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设备类型添加翻转机并绑定取放货点位

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This commit is contained in:
cbs 2025-07-16 09:43:08 +08:00
parent 035c8d6096
commit 8c48e8431d
30 changed files with 653 additions and 37 deletions
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5
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
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@ -168,6 +168,8 @@ public interface ErrorCodeConstants {
ErrorCode INFORMATION_MAC_EXIST = new ErrorCode(1_002_029_002, "此Mac地址已经存在");
ErrorCode INFORMATION_MAC_INPUT = new ErrorCode(1_002_029_003, "请输入Mac地址");
ErrorCode INFORMATION_BIND_MAP = new ErrorCode(1_002_029_004, "设备已经绑定在地图上,请先在地图上解绑");
ErrorCode INFORMATION_FLIP_BINDING = new ErrorCode(1_002_029_005, "翻转机需要绑定取货点位");
ErrorCode INFORMATION_FLIP_NEED_BINDING_CHECK = new ErrorCode(1_002_029_006, "翻转机需要绑定检测区取放货点位");
// ========== 线库/巷道 1-002-030-000 ==========
ErrorCode HOUSE_LANE_NOT_EXISTS = new ErrorCode(1-002-030-001, "线库不存在");
@ -341,4 +343,7 @@ public interface ErrorCodeConstants {
// ========== 取货点位 1_002_062_001 ==========
ErrorCode HOUSE_TAKE_POINT_NOT_EXISTS = new ErrorCode(1_002_062_001, "取货点位不存在");
// ========== 取货点位绑定 1_002_063_001 ==========
ErrorCode HOUSE_TAKE_POINT_BINDING_NOT_EXISTS = new ErrorCode(1_002_063_001, "取货点位绑定不存在");
}

97
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseTakePointBindingController.java Normal file
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@ -0,0 +1,97 @@
package cn.iocoder.yudao.module.system.controller.admin.houselocation;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingRespVO;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointBindingDO;
import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointBindingService;
import org.springframework.web.bind.annotation.*;
import javax.annotation.Resource;
import org.springframework.validation.annotation.Validated;
import org.springframework.security.access.prepost.PreAuthorize;
import io.swagger.v3.oas.annotations.tags.Tag;
import io.swagger.v3.oas.annotations.Parameter;
import io.swagger.v3.oas.annotations.Operation;
import javax.validation.constraints.*;
import javax.validation.*;
import javax.servlet.http.*;
import java.util.*;
import java.io.IOException;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.CommonResult;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils;
import cn.iocoder.yudao.framework.apilog.core.annotation.ApiAccessLog;
import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.*;
@Tag(name = "管理后台 - 取货点位绑定")
@RestController
@RequestMapping("/system/ware/house-take-point-binding")
@Validated
public class WareHouseTakePointBindingController {
@Resource
private WareHouseTakePointBindingService houseTakePointBindingService;
@PostMapping("/create")
@Operation(summary = "创建取货点位绑定")
@PreAuthorize("@ss.hasPermission('ware:house-take-point-binding:create')")
public CommonResult<Long> createHouseTakePointBinding(@Valid @RequestBody WareHouseTakePointBindingSaveReqVO createReqVO) {
return success(houseTakePointBindingService.createHouseTakePointBinding(createReqVO));
}
@PutMapping("/update")
@Operation(summary = "更新取货点位绑定")
@PreAuthorize("@ss.hasPermission('ware:house-take-point-binding:update')")
public CommonResult<Boolean> updateHouseTakePointBinding(@Valid @RequestBody WareHouseTakePointBindingSaveReqVO updateReqVO) {
houseTakePointBindingService.updateHouseTakePointBinding(updateReqVO);
return success(true);
}
@DeleteMapping("/delete")
@Operation(summary = "删除取货点位绑定")
@Parameter(name = "id", description = "编号", required = true)
@PreAuthorize("@ss.hasPermission('ware:house-take-point-binding:delete')")
public CommonResult<Boolean> deleteHouseTakePointBinding(@RequestParam("id") Long id) {
houseTakePointBindingService.deleteHouseTakePointBinding(id);
return success(true);
}
@GetMapping("/get")
@Operation(summary = "获得取货点位绑定")
@Parameter(name = "id", description = "编号", required = true, example = "1024")
@PreAuthorize("@ss.hasPermission('ware:house-take-point-binding:query')")
public CommonResult<WareHouseTakePointBindingRespVO> getHouseTakePointBinding(@RequestParam("id") Long id) {
WareHouseTakePointBindingDO houseTakePointBinding = houseTakePointBindingService.getHouseTakePointBinding(id);
return success(BeanUtils.toBean(houseTakePointBinding, WareHouseTakePointBindingRespVO.class));
}
@GetMapping("/page")
@Operation(summary = "获得取货点位绑定分页")
@PreAuthorize("@ss.hasPermission('ware:house-take-point-binding:query')")
public CommonResult<PageResult<WareHouseTakePointBindingRespVO>> getHouseTakePointBindingPage(@Valid WareHouseTakePointBindingPageReqVO pageReqVO) {
PageResult<WareHouseTakePointBindingDO> pageResult = houseTakePointBindingService.getHouseTakePointBindingPage(pageReqVO);
return success(BeanUtils.toBean(pageResult, WareHouseTakePointBindingRespVO.class));
}
@GetMapping("/export-excel")
@Operation(summary = "导出取货点位绑定 Excel")
@PreAuthorize("@ss.hasPermission('ware:house-take-point-binding:export')")
@ApiAccessLog(operateType = EXPORT)
public void exportHouseTakePointBindingExcel(@Valid WareHouseTakePointBindingPageReqVO pageReqVO,
HttpServletResponse response) throws IOException {
pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
List<WareHouseTakePointBindingDO> list = houseTakePointBindingService.getHouseTakePointBindingPage(pageReqVO).getList();
// 导出 Excel
ExcelUtils.write(response, "取货点位绑定.xls", "数据", WareHouseTakePointBindingRespVO.class,
BeanUtils.toBean(list, WareHouseTakePointBindingRespVO.class));
}
}

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseTakePointController.java
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@ -81,11 +81,11 @@ public class WareHouseTakePointController {
return success(BeanUtils.toBean(pageResult, WareHouseTakePointRespVO.class));
}
@GetMapping("/list")
@PostMapping("/list")
@Operation(summary = "获得取货点位集合")
@PreAuthorize("@ss.hasPermission('ware:house-take-point:list')")
public CommonResult<List<WareHouseTakePointRespVO>> getHouseTakePointList() {
List<WareHouseTakePointDO> list = houseTakePointService.getHouseTakePointList();
public CommonResult<List<WareHouseTakePointRespVO>> getHouseTakePointList(@RequestBody WareHouseTakePointSaveReqVO updateReqVO) {
List<WareHouseTakePointDO> list = houseTakePointService.getHouseTakePointList(updateReqVO);
return success(BeanUtils.toBean(list, WareHouseTakePointRespVO.class));
}

31
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointBindingPageReqVO.java Normal file
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@ -0,0 +1,31 @@
package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
import lombok.*;
import java.util.*;
import io.swagger.v3.oas.annotations.media.Schema;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
import org.springframework.format.annotation.DateTimeFormat;
import java.time.LocalDateTime;
import static cn.iocoder.yudao.framework.common.util.date.DateUtils.FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND;
@Schema(description = "管理后台 - 取货点位绑定分页 Request VO")
@Data
@EqualsAndHashCode(callSuper = true)
@ToString(callSuper = true)
public class WareHouseTakePointBindingPageReqVO extends PageParam {
@Schema(description = "类型, 0:设备", example = "2")
private Integer bindingType;
@Schema(description = "设备id", example = "3876")
private Long bindingId;
@Schema(description = "取货点位表id", example = "20371")
private Long takePointId;
@Schema(description = "创建时间")
@DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
private LocalDateTime[] createTime;
}

35
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointBindingRespVO.java Normal file
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@ -0,0 +1,35 @@
package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.*;
import java.util.*;
import org.springframework.format.annotation.DateTimeFormat;
import java.time.LocalDateTime;
import com.alibaba.excel.annotation.*;
@Schema(description = "管理后台 - 取货点位绑定 Response VO")
@Data
@ExcelIgnoreUnannotated
public class WareHouseTakePointBindingRespVO {
@Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "16028")
@ExcelProperty("主键ID")
private Long id;
@Schema(description = "类型, 0:设备", example = "2")
@ExcelProperty("类型, 0:设备")
private Integer bindingType;
@Schema(description = "设备id", example = "3876")
@ExcelProperty("设备id")
private Long bindingId;
@Schema(description = "取货点位表id", example = "20371")
@ExcelProperty("取货点位表id")
private Long takePointId;
@Schema(description = "创建时间", requiredMode = Schema.RequiredMode.REQUIRED)
@ExcelProperty("创建时间")
private LocalDateTime createTime;
}

24
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointBindingSaveReqVO.java Normal file
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@ -0,0 +1,24 @@
package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.*;
import java.util.*;
import javax.validation.constraints.*;
@Schema(description = "管理后台 - 取货点位绑定新增/修改 Request VO")
@Data
public class WareHouseTakePointBindingSaveReqVO {
@Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "16028")
private Long id;
@Schema(description = "类型, 0:设备", example = "2")
private Integer bindingType;
@Schema(description = "设备id", example = "3876")
private Long bindingId;
@Schema(description = "取货点位表id", example = "20371")
private Long takePointId;
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointPageReqVO.java
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@ -19,7 +19,7 @@ public class WareHouseTakePointPageReqVO extends PageParam {
@Schema(description = "点位类型名称", example = "李四")
private String pointName;
@Schema(description = "点位类型(备用)", example = "2")
@Schema(description = "点位类型, 0:翻转机设备, 1:普通取放货点位'", example = "2")
private Integer pointType;
@Schema(description = "总高度")

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointRespVO.java
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@ -21,8 +21,8 @@ public class WareHouseTakePointRespVO {
@ExcelProperty("点位类型名称")
private String pointName;
@Schema(description = "点位类型(备用)", example = "2")
@ExcelProperty("点位类型(备用)")
@Schema(description = "点位类型, 0:翻转机设备, 1:普通取放货点位'", example = "2")
@ExcelProperty("点位类型, 0:翻转机设备, 1:普通取放货点位'")
private Integer pointType;
@Schema(description = "总高度")

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointSaveReqVO.java
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@ -16,7 +16,7 @@ public class WareHouseTakePointSaveReqVO {
@Schema(description = "点位类型名称", example = "李四")
private String pointName;
@Schema(description = "点位类型(备用)", example = "2")
@Schema(description = "点位类型, 0:翻转机设备, 1:普通取放货点位'", example = "2")
private Integer pointType;
@Schema(description = "总高度")
@ -40,4 +40,7 @@ public class WareHouseTakePointSaveReqVO {
@Schema(description = "实际坐标y轴")
private String actualLocationY;
@Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "11573")
private List<Long> ids;
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/DeviceInformationController.java
View File

@ -71,8 +71,8 @@ public class DeviceInformationController {
@Parameter(name = "id", description = "编号", required = true, example = "1024")
@PreAuthorize("@ss.hasPermission('device:information:query')")
public CommonResult<DeviceInformationRespVO> getInformation(@RequestParam("id") Long id) {
DeviceInformationDO information = informationService.getInformation(id);
return success(BeanUtils.toBean(information, DeviceInformationRespVO.class));
DeviceInformationRespVO information = informationService.getInformation(id);
return success(information);
}
@GetMapping("/getCameraCode")

9
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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@ -139,4 +139,13 @@ public class DeviceInformationRespVO {
@Schema(description = "ware_house_take_point的id")
@ExcelProperty("ware_house_take_point的id")
private Long takePointId;
@Schema(description = "检测点的id")
private List<Long> checkPointIds;
/*@Schema(description = "取货点位")
private WareHouseTakePointDO takeWareHouseTakePointDO;
@Schema(description = "检测区的取货点位")
private List<WareHouseTakePointDO> checkPointBindingList;*/
}

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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@ -103,4 +103,7 @@ public class DeviceInformationSaveReqVO {
@Schema(description = "ware_house_take_point的id")
private Long takePointId;
@Schema(description = "检测点的id")
private List<Long> checkPointIds;
}

43
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseTakePointBindingDO.java Normal file
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@ -0,0 +1,43 @@
package cn.iocoder.yudao.module.system.dal.dataobject.houselocation;
import lombok.*;
import java.util.*;
import java.time.LocalDateTime;
import java.time.LocalDateTime;
import com.baomidou.mybatisplus.annotation.*;
import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
/**
* 取货点位绑定 DO
*
* @author 陈宾顺
*/
@TableName("ware_house_take_point_binding")
@KeySequence("ware_house_take_point_binding_seq") // 用于 Oracle、PostgreSQL、Kingbase、DB2、H2 数据库的主键自增。如果是 MySQL 等数据库，可不写。
@Data
@EqualsAndHashCode(callSuper = true)
@ToString(callSuper = true)
@Builder
@NoArgsConstructor
@AllArgsConstructor
public class WareHouseTakePointBindingDO extends BaseDO {
/**
* 主键ID
*/
@TableId
private Long id;
/**
* 类型, 0:设备
*/
private Integer bindingType;
/**
* 设备id
*/
private Long bindingId;
/**
* 取货点位表id
*/
private Long takePointId;
}

31
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseTakePointBindingMapper.java Normal file
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@ -0,0 +1,31 @@
package cn.iocoder.yudao.module.system.dal.mysql.houselocation;
import java.util.*;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingPageReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointBindingDO;
import org.apache.ibatis.annotations.Mapper;
import org.apache.ibatis.annotations.Param;
/**
* 取货点位绑定 Mapper
*
* @author 陈宾顺
*/
@Mapper
public interface WareHouseTakePointBindingMapper extends BaseMapperX<WareHouseTakePointBindingDO> {
default PageResult<WareHouseTakePointBindingDO> selectPage(WareHouseTakePointBindingPageReqVO reqVO) {
return selectPage(reqVO, new LambdaQueryWrapperX<WareHouseTakePointBindingDO>()
.eqIfPresent(WareHouseTakePointBindingDO::getBindingType, reqVO.getBindingType())
.eqIfPresent(WareHouseTakePointBindingDO::getBindingId, reqVO.getBindingId())
.eqIfPresent(WareHouseTakePointBindingDO::getTakePointId, reqVO.getTakePointId())
.betweenIfPresent(WareHouseTakePointBindingDO::getCreateTime, reqVO.getCreateTime())
.orderByDesc(WareHouseTakePointBindingDO::getId));
}
void deleteByBindingId(@Param("bindingId") Long bindingId);
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseTakePointMapper.java
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@ -1,13 +1,14 @@
package cn.iocoder.yudao.module.system.dal.mysql.houselocation;
import java.util.*;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointPageReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
import org.apache.ibatis.annotations.Mapper;
import org.apache.ibatis.annotations.Param;
import java.util.List;
/**
* 取货点位 Mapper
@ -32,4 +33,6 @@ public interface WareHouseTakePointMapper extends BaseMapperX<WareHouseTakePoint
.orderByDesc(WareHouseTakePointDO::getId));
}
void setTakePointMapIdEmpty(@Param("positionMapId") Long positionMapId,
@Param("ids") List<Long> ids);
}

16
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/map/PointTypeEnum.java Normal file
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@ -0,0 +1,16 @@
package cn.iocoder.yudao.module.system.enums.map;
import lombok.AllArgsConstructor;
import lombok.Getter;
@Getter
@AllArgsConstructor
public enum PointTypeEnum {
FLIP(0,"翻转机设备"),
TAKE(1,"普通取放货点位");
/**
* 类型
*/
private final Integer type;
private final String msg;
}

54
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/map/MapConsumer.java
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@ -2,10 +2,15 @@ package cn.iocoder.yudao.module.system.mq.consumer.map;
import cn.hutool.core.util.ObjectUtil;
import cn.iocoder.yudao.module.system.api.path.PathApi;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.remote.RemoteControllerInformationDO;
import cn.iocoder.yudao.module.system.enums.device.DeviceTypeEnum;
import cn.iocoder.yudao.module.system.enums.map.PointTypeEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.event.EventTypeEnum;
import cn.iocoder.yudao.module.system.mq.message.map.MapMessage;
import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointService;
import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.context.event.EventListener;
@ -13,7 +18,10 @@ import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Component;
import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import java.util.function.Function;
import java.util.stream.Collectors;
@Component
@ -24,15 +32,57 @@ public class MapConsumer {
private PathApi pathApi;
@Resource
private DeviceInformationService informationService;
private DeviceInformationService deviceInformationService;
@Resource
private WareHouseTakePointService houseTakePointService;
//更新翻转机
@EventListener
@Async
public void onMessage(MapMessage message) {
if (EventTypeEnum.MAP_UPDATE.getType().equals(message.getEventType())) {
pathApi.pathInitData();
Long mapId = Long.valueOf(message.getMessage());
List<DeviceInformationDO> devices = deviceInformationService.getDeviceInfoBindByMapId(mapId);
if (ObjectUtil.isEmpty(devices)) {
return;
}
List<Long> takePointIds = new ArrayList<>();
List<WareHouseTakePointDO> takePointDOS = new ArrayList<>();
for (DeviceInformationDO device : devices) {
if (!DeviceTypeEnum.FLIP.getType().equals(device.getDeviceType()) || ObjectUtil.isNotEmpty(device.getTakePointId())) {
continue;
}
takePointIds.add(device.getTakePointId());
}
houseTakePointService.setTakePointMapIdEmpty(mapId, takePointIds);
if (ObjectUtil.isEmpty(takePointIds)) {
return;
}
WareHouseTakePointSaveReqVO reqVO = new WareHouseTakePointSaveReqVO();
reqVO.setIds(takePointIds);
List<WareHouseTakePointDO> houseTakePointList = houseTakePointService.getHouseTakePointList(reqVO);
Map<Long, WareHouseTakePointDO> pointMap = houseTakePointList.stream().collect(Collectors.toMap(WareHouseTakePointDO::getId, Function.identity()));
for (DeviceInformationDO device : devices) {
if (!DeviceTypeEnum.FLIP.getType().equals(device.getDeviceType()) || ObjectUtil.isEmpty(device.getTakePointId())) {
continue;
}
WareHouseTakePointDO wareHouseTakePointDO = pointMap.get(device.getId());
wareHouseTakePointDO.setPositionMapId(mapId);
wareHouseTakePointDO.setActualLocationX(device.getActualLocationX());
wareHouseTakePointDO.setActualLocationY(device.getActualLocationY());
takePointDOS.add(wareHouseTakePointDO);
}
houseTakePointService.updateBatchById(takePointDOS);
}
}
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/task/TaskDistributionConsumer.java
View File

@ -186,7 +186,7 @@ public class TaskDistributionConsumer {
*/
private void addTaskTimeLog(RobotWorkStatusDTO data) {
if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(data.getCommandType())
&& WorkProgressEnum.FORK_AND_TILT_INIT.getType().equals(data.getWorkProgress())
&& WorkProgressEnum.FORK_AND_TILT.getType().equals(data.getWorkProgress())
&& RobotExecutionStateConstant.DOING.equals(Integer.valueOf(data.getExecutionState()))) {
startPickUp(data);
} else if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(data.getCommandType())

63
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointBindingService.java Normal file
View File

@ -0,0 +1,63 @@
package cn.iocoder.yudao.module.system.service.houselocation;
import java.util.*;
import javax.validation.*;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointBindingDO;
import com.baomidou.mybatisplus.extension.service.IService;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
/**
* 取货点位绑定 Service 接口
*
* @author 陈宾顺
*/
public interface WareHouseTakePointBindingService extends IService<WareHouseTakePointBindingDO> {
/**
* 创建取货点位绑定
*
* @param createReqVO 创建信息
* @return 编号
*/
Long createHouseTakePointBinding(@Valid WareHouseTakePointBindingSaveReqVO createReqVO);
/**
* 更新取货点位绑定
*
* @param updateReqVO 更新信息
*/
void updateHouseTakePointBinding(@Valid WareHouseTakePointBindingSaveReqVO updateReqVO);
/**
* 删除取货点位绑定
*
* @param id 编号
*/
void deleteHouseTakePointBinding(Long id);
/**
* 获得取货点位绑定
*
* @param id 编号
* @return 取货点位绑定
*/
WareHouseTakePointBindingDO getHouseTakePointBinding(Long id);
/**
* 获得取货点位绑定分页
*
* @param pageReqVO 分页查询
* @return 取货点位绑定分页
*/
PageResult<WareHouseTakePointBindingDO> getHouseTakePointBindingPage(WareHouseTakePointBindingPageReqVO pageReqVO);
void createHouseTakePointBindings(List<WareHouseTakePointBindingDO> list);
void deleteByBindingId(Long id);
List<WareHouseTakePointBindingDO> getByBindingId(Long id);
}

93
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointBindingServiceImpl.java Normal file
View File

@ -0,0 +1,93 @@
package cn.iocoder.yudao.module.system.service.houselocation;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointBindingDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseTakePointBindingMapper;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
import org.springframework.validation.annotation.Validated;
import org.springframework.transaction.annotation.Transactional;
import java.util.*;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.HOUSE_TAKE_POINT_BINDING_NOT_EXISTS;
/**
* 取货点位绑定 Service 实现类
*
* @author 陈宾顺
*/
@Service
@Validated
public class WareHouseTakePointBindingServiceImpl extends ServiceImpl<WareHouseTakePointBindingMapper, WareHouseTakePointBindingDO> implements WareHouseTakePointBindingService {
@Resource
private WareHouseTakePointBindingMapper houseTakePointBindingMapper;
@Override
public Long createHouseTakePointBinding(WareHouseTakePointBindingSaveReqVO createReqVO) {
// 插入
WareHouseTakePointBindingDO houseTakePointBinding = BeanUtils.toBean(createReqVO, WareHouseTakePointBindingDO.class);
houseTakePointBindingMapper.insert(houseTakePointBinding);
// 返回
return houseTakePointBinding.getId();
}
@Override
public void updateHouseTakePointBinding(WareHouseTakePointBindingSaveReqVO updateReqVO) {
// 校验存在
validateHouseTakePointBindingExists(updateReqVO.getId());
// 更新
WareHouseTakePointBindingDO updateObj = BeanUtils.toBean(updateReqVO, WareHouseTakePointBindingDO.class);
houseTakePointBindingMapper.updateById(updateObj);
}
@Override
public void deleteHouseTakePointBinding(Long id) {
// 校验存在
validateHouseTakePointBindingExists(id);
// 删除
houseTakePointBindingMapper.deleteById(id);
}
private void validateHouseTakePointBindingExists(Long id) {
if (houseTakePointBindingMapper.selectById(id) == null) {
throw exception(HOUSE_TAKE_POINT_BINDING_NOT_EXISTS);
}
}
@Override
public WareHouseTakePointBindingDO getHouseTakePointBinding(Long id) {
return houseTakePointBindingMapper.selectById(id);
}
@Override
public PageResult<WareHouseTakePointBindingDO> getHouseTakePointBindingPage(WareHouseTakePointBindingPageReqVO pageReqVO) {
return houseTakePointBindingMapper.selectPage(pageReqVO);
}
@Override
public void createHouseTakePointBindings(List<WareHouseTakePointBindingDO> list) {
houseTakePointBindingMapper.insert(list);
}
@Override
public void deleteByBindingId(Long id) {
houseTakePointBindingMapper.deleteByBindingId(id);
}
@Override
public List<WareHouseTakePointBindingDO> getByBindingId(Long bindingId) {
return houseTakePointBindingMapper.selectList(new LambdaQueryWrapperX<WareHouseTakePointBindingDO>()
.eq(WareHouseTakePointBindingDO::getBindingId, bindingId));
}
}

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointService.java
View File

@ -55,5 +55,8 @@ public interface WareHouseTakePointService extends IService<WareHouseTakePointDO
*/
PageResult<WareHouseTakePointDO> getHouseTakePointPage(WareHouseTakePointPageReqVO pageReqVO);
List<WareHouseTakePointDO> getHouseTakePointList();
List<WareHouseTakePointDO> getHouseTakePointList(WareHouseTakePointSaveReqVO updateReqVO);
void setTakePointMapIdEmpty(Long mapId,List<Long> ids);
}

19
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointServiceImpl.java
View File

@ -1,5 +1,6 @@
package cn.iocoder.yudao.module.system.service.houselocation;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
@ -7,11 +8,9 @@ import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseTakePoint
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
import org.springframework.validation.annotation.Validated;
import org.springframework.transaction.annotation.Transactional;
import java.util.*;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
@ -74,8 +73,20 @@ public class WareHouseTakePointServiceImpl extends ServiceImpl<WareHouseTakePoin
}
@Override
public List<WareHouseTakePointDO> getHouseTakePointList() {
return houseTakePointMapper.selectList();
public List<WareHouseTakePointDO> getHouseTakePointList(WareHouseTakePointSaveReqVO reqVO) {
return houseTakePointMapper.selectList(new LambdaQueryWrapperX<WareHouseTakePointDO>()
.likeIfPresent(WareHouseTakePointDO::getPointName, reqVO.getPointName())
.eqIfPresent(WareHouseTakePointDO::getPointType, reqVO.getPointType())
.inIfPresent(WareHouseTakePointDO::getId, reqVO.getIds())
.eqIfPresent(WareHouseTakePointDO::getPointStatus, reqVO.getPointStatus())
.eqIfPresent(WareHouseTakePointDO::getPositionMapId, reqVO.getPositionMapId())
.eqIfPresent(WareHouseTakePointDO::getPositionMapItemId, reqVO.getPositionMapItemId()));
}
@Override
public void setTakePointMapIdEmpty(Long mapId,List<Long> ids) {
houseTakePointMapper.setTakePointMapIdEmpty(mapId,ids);
}
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationService.java
View File

@ -49,7 +49,7 @@ public interface DeviceInformationService extends IService<DeviceInformationDO>
* @param id 编号
* @return 设备信息
*/
DeviceInformationDO getInformation(Long id);
DeviceInformationRespVO getInformation(Long id);
/**
* 获得设备信息分页

63
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java
View File

@ -16,17 +16,21 @@ import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInfo
import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
import cn.iocoder.yudao.module.system.dal.dataobject.dict.DictDataDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointBindingDO;
import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import cn.iocoder.yudao.module.system.enums.device.DeviceAttributeEnum;
import cn.iocoder.yudao.module.system.enums.device.DeviceStatusEnum;
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.config.CommonConfigService;
import cn.iocoder.yudao.module.system.service.dict.DictDataService;
import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointBindingService;
import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointService;
import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
@ -96,6 +100,12 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
@Autowired
private ZnConfigConstant znConfigConstant;
@Resource
private WareHouseTakePointBindingService houseTakePointBindingService;
@Resource
private WareHouseTakePointService houseTakePointService;
@Override
public Long createInformation(DeviceInformationSaveReqVO createReqVO) {
// -- 先判断库里是否有相通的mac地址数据
@ -114,11 +124,20 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
createReqVO.setUrl(dictDataDO.getRemark());
}
List<WareHouseTakePointBindingDO> list = new ArrayList<>();
if (DeviceTypeEnum.CAMERA.getType().equals(createReqVO.getDeviceType())) {
try {
createReqVO.setCameraCode(AESEncryptionUtil.getEncrypt(createReqVO.getCameraCode(), znConfigConstant.getCameraSecretKey()));
} catch (Exception ignored) {
}
}else if (DeviceTypeEnum.FLIP.getType().equals(createReqVO.getDeviceType())) {
if (ObjectUtil.isEmpty(createReqVO.getTakePointId())) {
throw exception(INFORMATION_FLIP_BINDING);
}
if (ObjectUtil.isEmpty(createReqVO.getCheckPointIds())) {
throw exception(INFORMATION_FLIP_NEED_BINDING_CHECK);
}
}
// 插入
@ -126,6 +145,16 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
information.setDeviceStatus(1);
informationMapper.insert(information);
for (Long takePointId : createReqVO.getCheckPointIds()) {
WareHouseTakePointBindingDO data = new WareHouseTakePointBindingDO();
data.setBindingId(information.getId());
data.setBindingType(ZeroOneEnum.ZERO.getType());
data.setTakePointId(takePointId);
list.add(data);
}
houseTakePointBindingService.createHouseTakePointBindings(list);
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction("新增设备 " + createReqVO.getDeviceNo())
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
@ -178,6 +207,18 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
positionMapItemService.updateById(positionMapItem);
}
List<WareHouseTakePointBindingDO> list = new ArrayList<>();
if (ObjectUtil.isNotEmpty(updateReqVO.getCheckPointIds())) {
for (Long takePointId : updateReqVO.getCheckPointIds()) {
WareHouseTakePointBindingDO data = new WareHouseTakePointBindingDO();
data.setBindingId(updateReqVO.getId());
data.setBindingType(ZeroOneEnum.ZERO.getType());
data.setTakePointId(takePointId);
list.add(data);
}
}
houseTakePointBindingService.deleteByBindingId(updateReqVO.getId());
houseTakePointBindingService.createHouseTakePointBindings(list);
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction("更新设备信息 " + updateReqVO.getDeviceNo())
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
@ -210,15 +251,31 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
}
@Override
public DeviceInformationDO getInformation(Long id) {
public DeviceInformationRespVO getInformation(Long id) {
// 校验存在
validateInformationExists(id);
DeviceInformationDO deviceInformationDO = informationMapper.selectById(id);
String deviceKey = DeviceChcheConstant.DEVICE_LAST_TIME + deviceInformationDO.getMacAddress();
Object object = redisUtil.get(deviceKey);
DeviceInformationRespVO device = BeanUtils.toBean(deviceInformationDO, DeviceInformationRespVO.class);
if (DeviceTypeEnum.FLIP.getType().equals(deviceInformationDO.getDeviceType())) {
// WareHouseTakePointDO takeWareHouseTakePointDO = houseTakePointService.getById(deviceInformationDO.getTakePointId());
device.setTakePointId(deviceInformationDO.getTakePointId());
List<WareHouseTakePointBindingDO> bindingDOS = houseTakePointBindingService.getByBindingId(id);
if (ObjectUtil.isNotEmpty(bindingDOS)) {
List<Long> pointIds = bindingDOS.stream().map(WareHouseTakePointBindingDO::getTakePointId).collect(Collectors.toList());
/*WareHouseTakePointSaveReqVO reqVO = new WareHouseTakePointSaveReqVO();
reqVO.setIds(pointIds);
List<WareHouseTakePointDO> houseTakePointList = houseTakePointService.getHouseTakePointList(reqVO);
device.setCheckPointBindingList(houseTakePointList);*/
device.setCheckPointIds(pointIds);
}
}
if (ObjectUtil.isEmpty(object)) {
deviceInformationDO.setDeviceStatus(DeviceStatusEnum.OFF_LINE.getType());
return deviceInformationDO;
return device;
}
try {
DateTimeFormatter df = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
@ -228,7 +285,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
} catch (Exception e) {
log.info("查询设备最后通讯时间异常 :{}", e.getMessage());
}
return deviceInformationDO;
return device;
}
@Override

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskLineTimeConsumingServiceImpl.java
View File

@ -105,7 +105,7 @@ public class RobotTaskLineTimeConsumingServiceImpl extends ServiceImpl<RobotTask
line.setTaskNo(taskNo);
line.setTaskDetailId(orderId);
line.setRobotNo(taskDetail.getRobotNo());
line.setTotalTimeConsuming(v.getTimeConsuming());
line.setTotalTimeConsuming(String.format("%.2f", Double.valueOf(v.getTimeConsuming())));
line.setFromSortNum(getSpit(line.getFromSortNum()));
line.setToSortNum(getSpit(line.getToSortNum()));
if (ObjectUtil.isNotEmpty(v.getTimeConsuming()) && ObjectUtil.isNotEmpty(v.getTotalDistance())) {

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PlanningRobotWalkingDistanceServiceImpl.java
View File

@ -32,11 +32,6 @@ public class PlanningRobotWalkingDistanceServiceImpl implements MqttService {
if (!str.contains(".")) {
return str;
}
String[] split = str.split("\\.");
String decimal = split[1];
if (split[1].length() > 2) {
decimal = split[1].substring(0, 2);
}
return split[0] + "." + decimal;
return String.format("%.2f", Double.valueOf(str));
}
}

12
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
View File

@ -107,6 +107,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfigDO.getConfigStr(), CommonConfigVO.class);
List<RobotInformationDO> taskRobots = new ArrayList<>();
for (RobotInformationDO robot : robots) {
if (ObjectUtil.isNotEmpty(remoteRobotNos) && remoteRobotNos.contains(robot.getRobotNo())) {
@ -163,6 +164,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
Boolean b = remainingElectricityBigger(chargeConfig, robot);
if (b) {
robot.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
taskRobots.add(robot);
}
}
@ -171,10 +173,10 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
|| RobotStatusEnum.LAST_TASK_IS_TAKE.getType().equals(v.getRobotStatus())))
.collect(Collectors.toList());*/
/*if (robots.isEmpty()) {
if (taskRobots.isEmpty()) {
log.info("暂无可用的机器人,可能正在充电,可能车机上报不允许接任务");
return pair;
}*/
}
log.info("完成查找车子");
@ -197,16 +199,16 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
if (ObjectUtil.isEmpty(montageTaskIds) && ObjectUtil.isEmpty(singleTaskIds)) {
log.info("暂无需要处理的主任务");
return ImmutablePair.of(robots, null);
return ImmutablePair.of(taskRobots, null);
}
List<RobotTaskDetailDO> taskDetails = getTaskDetail(montageTaskIds, singleTaskIds);
if (taskDetails.isEmpty()) {
log.info("暂无需要处理的明细任务");
return ImmutablePair.of(robots, null);
return ImmutablePair.of(taskRobots, null);
}
return ImmutablePair.of(robots, taskDetails);
return ImmutablePair.of(taskRobots, taskDetails);
}
/**

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
View File

@ -560,7 +560,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
.last("limit 1"));
if (ObjectUtil.isNotEmpty(nextLocation) && ObjectUtil.isNotEmpty(nextLocation.getLocationTotalHeight())) {
BigDecimal d1 = new BigDecimal("0.12");
BigDecimal d1 = new BigDecimal("0.4");
BigDecimal d2 = nextLocation.getLocationTotalHeight();
double detectHeight = d2.subtract(d1).doubleValue();
pathPlanning.setDetectHeight(detectHeight);
@ -569,7 +569,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
Integer locationStorey = fromLocation.getLocationStorey() - 1;
double height = locationStorey * znConfigConstant.getRobotConfig().getDefaultTrayHeight();
BigDecimal d1 = new BigDecimal("0.12");
BigDecimal d1 = new BigDecimal("0.4");
BigDecimal d2 = new BigDecimal(height + "");
double detectHeight = d2.subtract(d1).doubleValue();
log.info("设置取货默认抬叉高度 :{}", detectHeight);

13
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseTakePointBindingMapper.xml Normal file
View File

@ -0,0 +1,13 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseTakePointBindingMapper">
<delete id="deleteByBindingId">
delete
from ware_house_take_point_binding
where binding_id = #{bindingId}
</delete>
</mapper>

29
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseTakePointMapper.xml Normal file
View File

@ -0,0 +1,29 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseTakePointMapper">
<update id="setTakePointMapIdEmpty">
update
ware_house_take_point
set
position_map_id = null,
position_map_item_id = null,
actual_location_x = null,
actual_location_y = null
<where>
position_map_id = #{positionMapId}
and point_type = '0'
<if test= " ids != null and ids.size() > 0">
AND id not in
<foreach collection="ids" item="id" index="index" open="(" close=")"
separator=",">
#{id}
</foreach>
</if>
</where>
</update>
</mapper>