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分配任务给PP

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cbs 2025-02-21 09:05:58 +08:00
parent e55ed52cee
commit 63909d1105
25 changed files with 412 additions and 42 deletions
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28
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/RobotDimensionsDTO.java Normal file
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@ -0,0 +1,28 @@
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 javax.validation.constraints.NotEmpty;
/**
* 车辆尺寸
*/
@Data
@NoArgsConstructor
@AllArgsConstructor
public class RobotDimensionsDTO {
@Schema(description = "AGV编号")
private String robotNo;
@Schema(description = "车辆宽(单位米)")
private String robotWide;
@Schema(description = "中心到车头距离(单位米)")
private String robotCenterHeadstock;
@Schema(description = "中心到车尾距离(单位米)")
private String robotCenterTail;
}

26
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskOrderConfigDTO.java Normal file
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@ -0,0 +1,26 @@
package cn.iocoder.yudao.module.mqtt.api.path.task;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.AllArgsConstructor;
import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;
/**
* 任务执行顺序配置
*/
@Data
@Builder
@NoArgsConstructor
@AllArgsConstructor
public class TaskOrderConfigDTO {
@Schema(description = "优先级权重")
private Integer priority = 1;
@Schema(description = "创建时间权重")
private Integer createTime = 1;
@Schema(description = "距离权重")
private Integer distance = 1;
}

4
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java
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@ -6,6 +6,7 @@ import lombok.Builder;
import lombok.Data;
import lombok.NoArgsConstructor;
import java.time.LocalDateTime;
import java.util.List;
/**
@ -51,4 +52,7 @@ public class TaskToPathPlanningDTO {
@Schema(description = "能执行此任务的机器人编号， 和机器人不能行走的区域")
private List<TaskRobotNoLimittationAreaDTO> robotNoLimitationAreaDTOS;
@Schema(description = "创建时间")
private LocalDateTime createTime;
}

7
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttFactory.java
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@ -2,10 +2,7 @@ package cn.iododer.yudao.module.mqtt.config;
//import cn.iododer.yudao.module.mqtt.customer.MqttMessageListener;
import cn.iododer.yudao.module.mqtt.enums.DefineSubTopicEnum;
import cn.iododer.yudao.module.mqtt.service.MqttService;
import cn.iododer.yudao.module.mqtt.service.RobotGenericsStatusServiceImpl;
import cn.iododer.yudao.module.mqtt.service.RobotTaskStatusServiceImpl;
import cn.iododer.yudao.module.mqtt.service.RobotStatusServiceImpl;
import cn.iododer.yudao.module.mqtt.service.*;
import cn.iododer.yudao.module.mqtt.util.BeanUtils;
import lombok.extern.slf4j.Slf4j;
import org.eclipse.paho.client.mqttv3.MqttClient;
@ -138,6 +135,8 @@ public class MqttFactory {
return BeanUtils.getBean(RobotGenericsStatusServiceImpl.class);
case ROBOT_STATUS:
return BeanUtils.getBean(RobotStatusServiceImpl.class);
case SYNCHRONOUS_ALL_MAP_REQUEST:
return BeanUtils.getBean(PathPlanningInitDataServiceImpl.class);
default :
// case ROBOT_TASK_STATUS:
return BeanUtils.getBean(RobotTaskStatusServiceImpl.class);

3
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java
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@ -17,7 +17,8 @@ public enum DefineSubTopicEnum {
//qos 0-至多1次、1-至少1次、2-正好一次
ROBOT_STATUS("ROBOT_STATUS", 0,"点位"),
ROBOT_TASK_STATUS("ROBOT_TASK_STATUS", 0,"机器人任务完成上报"),
ROBOT_GENERICS_STATUS("ROBOT_GENERICS_STATUS", 0,"机器人异常");
ROBOT_GENERICS_STATUS("ROBOT_GENERICS_STATUS", 0,"机器人异常"),
SYNCHRONOUS_ALL_MAP_REQUEST("SYNCHRONOUS_ALL_MAP_REQUEST", 0,"路径规划需要初始数据上报");
private final String topic;

10
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/framework/path/PathConfiguration.java Normal file
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@ -0,0 +1,10 @@
package cn.iododer.yudao.module.mqtt.framework.path;
import cn.iocoder.yudao.module.system.api.path.PathApi;
import org.springframework.cloud.openfeign.EnableFeignClients;
import org.springframework.context.annotation.Configuration;
@Configuration(proxyBeanMethods = false)
@EnableFeignClients(clients = {PathApi.class})
public class PathConfiguration {
}

26
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/PathPlanningInitDataServiceImpl.java Normal file
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@ -0,0 +1,26 @@
package cn.iododer.yudao.module.mqtt.service;
import cn.iocoder.yudao.module.system.api.path.PathApi;
import cn.iocoder.yudao.module.system.api.robot.RobotStatusApi;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
@Service
@Slf4j
public class PathPlanningInitDataServiceImpl implements MqttService{
@Resource
private PathApi pathApi;
/**
* 路径规划需要初始数据上报
* @param message
*/
@Override
public void analysisMessage(String message) {
log.info("收到路径规划需要初始化数据的请求");
pathApi.pathInitData();
}
}

19
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApi.java Normal file
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@ -0,0 +1,19 @@
package cn.iocoder.yudao.module.system.api.path;
import cn.iocoder.yudao.module.system.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;
@FeignClient(name = ApiConstants.NAME) // TODO 芋艿：fallbackFactory =
@Tag(name = "RPC 服务 - 路径规划常规信息上报")
public interface PathApi {
String PREFIX = ApiConstants.PREFIX + "/path";
@PostMapping(PREFIX + "/initData")
@Operation(summary = "路径规划需要初始化信息")
void pathInitData();
}

39
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java Normal file
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@ -0,0 +1,39 @@
package cn.iocoder.yudao.module.system.api.path;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapSaveReqVO;
import cn.iocoder.yudao.module.system.service.path.PathPlanningService;
import cn.iocoder.yudao.module.system.service.tool.ToolsService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.RestController;
import javax.annotation.Resource;
@Slf4j
@RestController // 提供 RESTful API 接口，给 Feign 调用
@Validated
public class PathApiImpl implements PathApi {
@Resource
private PathPlanningService pathPlanningService;
@Resource
private ToolsService toolsService;
@Override
public void pathInitData() {
TenantContextHolder.setTenantId(1L);
//同步点位信息
PositionMapSaveReqVO positionMapSaveReqVO = new PositionMapSaveReqVO();
pathPlanningService.synchronousAllItem(positionMapSaveReqVO);
//同步线的信息
pathPlanningService.synchronousPoint(positionMapSaveReqVO);
//车辆尺寸
pathPlanningService.robotDimensions();
//距离、优先级、时间权重
toolsService.sendPPsortConfig();
}
}

10
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java
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@ -50,5 +50,15 @@ public class PathPlanningTopicConstant {
*/
public static String SEND_TASK_TO_PP = "SEND_TASK_TO_PP";
/**
* 发送时间、优先级、距离的权重给PP
*/
public static String SEND_SORT_CONFIG_TO_PP = "SEND_SORT_CONFIG_TO_PP";
/**
* 发送车辆编号对应的车宽、中心与车头距离、中心与车尾距离给PP
*/
public static String SEND_ROBOT_DIMENSIONS = "SEND_ROBOT_DIMENSIONS";
}

18
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/path/PathPlanningController.java
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@ -7,6 +7,7 @@ import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMa
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 cn.iocoder.yudao.module.system.service.tool.ToolsService;
import io.swagger.v3.oas.annotations.Operation;
import io.swagger.v3.oas.annotations.tags.Tag;
import org.springframework.security.access.prepost.PreAuthorize;
@ -18,7 +19,7 @@ import javax.validation.Valid;
import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
@Tag(name = "管理后台 - 同步信息给路径规划")
@Tag(name = "管理后台 - 路径规划")
@RestController
@RequestMapping("/system/path/planning")
@Validated
@ -27,6 +28,9 @@ public class PathPlanningController {
@Resource
private PathPlanningService pathPlanningService;
@Resource
private ToolsService toolsService;
@PostMapping("/line/all")
@Operation(summary = "同步ware_position_map_line的点位信息")
@PreAuthorize("@ss.hasPermission('robot:information:synchronousPoint')")
@ -91,4 +95,16 @@ public class PathPlanningController {
return success("同步完成");
}
@PostMapping("/sortConfig")
@Operation(summary = "发送时间、优先级、距离的权重给PP")
public CommonResult<String> sortConfig() {
return success(toolsService.sendPPsortConfig());
}
@PostMapping("/robot/dimensions")
@Operation(summary = "发送车辆编号对应的车宽、中心与车头距离、中心与车尾距离给PP")
public CommonResult<String> robotDimensions() {
pathPlanningService.robotDimensions();
return success("同步完成");
}
}

9
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotModelPageReqVO.java
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@ -33,4 +33,13 @@ public class RobotModelPageReqVO extends PageParam {
@Schema(description = "是否自动充电（0:手动充电,1:自动充电）")
private Integer chargeType;
@Schema(description = "车辆宽(单位米)")
private String robotWide;
@Schema(description = "中心到车头距离(单位米)")
private String robotCenterHeadstock;
@Schema(description = "中心到车尾距离(单位米)")
private String robotCenterTail;
}

9
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotModelRespVO.java
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@ -35,4 +35,13 @@ public class RobotModelRespVO {
@ExcelProperty("创建时间")
private LocalDateTime createTime;
@Schema(description = "车辆宽(单位米)")
private String robotWide;
@Schema(description = "中心到车头距离(单位米)")
private String robotCenterHeadstock;
@Schema(description = "中心到车尾距离(单位米)")
private String robotCenterTail;
}

9
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotModelSaveReqVO.java
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@ -25,4 +25,13 @@ public class RobotModelSaveReqVO {
@Schema(description = "是否自动充电（0:手动充电,1:自动充电）")
private Integer chargeType;
@Schema(description = "车辆宽(单位米)")
private String robotWide;
@Schema(description = "中心到车头距离(单位米)")
private String robotCenterHeadstock;
@Schema(description = "中心到车尾距离(单位米)")
private String robotCenterTail;
}

26
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/tool/ToolsController.java Normal file
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@ -0,0 +1,26 @@
package cn.iocoder.yudao.module.system.controller.admin.tool;
import cn.iocoder.yudao.framework.common.pojo.CommonResult;
import cn.iocoder.yudao.module.system.service.tool.ToolsService;
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.PostMapping;
import org.springframework.web.bind.annotation.RequestMapping;
import org.springframework.web.bind.annotation.RestController;
import javax.annotation.Resource;
import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
@Tag(name = "管理后台 - 工具类(限技术人员使用)")
@RestController
@RequestMapping("/system/tools")
@Validated
public class ToolsController {
}

15
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotModelDO.java
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@ -47,4 +47,19 @@ public class RobotModelDO extends BaseDO {
*/
private Integer chargeType;
/**
* 车辆宽(单位米)
*/
private String robotWide;
/**
* 中心到车头距离(单位米)
*/
private String robotCenterHeadstock;
/**
* 中心到车尾距离(单位米)
*/
private String robotCenterTail;
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotInformationMapper.java
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@ -5,6 +5,7 @@ import java.util.*;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
import cn.iocoder.yudao.module.mqtt.api.path.dto.RobotDimensionsDTO;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationStatisticsVO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
@ -68,4 +69,10 @@ public interface RobotInformationMapper extends BaseMapperX<RobotInformationDO>
* @param robotStatus
*/
void updateRobotListStatus(@Param("robotNos") Set<String> robotNos, @Param("robotStatus") Integer robotStatus);
/**
* 查询车辆尺寸
* @return
*/
List<RobotDimensionsDTO> selectRobotDimensions();
}

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/config/CommandConfigTypeEnum.java
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@ -10,7 +10,8 @@ import lombok.Getter;
@Getter
@AllArgsConstructor
public enum CommandConfigTypeEnum {
CHARG_CONFIG(1,"充电设置(页面)");
CHARG_CONFIG(1,"充电设置(页面)"),
PP_WEIGHT_CONFIG(2,"PP任务执行权重配置");
/**
* 类型
*/

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/config/CommonConfigServiceImpl.java
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@ -9,6 +9,7 @@ import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
import cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper;
import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import cn.iocoder.yudao.module.system.enums.config.CommandConfigTypeEnum;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import org.springframework.stereotype.Service;
@ -47,7 +48,7 @@ public class CommonConfigServiceImpl implements CommonConfigService {
// 插入
CommonConfigDO config = BeanUtils.toBean(createReqVO, CommonConfigDO.class);
if (ZeroOneEnum.ONE.getType().equals(config.getConfigType())) {
if (CommandConfigTypeEnum.CHARG_CONFIG.getType().equals(config.getConfigType())) {
CommonConfigVO chargeConfig = JSONUtil.toBean(config.getConfigStr(), CommonConfigVO.class);
//一次
if (ZeroOneEnum.ZERO.getType().equals(chargeConfig.getEveryDay())
@ -106,7 +107,7 @@ public class CommonConfigServiceImpl implements CommonConfigService {
// 更新
CommonConfigDO updateObj = BeanUtils.toBean(updateReqVO, CommonConfigDO.class);
if (ZeroOneEnum.ONE.getType().equals(updateReqVO.getConfigType())) {
if (CommandConfigTypeEnum.CHARG_CONFIG.getType().equals(updateReqVO.getConfigType())) {
CommonConfigVO chargeConfig = JSONUtil.toBean(updateReqVO.getConfigStr(), CommonConfigVO.class);
//一次
if (ZeroOneEnum.ZERO.getType().equals(chargeConfig.getEveryDay())

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningService.java
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@ -21,4 +21,6 @@ public interface PathPlanningService {
void synchronousItemDelete(PositionMapItemSaveReqVO positionMapItemSaveReqVO);
void synchronousItemUpdate(PositionMapItemSaveReqVO positionMapItemSaveReqVO);
void robotDimensions();
}

16
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
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@ -3,10 +3,7 @@ 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.PositionMapItemPathDTO;
import cn.iocoder.yudao.module.mqtt.api.path.dto.PositionMapItemSynDTO;
import cn.iocoder.yudao.module.mqtt.api.path.dto.PositionMapLineDTO;
import cn.iocoder.yudao.module.mqtt.api.path.dto.PositionMapLinePathDTO;
import cn.iocoder.yudao.module.mqtt.api.path.dto.*;
import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLineSaveReqVO;
@ -14,9 +11,11 @@ import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMa
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.dataobject.positionmap.PositionMapLineDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
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.dal.mysql.robot.RobotInformationMapper;
import cn.iocoder.yudao.module.system.enums.line.DirectionEnum;
import cn.iocoder.yudao.module.system.enums.path.PathTypeEnum;
import lombok.extern.slf4j.Slf4j;
@ -57,6 +56,9 @@ public class PathPlanningServiceImpl implements PathPlanningService {
@Resource
private PositionMapItemMapper positionMapItemMapper;
@Resource
private RobotInformationMapper informationMapper;
/**
* 同步ware_position_map_line的点位信息
*/
@ -350,6 +352,12 @@ public class PathPlanningServiceImpl implements PathPlanningService {
pathPlanningApi.synchronousLineObject(PositionMapItemPathDTO, PathPlanningTopicConstant.UPDATE_MAP_NODE);
}
@Override
public void robotDimensions() {
List<RobotDimensionsDTO> list = informationMapper.selectRobotDimensions();
pathPlanningApi.synchronousLineObject(list, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
}
public PositionMapLineDTO setPositionMapLineDTOData(PositionMapLineDTO positionMapLineDO) {
PositionMapLineDTO build = PositionMapLineDTO.builder()
.id(positionMapLineDO.getId())

94
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
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@ -17,7 +17,6 @@ import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
import cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper;
import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
@ -167,6 +166,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
.id(taskDetailDO.getId())
.type(TaskTypeEnum.TASK.getType())
.priority(taskDetailDO.getPriority())
.createTime(taskDetailDO.getCreateTime())
.build();
//能执行此任务的机器人 和 不能走的区域
@ -214,6 +214,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
}
if (ObjectUtil.isNotEmpty(pathPlanningList)) {
log.info("任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
pathPlanningApi.synchronousLineObject(pathPlanningList, PathPlanningTopicConstant.SEND_TASK_TO_PP);
}
}
@ -312,40 +313,48 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
.collect(Collectors.groupingBy(RobotTaskDetailDO::getToLaneId,
Collectors.collectingAndThen(Collectors.maxBy(Comparator.comparingLong(RobotTaskDetailDO::getToLocationNumber)), Optional::get)));
//取货点位
Map<Long, RobotTaskDetailDO> fromLocationMap = detailDOS.stream()
.filter(v -> ObjectUtil.isEmpty(v.getFromLaneId()) && ObjectUtil.isNotEmpty(v.getFromMapId()))
//取货点位--最小
Map<Long, Long> fromLocationMap = detailDOS.stream()
.filter(v -> ObjectUtil.isNotEmpty(v.getFromMapId()))
.collect(Collectors.groupingBy(RobotTaskDetailDO::getFromMapId,
Collectors.collectingAndThen(Collectors.minBy(Comparator.comparingLong(RobotTaskDetailDO::getFromLocationNumber)), Optional::get)));
Collectors.collectingAndThen(Collectors.minBy(Comparator.comparingLong(RobotTaskDetailDO::getFromLocationNumber)),
a -> a.isPresent() ? a.get().getFromLocationNumber() : null)));
//放货点位
Map<Long, RobotTaskDetailDO> toLocationMap = detailDOS.stream()
.filter(v -> ObjectUtil.isEmpty(v.getToLaneId()) && ObjectUtil.isNotEmpty(v.getToMapId()))
//放货点位--最大
Map<Long, Long> toLocationMap = detailDOS.stream()
.filter(v -> ObjectUtil.isNotEmpty(v.getToMapId()))
.collect(Collectors.groupingBy(RobotTaskDetailDO::getToMapId,
Collectors.collectingAndThen(Collectors.maxBy(Comparator.comparingLong(RobotTaskDetailDO::getToLocationNumber)), Optional::get)));
Collectors.collectingAndThen(Collectors.maxBy(Comparator.comparingLong(RobotTaskDetailDO::getToLocationNumber)),
a -> a.isPresent() ? a.get().getToLocationNumber() : null)));
//返回的数据
List<RobotTaskDetailDO> list = new ArrayList<>();
for (RobotTaskDetailDO v : detailDOS) {
RobotTaskDetailDO fromLane = ObjectUtil.isNotEmpty(v.getFromLaneId()) ? fromLaneMap.get(v.getFromLaneId()) : null;
RobotTaskDetailDO toLane = ObjectUtil.isNotEmpty(v.getToLaneId()) ? toLaneMap.get(v.getToLaneId()) : null;
RobotTaskDetailDO fromLocation = ObjectUtil.isNotEmpty(v.getFromMapId()) ? fromLocationMap.get(v.getFromMapId()) : null;
RobotTaskDetailDO toLocation = ObjectUtil.isNotEmpty(v.getToMapId()) ? toLocationMap.get(v.getToMapId()) : null;
Long fromLocation = ObjectUtil.isNotEmpty(v.getFromMapId()) ? fromLocationMap.get(v.getFromMapId()) : null;
Long toLocation = ObjectUtil.isNotEmpty(v.getToMapId()) ? toLocationMap.get(v.getToMapId()) : null;
//校验放货线库，有取的任务
RobotTaskDetailDO fromLaneDoRelease = ObjectUtil.isNotEmpty(v.getToLaneId()) ? fromLaneMap.get(v.getToLaneId()) : null;
//校验放的普通库位，有取的任务
Long toHaveFrom = ObjectUtil.isNotEmpty(v.getToMapId()) ? fromLocationMap.get(v.getToMapId()) : null;
//校验取货库位，有放的任务
Long fromHaveTo = ObjectUtil.isNotEmpty(v.getFromMapId()) ? toLocationMap.get(v.getFromMapId()) : null;
//取放模式
if (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(v.getTaskType())) {
takeReleaseSetTask(list, v, fromLane, toLane, fromLocation, toLocation);
takeReleaseSetTask(list, v, fromLane, toLane, fromLocation, toLocation, fromLaneDoRelease, toHaveFrom, fromHaveTo);
} else if (RobotTaskTypeEnum.MOVE.getType().equals(v.getTaskType())
|| RobotTaskTypeEnum.RELEASE.getType().equals(v.getTaskType())) {
//移动和仅放货
moveSetTask(list, v, fromLane, toLane, fromLocation, toLocation);
moveSetTask(list, v, fromLane, toLane, fromLocation, toLocation, toHaveFrom, fromHaveTo,fromLaneDoRelease);
} else if (RobotTaskTypeEnum.TAKE.getType().equals(v.getTaskType())) {
//仅取货
takeSetTask(list, v, fromLane, toLane, fromLocation, toLocation);
takeSetTask(list, v, fromLane, toLane, fromLocation, toLocation, toHaveFrom, fromHaveTo);
}
}
log.info("---------处理:一个点位/线库 只派一台车 结束-------------");
log.info("---------处理:一个点位/线库 只派一台车 结束------------- :{}", JSON.toJSONString(list));
return list;
}
@ -362,9 +371,15 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
* @param toLocation
*/
private void takeSetTask(List<RobotTaskDetailDO> list, RobotTaskDetailDO v, RobotTaskDetailDO fromLane,
RobotTaskDetailDO toLane, RobotTaskDetailDO fromLocation, RobotTaskDetailDO toLocation) {
RobotTaskDetailDO toLane, Long fromLocation, Long toLocation,
Long toHaveFrom, Long fromHaveTo) {
if (!(ObjectUtil.isNotEmpty(fromLocation) && fromLocation.getFromLocationNumber().equals(v.getFromLocationNumber()))) {
if (ObjectUtil.isNotEmpty(fromHaveTo) && fromHaveTo < v.getFromLocationNumber()) {
log.info("下发任务给PP--仅取货任务--取货点有放货任务 :{}", v.getId());
return;
}
if (!(ObjectUtil.isNotEmpty(fromLocation) && fromLocation.equals(v.getFromLocationNumber()))) {
log.info("下发任务给PP--仅取货--排序不符合 :{}", v.getId());
return;
}
@ -389,16 +404,23 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
*/
private void moveSetTask(List<RobotTaskDetailDO> list, RobotTaskDetailDO v, RobotTaskDetailDO fromLane,
RobotTaskDetailDO toLane,
RobotTaskDetailDO fromLocation, RobotTaskDetailDO toLocation) {
Long fromLocation, Long toLocation, Long toHaveFrom,
Long fromHaveTo,RobotTaskDetailDO fromLaneDoRelease) {
if (!(ObjectUtil.isNotEmpty(toLocation) && toLocation.getToLocationNumber().equals(v.getToLocationNumber()))) {
if (ObjectUtil.isNotEmpty(toHaveFrom) && toHaveFrom < v.getToLocationNumber()) {
log.info("下发任务给PP--移动/仅放任务--放货点有取货任务 :{}", v.getId());
return;
}
if (!(ObjectUtil.isNotEmpty(toLocation) && toLocation.equals(v.getToLocationNumber()))) {
log.info("下发任务给PP--移动任务--排序不符合 :{}", v.getId());
return;
}
//终点是线库
if (ObjectUtil.isNotEmpty(v.getToLaneId()) && ObjectUtil.isNotEmpty(toLane)
&& toLane.getToLocationNumber().equals(v.getToLocationNumber())) {
&& toLane.getToLocationNumber().equals(v.getToLocationNumber())
&& ObjectUtil.isEmpty(fromLaneDoRelease)) {
list.add(v);
//终点是普通库位
@ -410,16 +432,23 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
/**
* 取放，设置任务
*
* @param list
* @param v
*/
private void takeReleaseSetTask(List<RobotTaskDetailDO> list, RobotTaskDetailDO v, RobotTaskDetailDO fromLane, RobotTaskDetailDO toLane,
RobotTaskDetailDO fromLocation, RobotTaskDetailDO toLocation) {
private void takeReleaseSetTask(List<RobotTaskDetailDO> list, RobotTaskDetailDO v, RobotTaskDetailDO fromLane,
RobotTaskDetailDO toLane, Long fromLocation, Long toLocation,
RobotTaskDetailDO fromLaneDoRelease, Long toHaveFrom,
Long fromHaveTo) {
if (ObjectUtil.isNotEmpty(toHaveFrom) && toHaveFrom < v.getToLocationNumber()) {
log.info("下发任务给PP--取放任务--放货点有取货任务 :{}", v.getId());
return;
if (!(ObjectUtil.isNotEmpty(fromLocation) && fromLocation.getFromLocationNumber().equals(v.getFromLocationNumber())
&& ObjectUtil.isNotEmpty(toLocation) && toLocation.getToLocationNumber().equals(v.getToLocationNumber()))) {
} else if (ObjectUtil.isNotEmpty(fromHaveTo) && fromHaveTo < v.getFromLocationNumber()) {
log.info("下发任务给PP--取放任务--取货点有放货任务 :{}", v.getId());
return;
}
if (!(ObjectUtil.isNotEmpty(fromLocation) && fromLocation.equals(v.getFromLocationNumber())
&& ObjectUtil.isNotEmpty(toLocation) && toLocation.equals(v.getToLocationNumber()))) {
log.info("下发任务给PP--取放任务--取/放的排序不符合 :{}", v.getId());
return;
}
@ -429,7 +458,13 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
&& fromLane.getFromLocationNumber().equals(v.getFromLocationNumber())
&& ObjectUtil.isNotEmpty(toLane)
&& toLane.getToLocationNumber().equals(v.getToLocationNumber())) {
list.add(v);
if (v.getFromLaneId().equals(v.getToLaneId())) {
list.add(v);
} else if (ObjectUtil.isEmpty(fromLaneDoRelease)) {
//放货的线库，有取的任务，先不进行放
list.add(v);
}
//取是线库，放是点位
} else if (ObjectUtil.isNotEmpty(v.getFromLaneId()) && ObjectUtil.isEmpty(v.getToLaneId())
@ -440,7 +475,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
//取是点位，放是线库
} else if (ObjectUtil.isEmpty(v.getFromLaneId()) && ObjectUtil.isNotEmpty(v.getToLaneId())
&& ObjectUtil.isNotEmpty(toLane)
&& toLane.getToLocationNumber().equals(v.getToLocationNumber())) {
&& toLane.getToLocationNumber().equals(v.getToLocationNumber())
&& ObjectUtil.isEmpty(fromLaneDoRelease)) {
list.add(v);
//取放都是点位

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsService.java Normal file
View File

@ -0,0 +1,6 @@
package cn.iocoder.yudao.module.system.service.tool;
public interface ToolsService {
String sendPPsortConfig();
}

51
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java Normal file
View File

@ -0,0 +1,51 @@
package cn.iocoder.yudao.module.system.service.tool;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.json.JSONUtil;
import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
import cn.iocoder.yudao.module.mqtt.api.path.task.TaskOrderConfigDTO;
import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
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.mysql.config.CommonConfigMapper;
import cn.iocoder.yudao.module.system.enums.config.CommandConfigTypeEnum;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;
import org.springframework.validation.annotation.Validated;
import javax.annotation.Resource;
@Slf4j
@Service
@Validated
public class ToolsServiceImpl implements ToolsService {
@Resource
private PathPlanningApi pathPlanningApi;
@Resource
private CommonConfigMapper configMapper;
/**
* 发送时间、优先级、距离的权重给PP
*
* @return
*/
@Override
public String sendPPsortConfig() {
CommonConfigDO commonConfigDO = configMapper.selectOne(new LambdaQueryWrapper<CommonConfigDO>()
.eq(CommonConfigDO::getConfigType, CommandConfigTypeEnum.PP_WEIGHT_CONFIG.getType()));
TaskOrderConfigDTO taskOrderConfigDTO =null;
if (ObjectUtil.isEmpty(commonConfigDO)) {
taskOrderConfigDTO = new TaskOrderConfigDTO();
} else {
taskOrderConfigDTO = JSONUtil.toBean(commonConfigDO.getConfigStr(), TaskOrderConfigDTO.class);
}
pathPlanningApi.synchronousLineObject(taskOrderConfigDTO, PathPlanningTopicConstant.SEND_SORT_CONFIG_TO_PP);
return "发送数据库权重配置成功";
}
}

12
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotInformationMapper.xml
View File

@ -298,4 +298,16 @@
#{robotNo}
</foreach>
</select>
<select id="selectRobotDimensions"
resultType="cn.iocoder.yudao.module.mqtt.api.path.dto.RobotDimensionsDTO">
SELECT
t1.robot_no AS robotNo,
t2.robot_wide AS robotWide,
t2.robot_center_headstock AS robotCenterHeadstock,
t2.robot_center_tail AS robotCenterTail
FROM
robot_information t1
LEFT JOIN robot_model t2 ON t1.robot_model_id = t2.id
</select>
</mapper>