远遥断开连接

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

@@ -15,5 +15,7 @@ public class PathPosedsDTO {
     private String orderId;
     private String orderType;
     private String robotNo;
+    private String commandType;
     private List<PathPosedsDataDTO> data;
+    private PathSwitchMapDTO arg;
 }

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

@@ -0,0 +1,9 @@
+package cn.iocoder.yudao.module.mqtt.api.path.dto;
+
+import lombok.Data;
+
+@Data
+public class PathSwitchMapDTO {
+    private String floor;
+    private String areaId;
+}

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

@@ -8,4 +8,7 @@ public class RemotePathPlanningDTO {
 
     @Schema(description = "车辆编号")
     private String robotNo;
+
+    @Schema(description = "AUTO自动、 MAN手动")
+    private String operationMode;
 }

yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/RemoteRobotController.java

@@ -81,10 +81,18 @@ public class RemoteRobotController {
 
     @GetMapping("/getMap")
     @Operation(summary = "获得仓库点位地图Map")
-    @PreAuthorize("@ss.hasPermission('system:position-map:getMap')")
+    @PreAuthorize("@ss.hasPermission('remote:robot:getMap')")
     public CommonResult<Object> getPositionMapList() {
         Object result = remoteRobotService.getPositionMapList();
         return success(result);
     }
 
+
+    @PostMapping("/disconnect")
+    @Operation(summary = "断开连接")
+    @PreAuthorize("@ss.hasPermission('remote:robot:disconnect')")
+    public CommonResult<Boolean> remoteDisconnect(HttpServletRequest request) {
+        remoteRobotService.remoteDisconnect(request);
+        return success(true);
+    }
 }

yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotService.java

@@ -56,4 +56,10 @@ public interface RemoteRobotService {
      * @return
      */
     Object getPositionMapList();
+
+    /**
+     * 断开连接
+     * @param request
+     */
+    void remoteDisconnect(HttpServletRequest request);
 }

yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotServiceImpl.java

@@ -102,4 +102,17 @@ public class RemoteRobotServiceImpl implements RemoteRobotService{
     public Object getPositionMapList() {
         return remoteRobotApi.getRemotePositionMapList();
     }
+
+    /**
+     * 断开连接
+     * @param request
+     */
+    @Override
+    public void remoteDisconnect(HttpServletRequest request) {
+        String ip = IpUtils.getIp(request);
+        CommonResult<Boolean> result = remoteRobotApi.remoteDisconnect(ip);
+        if (!result.isSuccess()){
+            throw exception0(TASK_COMMONG_FAIL.getCode(), result.getMsg());
+        }
+    }
 }

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApi.java

@@ -47,4 +47,8 @@ public interface RemoteRobotApi {
     @PostMapping(PREFIX + "/getRemotePositionMapList")
     @Operation(summary = "远遥查询地图")
     Object getRemotePositionMapList();
+
+    @PostMapping(PREFIX + "/remoteDisconnect")
+    @Operation(summary = "断开连接")
+    CommonResult<Boolean> remoteDisconnect(@RequestParam(value = "remoteIp") String remoteIp);
 }

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

@@ -307,4 +307,5 @@ public interface ErrorCodeConstants {
 
     // ========== 区域变更点绑定 1_002_057_001 ==========
     ErrorCode POSITION_CHANGE_POINT_BINDING_NOT_EXISTS = new ErrorCode(1_002_057_001, "区域变更点绑定不存在");
+    ErrorCode POSITION_CHANGE_POINT_SAME_MAP = new ErrorCode(1_002_057_001, "区域变更点绑定，不能是同一张地图");
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApiImpl.java

@@ -106,5 +106,16 @@ public class RemoteRobotApiImpl implements RemoteRobotApi {
         return result;
     }
 
+    /**
+     * 断开连接
+     * @param remoteIp
+     * @return
+     */
+    @Override
+    public CommonResult<Boolean> remoteDisconnect(String remoteIp) {
+        controllerInformationService.remoteDisconnect(remoteIp);
+        return CommonResult.success(true);
+    }
+
 
 }

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

@@ -15,6 +15,9 @@ import io.swagger.v3.oas.annotations.Operation;
 
 import javax.validation.*;
 import cn.iocoder.yudao.framework.common.pojo.CommonResult;
+
+import java.util.List;
+
 import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
 
 
@@ -65,11 +68,11 @@ public class PositionChangePointBindingController {
     }
 
     @GetMapping("/getItemBySortNum")
-    @Operation(summary = "根据排序查询点位信息")
+    @Operation(summary = "根据排序查询点位信息(区域变更点)")
     @Parameter(name = "sortNum", description = "点位自增排序", required = true, example = "1024")
     @PreAuthorize("@ss.hasPermission('system:position-change-point-binding:getItemBySortNum')")
-    public CommonResult<PositionMapItemSaveReqVO> getItemBySortNum(@RequestParam("sortNum") Long sortNum) {
+    public CommonResult<List<PositionMapItemSaveReqVO>> getItemBySortNum(@RequestParam("sortNum") Long sortNum) {
-        PositionMapItemSaveReqVO positionMapItemSaveReqVO = positionMapItemService.getItemBySortNum(sortNum);
+        List<PositionMapItemSaveReqVO> positionMapItemSaveReqVO = positionMapItemService.getItemBySortNum(sortNum);
         return success(positionMapItemSaveReqVO);
     }
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/remote/RemoteControllerInformationDO.java

@@ -31,6 +31,7 @@ public class RemoteControllerInformationDO extends BaseDO {
     /**
      * AGV编号
      */
+    @TableField(updateStrategy  = FieldStrategy.IGNORED)
     private String robotNo;
     /**
      * 远遥模式(0:自动模式, 1:手动模式, 2:自由模式)

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

@@ -7,6 +7,7 @@ import lombok.Getter;
 @AllArgsConstructor
 public enum RobotCommandTypeEnum {
     MOVE_POSES("MOVE_POSES","移动"),
+    SWITCH_MAP("SWITCH_MAP","切图"),
     WORK_START_CHARGE("WORK_START_CHARGE","充电"),
     WORD_PICK_UP_GOODS("WORD_PICK_UP_GOODS","取货"),
     WORD_DROP_OFF_GOODS("WORD_DROP_OFF_GOODS","放货"),

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/remote/RemoteControllerConsumer.java

@@ -0,0 +1,27 @@
+package cn.iocoder.yudao.module.system.mq.consumer.remote;
+
+import cn.iocoder.yudao.module.system.mq.message.RemoteSendMessage;
+import cn.iocoder.yudao.module.system.mq.message.sms.SmsSendMessage;
+import cn.iocoder.yudao.module.system.service.remote.RemoteControllerInformationService;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.context.event.EventListener;
+import org.springframework.scheduling.annotation.Async;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.Resource;
+
+@Component
+@Slf4j
+public class RemoteControllerConsumer {
+
+    @Resource
+    private RemoteControllerInformationService controllerInformationService;
+
+    @EventListener
+    @Async // Spring Event 默认在 Producer 发送的线程，通过 @Async 实现异步
+    public void onMessage(RemoteSendMessage message) {
+        log.info("远遥模块事件收到的消息 : {}", message);
+        controllerInformationService.repeatedTransmissionDisconnect(message);
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/message/RemoteSendMessage.java

@@ -0,0 +1,10 @@
+package cn.iocoder.yudao.module.system.mq.message;
+
+import lombok.Builder;
+import lombok.Data;
+
+@Data
+@Builder
+public class RemoteSendMessage {
+    private String robotNo;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/producer/remote/RemoteControllerProducer.java

@@ -0,0 +1,20 @@
+package cn.iocoder.yudao.module.system.mq.producer.remote;
+
+import cn.iocoder.yudao.module.system.mq.message.RemoteSendMessage;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.context.ApplicationContext;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.Resource;
+
+@Slf4j
+@Component
+public class RemoteControllerProducer {
+
+    @Resource
+    private ApplicationContext applicationContext;
+
+    public void sendSmsSendMessage(RemoteSendMessage message) {
+        applicationContext.publishEvent(message);
+    }
+}

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

@@ -38,10 +38,12 @@ import cn.iocoder.yudao.module.system.enums.config.CommandConfigTypeEnum;
 import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum;
 import cn.iocoder.yudao.module.system.enums.line.DirectionEnum;
 import cn.iocoder.yudao.module.system.enums.path.PathTypeEnum;
+import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
 import cn.iocoder.yudao.module.system.service.config.CommonConfigService;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionChangePointBindingService;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapService;
+import cn.iocoder.yudao.module.system.service.remote.RemoteControllerInformationService;
 import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;
@@ -113,6 +115,9 @@ public class PathPlanningServiceImpl implements PathPlanningService {
     @Resource
     private PositionChangePointBindingService positionChangePointBindingService;
 
+    @Resource
+    private RemoteControllerInformationService controllerInformationService;
+
     /**
      * 同步ware_position_map_line的点位信息
      */
@@ -441,6 +446,9 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         String mac = robotInformationService.getMacByRobotNo(pathPosedsDTO.getRobotNo());
         String topic = RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + mac;
         commonApi.commonMethodStr(message, topic);
+        if(RobotCommandTypeEnum.SWITCH_MAP.getType().equals(pathPosedsDTO.getCommandType())) {
+            controllerInformationService.robotChangeSpeed(pathPosedsDTO);
+        }
     }
 
     /**

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionChangePointBindingServiceImpl.java

@@ -8,6 +8,7 @@ import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionCh
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionChangePointBindingSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionChangePointBindingDO;
 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.positionmap.PositionChangePointBindingMapper;
 import org.springframework.stereotype.Service;
 
@@ -39,11 +40,21 @@ public class PositionChangePointBindingServiceImpl extends ServiceImpl<PositionC
     @Resource
     private PositionChangePointBindingMapper positionChangePointBindingMapper;
 
+    @Resource
+    private PositionMapItemService positionMapItemService;
+
     @Override
     public Long createPositionChangePointBinding(PositionChangePointBindingSaveReqVO createReqVO) {
         // 插入
         PositionChangePointBindingDO positionChangePointBinding = BeanUtils.toBean(createReqVO, PositionChangePointBindingDO.class);
         positionChangePointBindingMapper.insert(positionChangePointBinding);
+
+        PositionMapItemDO startPositionMapItem = positionMapItemService.getPositionMapItem(createReqVO.getStartingPointId());
+        PositionMapItemDO endPositionMapItem = positionMapItemService.getPositionMapItem(createReqVO.getEndPointId());
+        if (startPositionMapItem.getPositionMapId().equals(endPositionMapItem.getPositionMapId())) {
+            throw exception(POSITION_CHANGE_POINT_SAME_MAP);
+        }
+
         // 返回
         return positionChangePointBinding.getId();
     }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemService.java

@@ -126,9 +126,9 @@ public interface PositionMapItemService extends IService<PositionMapItemDO> {
     Long getUUid();
 
     /**
-     * 根据排序查询
+     * 根据排序查询 区域变更点
      * @param sortNum
      * @return
      */
-    PositionMapItemSaveReqVO getItemBySortNum(Long sortNum);
+    List<PositionMapItemSaveReqVO> getItemBySortNum(Long sortNum);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java

@@ -14,6 +14,7 @@ import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMa
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
 import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
+import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
@@ -166,14 +167,20 @@ public class PositionMapItemServiceImpl extends ServiceImpl<PositionMapItemMappe
         return IdUtil.getSnowflakeNextId();
     }
 
+    /**
+     * 根据排序查询区域变更点
+     * @param sortNum
+     * @return
+     */
     @Override
-    public PositionMapItemSaveReqVO getItemBySortNum(Long sortNum) {
+    public List<PositionMapItemSaveReqVO> getItemBySortNum(Long sortNum) {
-        PositionMapItemDO positionMapItemDO = positionMapItemMapper.selectOne(new LambdaQueryWrapperX<PositionMapItemDO>()
+        List<PositionMapItemDO> positionMapItemDO = positionMapItemMapper.selectList(new LambdaQueryWrapperX<PositionMapItemDO>()
-                .eq(PositionMapItemDO::getSortNum, sortNum));
+                .eqIfPresent(PositionMapItemDO::getType, PositionMapItemEnum.CHANGE.getType())
+                .likeIfPresent(PositionMapItemDO::getSortNum, sortNum+""));
         if (ObjectUtil.isEmpty(positionMapItemDO)) {
             return null;
         }
-        PositionMapItemSaveReqVO bean = BeanUtils.toBean(positionMapItemDO, PositionMapItemSaveReqVO.class);
+        List<PositionMapItemSaveReqVO> bean = BeanUtils.toBean(positionMapItemDO, PositionMapItemSaveReqVO.class);
         return bean;
     }
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationService.java

@@ -3,12 +3,14 @@ package cn.iocoder.yudao.module.system.service.remote;
 import java.util.*;
 import javax.validation.*;
 
+import cn.iocoder.yudao.module.mqtt.api.path.dto.PathPosedsDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.LoginCheckDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotStatusDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteTaskTransferDTO;
 import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RemoteControllerInformationPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RemoteControllerInformationSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.remote.RemoteControllerInformationDO;
+import cn.iocoder.yudao.module.system.mq.message.RemoteSendMessage;
 import com.baomidou.mybatisplus.extension.service.IService;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.pojo.PageParam;
@@ -108,4 +110,22 @@ public interface RemoteControllerInformationService extends IService<RemoteContr
      * @param data
      */
     void remoteTransferTaskToFreeRobot(RemoteTaskTransferDTO data);
+
+    /**
+     * 车辆换图修改限速
+     * @param pathPosedsDTO
+     */
+    void robotChangeSpeed(PathPosedsDTO pathPosedsDTO);
+
+    /**
+     * 断开连接
+     * @param remoteIp
+     */
+    void remoteDisconnect(String remoteIp);
+
+    /**
+     * 重复发送断开连接的请求
+     * @param message
+     */
+    void repeatedTransmissionDisconnect(RemoteSendMessage message);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java

@@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.service.remote;
 import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
 import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
+import cn.iocoder.yudao.module.mqtt.api.path.dto.PathPosedsDTO;
 import cn.iocoder.yudao.module.mqtt.api.path.dto.remote.RemotePathPlanningDTO;
 import cn.iocoder.yudao.module.mqtt.api.path.dto.remote.RobotModeDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.LoginCheckDTO;
@@ -36,6 +37,8 @@ import cn.iocoder.yudao.module.system.enums.robot.actionlog.ActionStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.remote.RemoteModeEnum;
 import cn.iocoder.yudao.module.system.enums.robot.remote.RemoteOperationModeEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
+import cn.iocoder.yudao.module.system.mq.message.RemoteSendMessage;
+import cn.iocoder.yudao.module.system.mq.producer.remote.RemoteControllerProducer;
 import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogService;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
@@ -47,6 +50,7 @@ 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.ApplicationContext;
 import org.springframework.stereotype.Service;
 
 import javax.annotation.Resource;
@@ -111,6 +115,9 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
     @Resource
     private ControllerTaskTransferLogService controllerTaskTransferLogService;
 
+    @Resource
+    private RemoteControllerProducer remoteControllerProducer;
+
     @Override
     public Long createControllerInformation(RemoteControllerInformationSaveReqVO createReqVO) {
         // 插入
@@ -322,6 +329,62 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
         }
     }
 
+    /**
+     * 车辆换图修改限速
+     * @param pathPosedsDTO
+     */
+    @Override
+    public void robotChangeSpeed(PathPosedsDTO pathPosedsDTO) {
+        RemoteControllerInformationDO information = controllerInformationMapper.selectOne(new LambdaQueryWrapper<RemoteControllerInformationDO>()
+                .eq(RemoteControllerInformationDO::getRobotNo, pathPosedsDTO.getRobotNo())
+                .last("limit 1"));
+        if (ObjectUtil.isEmpty(information)) {
+            return;
+        }
+        sendModeToRobot(information.getRobotNo(), RemoteOperationModeEnum.getType(information.getRemoteMode()));
+    }
+
+    /**
+     * 断开连接
+     * @param remoteIp
+     */
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public void remoteDisconnect(String remoteIp) {
+        RemoteControllerInformationDO information = controllerInformationMapper.selectOne(new LambdaQueryWrapper<RemoteControllerInformationDO>()
+                .eq(RemoteControllerInformationDO::getRemoteIp, remoteIp)
+                .last("limit 1"));
+        if (ObjectUtil.isEmpty(information.getRobotNo())) {
+            return;
+        }
+        checkGraphMatch(information.getRobotNo());
+
+        String robotNo = information.getRobotNo();
+        sendRemoteMsgToPP(robotNo,PathPlanningTopicConstant.CLOSE_REMOTE_CONTROLLER,RemoteOperationModeEnum.AUTO.getType());
+        sendModeToRobot(robotNo, RemoteOperationModeEnum.AUTO.getType());
+
+        information.setRobotNo(null);
+        information.setRemoteMode(RemoteModeEnum.AUTOMATIC.getType());
+        information.setTaskDetailId(null);
+        information.setCollaborativeControl(ZeroOneEnum.ZERO.getType());
+        controllerInformationMapper.updateById(information);
+
+        UserOperationLogSaveReqVO build = UserOperationLogSaveReqVO.builder()
+                .operateAction("远遥断开连接 "+ information.getRemoteIp())
+                .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
+        userOperationLogService.createUserOperationLog(build);
+
+        RemoteSendMessage remoteSendMessage = RemoteSendMessage.builder().robotNo(robotNo).build();
+        remoteControllerProducer.sendSmsSendMessage(remoteSendMessage);
+    }
+
+    @Override
+    public void repeatedTransmissionDisconnect(RemoteSendMessage message) {
+        String robotNo = message.getRobotNo();
+        sendRemoteMsgToPP(robotNo,PathPlanningTopicConstant.CLOSE_REMOTE_CONTROLLER,RemoteOperationModeEnum.AUTO.getType());
+        sendModeToRobot(robotNo, RemoteOperationModeEnum.AUTO.getType());
+    }
+
     /**
      * 远遥转移任务
      *
@@ -448,7 +511,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
             String operateAction = information.getRemoteIp() + " 开启远遥为自动模式";
             information.setTaskDetailId(null);
             setRemoteChangeLog(information, robotNo, remoteMode, operateAction);
-            sendRemoteMsgToRobotAndPP(robotNo);
+            sendRemoteMsgToPP(robotNo,PathPlanningTopicConstant.START_REMOTE_CONTROLLER,RemoteOperationModeEnum.AUTO.getType());
             sendModeToRobot(robotNo, RemoteOperationModeEnum.AUTO.getType());
             return;
         }
@@ -459,7 +522,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
                     .operateAction(information.getRemoteIp() + " 重新进入远遥 " + RemoteModeEnum.getMsg(remoteMode))
                     .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
             userOperationLogService.createUserOperationLog(operationLog);
-            sendRemoteMsgToRobotAndPP(robotNo);
+            sendRemoteMsgToPP(robotNo,PathPlanningTopicConstant.START_REMOTE_CONTROLLER,RemoteOperationModeEnum.getType(information.getRemoteMode()));
             sendModeToRobot(robotNo, RemoteOperationModeEnum.getType(remoteMode));
             return;
         }
@@ -472,7 +535,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
             }
             String operateAction = information.getRemoteIp() + " 切换远遥模式为 " + RemoteModeEnum.getMsg(remoteMode);
             setRemoteChangeLog(information, robotNo, remoteMode, operateAction);
-            sendRemoteMsgToRobotAndPP(robotNo);
+            sendRemoteMsgToPP(robotNo,PathPlanningTopicConstant.START_REMOTE_CONTROLLER,RemoteOperationModeEnum.MAN.getType());
             sendModeToRobot(robotNo, RemoteOperationModeEnum.MAN.getType());
             return;
         }
@@ -497,7 +560,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
 
             String operateAction = information.getRemoteIp() + " 切换远遥模式为 " + RemoteModeEnum.getMsg(remoteMode);
             setRemoteChangeLog(information, robotNo, remoteMode, operateAction);
-            sendRemoteMsgToRobotAndPP(robotNo);
+            sendRemoteMsgToPP(robotNo,PathPlanningTopicConstant.START_REMOTE_CONTROLLER,RemoteOperationModeEnum.MAN.getType());
             sendModeToRobot(robotNo, RemoteOperationModeEnum.MAN.getType());
             return;
         }
@@ -508,7 +571,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
 
             String operateAction = information.getRemoteIp() + " 切换远遥模式为 " + RemoteModeEnum.getMsg(remoteMode);
             setRemoteChangeLog(information, robotNo, remoteMode, operateAction);
-            sendRemoteMsgToRobotAndPP(robotNo);
+            sendRemoteMsgToPP(robotNo,PathPlanningTopicConstant.START_REMOTE_CONTROLLER,RemoteOperationModeEnum.AUTO.getType());
             sendModeToRobot(robotNo, RemoteOperationModeEnum.AUTO.getType());
             return;
         }
@@ -530,7 +593,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
             checkGraphMatch(robotNo);
             String operateAction = information.getRemoteIp() + " 切换远遥模式为 " + RemoteModeEnum.getMsg(remoteMode);
             setRemoteChangeLog(information, robotNo, remoteMode, operateAction);
-            sendRemoteMsgToRobotAndPP(robotNo);
+            sendRemoteMsgToPP(robotNo,PathPlanningTopicConstant.START_REMOTE_CONTROLLER,RemoteOperationModeEnum.AUTO.getType());
             sendModeToRobot(robotNo, RemoteOperationModeEnum.AUTO.getType());
         }
 
@@ -563,18 +626,19 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
         }
         String mac = informationService.getMacByRobotNo(robotNo);
         commonApi.commonMethod(robotModeDTO, RobotTopicConstant.ROBOT_COMMAND_TOPIC + mac);
-        log.info("发送消息让车机切换模式 :{}", JSON.toJSONString(robotModeDTO));
+        log.info("发送消息让车机 :{} 切换模式 :{}",robotNo, JSON.toJSONString(robotModeDTO));
     }
 
     /**
-     * 发送远遥信息给PP和车机
+     * 发送远遥信息给PP
      *
      * @param robotNo
      */
-    public void sendRemoteMsgToRobotAndPP(String robotNo) {
+    public void sendRemoteMsgToPP(String robotNo, String topic, String operationMode) {
         RemotePathPlanningDTO remotePathPlanning = new RemotePathPlanningDTO();
         remotePathPlanning.setRobotNo(robotNo);
-        commonApi.commonMethod(remotePathPlanning, PathPlanningTopicConstant.START_REMOTE_CONTROLLER);
+        remotePathPlanning.setOperationMode(operationMode);
+        commonApi.commonMethod(remotePathPlanning, topic);
     }
 
     /**