqtt.api.path;
+
+import cn.iocoder.yudao.module.mqtt.api.path.dto.RelatedPathNode;
+import cn.iocoder.yudao.module.mqtt.enums.ApiConstants;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import org.springframework.cloud.openfeign.FeignClient;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestParam;
+
+import javax.validation.Valid;
+
+@FeignClient(name = ApiConstants.NAME) // TODO 芋艿：fallbackFactory =
+@Tag(name = "MQTT 服务 - 参数配置")
+public interface PathPlanningApi {
+    String PREFIX = ApiConstants.PREFIX + "/config";
+
+    @PostMapping(PREFIX + "/synchronousPoint")
+    @Operation(summary = "下发任务给车机")
+    void synchronousPointToPP( @RequestBody RelatedPathNode relatedPathNode, @RequestParam("topic") String topic);
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PositionMapLineDTO.java

@@ -0,0 +1,67 @@
+package cn.iocoder.yudao.module.mqtt.api.path.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.math.BigDecimal;
+import java.time.LocalDateTime;
+
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class PositionMapLineDTO {
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "28062")
+    private Long id;
+
+    @Schema(description = "地图id", example = "20863")
+    private Long positionMapId;
+
+    @Schema(description = "出发点id(点位子表id)", example = "20863")
+    private Long startingPointId;
+
+    @Schema(description = "结束点id(点位子表id)", example = "15890")
+    private Long endPointId;
+
+    @Schema(description = "行走方法 0.直线 1.上左曲线2.上右曲线3.下左曲线 4.下右曲线")
+    private Integer method;
+
+    @Schema(description = "方向 1.单向 2.双向", example = "15890")
+    private Integer direction;
+
+    @Schema(description = "正向限速(m/s)", example = "15890")
+    private BigDecimal forwardSpeedLimit;
+
+    @Schema(description = "反向限速(m/s)", example = "15890")
+    private BigDecimal reverseSpeedLimit;
+
+    @Schema(description = "开始控制点x轴")
+    private String beginControlX;
+
+    @Schema(description = "开始控制点y轴")
+    private String beginControlY;
+
+    @Schema(description = "结束控制点x轴")
+    private String endControlX;
+
+    @Schema(description = "结束控制点y轴")
+    private String endControlY;
+
+    @Schema(description = "膨胀区域前")
+    private BigDecimal expansionZoneFront;
+
+    @Schema(description = "膨胀区域后")
+    private BigDecimal expansionZoneAfter;
+
+    @Schema(description = "膨胀区域左")
+    private BigDecimal expansionZoneLeft;
+
+    @Schema(description = "膨胀区域右")
+    private BigDecimal expansionZoneRight;
+
+    @Schema(description = "车头朝向( 0:正向 1:反向)", example = "15890")
+    private Integer toward;
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/RelatedPathNode.java

@@ -0,0 +1,25 @@
+package cn.iocoder.yudao.module.mqtt.api.path.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.AllArgsConstructor;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.util.List;
+
+@Data
+@NoArgsConstructor
+@AllArgsConstructor
+public class RelatedPathNode {
+
+    @Schema(description = "楼层", example = "20863")
+    private Integer floor;
+
+    @Schema(description = "区域", example = "20863")
+    private String area;
+
+    @Schema(description = "点位状态(0:新增、1:删除、2：更新)", example = "20863")
+    private Integer pointStatus = 0;
+
+    private List<PositionMapLineDTO> control_nodes;
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/RobotTaskApi.java

@@ -20,5 +20,5 @@ public interface RobotTaskApi {
 
     @PostMapping(PREFIX + "/distribute/tasks")
     @Operation(summary = "下发任务给车机")
-    CommonResult<String> sendTaskToRobot(@Valid @RequestBody List<RobotAcceptTaskDTO> robotTaskDOS );
+    void sendTaskToRobot(@Valid @RequestBody List<RobotAcceptTaskDTO> robotTaskDOS );
 }

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/path/PathPlanningApiImpl.java

@@ -0,0 +1,30 @@
+package cn.iododer.yudao.module.mqtt.api.path;
+
+import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
+import cn.iocoder.yudao.module.mqtt.api.path.dto.RelatedPathNode;
+import cn.iododer.yudao.module.mqtt.util.MqttUtils;
+import com.alibaba.fastjson.JSON;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttException;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.web.bind.annotation.RestController;
+
+@RestController // 提供 RESTful API 接口，给 Feign 调用
+@Validated
+@Slf4j
+public class PathPlanningApiImpl implements PathPlanningApi {
+
+    @Autowired
+    private MqttUtils mqttUtils;
+
+    @Override
+    public void synchronousPointToPP(RelatedPathNode relatedPathNode, String topic) {
+        try {
+            mqttUtils.pub(topic, JSON.toJSONString(relatedPathNode));
+            log.info("同步给路径规划完成 :{}", topic);
+        } catch (MqttException e) {
+            log.info("同步点位信息给路径规划异常 :{}",e);
+        }
+    }
+}

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/task/RobotTaskApiImpl.java

@@ -24,18 +24,14 @@ public class RobotTaskApiImpl implements RobotTaskApi {
     private MqttUtils mqttUtils;
 
     @Override
-    public CommonResult<String> sendTaskToRobot(List<RobotAcceptTaskDTO> robotTaskDOS) {
+    public void sendTaskToRobot(List<RobotAcceptTaskDTO> robotTaskDOS) {
-        String str ="SUCCESS";
         for (RobotAcceptTaskDTO robotTaskDO : robotTaskDOS) {
             log.info("发送MQTT消息 :{}",JSON.toJSONString(robotTaskDO));
             try {
                 mqttUtils.pub( robotTaskDO.getTopic(), JSON.toJSONString(robotTaskDO));
             } catch (Exception e) {
                 log.info("消息发送异常 :{}",e.getMessage());
-                str ="FAIL";
             }
         }
-
-        return success(str);
     }
 }

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

@@ -229,4 +229,7 @@ public interface ErrorCodeConstants {
     // ========== 车辆充电记录 1_002_043_001 ==========
     ErrorCode CHARGE_LOG_NOT_EXISTS = new ErrorCode(1_002_043_001, "车辆充电记录不存在");
 
+    // ========== 路径规划 1_002_044_001 ==========
+    ErrorCode PATH_PLANNING_NOT_EXISTS = new ErrorCode(1_002_044_001, "不存在需要同步给路径规划的数据");
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java

@@ -0,0 +1,29 @@
+package cn.iocoder.yudao.module.system.constant.path;
+
+/**
+ * 下发给PP的TOPIC
+ */
+public class PathPlanningTopicConstant {
+    /**
+     * 同步全部地图点位
+     */
+    public static String SYNCHRONOUS_ALL_MAP_POINT = "SYNCHRONOUS_MAP_POINT";
+
+    /**
+     * 添加地图点位给PP
+     */
+    public static String ADD_MAP_POINT = "ADD_MAP_POINT";
+
+    /**
+     * 删除地图点位
+     */
+    public static String DELETE_MAP_POINT = "DELETE_MAP_POINT";
+
+    /**
+     * 更新地图点位
+     */
+    public static String UPDATE_MAP_POINT = "UPDATE_MAP_POINT";
+
+
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTopicConstant.java

@@ -0,0 +1,11 @@
+package cn.iocoder.yudao.module.system.constant.robot;
+
+/**
+ * 下发给车机的TOPIC
+ */
+public class RobotTopicConstant {
+    /**
+     * 下发任务给车机的topic （拼接mac地址）
+     */
+    public static String ROBOT_TASK_TOPIC = "ROBOT_TASK_";
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/path/PathPlanningController.java

@@ -1,16 +1,14 @@
 package cn.iocoder.yudao.module.system.controller.admin.path;
 
 import cn.iocoder.yudao.framework.common.pojo.CommonResult;
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationSaveReqVO;
 import cn.iocoder.yudao.module.system.service.path.PathPlanningService;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.tags.Tag;
 import org.springframework.security.access.prepost.PreAuthorize;
 import org.springframework.validation.annotation.Validated;
-import org.springframework.web.bind.annotation.PutMapping;
+import org.springframework.web.bind.annotation.*;
-import org.springframework.web.bind.annotation.RequestBody;
-import org.springframework.web.bind.annotation.RequestMapping;
-import org.springframework.web.bind.annotation.RestController;
 
 import javax.annotation.Resource;
 import javax.validation.Valid;
@@ -26,11 +24,11 @@ public class PathPlanningController {
     @Resource
     private PathPlanningService pathPlanningService;
 
-    @PutMapping("/synchronousPoint")
+    @PostMapping("/synchronousPoint")
     @Operation(summary = "同步全部的点位信息")
     @PreAuthorize("@ss.hasPermission('robot:information:synchronousPoint')")
-    public CommonResult<String> synchronousPoint() {
+    public CommonResult<String> synchronousPoint(@RequestBody PositionMapSaveReqVO positionMapSaveReqVO) {
-        pathPlanningService.synchronousPoint();
+        pathPlanningService.synchronousPoint(positionMapSaveReqVO);
         return success("同步完成");
     }
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/PositionMapLineDTO.java

@@ -0,0 +1,64 @@
+package cn.iocoder.yudao.module.system.controller.admin.positionmap.dto;
+
+import com.alibaba.excel.annotation.ExcelProperty;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Builder;
+import lombok.Data;
+
+import java.math.BigDecimal;
+import java.time.LocalDateTime;
+
+@Data
+@Builder
+public class PositionMapLineDTO {
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "28062")
+    private Long id;
+
+    @Schema(description = "地图id", example = "20863")
+    private Long positionMapId;
+
+    @Schema(description = "出发点id(点位子表id)", example = "20863")
+    private Long startingPointId;
+
+    @Schema(description = "结束点id(点位子表id)", example = "15890")
+    private Long endPointId;
+
+    @Schema(description = "行走方法 0.直线 1.上左曲线2.上右曲线3.下左曲线 4.下右曲线")
+    private Integer method;
+
+    @Schema(description = "方向 1.单向 2.双向", example = "15890")
+    private Integer direction;
+
+    @Schema(description = "正向限速(m/s)", example = "15890")
+    private BigDecimal forwardSpeedLimit;
+
+    @Schema(description = "反向限速(m/s)", example = "15890")
+    private BigDecimal reverseSpeedLimit;
+
+    @Schema(description = "开始控制点x轴")
+    private String beginControlX;
+
+    @Schema(description = "开始控制点y轴")
+    private String beginControlY;
+
+    @Schema(description = "结束控制点x轴")
+    private String endControlX;
+
+    @Schema(description = "结束控制点y轴")
+    private String endControlY;
+
+    @Schema(description = "膨胀区域前")
+    private BigDecimal expansionZoneFront;
+
+    @Schema(description = "膨胀区域后")
+    private BigDecimal expansionZoneAfter;
+
+    @Schema(description = "膨胀区域左")
+    private BigDecimal expansionZoneLeft;
+
+    @Schema(description = "膨胀区域右")
+    private BigDecimal expansionZoneRight;
+
+    @Schema(description = "车头朝向( 0:正向 1:反向)")
+    private Integer toward;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLinePageReqVO.java

@@ -77,4 +77,8 @@ public class PositionMapLinePageReqVO extends PageParam {
     @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
     private LocalDateTime[] createTime;
 
+
+    @Schema(description = "车头朝向( 0:正向 1:反向)", example = "15890")
+    private Integer toward;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineRespVO.java

@@ -90,4 +90,8 @@ public class PositionMapLineRespVO {
     @ExcelProperty("创建时间")
     private LocalDateTime createTime;
 
+    @Schema(description = "车头朝向( 0:正向 1:反向)", example = "15890")
+    @ExcelProperty("车头朝向( 0:正向 1:反向)")
+    private Integer toward;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapLineSaveReqVO.java

@@ -70,4 +70,8 @@ public class PositionMapLineSaveReqVO {
     @Schema(description = "反向限速(m/s)", example = "15890")
     private BigDecimal reverseSpeedLimit;
 
+
+    @Schema(description = "车头朝向( 0:正向 1:反向)", example = "15890")
+    private Integer toward;
+
 }

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

@@ -24,4 +24,7 @@ public class RobotInformationStatisticsVO {
     @Schema(description = "故障")
     private Integer fault = 0;
 
+    @Schema(description = "总数")
+    private Integer total = 0;
+
 }

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

@@ -107,4 +107,8 @@ public class PositionMapLineDO extends BaseDO {
      */
     private BigDecimal reverseSpeedLimit;
 
+    /**
+     * 车头朝向( 0:正向 1:反向)
+     */
+    private Integer toward;
 }

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

@@ -3,10 +3,13 @@ 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.path.dto.PositionMapLineDTO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLinePageReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO;
 import org.apache.ibatis.annotations.Mapper;
 
+import java.util.List;
+
 /**
  * 仓库点位地图连线 Mapper
  *
@@ -24,4 +27,9 @@ public interface PositionMapLineMapper extends BaseMapperX<PositionMapLineDO> {
                 .orderByDesc(PositionMapLineDO::getId));
     }
 
+    /**
+     * 查看所有的点位地图连线
+     * @return
+     */
+    List<PositionMapLineDTO> getAllPositionMapLine(PositionMapLineDO positionMapLineDO);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/line/DirectionEnum.java

@@ -0,0 +1,21 @@
+package cn.iocoder.yudao.module.system.enums.line;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * ware_position_map_line表的direction
+ */
+@Getter
+@AllArgsConstructor
+public enum DirectionEnum {
+
+    ONE_WAY(1,"单向"),
+    TWO_WAY(2,"双向");
+    /**
+     * 类型
+     */
+    private final Integer type;
+
+    private final String msg;
+}

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

@@ -1,14 +0,0 @@
-package cn.iocoder.yudao.module.system.enums.robot;
-
-import lombok.AllArgsConstructor;
-import lombok.Getter;
-
-@Getter
-@AllArgsConstructor
-public enum RobotTopicEnum {
-    ROBOT_TASK("ROBOT_TASK_"); //下发指令给车机
-    /**
-     * 类型
-     */
-    private final String topic;
-}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/framework/mqtt/MqttConfiguration.java

@@ -1,10 +1,11 @@
 package cn.iocoder.yudao.module.system.framework.mqtt;
 
+import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
 import cn.iocoder.yudao.module.mqtt.api.task.RobotTaskApi;
 import org.springframework.cloud.openfeign.EnableFeignClients;
 import org.springframework.context.annotation.Configuration;
 
 @Configuration(proxyBeanMethods = false)
-@EnableFeignClients(clients = {RobotTaskApi.class})
+@EnableFeignClients(clients = {RobotTaskApi.class, PathPlanningApi.class})
 public class MqttConfiguration {
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningService.java

@@ -1,5 +1,7 @@
 package cn.iocoder.yudao.module.system.service.path;
 
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapSaveReqVO;
+
 public interface PathPlanningService {
-    void synchronousPoint();
+    void synchronousPoint(PositionMapSaveReqVO positionMapSaveReqVO);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java

@@ -1,8 +1,30 @@
 package cn.iocoder.yudao.module.system.service.path;
 
+import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
+import cn.iocoder.yudao.module.mqtt.api.path.dto.PositionMapLineDTO;
+import cn.iocoder.yudao.module.mqtt.api.path.dto.RelatedPathNode;
+import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO;
+import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapLineMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
+import cn.iocoder.yudao.module.system.enums.line.DirectionEnum;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
-import org.springframework.validation.annotation.Validated;
+
+import javax.annotation.Resource;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+import java.util.stream.Collectors;
+
+import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.PATH_PLANNING_NOT_EXISTS;
 
 /**
  * 同步信息给车辆
@@ -12,11 +34,120 @@ import org.springframework.validation.annotation.Validated;
 public class PathPlanningServiceImpl implements PathPlanningService {
 
 
+    @Resource
+    private PositionMapLineMapper positionMapLineMapper;
+
+    @Resource
+    private PositionMapMapper positionMapMapper;
+
+    public static ExecutorService executor = Executors.newFixedThreadPool(5);
+
+    @Resource
+    private PathPlanningApi pathPlanningApi;
+
     /**
      * 同步全部的点位信息
      */
     @Override
-    public void synchronousPoint() {
+    public void synchronousPoint(PositionMapSaveReqVO data) {
+
+        List<PositionMapDO> positionMapDOS = positionMapMapper.selectList(new LambdaQueryWrapperX<PositionMapDO>()
+        .eq(ObjectUtil.isNotEmpty(data.getFloor()), PositionMapDO::getFloor, data.getFloor())
+        .eq(ObjectUtil.isNotEmpty(data.getArea()), PositionMapDO::getArea, data.getArea()));
+
+        PositionMapLineDO positionMapLineDO = new PositionMapLineDO();
+        List<PositionMapLineDTO> positionLines = positionMapLineMapper.getAllPositionMapLine(positionMapLineDO);
+
+//        List<PositionMapLineDO> positionLines = positionMapLineMapper.selectList(new LambdaQueryWrapperX<PositionMapLineDO>());
+        if (ObjectUtil.isEmpty(positionMapDOS) || ObjectUtil.isEmpty(positionLines)) {
+            throw exception(PATH_PLANNING_NOT_EXISTS);
+        }
+
+        Map<Long, List<PositionMapLineDTO>> positionMapLineMap = positionLines.stream()
+                .collect(Collectors.groupingBy(PositionMapLineDTO::getPositionMapId));
+        for (PositionMapDO positionMapDO : positionMapDOS) {
+            RelatedPathNode relatedPathNode = new RelatedPathNode();
+            relatedPathNode.setFloor(positionMapDO.getFloor());
+            relatedPathNode.setArea(positionMapDO.getArea());
+            List<PositionMapLineDTO> positionMapLineDOS = positionMapLineMap.get(positionMapDO.getId());
+            if (ObjectUtil.isEmpty(positionMapLineDOS)) {
+                continue;
+            }
+
+            assembleDataToPP(relatedPathNode,positionMapLineDOS);
+        }
 
     }
+
+    /**
+     * 组装数据发送到PP
+     * @param relatedPathNode
+     * @param positionMapLineDOS
+     */
+    private void assembleDataToPP(RelatedPathNode relatedPathNode, List<PositionMapLineDTO> positionMapLineDOS) {
+        executor.execute(() -> {
+            List<PositionMapLineDTO> list = new ArrayList<>();
+            for (PositionMapLineDTO positionMapLineDO : positionMapLineDOS) {
+                list.add(positionMapLineDO);
+                if (DirectionEnum.ONE_WAY.getType().equals(positionMapLineDO.getDirection())) {
+                    continue;
+                }
+
+                PositionMapLineDTO build = PositionMapLineDTO.builder()
+                        .id(positionMapLineDO.getId())
+                        .positionMapId(positionMapLineDO.getPositionMapId())
+                        .startingPointId(positionMapLineDO.getEndPointId())
+                        .endPointId(positionMapLineDO.getStartingPointId())
+                        .direction(1)
+                        .forwardSpeedLimit(positionMapLineDO.getReverseSpeedLimit())
+                        .reverseSpeedLimit(positionMapLineDO.getForwardSpeedLimit())
+                        .beginControlX(positionMapLineDO.getEndControlX())
+                        .beginControlY(positionMapLineDO.getEndControlY())
+                        .endControlX(positionMapLineDO.getBeginControlX())
+                        .endControlY(positionMapLineDO.getBeginControlY())
+                        .expansionZoneFront(positionMapLineDO.getExpansionZoneAfter())
+                        .expansionZoneAfter(positionMapLineDO.getExpansionZoneFront())
+                        .expansionZoneLeft(positionMapLineDO.getExpansionZoneRight())
+                        .expansionZoneRight(positionMapLineDO.getExpansionZoneLeft())
+                        .toward(positionMapLineDO.getToward())
+                        .build();
+                list.add(build);
+            }
+
+            relatedPathNode.setControl_nodes(list);
+
+            pathPlanningApi.synchronousPointToPP(relatedPathNode, PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_POINT);
+        });
+    }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 }

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

@@ -181,7 +181,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
                 }
 
                 if (RobotStatisticsTypeEnum.OFFLINE.getType().equals(pageReqVO.getRobotStatisticsType())
-                        && v.getOnlineStatus().equals(1)) {
+                        && v.getOnlineStatus().equals(0)) {
                     resultList.add(v);
                     continue;
                 }
@@ -216,8 +216,6 @@ public class RobotInformationServiceImpl implements RobotInformationService {
             v.setElectricity(robotStatusDataPoseDTO.getBat_soc());
             v.setFloor(robotStatusDataPoseDTO.getFloor());
             v.setArea(robotStatusDataPoseDTO.getArea());
-        } else if (ObjectUtil.isEmpty(object)) {
-            //离线
             v.setOnlineStatus(1);
         }
 
@@ -273,32 +271,35 @@ public class RobotInformationServiceImpl implements RobotInformationService {
         Integer fault = 0;
         //0：待命、1：任务中、2：锁定、3：离线、4:充电中、5:故障
         for (RobotInformationDO v : existRobot) {
-            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + v.getMacAddress();
+            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +v.getMacAddress();
             Object object = redisUtil.get(pose2dKey);
+
             if (ObjectUtil.isEmpty(object)) {
+                //离线
                 offline++;
-            } else if (RobotTaskModelEnum.REJECTION.getType().equals(v.getRobotTaskModel())) {
+            }
+
+            if (RobotTaskModelEnum.REJECTION.getType().equals(v.getRobotTaskModel())) {
+                //锁定
                 doLock++;
-            } else if (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())) {
+            }
-
+            //设置异常
-                //查看机器人最后做的任务是不是充电
+            String errorLevelKey = RobotTaskChcheConstant.ROBOT_ERROR_LEVEL +v.getMacAddress();
-                RobotTaskDetailDO robotTaskDetailDO = taskDetailMapper.selectOne(new LambdaQueryWrapper<RobotTaskDetailDO>()
+            Object errorLevel = redisUtil.get(errorLevelKey);
-                        .eq(RobotTaskDetailDO::getRobotNo, v.getRobotNo())
+            if (ObjectUtil.isNotEmpty(errorLevel) && Integer.valueOf(errorLevel.toString()).intValue() >= 3) {
-                        .orderByDesc(RobotTaskDetailDO::getCreateTime)
-                        .last("limit 1"));
-                if (ObjectUtil.isNotEmpty(robotTaskDetailDO)
-                        && RobotTaskTypeEnum.CHARGE.getType().equals(robotTaskDetailDO.getTaskType())
-                        && RobotTaskStatusEnum.DOING.getType().equals(robotTaskDetailDO.getTaskStatus())) {
-                    charge++;
-                } else {
-                    standby++;
-                }
-
-            } else if (RobotStatusEnum.DOING.getType().equals(v.getRobotStatus())) {
-                inTask++;
-            } else {
                 fault++;
             }
+
+            if (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())) {
+                //待命中
+                standby++;
+            }else if (RobotStatusEnum.CHARGE.getType().equals(v.getRobotStatus())) {
+                //充电中
+                charge++;
+            }else {
+                //任务中
+                inTask++;
+            }
         }
         info.setStandby(standby);
         info.setInTask(inTask);
@@ -306,6 +307,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
         info.setOffline(offline);
         info.setCharge(charge);
         info.setFault(fault);
+        info.setTotal(existRobot.size());
 
         return info;
     }

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

@@ -11,6 +11,7 @@ import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskData;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.constant.robot.RobotStatusCodeConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
+import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
 import cn.iocoder.yudao.module.system.controller.admin.config.vo.CommonConfigVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
@@ -405,7 +406,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         RobotAcceptTaskDTO robotTaskDO = new RobotAcceptTaskDTO();
         robotTaskDO.setOrder_id(taskDetailDO.getId().toString());
         robotTaskDO.setOrder_type("出库");//未定
-        robotTaskDO.setTopic(RobotTopicEnum.ROBOT_TASK.getTopic()+macAddress);
+        robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC+macAddress);
 
         //1
         RobotAcceptTaskData taskOne = new RobotAcceptTaskData();
@@ -473,7 +474,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         RobotAcceptTaskDTO robotTaskDO = new RobotAcceptTaskDTO();
         robotTaskDO.setOrder_id(taskDetailDO.getId().toString());
         robotTaskDO.setOrder_type("出库");//未定
-        robotTaskDO.setTopic(RobotTopicEnum.ROBOT_TASK.getTopic()+macAddress);
+        robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC+macAddress);
 
         RobotAcceptTaskData taskOne = new RobotAcceptTaskData();
         taskOne.setSerial("1");
@@ -532,7 +533,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         RobotAcceptTaskDTO robotTaskDO = new RobotAcceptTaskDTO();
         robotTaskDO.setOrder_id(taskDetailDO.getId().toString());
         robotTaskDO.setOrder_type("出库");//未定
-        robotTaskDO.setTopic(RobotTopicEnum.ROBOT_TASK.getTopic()+macAddress);
+        robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC+macAddress);
 
         //1
         RobotAcceptTaskData taskOne = new RobotAcceptTaskData();

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

@@ -2,11 +2,358 @@
 <!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.positionmap.PositionMapLineMapper">
 
-    <!--
+    <resultMap id="BaseResultMap" type="cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO">
-        一般情况下，尽可能使用 Mapper 进行 CRUD 增删改查即可。
+        <!--@Table ware_position_map_line-->
-        无法满足的场景，例如说多表关联查询，才使用 XML 编写 SQL。
+        <result property="id" column="id" jdbcType="INTEGER"/>
-        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。
+        <result property="positionMapId" column="position_map_id" jdbcType="INTEGER"/>
-        文档可见：https://www.iocoder.cn/MyBatis/x-plugins/
+        <result property="startingPointId" column="starting_point_id" jdbcType="INTEGER"/>
-     -->
+        <result property="endPointId" column="end_point_id" jdbcType="INTEGER"/>
+        <result property="beginControlX" column="begin_control_x" jdbcType="VARCHAR"/>
+        <result property="beginControlY" column="begin_control_y" jdbcType="VARCHAR"/>
+        <result property="endControlX" column="end_control_x" jdbcType="VARCHAR"/>
+        <result property="endControlY" column="end_control_y" jdbcType="VARCHAR"/>
+        <result property="expansionZoneFront" column="expansion_zone_front" jdbcType="NUMERIC"/>
+        <result property="expansionZoneAfter" column="expansion_zone_after" jdbcType="NUMERIC"/>
+        <result property="expansionZoneLeft" column="expansion_zone_left" jdbcType="NUMERIC"/>
+        <result property="expansionZoneRight" column="expansion_zone_right" jdbcType="NUMERIC"/>
+        <result property="method" column="method" jdbcType="INTEGER"/>
+        <result property="direction" column="direction" jdbcType="INTEGER"/>
+        <result property="forwardSpeedLimit" column="forward_speed_limit" jdbcType="NUMERIC"/>
+        <result property="reverseSpeedLimit" column="reverse_speed_limit" jdbcType="NUMERIC"/>
+        <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"/>
+        <result property="toward" column="toward" jdbcType="INTEGER"/>
+    </resultMap>
+
+    <!--查询单个-->
+    <select id="queryById" resultMap="BaseResultMap">
+        select
+            id, position_map_id, starting_point_id, end_point_id, begin_control_x, begin_control_y, end_control_x, end_control_y, expansion_zone_front, expansion_zone_after, expansion_zone_left, expansion_zone_right, method, direction, forward_speed_limit, reverse_speed_limit, creator, create_time, updater, update_time, deleted, tenant_id, toward
+        from ware_position_map_line
+        where id = #{id}
+    </select>
+
+    <!--查询指定行数据-->
+    <select id="queryAllByLimit" resultMap="BaseResultMap">
+        select
+        id, position_map_id, starting_point_id, end_point_id, begin_control_x, begin_control_y, end_control_x, end_control_y, expansion_zone_front, expansion_zone_after, expansion_zone_left, expansion_zone_right, method, direction, forward_speed_limit, reverse_speed_limit, creator, create_time, updater, update_time, deleted, tenant_id, toward
+        from ware_position_map_line
+        <where>
+            <if test="id != null">
+                and id = #{id}
+            </if>
+            <if test="positionMapId != null">
+                and position_map_id = #{positionMapId}
+            </if>
+            <if test="startingPointId != null">
+                and starting_point_id = #{startingPointId}
+            </if>
+            <if test="endPointId != null">
+                and end_point_id = #{endPointId}
+            </if>
+            <if test="beginControlX != null and beginControlX != ''">
+                and begin_control_x = #{beginControlX}
+            </if>
+            <if test="beginControlY != null and beginControlY != ''">
+                and begin_control_y = #{beginControlY}
+            </if>
+            <if test="endControlX != null and endControlX != ''">
+                and end_control_x = #{endControlX}
+            </if>
+            <if test="endControlY != null and endControlY != ''">
+                and end_control_y = #{endControlY}
+            </if>
+            <if test="expansionZoneFront != null">
+                and expansion_zone_front = #{expansionZoneFront}
+            </if>
+            <if test="expansionZoneAfter != null">
+                and expansion_zone_after = #{expansionZoneAfter}
+            </if>
+            <if test="expansionZoneLeft != null">
+                and expansion_zone_left = #{expansionZoneLeft}
+            </if>
+            <if test="expansionZoneRight != null">
+                and expansion_zone_right = #{expansionZoneRight}
+            </if>
+            <if test="method != null">
+                and method = #{method}
+            </if>
+            <if test="direction != null">
+                and direction = #{direction}
+            </if>
+            <if test="forwardSpeedLimit != null">
+                and forward_speed_limit = #{forwardSpeedLimit}
+            </if>
+            <if test="reverseSpeedLimit != null">
+                and reverse_speed_limit = #{reverseSpeedLimit}
+            </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="toward != null">
+                and toward = #{toward}
+            </if>
+        </where>
+        limit #{pageable.offset}, #{pageable.pageSize}
+    </select>
+
+    <!--通过实体作为筛选条件查询-->
+    <sql id="base_sql" >
+      id,
+      position_map_id,
+      starting_point_id,
+      end_point_id,
+      begin_control_x,
+      begin_control_y,
+      end_control_x,
+      end_control_y,
+      expansion_zone_front,
+      expansion_zone_after,
+      expansion_zone_left,
+      expansion_zone_right,
+      method,
+      direction,
+      forward_speed_limit,
+      reverse_speed_limit,
+      creator,
+      toward
+    </sql>
+    <!--统计总行数-->
+    <select id="count" resultType="java.lang.Long">
+        select count(1)
+        from ware_position_map_line
+        <where>
+            <if test="id != null">
+                and id = #{id}
+            </if>
+            <if test="positionMapId != null">
+                and position_map_id = #{positionMapId}
+            </if>
+            <if test="startingPointId != null">
+                and starting_point_id = #{startingPointId}
+            </if>
+            <if test="endPointId != null">
+                and end_point_id = #{endPointId}
+            </if>
+            <if test="beginControlX != null and beginControlX != ''">
+                and begin_control_x = #{beginControlX}
+            </if>
+            <if test="beginControlY != null and beginControlY != ''">
+                and begin_control_y = #{beginControlY}
+            </if>
+            <if test="endControlX != null and endControlX != ''">
+                and end_control_x = #{endControlX}
+            </if>
+            <if test="endControlY != null and endControlY != ''">
+                and end_control_y = #{endControlY}
+            </if>
+            <if test="expansionZoneFront != null">
+                and expansion_zone_front = #{expansionZoneFront}
+            </if>
+            <if test="expansionZoneAfter != null">
+                and expansion_zone_after = #{expansionZoneAfter}
+            </if>
+            <if test="expansionZoneLeft != null">
+                and expansion_zone_left = #{expansionZoneLeft}
+            </if>
+            <if test="expansionZoneRight != null">
+                and expansion_zone_right = #{expansionZoneRight}
+            </if>
+            <if test="method != null">
+                and method = #{method}
+            </if>
+            <if test="direction != null">
+                and direction = #{direction}
+            </if>
+            <if test="forwardSpeedLimit != null">
+                and forward_speed_limit = #{forwardSpeedLimit}
+            </if>
+            <if test="reverseSpeedLimit != null">
+                and reverse_speed_limit = #{reverseSpeedLimit}
+            </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="toward != null">
+                and toward = #{toward}
+            </if>
+        </where>
+    </select>
+
+    <select id="getAllPositionMapLine"
+            resultType="cn.iocoder.yudao.module.mqtt.api.path.dto.PositionMapLineDTO">
+        select
+            <include refid="base_sql"></include>
+        from
+            ware_position_map_line
+        <where>
+            <if test="id != null">
+                and id = #{id}
+            </if>
+            <if test="positionMapId != null">
+                and position_map_id = #{positionMapId}
+            </if>
+            <if test="startingPointId != null">
+                and starting_point_id = #{startingPointId}
+            </if>
+            <if test="endPointId != null">
+                and end_point_id = #{endPointId}
+            </if>
+            <if test="beginControlX != null and beginControlX != ''">
+                and begin_control_x = #{beginControlX}
+            </if>
+            <if test="beginControlY != null and beginControlY != ''">
+                and begin_control_y = #{beginControlY}
+            </if>
+            <if test="endControlX != null and endControlX != ''">
+                and end_control_x = #{endControlX}
+            </if>
+            <if test="endControlY != null and endControlY != ''">
+                and end_control_y = #{endControlY}
+            </if>
+            <if test="expansionZoneFront != null">
+                and expansion_zone_front = #{expansionZoneFront}
+            </if>
+            <if test="expansionZoneAfter != null">
+                and expansion_zone_after = #{expansionZoneAfter}
+            </if>
+            <if test="expansionZoneLeft != null">
+                and expansion_zone_left = #{expansionZoneLeft}
+            </if>
+            <if test="expansionZoneRight != null">
+                and expansion_zone_right = #{expansionZoneRight}
+            </if>
+            <if test="method != null">
+                and method = #{method}
+            </if>
+            <if test="direction != null">
+                and direction = #{direction}
+            </if>
+            <if test="forwardSpeedLimit != null">
+                and forward_speed_limit = #{forwardSpeedLimit}
+            </if>
+            <if test="reverseSpeedLimit != null">
+                and reverse_speed_limit = #{reverseSpeedLimit}
+            </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="toward != null">
+                and toward = #{toward}
+            </if>
+        </where>
+    </select>
+
+
+    <!--通过主键修改数据-->
+    <update id="updateBySelect">
+        update ware_position_map_line
+        <set>
+            <if test="positionMapId != null">
+                position_map_id = #{positionMapId},
+            </if>
+            <if test="startingPointId != null">
+                starting_point_id = #{startingPointId},
+            </if>
+            <if test="endPointId != null">
+                end_point_id = #{endPointId},
+            </if>
+            <if test="beginControlX != null and beginControlX != ''">
+                begin_control_x = #{beginControlX},
+            </if>
+            <if test="beginControlY != null and beginControlY != ''">
+                begin_control_y = #{beginControlY},
+            </if>
+            <if test="endControlX != null and endControlX != ''">
+                end_control_x = #{endControlX},
+            </if>
+            <if test="endControlY != null and endControlY != ''">
+                end_control_y = #{endControlY},
+            </if>
+            <if test="expansionZoneFront != null">
+                expansion_zone_front = #{expansionZoneFront},
+            </if>
+            <if test="expansionZoneAfter != null">
+                expansion_zone_after = #{expansionZoneAfter},
+            </if>
+            <if test="expansionZoneLeft != null">
+                expansion_zone_left = #{expansionZoneLeft},
+            </if>
+            <if test="expansionZoneRight != null">
+                expansion_zone_right = #{expansionZoneRight},
+            </if>
+            <if test="method != null">
+                method = #{method},
+            </if>
+            <if test="direction != null">
+                direction = #{direction},
+            </if>
+            <if test="forwardSpeedLimit != null">
+                forward_speed_limit = #{forwardSpeedLimit},
+            </if>
+            <if test="reverseSpeedLimit != null">
+                reverse_speed_limit = #{reverseSpeedLimit},
+            </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="toward != null">
+                toward = #{toward},
+            </if>
+        </set>
+        where id = #{id}
+    </update>
+
 
 </mapper>