远遥车辆列表

yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/RemoteRobotController.java

@@ -17,6 +17,7 @@ import org.springframework.web.bind.annotation.*;
 import javax.servlet.http.HttpServletRequest;
 import javax.validation.Valid;
 import java.util.List;
+import java.util.Map;
 
 import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
 
@@ -31,7 +32,7 @@ public class RemoteRobotController {
 
     @PostMapping("/getAreaRobot")
     @Operation(summary = "获取地图区域对应的机器人信息")
-    public CommonResult<List<RemoteRobotDTO>> getAreaRobot(@RequestBody PositionMapRespDTO positionMapRespDTO) {
+    public CommonResult<List<RemoteRobotDTO>> getAreaRobot(@Valid @RequestBody PositionMapRespDTO positionMapRespDTO) {
         List<RemoteRobotDTO> list = remoteRobotService.remoteGetAreaRobot(positionMapRespDTO);
         return success(list);
     }
@@ -78,5 +79,12 @@ public class RemoteRobotController {
         return success(true);
     }
 
+    @GetMapping("/getMap")
+    @Operation(summary = "获得仓库点位地图Map")
+    @PreAuthorize("@ss.hasPermission('system:position-map:getMap')")
+    public CommonResult<Object> getPositionMapList() {
+        Object result = remoteRobotService.getPositionMapList();
+        return success(result);
+    }
 
 }

yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/robot/dto/PositionMapRespDTO.java

@@ -3,8 +3,11 @@ package cn.iocoder.yudao.module.remote.controller.admin.robot.dto;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 
+import javax.validation.constraints.NotNull;
+
 @Data
 public class PositionMapRespDTO {
     @Schema(description = "地图id")
+    @NotNull(message = "请输入地图id")
     private Long id;
 }

yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/controller/admin/task/RemoteTaskController.java

@@ -21,7 +21,7 @@ import java.util.List;
 
 import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
 
-@Tag(name = "管理后台 - 远遥任务")
+@Tag(name = "管理后台 - 异常车辆列表")
 @RestController
 @RequestMapping("/remote/task")
 @Validated

yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotService.java

@@ -50,4 +50,10 @@ public interface RemoteRobotService {
      * @return
      */
     void robotChangeMode( RemoteRobotChangeModeDTO data,HttpServletRequest request);
+
+    /**
+     * 查询地图
+     * @return
+     */
+    Object getPositionMapList();
 }

yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotServiceImpl.java

@@ -97,4 +97,9 @@ public class RemoteRobotServiceImpl implements RemoteRobotService{
             throw exception0(TASK_COMMONG_FAIL.getCode(), result.getMsg());
         }
     }
+
+    @Override
+    public Object getPositionMapList() {
+        return remoteRobotApi.getRemotePositionMapList();
+    }
 }

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApi.java

@@ -20,7 +20,7 @@ public interface RemoteRobotApi {
 
     @PostMapping(PREFIX + "/remoteGetAreaRobot")
     @Operation(summary = "获取地图区域对应的机器人信息")
-    List<RemoteRobotDTO> remoteGetAreaRobot(@RequestParam(value = "mapId", defaultValue = "-1") Long mapId);
+    List<RemoteRobotDTO> remoteGetAreaRobot(@RequestParam(value = "mapId") Long mapId);
 
     @PostMapping(PREFIX + "/remoteEmergencyStopOrRecovery")
     @Operation(summary = "一键急停or一键恢复地图上所有AGV")
@@ -43,4 +43,8 @@ public interface RemoteRobotApi {
     CommonResult<Boolean> robotChangeMode(@RequestParam(value = "remoteMode") Integer remoteMode,
                                           @RequestParam(value = "ip") String ip,
                                           @RequestParam(value = "robotNo") String robotNo);
+
+    @PostMapping(PREFIX + "/getRemotePositionMapList")
+    @Operation(summary = "远遥查询地图")
+    Object getRemotePositionMapList();
 }

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/dto/RemoteRobotDTO.java

@@ -10,17 +10,11 @@ import java.util.List;
 @NoArgsConstructor
 public class RemoteRobotDTO {
 
-    @Schema(description = "地图id")
+    @Schema(description = "远遥模式(0:自动模式, 1:手动模式, 2:自由模式)")
-    private Long id;
+    private Integer remoteMode = 0;
 
-    @Schema(description = "楼层")
+    @Schema(description = "车辆数量")
-    private Integer floor;
+    private Integer robotQuantity = 0;
-
-    @Schema(description = "区域")
-    private String area;
-
-    @Schema(description = "地图是否暂停(0:暂停, 1:没暂停)")
-    private Integer isStop = 1;
 
     @Schema(description = "车辆明细")
     private List<RemoteRobotDetailDTO> robotList;

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/dto/RemoteRobotDetailDTO.java

@@ -12,7 +12,7 @@ public class RemoteRobotDetailDTO {
     @Schema(description = "上传图片附件", example = "https://www.iocoder.cn")
     private String url;
 
-    @Schema(description = "任务模式（0：拒收任务、1：正常）", requiredMode = Schema.RequiredMode.REQUIRED)
+    @Schema(description = "任务模式（0：锁定、1：正常）", requiredMode = Schema.RequiredMode.REQUIRED)
     private Integer robotTaskModel;
 
     @Schema(description = "车辆状态(2：任务中、3：待命、4:充电中)")
@@ -21,6 +21,6 @@ public class RemoteRobotDetailDTO {
     @Schema(description = "任务号")
     private String taskNo;
 
-    @Schema(description = "远遥模式(0:自动模式, 1:手动模式, 2:自由模式)")
+    @Schema(description = "车辆模式(0:自动模式, 1:手动模式, 2:自由模式)")
     private Integer remoteMode = 0;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApiImpl.java

@@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.api.remote;
 import cn.iocoder.yudao.framework.common.pojo.CommonResult;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotStatusDTO;
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionMapDTO;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapService;
 import cn.iocoder.yudao.module.system.service.remote.RemoteControllerInformationService;
 import cn.iocoder.yudao.module.system.service.robot.mapstop.RobotMapStopService;
@@ -12,6 +13,7 @@ import org.springframework.web.bind.annotation.RestController;
 
 import javax.annotation.Resource;
 import java.util.List;
+import java.util.Map;
 
 @Slf4j
 @RestController // 提供 RESTful API 接口，给 Feign 调用
@@ -98,5 +100,11 @@ public class RemoteRobotApiImpl implements RemoteRobotApi {
         return CommonResult.success(true);
     }
 
+    @Override
+    public Object getRemotePositionMapList() {
+        Map<Integer, List<PositionMapDTO>> result = positionMapService.getPositionMapList();
+        return result;
+    }
+
 
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java

@@ -24,6 +24,7 @@ import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotMapStopDO;
 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.robot.RobotStatusEnum;
+import cn.iocoder.yudao.module.system.enums.robot.remote.RemoteModeEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 import cn.iocoder.yudao.module.system.service.remote.RemoteControllerInformationService;
@@ -344,7 +345,7 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
 
     @Override
     @Transactional(rollbackFor = Exception.class)
-    public void emergencyStopOrRecovery(Long id, Integer type,Boolean isRemote) {
+    public void emergencyStopOrRecovery(Long id, Integer type, Boolean isRemote) {
         // 先获取当前地图上的所有AGV信息
         PositionMapDO positionMapDO = positionMapMapper.selectById(id);
 
@@ -360,7 +361,7 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
             str = RobotCommandTypeEnum.EMERGENCY_STOP.getMsg();
             if (isRemote) {
                 mapStr = "远遥一键暂停 " + mapStr;
-            }else {
+            } else {
                 mapStr = "一键暂停 " + mapStr;
             }
 
@@ -380,7 +381,7 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
             str = RobotCommandTypeEnum.RECOVERY.getMsg();
             if (isRemote) {
                 mapStr = "远遥一键恢复 " + mapStr;
-            }else {
+            } else {
                 mapStr = "一键恢复 " + mapStr;
             }
             robotMapStopService.deleteRobotMapStopByMapId(id);
@@ -409,7 +410,6 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
     }
 
 
-
     @Override
     public List<PositionMapDO> getAllMap() {
         return positionMapMapper.selectList(new LambdaQueryWrapperX<PositionMapDO>().orderByDesc(PositionMapDO::getId));
@@ -446,9 +446,16 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
     @Override
     public List<RemoteRobotDTO> getRemoteAreaRobotByMapId(Long mapId) {
 
-        List<RobotInformationDO> allRobot = informationService.getAllRobot();
+        PositionMapDO positionMapDO = positionMapMapper.selectById(mapId);
+        List<String> robotNos =
+                informationService.getRobotByFloorAndArea(String.valueOf(positionMapDO.getFloor()), positionMapDO.getArea());
+        if (ObjectUtil.isEmpty(robotNos)) {
+            return new ArrayList<>();
+        }
+
+        List<RobotInformationDO> allRobot = informationService.getRobotInformationByRobotNos(robotNos);
+
         List<RobotDoingTaskDTO> robotDoingTask = taskDetailService.getRobotDoingTaskNo();
-        List<RobotMapStopDO> robotMapStops = mapStopService.getAllRobotMapStops(ZeroOneEnum.ZERO.getType());
 
         List<RemoteControllerInformationDO> remoteControllerInformations = controllerInformationService.getAllRemoteController();
 
@@ -463,79 +470,65 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
             robotDoingTaskMap = robotDoingTask.stream().collect(Collectors.toMap(RobotDoingTaskDTO::getRobotNo, Function.identity()));
         }
 
-        List<Long> stopMapIds = null;
-        if (ObjectUtil.isNotEmpty(robotMapStops)) {
-            stopMapIds = robotMapStops.stream().map(RobotMapStopDO::getPositionMapId).collect(Collectors.toList());
-        }
-
         Map<String, RemoteControllerInformationDO> remoteMap = null;
         if (ObjectUtil.isNotEmpty(remoteControllerInformations)) {
             remoteMap = remoteControllerInformations.stream().collect(Collectors.toMap(RemoteControllerInformationDO::getRobotNo, Function.identity()));
         }
 
-        if (ObjectUtil.isEmpty(mapId) || mapId < 0) {
+        return getRemoteSingleMapInfomation(robotMap, robotNos,
-            List<PositionMapDO> allMap = positionMapMapper.selectList(new LambdaQueryWrapperX<PositionMapDO>().orderByDesc(PositionMapDO::getFloor));
+                robotDoingTaskMap,
-            if (ObjectUtil.isEmpty(allMap)) {
+                remoteMap);
-                return new ArrayList<>();
-            }
-            return getRemoteAllMapInfomation(allMap, robotMap, robotDoingTaskMap, stopMapIds, remoteMap);
-        } else {
-            PositionMapDO positionMapDO = positionMapMapper.selectById(mapId);
-            RemoteRobotDTO remoteRobot = getRemoteSingleMapInfomation(positionMapDO, robotMap,
-                    robotDoingTaskMap, stopMapIds,
-                    remoteMap);
-            return Collections.singletonList(remoteRobot);
-        }
     }
 
-    private List<RemoteRobotDTO> getRemoteAllMapInfomation(List<PositionMapDO> allMap, Map<String, RobotInformationDO> robotMap,
+    private List<RemoteRobotDTO> getRemoteSingleMapInfomation(Map<String, RobotInformationDO> robotMap, List<String> robotNos,
-                                                           Map<String, RobotDoingTaskDTO> robotDoingTaskMap, List<Long> stopMapIds,
+                                                        Map<String, RobotDoingTaskDTO> robotDoingTaskMap,
-                                                           Map<String, RemoteControllerInformationDO> remoteMap) {
-        List<RemoteRobotDTO> remoteRobotList = new ArrayList<>();
-        for (PositionMapDO positionMapDO : allMap) {
-            RemoteRobotDTO remoteRobotDTO = getRemoteSingleMapInfomation(positionMapDO, robotMap, robotDoingTaskMap, stopMapIds, remoteMap);
-            remoteRobotList.add(remoteRobotDTO);
-        }
-        return remoteRobotList;
-    }
-
-    private RemoteRobotDTO getRemoteSingleMapInfomation(PositionMapDO positionMapDO, Map<String, RobotInformationDO> robotMap,
-                                                        Map<String, RobotDoingTaskDTO> robotDoingTaskMap, List<Long> stopMapIds,
                                                         Map<String, RemoteControllerInformationDO> remoteMap) {
-        List<String> robotNos =
+        RemoteRobotDTO automatic = new RemoteRobotDTO();
-                informationService.getRobotByFloorAndArea(String.valueOf(positionMapDO.getFloor()), positionMapDO.getArea());
+        RemoteRobotDTO handMovement = new RemoteRobotDTO();
-        RemoteRobotDTO remoteRobotDTO = new RemoteRobotDTO();
+        RemoteRobotDTO free = new RemoteRobotDTO();
-        remoteRobotDTO.setId(positionMapDO.getId());
+        List<RemoteRobotDetailDTO> automaticDetail = new ArrayList<>();
-        remoteRobotDTO.setFloor(positionMapDO.getFloor());
+        List<RemoteRobotDetailDTO> handMovementDetail = new ArrayList<>();
-        remoteRobotDTO.setArea(positionMapDO.getArea());
+        List<RemoteRobotDetailDTO> freeDetail = new ArrayList<>();
-        if (ObjectUtil.isNotEmpty(robotNos) && ObjectUtil.isNotEmpty(robotMap)) {
-            List<RemoteRobotDetailDTO> robotList = new ArrayList<>();
-            for (String robotNo : robotNos) {
-                RobotInformationDO robotInformation = robotMap.get(robotNo);
-                if (ObjectUtil.isEmpty(robotInformation)) {
-                    continue;
-                }
-                RemoteRobotDetailDTO remoteRobotDetail = BeanUtils.toBean(robotInformation, RemoteRobotDetailDTO.class);
-                if (ObjectUtil.isNotEmpty(robotDoingTaskMap) && ObjectUtil.isNotEmpty(robotDoingTaskMap.get(robotNo))) {
-                    remoteRobotDetail.setTaskNo(robotDoingTaskMap.get(robotNo).getTaskNo());
-                } else if (RobotStatusEnum.DOING.getType().equals(robotInformation.getRobotStatus())) {
-                    remoteRobotDetail.setTaskNo("车辆正在做移动任务");
-                } else if (RobotStatusEnum.CHARGE.getType().equals(robotInformation.getRobotStatus())) {
-                    remoteRobotDetail.setTaskNo("车辆正在做充电任务");
-                }
 
-                if (ObjectUtil.isNotEmpty(remoteMap) && ObjectUtil.isNotEmpty(remoteMap.get(robotNo))) {
+        for (String robotNo : robotNos) {
-                    remoteRobotDetail.setRemoteMode(remoteMap.get(robotNo).getRemoteMode());
+            RobotInformationDO robotInformation = robotMap.get(robotNo);
-                }
+            if (ObjectUtil.isEmpty(robotInformation)) {
-                robotList.add(remoteRobotDetail);
+                continue;
+            }
+            RemoteRobotDetailDTO remoteRobotDetail = BeanUtils.toBean(robotInformation, RemoteRobotDetailDTO.class);
+            if (ObjectUtil.isNotEmpty(robotDoingTaskMap) && ObjectUtil.isNotEmpty(robotDoingTaskMap.get(robotNo))) {
+                remoteRobotDetail.setTaskNo(robotDoingTaskMap.get(robotNo).getTaskNo());
+            } else if (RobotStatusEnum.DOING.getType().equals(robotInformation.getRobotStatus())) {
+                remoteRobotDetail.setTaskNo("车辆正在做移动任务");
+            } else if (RobotStatusEnum.CHARGE.getType().equals(robotInformation.getRobotStatus())) {
+                remoteRobotDetail.setTaskNo("车辆正在做充电任务");
+            }
+
+            if (ObjectUtil.isNotEmpty(remoteMap) && ObjectUtil.isNotEmpty(remoteMap.get(robotNo))) {
+                remoteRobotDetail.setRemoteMode(remoteMap.get(robotNo).getRemoteMode());
+            }
+
+            if (RemoteModeEnum.AUTOMATIC.getType().equals(remoteRobotDetail.getRemoteMode())) {
+                automaticDetail.add(remoteRobotDetail);
+            }else if (RemoteModeEnum.HAND_MOVEMENT.getType().equals(remoteRobotDetail.getRemoteMode())) {
+                handMovementDetail.add(remoteRobotDetail);
+            }else {
+                freeDetail.add(remoteRobotDetail);
             }
-            remoteRobotDTO.setRobotList(robotList);
         }
 
-        if (ObjectUtil.isNotEmpty(stopMapIds) && stopMapIds.contains(positionMapDO.getId())) {
+        automatic.setRemoteMode(RemoteModeEnum.AUTOMATIC.getType());
-            remoteRobotDTO.setIsStop(ZeroOneEnum.ZERO.getType());
+        automatic.setRobotQuantity(automaticDetail.size());
-        }
+        automatic.setRobotList(automaticDetail);
 
-        return remoteRobotDTO;
+        handMovement.setRemoteMode(RemoteModeEnum.HAND_MOVEMENT.getType());
+        handMovement.setRobotQuantity(handMovementDetail.size());
+        handMovement.setRobotList(handMovementDetail);
+
+        free.setRemoteMode(RemoteModeEnum.FREE.getType());
+        free.setRobotQuantity(freeDetail.size());
+        free.setRobotList(freeDetail);
+
+        return Arrays.asList(automatic,handMovement,free);
     }
 }

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

@@ -199,4 +199,11 @@ public interface RobotInformationService extends IService<RobotInformationDO> {
      * @return
      */
     Boolean checkRobotElectricity(RobotInformationDO information, CommonConfigDO commonConfig);
+
+    /**
+     * 根据车辆编号查询
+     * @param robotNos
+     * @return
+     */
+    List<RobotInformationDO> getRobotInformationByRobotNos(List<String> robotNos);
 }

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

@@ -1392,6 +1392,12 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         return checkElectricity(chargeConfig, robotInformation, dataPoseDTO);
     }
 
+    @Override
+    public List<RobotInformationDO> getRobotInformationByRobotNos(List<String> robotNos) {
+        return informationMapper.selectList(new LambdaQueryWrapperX<RobotInformationDO>()
+                .in(RobotInformationDO::getRobotNo, robotNos));
+    }
+
     private Boolean checkElectricity(CommonConfigVO chargeConfig, RobotInformationDO robot, RobotStatusDataPoseDTO dataPoseDTO) {
         String chargeModelKey = RobotTaskChcheConstant.ROBOT_CHARGE_MODEL + robot.getRobotNo();
         Object chargeModelCache = redisUtil.get(chargeModelKey);