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任务联调

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cbs 2025-03-22 17:49:52 +08:00
parent fde40418c2
commit 7e37f213b5
21 changed files with 151 additions and 48 deletions
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2
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathPosedsDataArgPosedDTO.java
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@ -12,7 +12,7 @@ import lombok.NoArgsConstructor;
@AllArgsConstructor
public class PathPosedsDataArgPosedDTO {
@Schema(description = "唯一key，导航下发给RCS应用", example = "20863")
private Integer poseId;
private String poseId;
private Double x;

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java
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@ -71,9 +71,6 @@ public class PathApiImpl implements PathApi {
taskExecutor.execute(() -> {
TenantContextHolder.setTenantId(1L);
taskService.assignTasks(message);
if (ObjectUtil.isEmpty(message)) {
return;
}
// taskService.ppDistributionTask(message); 废弃了
});
}

14
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java
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@ -37,9 +37,6 @@ public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi {
@Resource
private RedisUtil redisUtil;
@Value("${zn.robot_position_cache_time:600}")
private Long robotPositionCacheTime;
@Value("${zn.robot_error_level_time:30}")
private Long robotErrorLevelTime;
@ -59,15 +56,8 @@ public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi {
public void robotReactiveStatus(String message) {
TenantContextHolder.setTenantId(1L);
RobotReactiveStatusDTO data = JSON.parseObject(message, RobotReactiveStatusDTO.class);
String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + data.getMac();
Object object = redisUtil.get(pose2dKey);
RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
if (ObjectUtil.isNotEmpty(data.getFloorZone())) {
robotStatusDataPoseDTO.setFloor(data.getFloorZone().getFloor());
robotStatusDataPoseDTO.setArea(data.getFloorZone().getArea());
}
redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime);
String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + data.getMac();
redisUtil.set(floorAreaKey, JSON.toJSONString(data.getFloorZone()));
//机器人异常等级
if (ObjectUtil.isEmpty(data.getErrCode())) {

13
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
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@ -4,10 +4,7 @@ import cn.hutool.core.util.ObjectUtil;
import cn.hutool.json.JSONUtil;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotPoseStatusDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataErrorDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.*;
import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
import cn.iocoder.yudao.module.system.config.ratelimiter.SystemRateLimiter;
import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
@ -80,6 +77,9 @@ public class RobotStatusApiImpl implements RobotStatusApi {
log.info("机器人上报的信息不全 :{}", JSON.toJSONString(robotStatusDataDTO));
return;
}
String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + robotStatusDataDTO.getMac();
Object floorAreaObject = redisUtil.get(floorAreaKey);
FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
String robotNo = robotInformationService.getRobotNoByMac(robotStatusDataDTO.getMac());
String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robotStatusDataDTO.getMac();
Object object = redisUtil.get(pose2dKey);
@ -91,6 +91,8 @@ public class RobotStatusApiImpl implements RobotStatusApi {
robotStatusDataPoseDTO.setYaw(robotStatusDataDTO.getPose2d().getYaw());
}
robotStatusDataPoseDTO.setRobotNo(robotNo);
robotStatusDataPoseDTO.setFloor(floorZoneDTO.getFloor());
robotStatusDataPoseDTO.setArea(floorZoneDTO.getArea());
redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime);
//机器人身上是否有货
@ -106,8 +108,9 @@ public class RobotStatusApiImpl implements RobotStatusApi {
robotInformationVO = robotInformationService.getRobotByRedis(robotStatusDataDTO.getMac());
}
robotInformationVO.setPose2d(robotStatusDataPoseDTO);
// 合并请求 - 这里接受到的数据都丢给 RequestProcessor - 再整合数据通过WebSocket丢给前端
processor.handleRequest(robotStatusDataPoseDTO.getFloor() + "_" + robotStatusDataPoseDTO.getArea(),
processor.handleRequest(floorZoneDTO.getFloor() + "_" + floorZoneDTO.getArea(),
robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(robotInformationVO));
sendToPP(robotStatusDataPoseDTO);
}

16
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
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@ -23,6 +23,7 @@ import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import cn.iocoder.yudao.module.system.enums.path.PathIsReachEnum;
import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum;
import cn.iocoder.yudao.module.system.enums.robot.*;
import cn.iocoder.yudao.module.system.enums.robot.actionlog.ActionStatusEnum;
import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeTaskStatusEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotStatusCodeEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
@ -48,8 +49,6 @@ import javax.annotation.Resource;
import java.time.LocalDateTime;
import java.util.List;
import static com.baomidou.mybatisplus.core.toolkit.IdWorker.getId;
@Slf4j
@RestController // 提供 RESTful API 接口，给 Feign 调用
@Validated
@ -89,9 +88,6 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
@Resource
private CommonApi commonApi;
@Resource
public WebSocketSenderApi webSocketSenderApi;
@Resource
private RobotTaskDetailService taskDetailService;
@ -101,18 +97,12 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
@Resource
private RobotWarnMsgService warnMsgService;
@Resource
private DeviceInformationMapper deviceInformationMapper;
@Resource
private MoveToWaitService moveToWaitService;
@Resource
private PathPlanningService pathPlanningService;
@Resource
private RobotTaskService taskService;
@Resource
private DeviceInformationService deviceInformationService;
@ -175,6 +165,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
sendStartDoActionToPP(robotCompleteTaskDTO.getCommandStatus(), robotCompleteTaskDTO.getMac(),
String.valueOf(robotCompleteTaskDTO.getOrderId()));
taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DOING.getType());
}
/**
@ -225,6 +217,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
.build();
chargeLogMapper.updateById(build);
}
taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType());
}
@ -344,6 +337,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
RobotTaskDetailDO detailDO = new RobotTaskDetailDO();
detailDO.setId(robotCompleteTaskDTO.getOrderId());
detailDO.setEndTime(LocalDateTime.now());
detailDO.setTaskStage(RobotTaskStageEnum.DONE.getType());
detailDO.setTaskStatus(RobotTaskDetailStatusEnum.DONE.getType());
robotTaskDetailMapper.updateRobotDetailById(detailDO);
//更新任务状态

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java
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@ -11,6 +11,9 @@ public class RobotTaskChcheConstant {
//机器人点位和电量 (拼接的是mac地址)
public static String ROBOT_INFORMATION_POSE_BAT_SOC = "robot:information:pose:bat:soc";
//机器人楼层和区域 (拼接的是mac地址)
public static String ROBOT_FLOOR_AREA = "robot:floor:area";
//机器人mac地址和机器人编号映射(通过mac地址。查询机器人编号) (拼接的是mac地址)
public static String ROBOT_GET_ROBOTNO_BY_MAC = "robot:information:getRobotNo:ByMac";

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTopicConstant.java
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@ -11,7 +11,7 @@ public class RobotTopicConstant {
/**
* 下发让车子移动
*/
public static String ROBOT_TASK_MOVE_TOPIC = "ROBOT_TASK_MOVE";
public static String ROBOT_TASK_MOVE_TOPIC = "ROBOT_TASK_MOVE_";
/**
*RCS发送心跳给车机
*/
@ -19,5 +19,5 @@ public class RobotTopicConstant {
/**
* 让机器人同步告警码值映射的topic （拼接mac地址）
*/
public static String UPDATE_ERROR_TOPIC = "UPDATE_ERROR";
public static String UPDATE_ERROR_TOPIC = "UPDATE_ERROR_";
}

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java
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@ -86,4 +86,7 @@ public class DeviceInformationPageReqVO extends PageParam {
@Schema(description = "端口")
private String devicePort;
@Schema(description = "最后使用者")
private String lastUser;
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java
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@ -116,4 +116,8 @@ public class DeviceInformationRespVO {
@ExcelProperty("端口")
private String devicePort;
@Schema(description = "最后使用者")
@ExcelProperty("最后使用者")
private String lastUser;
}

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java
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@ -82,4 +82,7 @@ public class DeviceInformationSaveReqVO {
@Schema(description = "端口")
private String devicePort;
@Schema(description = "最后使用者")
private String lastUser;
}

26
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/task/TaskAssignDTO.java
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@ -1,5 +1,6 @@
package cn.iocoder.yudao.module.system.controller.admin.robot.task;
import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.AllArgsConstructor;
import lombok.Builder;
@ -22,4 +23,29 @@ public class TaskAssignDTO {
@Schema(description = "AGV编号")
private String robotNo;
/**
* 获取机器人要做的任务描述
* @return
*/
public String getRobotActionMsg() {
if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(orderType)) {
return "机器人分配到取放货任务";
}if (PathTaskTypeEnum.CHARGE.getType().equals(orderType)) {
return "机器人分配到充电任务";
}if (PathTaskTypeEnum.MOVE.getType().equals(orderType)) {
return "机器人分配到移动任务";
}if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(orderType)) {
return "机器人分配移动到等待点的任务";
}if (PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(orderType)) {
return "机器人分配停车任务";
}if (PathTaskTypeEnum.TAKE.getType().equals(orderType)) {
return "机器人分配到仅取货任务";
}if (PathTaskTypeEnum.RELEASE.getType().equals(orderType)) {
return "机器人分配到仅放货任务";
}if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(orderType)) {
return "机器人分配到自动充电任务";
}
return "未知任务";
}
}

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java
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@ -130,4 +130,9 @@ public class DeviceInformationDO extends BaseDO {
*/
private String devicePort;
/**
* 最后使用者
*/
private String lastUser;
}

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java
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@ -6,6 +6,7 @@ import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
import cn.iocoder.yudao.module.system.controller.admin.log.vo.RobotTaskDetailActionLogPageReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO;
import org.apache.ibatis.annotations.Mapper;
import org.apache.ibatis.annotations.Param;
/**
* 车辆动作记录 Mapper
@ -27,4 +28,11 @@ public interface RobotTaskDetailActionLogMapper extends BaseMapperX<RobotTaskDet
.orderByDesc(RobotTaskDetailActionLogDO::getId));
}
/**
* 更新任务状态
* @param taskDetailId
* @param actionStatus
*/
void updateActionStatus(@Param("taskDetailId") Long taskDetailId,
@Param("actionStatus") int actionStatus);
}

21
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/actionlog/ActionStatusEnum.java Normal file
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@ -0,0 +1,21 @@
package cn.iocoder.yudao.module.system.enums.robot.actionlog;
import lombok.AllArgsConstructor;
import lombok.Getter;
@Getter
@AllArgsConstructor
public enum ActionStatusEnum {
UN_DO(0,"未开始"),
DOING(1,"正在进行"),
DONE(2,"完成");
/**
* 类型
*/
private final Integer type;
/**
* 说明
*/
private final String msg;
}

15
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java
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@ -24,6 +24,7 @@ import cn.iocoder.yudao.module.system.enums.device.DeviceTypeEnum;
import cn.iocoder.yudao.module.system.enums.device.PictureConfigEnum;
import cn.iocoder.yudao.module.system.service.dict.DictDataService;
import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
import cn.iocoder.yudao.module.system.util.modbus3.ModbusUtils;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
@ -74,6 +75,9 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
@Resource
private UserOperationLogService userOperationLogService;
@Resource
private RobotWarnMsgService warnMsgService;
@Override
public Long createInformation(DeviceInformationSaveReqVO createReqVO) {
// -- 先判断库里是否有相通的mac地址数据
@ -348,10 +352,11 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
}
if (ObjectUtil.isEmpty(deviceInformationDO.getDeviceIp()) || ObjectUtil.isEmpty(deviceInformationDO.getDevicePort())) {
log.info("没有设备IP、端口不能伸出 :{}", deviceNo);
warnMsgService.addWarnMsg(deviceNo + " 没有设备IP和端口");
return;
}
log.info("设备伸出 :{}",deviceNo);
extend(deviceInformationDO.getDeviceIp(), Integer.parseInt(deviceInformationDO.getDevicePort()));
extend(deviceInformationDO.getDeviceIp(), Integer.parseInt(deviceInformationDO.getDevicePort()), deviceNo);
}
/**
@ -376,10 +381,10 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
return;
}
log.info("设备缩回 :{}",deviceNo);
shrink(deviceInformationDO.getDeviceIp(), Integer.parseInt(deviceInformationDO.getDevicePort()));
shrink(deviceInformationDO.getDeviceIp(), Integer.parseInt(deviceInformationDO.getDevicePort()), deviceNo);
}
public void shrink(String ip, int port) {
public void shrink(String ip, int port, String deviceNo) {
boolean success = true;
short[] shrinkArr = {0};
for (int i = 0; i < 3; i++) {
@ -388,6 +393,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
ModbusUtils.writeHoldingRegisters(asciiMaster, 1, 0, shrinkArr);
} catch (ModbusInitException | ModbusTransportException e) {
log.info("充电设备缩回时,出现异常 :{}", ip);
warnMsgService.addWarnMsg(deviceNo + " 充电设备缩回失败");
success = false;
}
@ -402,7 +408,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
* @param ip
* @param port
*/
public void extend(String ip, int port) {
public void extend(String ip, int port, String deviceNo) {
boolean success = true;
short[] extendArr = {1};
short[] shrinkArr = {0};
@ -414,6 +420,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
ModbusUtils.writeHoldingRegisters(asciiMaster, 1, 0, extendArr);
} catch (ModbusInitException | ModbusTransportException | InterruptedException e) {
log.info("充电设备伸出时,出现异常 :{}", ip);
warnMsgService.addWarnMsg(deviceNo + " 充电设备伸出失败");
success = false;
}

9
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
View File

@ -9,6 +9,7 @@ import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
import cn.iocoder.yudao.module.mqtt.api.path.dto.*;
import cn.iocoder.yudao.module.mqtt.api.path.task.TaskPathPlanningDTO;
import cn.iocoder.yudao.module.system.api.robot.RequestProcessor;
import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotPoseStatusDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
import cn.iocoder.yudao.module.system.api.robot.vo.PathPlanningMovePoseVO;
@ -436,10 +437,10 @@ public class PathPlanningServiceImpl implements PathPlanningService {
public void pathPlanningMovePose(String message) {
PathPlanningMovePoseVO robotStatusData = JSON.parseObject(message, PathPlanningMovePoseVO.class);
String mac = robotInformationService.getMacByRobotNo(robotStatusData.getRobotNo());
String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + mac;
Object object = redisUtil.get(pose2dKey);
RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
webSocketSenderApi.sendObject(robotStatusDataPoseDTO.getFloor() + "_" + robotStatusDataPoseDTO.getArea(),
String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + mac;
Object floorAreaObject = redisUtil.get(floorAreaKey);
FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
webSocketSenderApi.sendObject(floorZoneDTO.getFloor() + "_" + floorZoneDTO.getArea(),
WebSocketConstant.PLANNING_MOVE_POSE, message);
}

16
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
View File

@ -12,6 +12,7 @@ import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotRcsHeartBeatDTO;
import cn.iocoder.yudao.module.system.api.robot.RequestProcessor;
import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
@ -205,10 +206,13 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
Object object = redisUtil.get(pose2dKey);
RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + robotInformationDO.getMacAddress();
Object floorAreaObject = redisUtil.get(floorAreaKey);
FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
if (ObjectUtil.isNotEmpty(object) && ObjectUtil.isNotEmpty(robotStatusDataPoseDTO)) {
bean.setElectricity(robotStatusDataPoseDTO.getBatSoc());
bean.setFloor(robotStatusDataPoseDTO.getFloor());
bean.setArea(robotStatusDataPoseDTO.getArea());
bean.setFloor(floorZoneDTO.getFloor());
bean.setArea(floorZoneDTO.getArea());
}
return bean;
}
@ -294,10 +298,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_QUERY_DOING_ACTION + v.getMacAddress();
Object action = redisUtil.get(robotDoingActionKey);
String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + v.getMacAddress();
Object floorAreaObject = redisUtil.get(floorAreaKey);
FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
if (ObjectUtil.isNotEmpty(object) && ObjectUtil.isNotEmpty(robotStatusDataPoseDTO)) {
v.setElectricity(robotStatusDataPoseDTO.getBatSoc());
v.setFloor(robotStatusDataPoseDTO.getFloor());
v.setArea(robotStatusDataPoseDTO.getArea());
v.setFloor(floorZoneDTO.getFloor());
v.setArea(floorZoneDTO.getArea());
v.setOnlineStatus(1);
}

14
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
View File

@ -27,6 +27,7 @@ import cn.iocoder.yudao.module.system.dal.dataobject.housearea.HouseAreaDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselane.WareHouseLaneDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotChargeLogDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
@ -36,6 +37,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.housearea.HouseAreaMapper;
import cn.iocoder.yudao.module.system.dal.mysql.houselane.WareHouseLaneMapper;
import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
import cn.iocoder.yudao.module.system.dal.mysql.log.RobotTaskDetailActionLogMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotChargeLogMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
@ -158,6 +160,9 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
@Resource
private DeviceInformationService deviceInformationService;
@Resource
private RobotTaskDetailActionLogMapper taskDetailActionLogMapper;
@Override
@Transactional(rollbackFor = Exception.class)
public Long createTask(RobotTaskSaveReqVO createReqVO) throws InterruptedException {
@ -507,6 +512,15 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
setTaskDoing(detailId, taskAssignDTO.getRobotNo(), deviceNoMap);
}
RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
logOne.setCommandType(taskAssignDTO.getOrderType());
logOne.setActionMsg(taskAssignDTO.getRobotActionMsg());
logOne.setRobotNo(taskAssignDTO.getRobotNo());
logOne.setCommandId(-1L);
logOne.setTaskDetailId(taskAssignDTO.getOrderId());
taskDetailActionLogMapper.insert(logOne);
// sendTaskToRobot(robotTaskDetailDO, taskAssignDTO);
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
View File

@ -8,6 +8,7 @@ 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.system.api.robot.dto.FloorZoneDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
@ -198,7 +199,11 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
continue;
}
String mapKey = robotStatusDataPoseDTO.getFloor() + "_" + robotStatusDataPoseDTO.getArea();
String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + robot.getMacAddress();
Object floorAreaObject = redisUtil.get(floorAreaKey);
FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
String mapKey = floorZoneDTO.getFloor() + "_" + floorZoneDTO.getArea();
PositionMapDO positionMapDO = positionMap.get(mapKey);
if (ObjectUtil.isEmpty(positionMapDO)) {
log.info("------此机器人没有匹配到楼层和区域------ :{}", robot.getRobotNo());

9
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailActionLogMapper.xml
View File

@ -9,4 +9,13 @@
文档可见：https://www.iocoder.cn/MyBatis/x-plugins/
-->
<update id="updateActionStatus">
update
robot_task_detail_action_log
set
action_status = #{actionStatus}
where
task_detail_id = #{taskDetailId}
and command_id = '-1'
</update>
</mapper>

4
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnMsgMapper.xml
View File

@ -13,8 +13,10 @@
update
robot_warn_msg
set
read_status = '1'
read_status = '1',
read_time = now()
where
read_status = '0'
LIMIT 1000
</update>
</mapper>