From 7e37f213b5047297f3b095874b8f8d435fd15596 Mon Sep 17 00:00:00 2001
From: cbs <18617195505@163.com>
Date: Sat, 22 Mar 2025 17:49:52 +0800
Subject: [PATCH] =?UTF-8?q?=E4=BB=BB=E5=8A=A1=E8=81=94=E8=B0=83?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../path/dto/PathPosedsDataArgPosedDTO.java   |  2 +-
 .../module/system/api/path/PathApiImpl.java   |  3 ---
 .../api/robot/RobotReactiveStatusApiImpl.java | 14 ++--------
 .../system/api/robot/RobotStatusApiImpl.java  | 13 ++++++----
 .../api/robot/RobotTaskStatusApiImpl.java     | 16 ++++--------
 .../robot/RobotTaskChcheConstant.java         |  3 +++
 .../constant/robot/RobotTopicConstant.java    |  4 +--
 .../vo/DeviceInformationPageReqVO.java        |  3 +++
 .../vo/DeviceInformationRespVO.java           |  4 +++
 .../vo/DeviceInformationSaveReqVO.java        |  3 +++
 .../admin/robot/task/TaskAssignDTO.java       | 26 +++++++++++++++++++
 .../information/DeviceInformationDO.java      |  5 ++++
 .../log/RobotTaskDetailActionLogMapper.java   |  8 ++++++
 .../robot/actionlog/ActionStatusEnum.java     | 21 +++++++++++++++
 .../DeviceInformationServiceImpl.java         | 15 ++++++++---
 .../service/path/PathPlanningServiceImpl.java |  9 ++++---
 .../robot/RobotInformationServiceImpl.java    | 16 +++++++++---
 .../service/robot/RobotTaskServiceImpl.java   | 14 ++++++++++
 .../RobotPathPlanningServiceImpl.java         |  7 ++++-
 .../robot/RobotTaskDetailActionLogMapper.xml  |  9 +++++++
 .../mapper/robot/RobotWarnMsgMapper.xml       |  4 ++-
 21 files changed, 151 insertions(+), 48 deletions(-)
 create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/actionlog/ActionStatusEnum.java

diff --git a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathPosedsDataArgPosedDTO.java b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathPosedsDataArgPosedDTO.java
index c24e91545..b9420ab2e 100644
--- a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathPosedsDataArgPosedDTO.java
+++ b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathPosedsDataArgPosedDTO.java
@@ -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;
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java
index 089c4469f..3798f5154 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java
@@ -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
         });
     }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java
index 77182d170..a69a76792 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java
@@ -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())) {
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
index 433538879..357be6164 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
@@ -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);
     }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
index 5b84969a1..82cb07491 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
@@ -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
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java
index ddc5feefd..3bd6671a8 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java
@@ -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";
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTopicConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTopicConstant.java
index f351bf16d..d5c5a970c 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTopicConstant.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTopicConstant.java
@@ -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_";
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java
index b7faa7ef4..d64fd51e9 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java
@@ -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;
+
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java
index ff5e8806b..265291dd3 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java
@@ -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;
+
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java
index 252a16dc6..523268ad6 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java
@@ -82,4 +82,7 @@ public class DeviceInformationSaveReqVO {
     @Schema(description = "端口")
     private String devicePort;
 
+    @Schema(description = "最后使用者")
+    private String lastUser;
+
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/task/TaskAssignDTO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/task/TaskAssignDTO.java
index 238c50d32..f5be27fd4 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/task/TaskAssignDTO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/task/TaskAssignDTO.java
@@ -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";
+    }
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java
index bd7322788..df185bc94 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java
@@ -130,4 +130,9 @@ public class DeviceInformationDO extends BaseDO {
      */
     private String devicePort;
 
+    /**
+     * 最后使用者
+     */
+    private String lastUser;
+
 }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java
index 13572d30c..bb48170ff 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java
@@ -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);
 }
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/actionlog/ActionStatusEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/actionlog/ActionStatusEnum.java
new file mode 100644
index 000000000..38c393455
--- /dev/null
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/actionlog/ActionStatusEnum.java
@@ -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;
+}
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java
index 55ea7d32d..ae2457be5 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java
@@ -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;
             }
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
index d08d4ae7b..6d5ae9bd1 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
@@ -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);
     }
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
index 37b0b0202..b56a49d79 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
@@ -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);
         }
 
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
index 61bd2288d..99f60d124 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
@@ -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);
 
     }
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
index 9b938c695..892abc526 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
@@ -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());
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailActionLogMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailActionLogMapper.xml
index 5b603e5a9..5232fdc0d 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailActionLogMapper.xml
+++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailActionLogMapper.xml
@@ -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>
\ No newline at end of file
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnMsgMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnMsgMapper.xml
index c1708cdb0..8021c8e8e 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnMsgMapper.xml
+++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnMsgMapper.xml
@@ -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>
\ No newline at end of file