取货高度

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java

@@ -137,6 +137,7 @@ public class PathApiImpl implements PathApi {
     @Override
     public void graphMatchData(String message) {
         TenantContextHolder.setTenantId(1L);
+        log.info("匹配路网的消息 :{}",message);
         pathPlanningService.graphMatchData(message);
     }
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java

@@ -64,7 +64,7 @@ public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi {
     @Override
     public void robotReactiveStatus(String message) {
         TenantContextHolder.setTenantId(1L);
-        log.info("切换地图 :{}",message);
+        log.info("车辆所在楼层和异常信息 :{}",message);
         RobotReactiveStatusDTO data = JSON.parseObject(message, RobotReactiveStatusDTO.class);
         String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + data.getMac();
         String robotNo = robotInformationService.getRobotNoByMac(data.getMac());

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

@@ -144,7 +144,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     @Value("${zn.robot_config.offset_height}")
     private Double offsetHeight;
 
-    @Value("${zn.robot_config.default_tray_height:1.0}")
+    @Value("${zn.robot_config.default_tray_height:0.82}")
     private Double defaultTrayHeight;
 
     @Resource

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

@@ -152,7 +152,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
             robotTaskDetailMapper.insertBatch(bean);
         }
 
-        chargeLogMapper.insertBatch(logs);
+        chargeLogMapper.insert(logs);
 
         robotPathPlanningService.sendChargeTaskToPP(logs, taskDetailDOS, robots);
 

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

@@ -96,6 +96,9 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     @Value("${zn.move-no:MOVE}")
     private String moveTaskNo;
 
+    @Value("${zn.robot_config.default_tray_height:0.82}")
+    private Double defaultTrayHeight;
+
     @Autowired
     private RobotTaskMapper robotTaskMapper;
 
@@ -262,12 +265,12 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             detailAddVO.setTaskType(RobotTaskTypeEnum.MOVE_TO_POINT.getType());
             detailAddVO.setReleaseType(ReleaseTakeEnum.TO_LOCATION.getType());
             detailAddVO.setReleaseId(v.getId());
-            detailAddVO.setToLocationNo(sortMap.get(v.getId())+"");
+            detailAddVO.setToLocationNo(sortMap.get(v.getId()) + "");
             detailAddVO.setRobotNo(v.getRobotNo());
             taskDetails.add(detailAddVO);
 
             TaskToPathPlanningDTO pathPlanning = TaskToPathPlanningDTO.builder()
-                    .orderId(detailAddVO.getId()+"")
+                    .orderId(detailAddVO.getId() + "")
                     .orderType(PathTaskTypeEnum.MOVE_TO_WAIT.getType())
                     .priority(1l)
                     .createTime(LocalDateTime.now())
@@ -297,9 +300,6 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     }
 
 
-
-
-
     @Override
     public void sendChargeTaskToPP(List<RobotChargeLogDO> logs, List<RobotTaskDetailDO> taskDetailDOS,
                                    List<RobotInformationDO> robots) {
@@ -424,7 +424,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                 pathPlanning.setWaitIds(waitIds);
                 i++;
             } else if (RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(taskDetailDO.getTaskType())) {
-                moveToPoint(pathPlanning,taskDetailDO);
+                moveToPoint(pathPlanning, taskDetailDO);
             }
 
             if (ObjectUtil.isNotEmpty(robotDoTake) && ObjectUtil.isNotEmpty(taskDetailDO.getRobotNo())
@@ -454,9 +454,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())) {
                 pathPlanning.setTakeLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getFromLocationNumber()));
                 pathPlanning.setTakePointId(fromLocation.getMapItemId());
-                if (ObjectUtil.isNotEmpty(fromLocation.getLocationTotalHeight())) {
+
-                    pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTotalHeight() + ""));
+                pathPlanningSetTakeHeight(pathPlanning, fromLocation);
-                }
                 pathPlanning.setTakeLevel(fromLocation.getLocationStorey());
                 pathPlanning.setTakeOffsetHeight(offsetHeight);
                 if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLaneId())) {
@@ -469,11 +468,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())) {
                 pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
                 pathPlanning.setReleasePointId(toLocation.getMapItemId());
-                if (ObjectUtil.isNotEmpty(toLocation.getLocationStorey()) && ZeroOneEnum.ONE.getType().equals(toLocation.getLocationStorey())) {
+
-                    pathPlanning.setReleaseHeight(0.0);
+                pathPlanningSetReleaseHeight(pathPlanning,toLocation);
-                }else if (ObjectUtil.isNotEmpty(toLocation.getLocationTrayHeight())) {
-                    pathPlanning.setReleaseHeight(Double.valueOf(toLocation.getLocationTrayHeight() + ""));
-                }
                 pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
                 pathPlanning.setReleaseOffsetHeight(offsetHeight);
                 if (ObjectUtil.isNotEmpty(taskDetailDO.getToLaneId())) {
@@ -495,8 +491,52 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         }
     }
 
+    /**
+     * 设置放货高度
+     * @param pathPlanning
+     * @param toLocation
+     */
+    private void pathPlanningSetReleaseHeight(TaskToPathPlanningDTO pathPlanning, WareHouseLocationDO toLocation) {
+        if ( ZeroOneEnum.ONE.getType().equals(toLocation.getLocationStorey())) {
+            pathPlanning.setReleaseHeight(0.0);
+            return;
+        }
+
+        WareHouseLocationDO nextLocation = locationMapper.selectOne(new LambdaQueryWrapperX<WareHouseLocationDO>()
+                .eq(WareHouseLocationDO::getId, toLocation.getMapItemId())
+                .eq(WareHouseLocationDO::getLocationStorey, toLocation.getLocationStorey()-1)
+                .last("limit 1"));
+        if (ObjectUtil.isNotEmpty(nextLocation) && ObjectUtil.isNotEmpty(nextLocation.getLocationTotalHeight())) {
+            pathPlanning.setReleaseHeight(Double.valueOf(nextLocation.getLocationTotalHeight() + ""));
+            return;
+        }
+
+        Integer locationStorey = toLocation.getLocationStorey() - 1;
+        double height = locationStorey * defaultTrayHeight;
+        log.info("放货设置默认高度 :{}",pathPlanning.getReleaseHeight());
+        pathPlanning.setReleaseHeight(height);
+    }
+
+    /**
+     * 设置取货高度
+     *
+     * @param pathPlanning
+     * @param fromLocation
+     */
+    private void pathPlanningSetTakeHeight(TaskToPathPlanningDTO pathPlanning, WareHouseLocationDO fromLocation) {
+        if (ObjectUtil.isNotEmpty(fromLocation.getLocationTotalHeight())) {
+            pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTotalHeight() + ""));
+            return;
+        }
+        Integer locationStorey = fromLocation.getLocationStorey();
+        double height = locationStorey * defaultTrayHeight;
+        log.info("取货设置默认取货高度 :{}",height);
+        pathPlanning.setTakeHeight(height);
+    }
+
     /**
      * 移动到路径点
+     *
      * @param pathPlanning
      * @param taskDetailDO
      */
@@ -692,7 +732,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                 //仅取货
                 takeSetTask(list, v, fromLane, toLane, fromLocation, toLocation, toHaveFrom, fromHaveTo);
             } else if (RobotTaskTypeEnum.PARK.getType().equals(v.getTaskType())
-                || RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(v.getTaskType())) {
+                    || RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(v.getTaskType())) {
                 list.add(v);
             }
         }

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

@@ -226,7 +226,7 @@ zn:
   camera_secret_key: A2C4rv7DY012c9ef #摄像头秘钥
   do_cycle: true #是否开启循环
   lane_auto_move: true #线库是否自动移库 true:线库执行自动移库 、false：线库关闭执行自动移库
-  robot_position_cache_time: 10 #机器人上报点位存储时间(秒)
+  robot_position_cache_time: 10000000 #机器人上报点位存储时间(秒)
   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
   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)
@@ -240,7 +240,7 @@ zn:
     check_sku_info: true #校验物料信息
   robot_config: #机器人取放货默认配置
     offset_height: 0.1 #叉起货需要在原来高度基础上偏移的高度
-    default_tray_height: 1.1 #默认每层高度
+    default_tray_height: 0.82 #默认每层高度
   open_rate_limiter: true #是否开启限流
   path_planning:
     task_chche_time: 1209600 #任务缓存的时间， 默认一星期