分配任务给PP

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

@@ -0,0 +1,24 @@
+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;
+
+/**
+ * 下发任务给PP，机器人不能行走的楼层和区域
+ */
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class TaskLimitationAreaDTO {
+
+    @Schema(description = "楼层", example = "20863")
+    private Integer floor;
+
+    @Schema(description = "区域", example = "20863")
+    private String area;
+
+}

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

@@ -0,0 +1,25 @@
+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;
+
+import java.util.List;
+
+/**
+ * 下发任务给PP，机器人不能行走的楼层和区域
+ */
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class TaskRobotNoLimittationAreaDTO {
+
+    @Schema(description = "机器人编号")
+    private String robotNo;
+
+    @Schema(description = "机器人不能行走的楼层和区域")
+    private List<TaskLimitationAreaDTO> limitationAreaList;
+}

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

@@ -1,7 +1,10 @@
 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;
 
 import java.util.List;
 
@@ -9,16 +12,43 @@ import java.util.List;
  * 发送任务给PP
  */
 @Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
 public class TaskToPathPlanningDTO {
 
-    @Schema(description = "robot_task_detail 的 id")
-    private String id;
+    @Schema(description = "robot_task_detail/robot_charge_log 的 id")
+    private Long id;
 
-    @Schema(description = "能执行此任务的机器人编号")
-    private List<String> robotNoList;
+    @Schema(description = "任务类型(TASK:robot_task的任务、CHARGE:充电任务)")
+    private String type;
 
     //线库: LINE + 线库号
     //普通库位: POINT + 点位号
-    @Schema(description = "取的编号: 线库id+点位id")
-    private String takeId;
+    @Schema(description = "取货的组编号")
+    private String takeGroupId;
+
+    @Schema(description = "取货任务, 组序号, 越大越先执行")
+    private Long takeLocationNumber;
+
+    @Schema(description = "取货任务的终点id")
+    private Long takePointId;
+
+    //线库: LINE + 线库号
+    //普通库位: POINT + 点位号
+    @Schema(description = "放货的组编号(可能为空)")
+    private String releaseGroupId;
+
+    @Schema(description = "放货任务, 组序号, 越大越先执行(可能为空)")
+    private Long releaseLocationNumber;
+
+    @Schema(description = "放货任务的终点id")
+    private Long releasePointId;
+
+    @Schema(description = "优先级(不同的组编号时:越大越先执行, 相同组编号时:组序号越大的越先执行)")
+    private Long priority;
+
+    @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;
+
 }

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

@@ -0,0 +1,17 @@
+package cn.iocoder.yudao.module.mqtt.enums.path;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ *TaskToPathPlanningDTO的type
+ */
+@Getter
+@AllArgsConstructor
+public enum TaskTypeEnum {
+    TASK("TASK"), // 客户下发的任务 robot_task_detail的数据
+    CHARGE("CHARGE"), // 充电
+    ;
+
+    private final String type;
+}

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

@@ -45,6 +45,10 @@ public class PathPlanningTopicConstant {
      */
     public static String UPDATE_MAP_NODE = "UPDATE_MAP_NODE";
 
+    /**
+     * 下发任务给给PP
+     */
+    public static String SEND_TASK_TO_PP = "SEND_TASK_TO_PP";
 
 
 }

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

@@ -59,7 +59,7 @@ public class PathPlanningController {
         return success("同步完成");
     }
 
-    @PostMapping("/all/item")
+    @PostMapping("/item/all")
     @Operation(summary = "同步ware_position_map_item的点位信息")
     @PreAuthorize("@ss.hasPermission('robot:information:synchronousItem')")
     public CommonResult<String> synchronousAllItem(@RequestBody PositionMapSaveReqVO positionMapSaveReqVO) {

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

@@ -40,8 +40,8 @@ public class RobotInformationPageRespVO {
     @ExcelProperty("在线状态/离线状态（0：离线、1：在线）")
     private Integer onlineStatus = 0;
 
-    @Schema(description = "车机状态（0：空闲、1：锁定、2:异常）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
-    @ExcelProperty("车机状态（0：空闲、1：锁定、2:异常）")
+    @Schema(description = "车机状态（0：锁定、 1：空闲、、2:异常）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @ExcelProperty("车机状态（0：锁定、 1：空闲、、2:异常）")
     private Integer robotEssenceStatus = 0;
 
     @Schema(description = "任务状态（0：待命中、1：处理中、2:充电中）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")

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

@@ -70,5 +70,12 @@ public class RobotInformationRespVO {
     @ExcelProperty("是否自动充电（0:手动充电,1:自动充电）")
     private Integer chargeType;
 
+    @Schema(description = "楼层")
+    @ExcelProperty("楼层")
+    public String floor;
+
+    @Schema(description = "区域")
+    @ExcelProperty("区域")
+    public String area;
 
 }

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

@@ -43,9 +43,6 @@ public class RobotTaskDetailAddVO {
     @Schema(description = "放货线库id")
     private Long toLaneId;
 
-    @Schema(description = "取货库位的排序的位置,越大越优先堆放")
-    private Long locationNumber;
-
     @Schema(description = "计算后的来源库位编号(前端不用传此字段)")
     private String fromLocationNo;
     @Schema(description = "计算后的来源库位id(前端不用传此字段)")
@@ -63,6 +60,18 @@ public class RobotTaskDetailAddVO {
     @Schema(description = "优先级(前端不用传此字段)")
     private Long priority;
 
+    @Schema(description = "取货库位的排序")
+    private Long fromLocationNumber;
+
+    @Schema(description = "放货库位的排序")
+    private Long toLocationNumber;
+
+    @Schema(description = "取货库位ware_position_map的id")
+    private Long fromMapId;
+
+    @Schema(description = "放货库位ware_position_map的id")
+    private Long toMapId;
+
     public Long getPriority() {
         if (ObjectUtil.isEmpty(priority)) {
             priority = 0l;

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

@@ -1,5 +1,6 @@
 package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
 
+import com.alibaba.excel.annotation.ExcelProperty;
 import lombok.*;
 import io.swagger.v3.oas.annotations.media.Schema;
 import cn.iocoder.yudao.framework.common.pojo.PageParam;
@@ -52,9 +53,6 @@ public class RobotTaskDetailPageReqVO extends PageParam {
     @Schema(description = "放货线库id")
     private Long toLaneId;
 
-    @Schema(description = "取货库位的排序的位置,越大越优先堆放")
-    private Long locationNumber;
-
     @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消)", example = "1")
     private Integer taskStatus;
 
@@ -83,4 +81,16 @@ public class RobotTaskDetailPageReqVO extends PageParam {
     private Integer needLock;
     @Schema(description = "所选车辆电量(充电模式)")
     private Integer electricity;
+
+    @Schema(description = "取货库位的排序")
+    private Long fromLocationNumber;
+
+    @Schema(description = "放货库位的排序")
+    private Long toLocationNumber;
+
+    @Schema(description = "取货库位ware_position_map的id")
+    private Long fromMapId;
+
+    @Schema(description = "放货库位ware_position_map的id")
+    private Long toMapId;
 }

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

@@ -86,10 +86,6 @@ public class RobotTaskDetailRespVO {
     @ExcelProperty("放货线库id")
     private Long toLaneId;
 
-    @Schema(description = "取货库位的排序的位置,越大越优先堆放")
-    @ExcelProperty("取货库位的排序的位置,越大越优先堆放")
-    private Long locationNumber;
-
     @Schema(description = "取货层数")
     @ExcelProperty("取货层数")
     private Integer fromLocationStorey;
@@ -106,4 +102,19 @@ public class RobotTaskDetailRespVO {
     @ExcelProperty("所选车辆电量(充电模式)")
     private Integer electricity;
 
+    @Schema(description = "取货库位的排序")
+    @ExcelProperty("取货库位的排序")
+    private Long fromLocationNumber;
+
+    @Schema(description = "放货库位的排序")
+    @ExcelProperty("放货库位的排序")
+    private Long toLocationNumber;
+
+    @Schema(description = "取货库位ware_position_map的id")
+    @ExcelProperty("取货库位ware_position_map的id")
+    private Long fromMapId;
+
+    @Schema(description = "放货库位ware_position_map的id")
+    @ExcelProperty("放货库位ware_position_map的id")
+    private Long toMapId;
 }

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

@@ -44,9 +44,6 @@ public class RobotTaskDetailSaveReqVO {
     @Schema(description = "放货线库id")
     private Long toLaneId;
 
-    @Schema(description = "取货库位的排序的位置,越大越优先堆放")
-    private Long locationNumber;
-
     @Schema(description = "计算后的来源库位编号")
     private String fromLocationNo;
     @Schema(description = "计算后的来源库位id")
@@ -85,4 +82,16 @@ public class RobotTaskDetailSaveReqVO {
     @Schema(description = "所选车辆电量(充电模式)")
     private Integer electricity;
 
+    @Schema(description = "取货库位的排序")
+    private Long fromLocationNumber;
+
+    @Schema(description = "放货库位的排序")
+    private Long toLocationNumber;
+
+    @Schema(description = "取货库位ware_position_map的id")
+    private Long fromMapId;
+
+    @Schema(description = "放货库位ware_position_map的id")
+    private Long toMapId;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskDetailDO.java

@@ -68,9 +68,13 @@ public class RobotTaskDetailDO extends BaseDO {
      */
     private Long toLaneId;
     /**
-     * 取货库位的排序的位置,越大越优先堆放
+     * 取货库位的排序
      */
-    private Long locationNumber;
+    private Long fromLocationNumber;
+    /**
+     * 放货库位的排序
+     */
+    private Long toLocationNumber;
     /**
      * 计算后的目标库位编号
      */
@@ -123,4 +127,14 @@ public class RobotTaskDetailDO extends BaseDO {
      * 所选车辆电量(充电模式)
      */
     private Integer electricity;
+
+    /**
+     * ware_position_map的id
+     */
+    private Long fromMapId;
+
+    /**
+     * ware_position_map的id
+     */
+    private Long toMapId;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskDetailMapper.java

@@ -86,12 +86,6 @@ public interface RobotTaskDetailMapper extends BaseMapperX<RobotTaskDetailDO> {
     void updateRobotDetailById(RobotTaskDetailDO detailDO);
 
 
-    /**
-     * 查询正在处理中的任务主表id
-     * @return
-     */
-    List<Long> getDoingTaskIds();
-
     /**
      * 获取未进行的充电任务
      * @return

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java

@@ -90,6 +90,15 @@ public class DeviceInformationServiceImpl implements DeviceInformationService {
     public void updateInformation(DeviceInformationSaveReqVO updateReqVO) {
         // 校验存在
         validateInformationExists(updateReqVO.getId());
+        //默认图片
+        if (PictureConfigEnum.DEFAULT.getType().equals(updateReqVO.getPictureConfig())) {
+            List<DictDataDO> deviceType = dictDataService.getDictDataListByDictType("device_type");
+            DictDataDO dictDataDO = deviceType.stream()
+                    .filter(v -> Integer.valueOf(v.getValue()).equals(updateReqVO.getDeviceType()))
+                    .findFirst()
+                    .orElse(new DictDataDO());
+            updateReqVO.setUrl(dictDataDO.getRemark());
+        }
         // 更新
         DeviceInformationDO updateObj = BeanUtils.toBean(updateReqVO, DeviceInformationDO.class);
         informationMapper.updateById(updateObj);

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

@@ -129,6 +129,15 @@ public class RobotInformationServiceImpl implements RobotInformationService {
         RobotInformationDO robotInformationDO = informationMapper.selectById(id);
         RobotInformationRespVO bean = BeanUtils.toBean(robotInformationDO, RobotInformationRespVO.class);
         setPositionMapList(bean);
+        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + bean.getMacAddress();
+        Object object = redisUtil.get(pose2dKey);
+        RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
+
+        if (ObjectUtil.isNotEmpty(object) && ObjectUtil.isNotEmpty(robotStatusDataPoseDTO)) {
+            bean.setElectricity(robotStatusDataPoseDTO.getBat_soc());
+            bean.setFloor(robotStatusDataPoseDTO.getFloor());
+            bean.setArea(robotStatusDataPoseDTO.getArea());
+        }
         return bean;
     }
 
@@ -175,7 +184,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
                 }
 
                 if (RobotStatisticsTypeEnum.DOLOCK.getType().equals(pageReqVO.getRobotStatisticsType())
-                        && v.getRobotEssenceStatus().equals(1)) {
+                        && v.getRobotEssenceStatus().equals(0)) {
                     resultList.add(v);
                     continue;
                 }
@@ -223,7 +232,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
         //设置异常
         String errorLevelKey = RobotTaskChcheConstant.ROBOT_ERROR_LEVEL + v.getMacAddress();
         Object errorLevel = redisUtil.get(errorLevelKey);
-        if (ObjectUtil.isNotEmpty(errorLevel) && Integer.valueOf(errorLevel.toString()).intValue() >= 3) {
+        if (ObjectUtil.isNotEmpty(errorLevel)) {
             v.setRobotEssenceStatus(2);
         }
 

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

@@ -313,7 +313,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
             robotTaskDetailAddVo.setToLocationId(releaseStockList.get(i).getId());
             robotTaskDetailAddVo.setFromLaneId(stockList.get(i).getLaneId());
             robotTaskDetailAddVo.setToLaneId(releaseStockList.get(i).getLaneId());
-            robotTaskDetailAddVo.setLocationNumber(stockList.get(i).getLocationNumber());
+            robotTaskDetailAddVo.setFromLocationNumber(stockList.get(i).getLocationNumber());
+            robotTaskDetailAddVo.setFromMapId(stockList.get(i).getMapId());
             robotTaskDetailAddVo.setRobotTaskId(taskId);
             robotTaskDetailAddVo.setPriority(robotTaskVo.getPriority());
             robotTaskDetailAddVo.setFromLocationStorey(stockList.get(i).getLocationStorey());
@@ -440,8 +441,9 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
      */
     @Transactional(rollbackFor = Exception.class)
     public void doPark(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds) {
-        setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),locationIds);
-        locationIds.add(robotTaskVo.getToLocationId());
+        // todo 停车后续停到等待点
+        /*setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),locationIds);
+        locationIds.add(robotTaskVo.getToLocationId());*/
     }
 
     /**
@@ -474,6 +476,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
             robotTaskVo.setToLocationId(robotTaskVo.getReleaseId());
             robotTaskVo.setToLocationStorey(locationDO.getLocationStorey());
             robotTaskVo.setToLaneId(locationDO.getLaneId());
+            robotTaskVo.setToLocationNumber(locationDO.getLocationNumber());
+            robotTaskVo.setToMapId(locationDO.getMapId());
             if (ObjectUtil.isNotEmpty(mapIds) && !mapIds.contains(locationDO.getMapId())) {
                 log.error("机器人不能在此放货库位放货 :{}, 机器人编号 :{}", locationDO.getLocationNo(),robotTaskVo.getRobotNo());
                 throw new RuntimeException("机器人不能在此放货库位放货 "+ robotTaskVo.getReleaseId());
@@ -490,6 +494,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
             robotTaskVo.setToLocationId(wareHouseLocationDO.getId());
             robotTaskVo.setToLocationStorey(wareHouseLocationDO.getLocationStorey());
             robotTaskVo.setToLaneId(wareHouseLocationDO.getLaneId());
+            robotTaskVo.setToLocationNumber(wareHouseLocationDO.getLocationNumber());
+            robotTaskVo.setToMapId(wareHouseLocationDO.getMapId());
         }
     }
 
@@ -508,7 +514,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
             robotTaskVo.setFromLocationId(robotTaskVo.getTakeId());
             robotTaskVo.setFromLocationStorey(locationDO.getLocationStorey());
             robotTaskVo.setFromLaneId(locationDO.getLaneId());
-            robotTaskVo.setLocationNumber(locationDO.getLocationNumber());
+            robotTaskVo.setFromLocationNumber(locationDO.getLocationNumber());
+            robotTaskVo.setFromMapId(locationDO.getMapId());
             if (ObjectUtil.isNotEmpty(mapIds) && !mapIds.contains(locationDO.getMapId())) {
                 log.error("机器人不能在此取货库位取货 :{}, 机器人编号 :{}", locationDO.getLocationNo(),robotTaskVo.getRobotNo());
                 throw new RuntimeException("机器人不能在此取货库位取货 "+ robotTaskVo.getTakeId());
@@ -525,7 +532,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper,RobotTaskD
             robotTaskVo.setFromLocationId(wareHouseLocationDO.getId());
             robotTaskVo.setFromLocationStorey(wareHouseLocationDO.getLocationStorey());
             robotTaskVo.setFromLaneId(wareHouseLocationDO.getLaneId());
-            robotTaskVo.setLocationNumber(wareHouseLocationDO.getLocationNumber());
+            robotTaskVo.setFromLocationNumber(wareHouseLocationDO.getLocationNumber());
+            robotTaskVo.setFromMapId(wareHouseLocationDO.getMapId());
         }
     }
 

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

@@ -179,6 +179,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             return pair;
         }
 
+        log.info("完成查找车子");
+
         //拼接任务id
         /*List<Long> detailDongIds = robotTaskDetailMapper.getDoingTaskIds();
         List<Long> montageTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.YES.getType(), detailDongIds);
@@ -200,6 +202,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                 .map(RobotTaskDO::getId)
                 .collect(Collectors.toList());
 
+        log.info("完成查找主任务");
+
         if (ObjectUtil.isEmpty(montageTaskIds) && ObjectUtil.isEmpty(singleTaskIds)) {
             log.info("暂无需要处理的主任务");
             return pair;

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

@@ -384,9 +384,9 @@ public class RobotTaskAutoMoveServiceImpl implements RobotTaskAutoMoveService {
             List<WareHouseLocationDO> locations = new ArrayList<>();
             RobotTaskDetailDO robotTaskDetail = detaiMap.getValue()
                     .stream()
-                    .min(Comparator.comparing(RobotTaskDetailDO::getLocationNumber)).get();
-            if (ObjectUtil.isNotEmpty(robotTaskDetail) && ObjectUtil.isNotEmpty(robotTaskDetail.getLocationNumber())) {
-                WareHouseLocationDO location = WareHouseLocationDO.builder().locationNumber(robotTaskDetail.getLocationNumber())
+                    .min(Comparator.comparing(RobotTaskDetailDO::getFromLocationNumber)).get();
+            if (ObjectUtil.isNotEmpty(robotTaskDetail) && ObjectUtil.isNotEmpty(robotTaskDetail.getFromLocationNumber())) {
+                WareHouseLocationDO location = WareHouseLocationDO.builder().locationNumber(robotTaskDetail.getFromLocationNumber())
                         .locationUseStatus(LocationUseStatusEnum.YES.getType())
 //                        .locationLock(LocationLockEnum.YES.getType())
                         .laneId(detaiMap.getKey()).build();

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

@@ -1,19 +1,37 @@
 package cn.iocoder.yudao.module.system.service.robot.pathplanning;
 
 import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
+import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
+import cn.iocoder.yudao.module.mqtt.api.path.task.TaskLimitationAreaDTO;
+import cn.iocoder.yudao.module.mqtt.api.path.task.TaskRobotNoLimittationAreaDTO;
+import cn.iocoder.yudao.module.mqtt.api.path.task.TaskToPathPlanningDTO;
 import cn.iocoder.yudao.module.mqtt.api.task.RobotTaskApi;
+import cn.iocoder.yudao.module.mqtt.api.task.dto.Pose2ds;
+import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO;
+import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskData;
+import cn.iocoder.yudao.module.mqtt.enums.path.TaskTypeEnum;
+import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
+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;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
+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.dal.mysql.robot.RobotTaskDetailMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
+import cn.iocoder.yudao.module.system.enums.robot.*;
 import cn.iocoder.yudao.module.system.service.robot.job.DistributeTasksService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
+import com.alibaba.fastjson.JSON;
 import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.tuple.ImmutablePair;
 import org.apache.commons.lang3.tuple.Pair;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
@@ -22,7 +40,11 @@ import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
 
 import javax.annotation.Resource;
-import java.util.List;
+import java.math.BigDecimal;
+import java.time.LocalDateTime;
+import java.util.*;
+import java.util.function.Function;
+import java.util.stream.Collectors;
 
 @Service
 @Validated
@@ -61,6 +83,12 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     @Value("${zn.full_electricity:100}")
     private String fullElectricity;
 
+    @Value("${zn.task_need_single:true}")
+    private Boolean taskNeedSingle;
+
+    @Value("${zn.location_number_reduce:100000000}")
+    private Long locationNumberReduce;
+
     @Resource
     private CommonConfigMapper configMapper;
 
@@ -74,6 +102,12 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     @Autowired
     private DistributeTasksService distributeTasksService;
 
+    @Resource
+    private PositionMapMapper positionMapMapper;
+
+    @Resource
+    private PathPlanningApi pathPlanningApi;
+
     /**
      * 下发任务给PP
      */
@@ -81,6 +115,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     @Transactional(rollbackFor = Exception.class)
     public void sendTaskToPP() {
         TenantContextHolder.setTenantId(1L);
+        log.info("-------开始查找车子和任务------");
         Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> robotAndTaskDetails =
                 distributeTasksService.getRobotAndTaskDetails();
 
@@ -95,47 +130,618 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             return;
         }
 
-
+        log.info("-------查找到车子和任务------");
+        distributeTasksToPP(robots, taskDetailDOS);
 
     }
 
+    @Transactional(rollbackFor = Exception.class)
+    public void distributeTasksToPP(List<RobotInformationDO> robots, List<RobotTaskDetailDO> taskDetailDOS) {
+        //目前一个点位/线库， 只能派一辆车去做
+        taskDetailDOS = getSingleTask(taskDetailDOS);
+
+        if (ObjectUtil.isEmpty(taskDetailDOS)) {
+            log.info("相同的点位/线库，目前有处理中的任务, 无法派单给PP");
+            return;
+        }
+
+        List<TaskToPathPlanningDTO> pathPlanningList = new ArrayList<>();
+
+        Set<Long> locationIds = new HashSet<>();
+        Set<Long> fromLocationIds = taskDetailDOS.stream().map(RobotTaskDetailDO::getFromLocationId).collect(Collectors.toSet());
+        Set<Long> toLocationIds = taskDetailDOS.stream().map(RobotTaskDetailDO::getToLocationId).collect(Collectors.toSet());
+        locationIds.addAll(fromLocationIds);
+        locationIds.addAll(toLocationIds);
+
+        List<WareHouseLocationDO> locations = locationMapper.selectList(new LambdaQueryWrapperX<WareHouseLocationDO>()
+                .in(WareHouseLocationDO::getId, locationIds));
+
+        List<PositionMapDO> positionMapDOS = positionMapMapper.selectList(new LambdaQueryWrapperX<PositionMapDO>());
+
+        Map<Long, WareHouseLocationDO> locationDOMap =
+                locations.stream().collect(Collectors.toMap(v -> v.getId(), Function.identity()));
+
+        for (RobotTaskDetailDO taskDetailDO : taskDetailDOS) {
+
+            TaskToPathPlanningDTO pathPlanning = TaskToPathPlanningDTO.builder()
+                    .id(taskDetailDO.getId())
+                    .type(TaskTypeEnum.TASK.getType())
+                    .priority(taskDetailDO.getPriority())
+                    .build();
+
+            //能执行此任务的机器人 和 不能走的区域
+            List<TaskRobotNoLimittationAreaDTO> robotNoLimitationArea = getRobotNoLimitationArea(robots, positionMapDOS,
+                    taskDetailDO.getRobotNo());
+            if (ObjectUtil.isEmpty(robotNoLimitationArea)) {
+                log.info("此任务明细,已经指定了机器人编号, 没有对应的机器人能执行此任务 :{}, 机器人编号:{}", taskDetailDO.getId(), taskDetailDO.getRobotNo());
+                continue;
+            }
+            pathPlanning.setRobotNoLimitationAreaDTOS(robotNoLimitationArea);
+
+            //取是线库
+            if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())
+                    && ObjectUtil.isNotEmpty(taskDetailDO.getFromLaneId())) {
+
+                pathPlanning.setTakeGroupId("LINE_" + taskDetailDO.getFromLaneId());
+                pathPlanning.setTakeLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getFromLocationNumber()));
+                pathPlanning.setTakePointId(locationDOMap.get(taskDetailDO.getFromLocationId()).getMapItemId());
+
+            } else if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())
+                    && ObjectUtil.isEmpty(taskDetailDO.getFromLaneId())) {
+                //取的是普通点位
+                pathPlanning.setTakeGroupId("POINT_" + taskDetailDO.getFromMapId());
+                pathPlanning.setTakeLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getFromLocationNumber()));
+                pathPlanning.setTakePointId(locationDOMap.get(taskDetailDO.getFromLocationId()).getMapItemId());
+            }
+
+            //放是线库
+            if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())
+                    && ObjectUtil.isNotEmpty(taskDetailDO.getToLaneId())) {
+
+                pathPlanning.setReleaseGroupId("LINE_" + taskDetailDO.getToLaneId());
+                pathPlanning.setReleaseLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getToLocationNumber()));
+                pathPlanning.setReleasePointId(locationDOMap.get(taskDetailDO.getToLocationId()).getMapItemId());
+
+            } else if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())
+                    && ObjectUtil.isEmpty(taskDetailDO.getToLaneId())) {
+                //放的是普通点位
+                pathPlanning.setReleaseGroupId("POINT_" + taskDetailDO.getToMapId());
+                pathPlanning.setReleaseLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getToLocationNumber()));
+                pathPlanning.setReleasePointId(locationDOMap.get(taskDetailDO.getToLocationId()).getMapItemId());
+            }
+
+            pathPlanningList.add(pathPlanning);
+        }
+
+        if (ObjectUtil.isNotEmpty(pathPlanningList)) {
+            pathPlanningApi.synchronousLineObject(pathPlanningList, PathPlanningTopicConstant.SEND_TASK_TO_PP);
+        }
+    }
+
+    /**
+     * 设置机器人编号及不能行走的区域
+     *
+     * @param robots
+     * @param positionMapDOS
+     */
+    private List<TaskRobotNoLimittationAreaDTO> getRobotNoLimitationArea(List<RobotInformationDO> robots,
+                                                                         List<PositionMapDO> positionMapDOS,
+                                                                         String robotNo) {
+        List<TaskRobotNoLimittationAreaDTO> robotNoLimitationAreaDTOS = new ArrayList<>();
+        for (RobotInformationDO robot : robots) {
+
+            if (ObjectUtil.isNotEmpty(robotNo) && !robot.getRobotNo().equals(robotNo)) {
+                continue;
+            }
+
+            TaskRobotNoLimittationAreaDTO robotNoLimitationAreaDTO = new TaskRobotNoLimittationAreaDTO();
+            List<TaskLimitationAreaDTO> limitationAreaList = new ArrayList<>();
+            robotNoLimitationAreaDTO.setRobotNo(robot.getRobotNo());
+
+            for (PositionMapDO v : positionMapDOS) {
+                if (!robot.getFloorAreaJson().contains(v.getId())) {
+                    TaskLimitationAreaDTO taskLimitationAreaDTO = new TaskLimitationAreaDTO(v.getFloor(), v.getArea());
+                    limitationAreaList.add(taskLimitationAreaDTO);
+                }
+            }
+
+            robotNoLimitationAreaDTO.setLimitationAreaList(limitationAreaList);
+            robotNoLimitationAreaDTOS.add(robotNoLimitationAreaDTO);
+        }
+        return robotNoLimitationAreaDTOS;
+    }
+
+    /**
+     * 目前一个点位/线库， 只能派一辆车去做
+     *
+     * @param taskDetailDOS
+     * @return
+     */
+    private List<RobotTaskDetailDO> getSingleTask(List<RobotTaskDetailDO> taskDetailDOS) {
+        //剔除目前正在做的线库和点位
+        if (!taskNeedSingle) {
+            return taskDetailDOS;
+        }
+
+        log.info("---------处理:一个点位/线库 只派一台车 开始-------------");
+
+        //不能分配任务的线库id
+        Set<Long> laneIds = new HashSet<>();
+        //不能分配任务的点位id
+        Set<Long> mapIds = new HashSet<>();
+        List<RobotTaskDetailDO> doingTaskDetails = robotTaskDetailMapper.selectList(new LambdaQueryWrapperX<RobotTaskDetailDO>()
+                .eq(RobotTaskDetailDO::getTaskStatus, RobotTaskDetailStatusEnum.DOING.getType()));
+        if (ObjectUtil.isNotEmpty(doingTaskDetails)) {
+            for (RobotTaskDetailDO detail : doingTaskDetails) {
+                if (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(detail.getTaskType())
+                        || RobotTaskTypeEnum.MOVE.getType().equals(detail.getTaskType())
+                        || RobotTaskTypeEnum.TAKE.getType().equals(detail.getTaskType())
+                        || RobotTaskTypeEnum.RELEASE.getType().equals(detail.getTaskType())) {
+                    laneIds.add(detail.getFromLaneId());
+                    laneIds.add(detail.getToLaneId());
+                    mapIds.add(detail.getFromMapId());
+                    mapIds.add(detail.getToMapId());
+                }
+            }
+        }
+
+        //过滤处理中的, 不能分配的任务;
+        List<RobotTaskDetailDO> detailDOS = taskDetailDOS.stream()
+                .filter(v -> !laneIds.contains(v.getFromLaneId())
+                        && !laneIds.contains(v.getToLaneId())
+                        && !RobotTaskTypeEnum.PARK.getType().equals(v.getTaskType()) //停车在充电的任务做
+                        && !RobotTaskTypeEnum.CHARGE.getType().equals(v.getTaskType()) //停车在充电的任务做
+                        && !mapIds.contains(v.getFromMapId())
+                        && !mapIds.contains(v.getToMapId()))
+                .collect(Collectors.toList());
+
+        if (ObjectUtil.isEmpty(detailDOS)) {
+            log.info("过滤处理中的任务对应的线库id和点位id后，任务数据为空");
+            return detailDOS;
+        }
+
+        //取货线库
+        Map<Long, RobotTaskDetailDO> fromLaneMap = detailDOS.stream()
+                .filter(v -> ObjectUtil.isNotEmpty(v.getFromLaneId()))
+                .collect(Collectors.groupingBy(RobotTaskDetailDO::getFromLaneId,
+                        Collectors.collectingAndThen(Collectors.minBy(Comparator.comparingLong(RobotTaskDetailDO::getFromLocationNumber)), Optional::get)));
+
+        //放货线库
+        Map<Long, RobotTaskDetailDO> toLaneMap = detailDOS.stream()
+                .filter(v -> ObjectUtil.isNotEmpty(v.getToLaneId()))
+                .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()))
+                .collect(Collectors.groupingBy(RobotTaskDetailDO::getFromMapId,
+                        Collectors.collectingAndThen(Collectors.minBy(Comparator.comparingLong(RobotTaskDetailDO::getFromLocationNumber)), Optional::get)));
+
+        //放货点位
+        Map<Long, RobotTaskDetailDO> toLocationMap = detailDOS.stream()
+                .filter(v -> ObjectUtil.isEmpty(v.getToLaneId()) && ObjectUtil.isNotEmpty(v.getToMapId()))
+                .collect(Collectors.groupingBy(RobotTaskDetailDO::getToMapId,
+                        Collectors.collectingAndThen(Collectors.maxBy(Comparator.comparingLong(RobotTaskDetailDO::getToLocationNumber)), Optional::get)));
+
+        //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;
+
+            //取放模式
+            if (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(v.getTaskType())) {
+                takeReleaseSetTask(list, v, fromLane, toLane, fromLocation, toLocation);
+            } 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);
+            } else if (RobotTaskTypeEnum.TAKE.getType().equals(v.getTaskType())) {
+                //仅取货
+                takeSetTask(list, v, fromLane, toLane, fromLocation, toLocation);
+            }
+        }
+
+        log.info("---------处理:一个点位/线库 只派一台车 结束-------------");
+
+        return list;
+    }
 
 
+    /**
+     * 仅取货设置任务
+     *
+     * @param list
+     * @param v
+     * @param fromLane
+     * @param toLane
+     * @param fromLocation
+     * @param toLocation
+     */
+    private void takeSetTask(List<RobotTaskDetailDO> list, RobotTaskDetailDO v, RobotTaskDetailDO fromLane,
+                             RobotTaskDetailDO toLane, RobotTaskDetailDO fromLocation, RobotTaskDetailDO toLocation) {
+
+        if (!(ObjectUtil.isNotEmpty(fromLocation) && fromLocation.getFromLocationNumber().equals(v.getFromLocationNumber()))) {
+            log.info("下发任务给PP--仅取货--排序不符合 :{}", v.getId());
+            return;
+        }
+
+        //终点是线库
+        if (ObjectUtil.isNotEmpty(v.getFromLaneId()) && ObjectUtil.isNotEmpty(fromLane)
+                && fromLane.getFromLocationNumber().equals(v.getFromLocationNumber())) {
+            list.add(v);
+
+            //终点是普通库位
+        } else if (ObjectUtil.isEmpty(v.getFromLaneId())) {
+            list.add(v);
+        }
+
+    }
+
+    /**
+     * 移动设置任务
+     *
+     * @param list
+     * @param v
+     */
+    private void moveSetTask(List<RobotTaskDetailDO> list, RobotTaskDetailDO v, RobotTaskDetailDO fromLane,
+                             RobotTaskDetailDO toLane,
+                             RobotTaskDetailDO fromLocation, RobotTaskDetailDO toLocation) {
+
+        if (!(ObjectUtil.isNotEmpty(toLocation) && toLocation.getToLocationNumber().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())) {
+            list.add(v);
+
+            //终点是普通库位
+        } else if (ObjectUtil.isEmpty(v.getToLaneId())) {
+            list.add(v);
+        }
+    }
 
 
+    /**
+     * 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) {
 
 
+        if (!(ObjectUtil.isNotEmpty(fromLocation) && fromLocation.getFromLocationNumber().equals(v.getFromLocationNumber())
+                && ObjectUtil.isNotEmpty(toLocation) && toLocation.getToLocationNumber().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;
+        }
+        //取放都是线库
+        if (ObjectUtil.isNotEmpty(v.getFromLaneId()) && ObjectUtil.isNotEmpty(v.getToLaneId())
+                && ObjectUtil.isNotEmpty(fromLane)
+                && fromLane.getFromLocationNumber().equals(v.getFromLocationNumber())
+                && ObjectUtil.isNotEmpty(toLane)
+                && toLane.getToLocationNumber().equals(v.getToLocationNumber())) {
+            list.add(v);
+
+            //取是线库，放是点位
+        } else if (ObjectUtil.isNotEmpty(v.getFromLaneId()) && ObjectUtil.isEmpty(v.getToLaneId())
+                && ObjectUtil.isNotEmpty(fromLane)
+                && fromLane.getFromLocationNumber().equals(v.getFromLocationNumber())) {
+            list.add(v);
+
+            //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())) {
+            list.add(v);
+
+            //取放都是点位
+        } else if (ObjectUtil.isEmpty(v.getFromLaneId()) && ObjectUtil.isEmpty(v.getToLaneId())) {
+            list.add(v);
+        }
+    }
+
+    public Pair<String, String> getMadAddressRobotNo(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
+                                                     WareHouseLocationDO fromLocation, WareHouseLocationDO toLocation) {
+        String macAddress = "";
+        String robotNo = taskDetailDO.getRobotNo();
+        if (ObjectUtil.isNotEmpty(robotNo)) {
+            macAddress = robots.stream()
+                    .filter(v -> v.getRobotNo().equals(taskDetailDO.getRobotNo()))
+                    .map(RobotInformationDO::getMacAddress)
+                    .findFirst()
+                    .orElse("");
+        } else {
+            RobotInformationDO robotInformationDO = robots.stream()
+                    .filter(v ->
+                            ObjectUtil.isNotEmpty(v.getMacAddress())
+                                    && v.getFloorAreaJson().contains(fromLocation.getMapId())
+                                    && v.getFloorAreaJson().contains(toLocation.getMapId()))
+                    .findFirst()
+                    .orElse(new RobotInformationDO());
+            macAddress = robotInformationDO.getMacAddress();
+            robotNo = robotInformationDO.getRobotNo();
+        }
+        Pair<String, String> pair = new ImmutablePair<>(macAddress, robotNo);
+        return pair;
+    }
 
 
+    /**
+     * 取放货
+     *
+     * @param taskDetailDO
+     * @param robots
+     * @param robotTaskDOS
+     */
+    @Transactional(rollbackFor = Exception.class)
+    public void doTakeReleaseDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
+                                        List<RobotAcceptTaskDTO> robotTaskDOS, Set<Long> taskIdSet,
+                                        List<RobotTaskDetailDO> updateTaskDetail, Set<String> robotNos,
+                                        Set<Long> doingLocationIds, Map<Long, WareHouseLocationDO> locationMp,
+                                        List<TaskToPathPlanningDTO> taskToPathPlanningDTOS) {
+
+        WareHouseLocationDO fromLocation = locationMp.get(taskDetailDO.getFromLocationId());
+        WareHouseLocationDO toLocation = locationMp.get(taskDetailDO.getToLocationId());
+
+        TaskToPathPlanningDTO taskToPathPlanningDTO = new TaskToPathPlanningDTO();
+
+        Pair<String, String> pair = getMadAddressRobotNo(taskDetailDO, robots, fromLocation, toLocation);
+        String macAddress = pair.getLeft();
+        String robotNo = pair.getRight();
+
+        if (ObjectUtil.isEmpty(macAddress) || ObjectUtil.isEmpty(robotNo)) {
+            log.info("mac地址为空 :{}, 机器人编号 ：{}", macAddress, robotNo);
+            return;
+        }
+
+        // 取货/放货 校验有没有其他库位挡住
+        Boolean fromCanMove = checkCanMove(fromLocation, doingLocationIds);
+        if (!fromCanMove) {
+            return;
+        }
+        Boolean toCanMove = checkCanMove(toLocation, doingLocationIds);
+        if (!toCanMove) {
+            return;
+        }
+
+        RobotAcceptTaskDTO robotTaskDO = new RobotAcceptTaskDTO();
+        robotTaskDO.setOrder_id(taskDetailDO.getId().toString());
+        robotTaskDO.setOrder_type("出库");//未定
+        robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC + macAddress);
+
+        //1
+        RobotAcceptTaskData taskOne = new RobotAcceptTaskData();
+        taskOne.setSerial("1");
+        taskOne.setCommand_id(taskDetailDO.getId().toString());
+        taskOne.setCommand_type(CommandTypeEnum.MOVE_POSES.getType());
+
+        List<Pose2ds> pose2ds = new ArrayList<>();
+        Pose2ds pose2 = positionMapItemMapper.selectByLocationId(taskDetailDO.getFromLocationId());
+        pose2ds.add(pose2);
+        taskOne.setPose2ds(pose2ds);
+
+        //2
+        RobotAcceptTaskData taskTwo = new RobotAcceptTaskData();
+        taskTwo.setSerial("1");
+        taskTwo.setCommand_id(taskDetailDO.getId().toString());
+        taskTwo.setCommand_type(CommandTypeEnum.FORK.getType());
+        taskTwo.setTarget_height(initHeight);
+
+        //3
+        RobotAcceptTaskData taskThree = new RobotAcceptTaskData();
+        taskThree.setSerial("2");
+        taskThree.setCommand_id(taskDetailDO.getId().toString());
+        taskThree.setCommand_type(CommandTypeEnum.FORK.getType());
+        taskThree.setTarget_height(scanHeight);
+
+        //4
+        RobotAcceptTaskData taskFour = new RobotAcceptTaskData();
+        taskFour.setSerial("3");
+        taskFour.setCommand_id(taskDetailDO.getId().toString());
+        taskFour.setCommand_type(CommandTypeEnum.WAIT.getType());
+        taskFour.setParm(parm);
+
+        //5
+        RobotAcceptTaskData taskFive = new RobotAcceptTaskData();
+        taskFive.setSerial("4");
+        taskFive.setCommand_id(taskDetailDO.getId().toString());
+        taskFive.setCommand_type(CommandTypeEnum.GET_PALLET_TOPIC.getType());
+
+        //6
+        RobotAcceptTaskData taskSix = new RobotAcceptTaskData();
+        taskSix.setSerial("5");
+        taskSix.setCommand_id(taskDetailDO.getId().toString());
+        taskSix.setCommand_type(CommandTypeEnum.FORK.getType());
 
 
+        double fromLocationTotalHeight = fromLocation.getLocationTotalHeight().doubleValue();
+        taskSix.setTarget_height(fromLocationTotalHeight);
+
+        //7
+        RobotAcceptTaskData taskSeven = new RobotAcceptTaskData();
+        taskSeven.setSerial("6");
+        taskSeven.setCommand_id(taskDetailDO.getId().toString());
+        taskSeven.setCommand_type(CommandTypeEnum.MOVE_TO_PALLET_POSE.getType());
 
 
+        //8
+        RobotAcceptTaskData taskEigth = new RobotAcceptTaskData();
+        taskEigth.setSerial("7");
+        taskEigth.setCommand_id(taskDetailDO.getId().toString());
+        taskEigth.setCommand_type(CommandTypeEnum.FORK.getType());
+        BigDecimal b1 = new BigDecimal(Double.toString(fromLocationTotalHeight));
+        BigDecimal b2 = new BigDecimal(Double.toString(liftHeight));
+        taskEigth.setTarget_height(b1.add(b2).doubleValue());
 
 
+        //8-2
+        RobotAcceptTaskData taskEigth2 = new RobotAcceptTaskData();
+        taskEigth2.setSerial("8");
+        taskEigth2.setCommand_id(taskDetailDO.getId().toString());
+        taskEigth2.setCommand_type(CommandTypeEnum.MOVE_POSE.getType());
+        Pose2ds poseWait1 = positionMapItemMapper.selectByLocationId(100l);
+        taskEigth2.setPose2d(poseWait1);
+
+        //9
+        RobotAcceptTaskData taskNigth = new RobotAcceptTaskData();
+        taskNigth.setSerial("9");
+        taskNigth.setCommand_id(taskDetailDO.getId().toString());
+        taskNigth.setCommand_type(CommandTypeEnum.MOVE_POSES.getType());
+        List<Pose2ds> pose2dsNight = new ArrayList<>();
+
+        WareHouseLocationDO ware = WareHouseLocationDO.builder()
+                .laneId(-2l)
+                .build();
+        List<WareHouseLocationDO> releaseStockList =
+                locationMapper.selectLocations(ware, new ArrayList<>(), new HashSet<>());
+        for (WareHouseLocationDO wareHouseLocationDO : releaseStockList) {
+            Pose2ds pose = positionMapItemMapper.selectByLocationId(wareHouseLocationDO.getId());
+            pose2dsNight.add(pose);
+        }
 
 
+        taskNigth.setPose2ds(pose2dsNight);
+
+        //10
+        RobotAcceptTaskData taskTen = new RobotAcceptTaskData();
+        taskTen.setSerial("9");
+        taskTen.setCommand_id(taskDetailDO.getId().toString());
+        taskTen.setCommand_type(CommandTypeEnum.FORK.getType());
+        taskTen.setTarget_height(moveHeight);
+
+        //11
+        RobotAcceptTaskData taskEleven = new RobotAcceptTaskData();
+        taskEleven.setSerial("10");
+        taskEleven.setCommand_id(taskDetailDO.getId().toString());
+        taskEleven.setCommand_type(CommandTypeEnum.FORK.getType());
+
+        double toLocationTotalHeight = toLocation.getLocationTotalHeight().doubleValue();
+        BigDecimal b3 = new BigDecimal(Double.toString(toLocationTotalHeight));
+        BigDecimal b4 = new BigDecimal(Double.toString(liftHeight));
+        taskEleven.setTarget_height(b3.add(b4).doubleValue());
+
+        //12
+        RobotAcceptTaskData taskTwelve = new RobotAcceptTaskData();
+        taskTwelve.setSerial("11");
+        taskTwelve.setCommand_id(taskDetailDO.getId().toString());
+        taskTwelve.setCommand_type(CommandTypeEnum.MOVE_POSE.getType());
+        Pose2ds poseEnd = positionMapItemMapper.selectByLocationId(taskDetailDO.getToLocationId());
+        taskTwelve.setPose2d(poseEnd);
+
+        //13
+        RobotAcceptTaskData taskThirteen = new RobotAcceptTaskData();
+        taskThirteen.setSerial("12");
+        taskThirteen.setCommand_id(taskDetailDO.getId().toString());
+        taskThirteen.setCommand_type(CommandTypeEnum.FORK.getType());
+        taskThirteen.setTarget_height(toLocationTotalHeight);
+
+        //14
+        RobotAcceptTaskData taskFourteen = new RobotAcceptTaskData();
+        taskFourteen.setSerial("13");
+        taskFourteen.setCommand_id(taskDetailDO.getId().toString());
+        taskFourteen.setCommand_type(CommandTypeEnum.MOVE_POSE.getType());
+        Pose2ds poseWait = positionMapItemMapper.selectByLocationId(99l);
+        taskFourteen.setPose2d(poseWait);
+        /*
+        Pose2ds poseWait = new Pose2ds();
+        poseWait.setX(3.046);
+        poseWait.setY(3.219);
+        poseWait.setYaw(-3.141);
+        taskFourteen.setPose2d(poseWait);*/
+
+        //15
+        RobotAcceptTaskData taskFifteen = new RobotAcceptTaskData();
+        taskFifteen.setSerial("14");
+        taskFifteen.setCommand_id(taskDetailDO.getId().toString());
+        taskFifteen.setCommand_type(CommandTypeEnum.FORK.getType());
+        taskFifteen.setTarget_height(initHeight);
+
+        List<RobotAcceptTaskData> data = new ArrayList<>();
+        data.add(taskOne);
+        data.add(taskTwo);
+        data.add(taskThree);
+        data.add(taskFour);
+        data.add(taskFive);
+        data.add(taskSix);
+        data.add(taskSeven);
+        data.add(taskEigth);
+        data.add(taskEigth2);
+        data.add(taskNigth);
+        data.add(taskTen);
+        data.add(taskEleven);
+        data.add(taskTwelve);
+        data.add(taskThirteen);
+        data.add(taskFourteen);
+        data.add(taskFifteen);
 
 
+        robotTaskDO.setData(data);
+
+        robotTaskDOS.add(robotTaskDO);
+
+        final String mac = macAddress;
+        robots.removeIf(v -> v.getMacAddress().equals(mac));
+
+        taskDetailDO.setRobotNo(robotNo);
+        taskDetailDO.setStartTime(LocalDateTime.now());
+        taskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
+        updateTaskDetail.add(taskDetailDO);
+
+        robotNos.add(robotNo);
+        taskIdSet.add(taskDetailDO.getRobotTaskId());
+    }
 
 
+    /**
+     * 校验当前库位能否取放
+     *
+     * @param fromLocation
+     * @return false : 有货，不能移动  ；  true: 没货， 能移动
+     */
+    private Boolean checkCanMove(WareHouseLocationDO fromLocation, Set<Long> locationIds) {
+        Long laneId = fromLocation.getLaneId();
+        if (ObjectUtil.isEmpty(laneId)) {
+            Set<Long> doingLocationIds = new HashSet<>();
+            doingLocationIds.add(fromLocation.getId());
+            List<WareHouseLocationDO> locationDOS = locationMapper.selectNeedMoveLocation(doingLocationIds);
+            locationDOS = locationDOS.stream()
+                    .filter(v -> !locationIds.contains(v.getId()))
+                    .collect(Collectors.toList());
+            if (ObjectUtil.isNotEmpty(locationDOS)) {
+                // todo 后续记录到异常表
+                log.info("普通库位--库位上有其他货物, 库位号:{} ,无法进行移动 :{}", fromLocation.getLocationNo(), locationDOS);
+                return false;
+            }
+        } else {
+            List<WareHouseLocationDO> locations = new ArrayList<>();
+            WareHouseLocationDO location = WareHouseLocationDO.builder().locationNumber(fromLocation.getLocationNumber())
+                    .locationUseStatus(LocationUseStatusEnum.YES.getType())
+                    .laneId(fromLocation.getLaneId()).build();
+            locations.add(location);
 
+            List<WareHouseLocationDO> wareHouseLocationDOS = locationMapper.selectLocationByList(locations);
+            wareHouseLocationDOS = wareHouseLocationDOS.stream()
+                    .filter(v -> !locationIds.contains(v.getId()))
+                    .collect(Collectors.toList());
+            if (ObjectUtil.isNotEmpty(wareHouseLocationDOS)) {
+                // todo 后续记录到异常表
+                log.info("线库-当前库位上有其他货物, 库位号:{}，无法进行移动 :{}", fromLocation.getLocationNo(), wareHouseLocationDOS);
+                return false;
+            }
+        }
 
-
-
-
-
-
-
-
-
-
-
-
-
-
-
-
+        locationIds.add(fromLocation.getId());
+        return true;
+    }
 
 
 }

yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml

@@ -231,3 +231,5 @@ zn:
   cycle_do_auto_move: true #存在循环的任务，是否开启自动移库. true:存在循环任务，开启自动移库; false：有循环任务不自动移库
   full_electricity: 100 #机器人充满电的电量
   robot_error_level_time: 30 #机器人异常存储时间(秒)
+  task_need_single: true #机器人对同一线库/点位是不是只能有一台机器人做任务 (true:一个点位/线库，只有一台机器人)
+  location_number_reduce: 100000000 #库位排序的差值(下发取货任务，将库位排序减去此值，然后取绝对值)

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

@@ -15,7 +15,10 @@
         <result property="fromLocationId" column="from_location_id" jdbcType="INTEGER"/>
         <result property="fromLaneId" column="from_lane_id" jdbcType="INTEGER"/>
         <result property="toLaneId" column="to_lane_id" jdbcType="INTEGER"/>
-        <result property="locationNumber" column="location_number" jdbcType="INTEGER"/>
+        <result property="fromLocationNumber" column="from_location_number" jdbcType="INTEGER"/>
+        <result property="toLocationNumber" column="to_location_number" jdbcType="INTEGER"/>
+        <result property="fromMapId" column="from_map_id" jdbcType="INTEGER"/>
+        <result property="toMapId" column="to_map_id" jdbcType="INTEGER"/>
         <result property="toLocationNo" column="to_location_no" jdbcType="VARCHAR"/>
         <result property="toLocationId" column="to_location_id" jdbcType="INTEGER"/>
         <result property="fromLocationStorey" column="from_location_storey" jdbcType="INTEGER"/>
@@ -47,7 +50,6 @@
                from_location_id,
                from_lane_id,
                to_lane_id,
-               location_number
                to_location_no,
                to_location_id,
                robot_no,
@@ -64,174 +66,13 @@
                tenant_id,
                from_location_storey,
                to_location_storey,
-               priority
+               priority,
+               from_location_number,
+               to_location_number,
+               from_map_id,
+               to_map_id
     </sql>
 
-    <!--查询指定行数据-->
-    <select id="queryAllByLimit" resultMap="BaseResultMap">
-        select
-        id, robot_task_id, task_type, release_type, take_type, release_id, take_id, from_location_no, from_location_id,
-        to_location_no, to_location_id, robot_no, robot_action, task_status, task_stage, start_time, end_time, creator,
-        create_time, updater, update_time, deleted, tenant_id
-        from robot_task_detail
-        <where>
-            <if test="id != null">
-                and id = #{id}
-            </if>
-            <if test="robotTaskId != null">
-                and robot_task_id = #{robotTaskId}
-            </if>
-            <if test="taskType != null">
-                and task_type = #{taskType}
-            </if>
-            <if test="releaseType != null">
-                and release_type = #{releaseType}
-            </if>
-            <if test="takeType != null">
-                and take_type = #{takeType}
-            </if>
-            <if test="releaseId != null">
-                and release_id = #{releaseId}
-            </if>
-            <if test="takeId != null">
-                and take_id = #{takeId}
-            </if>
-            <if test="fromLocationNo != null and fromLocationNo != ''">
-                and from_location_no = #{fromLocationNo}
-            </if>
-            <if test="fromLocationId != null">
-                and from_location_id = #{fromLocationId}
-            </if>
-            <if test="toLocationNo != null and toLocationNo != ''">
-                and to_location_no = #{toLocationNo}
-            </if>
-            <if test="toLocationId != null">
-                and to_location_id = #{toLocationId}
-            </if>
-            <if test="robotNo != null and robotNo != ''">
-                and robot_no = #{robotNo}
-            </if>
-            <if test="robotAction != null and robotAction != ''">
-                and robot_action = #{robotAction}
-            </if>
-            <if test="taskStatus != null">
-                and task_status = #{taskStatus}
-            </if>
-            <if test="taskStage != null">
-                and task_stage = #{taskStage}
-            </if>
-            <if test="startTime != null">
-                and start_time = #{startTime}
-            </if>
-            <if test="endTime != null">
-                and end_time = #{endTime}
-            </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="tenantId != null">
-                and tenant_id = #{tenantId}
-            </if>
-        </where>
-        limit #{pageable.offset}, #{pageable.pageSize}
-    </select>
-
-    <!--通过实体作为筛选条件查询-->
-    <select id="queryAll" resultMap="BaseResultMap">
-    select
-    id, robot_task_id, task_type, release_type, take_type, release_id, take_id, from_location_no, from_location_id,
-    to_location_no, to_location_id, robot_no, robot_action, task_status, task_stage, start_time, end_time, creator,
-    create_time, updater, update_time, deleted, tenant_id
-    from robot_task_detail
-    </select>
-    <!--统计总行数-->
-    <select id="count" resultType="java.lang.Long">
-        select count(1)
-        from robot_task_detail
-        <where>
-            <if test="id != null">
-                and id = #{id}
-            </if>
-            <if test="robotTaskId != null">
-                and robot_task_id = #{robotTaskId}
-            </if>
-            <if test="taskType != null">
-                and task_type = #{taskType}
-            </if>
-            <if test="releaseType != null">
-                and release_type = #{releaseType}
-            </if>
-            <if test="takeType != null">
-                and take_type = #{takeType}
-            </if>
-            <if test="releaseId != null">
-                and release_id = #{releaseId}
-            </if>
-            <if test="takeId != null">
-                and take_id = #{takeId}
-            </if>
-            <if test="fromLocationNo != null and fromLocationNo != ''">
-                and from_location_no = #{fromLocationNo}
-            </if>
-            <if test="fromLocationId != null">
-                and from_location_id = #{fromLocationId}
-            </if>
-            <if test="toLocationNo != null and toLocationNo != ''">
-                and to_location_no = #{toLocationNo}
-            </if>
-            <if test="toLocationId != null">
-                and to_location_id = #{toLocationId}
-            </if>
-            <if test="robotNo != null and robotNo != ''">
-                and robot_no = #{robotNo}
-            </if>
-            <if test="robotAction != null and robotAction != ''">
-                and robot_action = #{robotAction}
-            </if>
-            <if test="taskStatus != null">
-                and task_status = #{taskStatus}
-            </if>
-            <if test="taskStage != null">
-                and task_stage = #{taskStage}
-            </if>
-            <if test="startTime != null">
-                and start_time = #{startTime}
-            </if>
-            <if test="endTime != null">
-                and end_time = #{endTime}
-            </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="tenantId != null">
-                and tenant_id = #{tenantId}
-            </if>
-        </where>
-    </select>
 
 
     <select id="queryDoingTaskByIds" resultMap="BaseResultMap">
@@ -339,16 +180,6 @@
         order by priority desc, create_time asc ,robot_no desc
     </select>
 
-    <select id="getDoingTaskIds" resultType="java.lang.Long">
-        select
-            distinct
-            robot_task_id
-        from
-            robot_task_detail
-        where
-            task_status = '1'
-        and deleted = '0'
-    </select>
 
     <select id="getChargeTaskDetail"
             resultType="cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO">
@@ -366,29 +197,20 @@
           and t2.task_type = '3'
     </select>
 
-    <!--新增所有列-->
-    <insert id="insertSelect" keyProperty="id" useGeneratedKeys="true">
-        insert into robot_task_detail(robot_task_id, task_type, release_type, take_type, release_id, take_id,
-                                      from_location_no, from_location_id, to_location_no, to_location_id, robot_no,
-                                      robot_action, task_status, task_stage, start_time, end_time, creator, create_time,
-                                      updater, update_time, deleted, tenant_id)
-        values (#{robotTaskId}, #{taskType}, #{releaseType}, #{takeType}, #{releaseId}, #{takeId}, #{fromLocationNo},
-                #{fromLocationId}, #{toLocationNo}, #{toLocationId}, #{robotNo}, #{robotAction}, #{taskStatus},
-                #{taskStage}, #{startTime}, #{endTime}, #{creator}, #{createTime}, #{updater}, #{updateTime},
-                #{deleted}, #{tenantId})
-    </insert>
 
     <!--keyProperty="id" useGeneratedKeys="true"-->
     <insert id="insertBatchList" >
         insert into robot_task_detail(robot_task_id, task_type, release_type, take_type, release_id, take_id,
         from_location_no, from_location_id, to_location_no, to_location_id, robot_no,from_location_storey,
-        to_location_storey,priority,from_lane_id,to_lane_id,location_number)
+        to_location_storey,priority,from_lane_id,to_lane_id,from_location_number,to_location_number,
+        from_map_id,to_map_id)
         values
         <foreach collection="taskDetailList" item="entity" separator=",">
             (#{entity.robotTaskId}, #{entity.taskType}, #{entity.releaseType}, #{entity.takeType}, #{entity.releaseId},
             #{entity.takeId}, #{entity.fromLocationNo}, #{entity.fromLocationId}, #{entity.toLocationNo},
             #{entity.toLocationId}, #{entity.robotNo}, #{entity.fromLocationStorey}, #{entity.toLocationStorey}
-            , #{entity.priority}, #{entity.fromLaneId}, #{entity.toLaneId}, #{entity.locationNumber})
+            , #{entity.priority}, #{entity.fromLaneId}, #{entity.toLaneId}, #{entity.fromLocationNumber},
+            #{entity.toLocationNumber}, #{entity.fromMapId}, #{entity.toMapId})
         </foreach>
     </insert>