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机器人移动到等待点

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This commit is contained in:
cbs 2025-03-14 14:45:23 +08:00
parent 5a870cf145
commit 928491f16c
22 changed files with 381 additions and 227 deletions
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4
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/common/CommonApi.java
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@ -21,4 +21,8 @@ public interface CommonApi {
@PostMapping(PREFIX + "/commonMethod")
@Operation(summary = "公共方法")
void commonMethod(@RequestBody Object obj, @RequestParam("topic") String topic);
@PostMapping(PREFIX + "/commonMethodStr")
@Operation(summary = "公共方法")
void commonMethodStr(@RequestParam("str") String str, @RequestParam("topic") String topic);
}

4
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java
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@ -76,4 +76,8 @@ public class TaskToPathPlanningDTO {
@Schema(description = "取货-叉起货需要在原来高度基础上偏移的高度")
private Double releaseOffsetHeight;
//PICK_UP_GOODS取货、DROP_OFF_GOODS放货、MOVE移动、AUTO_CHARGE自动充电、MANUAL_CHARGE手动充电
//如果是取放货 传PICK_UP_GOODS
private String taskType;
}

7
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/dto/RobotRcsHeartBeatDTO.java Normal file
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@ -0,0 +1,7 @@
package cn.iocoder.yudao.module.mqtt.api.task.dto;
import lombok.Data;
@Data
public class RobotRcsHeartBeatDTO {
}

14
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java
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@ -31,4 +31,18 @@ public class CommonApiImpl implements CommonApi {
log.info("MQTT消息发送异常 :{}",e);
}
}
@Override
public void commonMethodStr(String str, String topic) {
try {
mqttUtils.pub(topic, str);
if (str.length() > 510) {
log.info("MQTT消息发送成功 :{}", str.substring(0, 500));
}else {
log.info("MQTT消息发送成功 :{}", str);
}
} catch (MqttException e) {
log.info("MQTT消息发送异常 :{}",e);
}
}
}

22
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java
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@ -15,17 +15,17 @@ import java.util.List;
public enum DefineSubTopicEnum {
//qos 0-至多1次、1-至少1次、2-正好一次
ROBOT_STATUS("ROBOT_STATUS", 0,"点位"),
ROBOT_TASK_STATUS("ROBOT_TASK_STATUS", 0,"机器人任务完成上报"),
ROBOT_REACTIVE_STATUS("ROBOT_REACTIVE_STATUS", 0,"机器人响应式状态上报"),
ROBOT_GENERICS_STATUS("ROBOT_GENERICS_STATUS", 0,"机器人异常"),
ROBOT_PATH_STATUS("ROBOT_PATH_STATUS", 0,"导航实时行为上报"),
ROBOT_WORK_STATUS("ROBOT_WORK_STATUS", 0,"作业实时行为上报"),
ROBOT_UPDATE_PALLET_HEIGHT("UPDATE_PALLET_HEIGHT", 0,"放货后货物高度反馈和取货后货物高度反馈"),
SYNCHRONOUS_ALL_MAP_REQUEST("SYNCHRONOUS_ALL_MAP_REQUEST", 0,"路径规划需要初始数据上报"),
TASK_ASSIGNMENT_FEEDBACK("TASK_ASSIGNMENT_FEEDBACK", 0,"路径规划任务分配上报"),
TASK_ASSIGNMENT_FAIL("TASK_ASSIGNMENT_FAIL", 0,"路径规划失败上报"),
ROBOT_TASK_MOVE ("ROBOT_TASK_MOVE ", 0,"路径规划上报实时路径");
ROBOT_STATUS("ROBOT_STATUS", 2,"点位"),
ROBOT_TASK_STATUS("ROBOT_TASK_STATUS", 2,"机器人任务完成上报"),
ROBOT_REACTIVE_STATUS("ROBOT_REACTIVE_STATUS", 2,"机器人响应式状态上报"),
ROBOT_GENERICS_STATUS("ROBOT_GENERICS_STATUS", 2,"机器人异常"),
ROBOT_PATH_STATUS("ROBOT_PATH_STATUS", 2,"导航实时行为上报"),
ROBOT_WORK_STATUS("ROBOT_WORK_STATUS", 2,"作业实时行为上报"),
ROBOT_UPDATE_PALLET_HEIGHT("UPDATE_PALLET_HEIGHT", 2,"放货后货物高度反馈和取货后货物高度反馈"),
SYNCHRONOUS_ALL_MAP_REQUEST("SYNCHRONOUS_ALL_MAP_REQUEST", 2,"路径规划需要初始数据上报"),
TASK_ASSIGNMENT_FEEDBACK("TASK_ASSIGNMENT_FEEDBACK", 2,"路径规划任务分配上报"),
TASK_ASSIGNMENT_FAIL("TASK_ASSIGNMENT_FAIL", 2,"路径规划失败上报"),
ROBOT_TASK_MOVE ("ROBOT_TASK_MOVE", 2,"路径规划上报实时路径");
private final String topic;

1
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
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@ -197,6 +197,7 @@ public interface ErrorCodeConstants {
ErrorCode TASK_CHECK_TASK_STATUS = new ErrorCode(1-002-035-100, "订单已完成");
ErrorCode TASK_CHECK_UPDATE_STATUS = new ErrorCode(1-002-035-101, "订单更新失败");
ErrorCode TASK_CHECK_EXIST_NO = new ErrorCode(1-002-035-102, "订单号已存在");
ErrorCode TASK_TYPE_UN_EXIST = new ErrorCode(1-002-035-103, "找不到对应的任务类型");
// ========== 机器人任务明细 1-002-036-000 ==========
ErrorCode TASK_DETAIL_NOT_EXISTS = new ErrorCode(1-002-036-001, "机器人任务明细不存在");

34
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
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@ -21,7 +21,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMap
import cn.iocoder.yudao.module.system.dal.mysql.robot.*;
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.PathTaskType;
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.charge.ChargeTaskStatusEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotStatusCodeEnum;
@ -140,9 +140,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
* @param robotCompleteTaskDTO
*/
private void robotTaskDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey) {
if (PathTaskType.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
chargeDoing(robotCompleteTaskDTO, robotDoingActionKey);
} else if (PathTaskType.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
logOne.setActionMsg("车辆正在前往等待点");
String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
@ -182,14 +182,14 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
*/
private void robotTaskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
//todo 后面考虑下充电，车机目前对充电的逻辑未定义
if (PathTaskType.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskType.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskType.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskType.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskType.RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
if (PathTaskTypeEnum.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
taskDone(robotCompleteTaskDTO);
} else if (PathTaskType.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
if (RobotTaskStageEnum.TAKEING.getType().equals(robotTaskDetailDO.getTaskStage())) {
pathPlanningService.updateBehavior(String.valueOf(robotCompleteTaskDTO.getOrderId()), robotTaskDetailDO.getRobotNo()
@ -197,9 +197,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
} else if (RobotTaskStageEnum.RELEASEING.getType().equals(robotTaskDetailDO.getTaskStage())) {
taskDone(robotCompleteTaskDTO);
}
} else if (PathTaskType.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())) {
moveToWaitService.updateWaitStatus(robotCompleteTaskDTO.getOrderId(), WaitStatusEnum.REACH_WAIT.getType());
} else if (PathTaskType.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotChargeLogDO build = RobotChargeLogDO
.builder()
.id(robotCompleteTaskDTO.getOrderId())
@ -371,7 +371,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
String commandType = commandStatus.getCommandType();
RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
if (PathTaskType.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType) && RobotTaskStageEnum.UN_START.getType().equals(taskStage)) {
logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getFromLocationNo() + "取货");
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_TAKE.getType());
@ -386,7 +386,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
}
} else if (PathTaskType.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotChargeLogDO robotChargeLogDO = chargeLogMapper.selectById(robotCompleteTaskDTO.getOrderId());
if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) {
logOne.setActionMsg("车辆正在前往" + robotChargeLogDO.getDeviceNo() + "充电");
@ -396,17 +396,17 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.CHARGEING.getType());
}
} else if (PathTaskType.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) {
logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo());
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.MOVE.getType());
}
} else if (PathTaskType.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())) {
if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) {
logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo());
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.MOVE.getType());
}
} else if (PathTaskType.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType) && RobotTaskStageEnum.UN_START.getType().equals(taskStage)) {
logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getFromLocationNo() + "取货");
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_TAKE.getType());
@ -415,7 +415,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING.getType());
}
} else if (PathTaskType.RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType) && RobotTaskStageEnum.UN_START.getType().equals(taskStage)) {
logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo() + "放货");
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());

32
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/RobotPositionMapDTO.java Normal file
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@ -0,0 +1,32 @@
package cn.iocoder.yudao.module.system.controller.admin.positionmap.dto;
import lombok.Builder;
import lombok.Data;
@Data
@Builder
public class RobotPositionMapDTO {
/**
* 实际坐标x轴
*/
private String actualLocationX;
/**
* 实际坐标y轴
*/
private String actualLocationY;
/**
* 类型 1.路径点位 2.库位点 3.充电桩 4.停车点 5.区域变更点 6.等待点 --- 后续补充
*/
private Integer type;
/**
* AGV编号
*/
private String robotNo;
/**
* 仓库点位地图表id
*/
private Long positionMapId;
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/task/TaskAssignDTO.java
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@ -15,7 +15,7 @@ import lombok.NoArgsConstructor;
@AllArgsConstructor
public class TaskAssignDTO {
@Schema(description = "robot_task_detail/robot_charge_log 的 id")
private Long id;
private Long orderId;
@Schema(description = "任务类型(TAKE_RELEASE、CHARGE、MOVE、TAKE、RELEASE、AUTO_CHARGE)")
private String type;

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/wait/MoveToWaitDO.java
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@ -25,7 +25,7 @@ public class MoveToWaitDO extends BaseDO {
/**
* 主键ID
*/
@TableId
@TableId(type = IdType.ASSIGN_ID)
private Long id;
/**
* AGV编号

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java
View File

@ -5,6 +5,7 @@ import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.module.mqtt.api.path.dto.PositionMapItemSynDTO;
import cn.iocoder.yudao.module.mqtt.api.task.dto.Pose2ds;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.RobotPositionMapDTO;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemPageReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
import org.apache.ibatis.annotations.Mapper;
@ -60,4 +61,11 @@ public interface PositionMapItemMapper extends BaseMapperX<PositionMapItemDO> {
* @param laneId
*/
void emptyLaneId(@Param("mapId") Long mapId, @Param("laneId") Long laneId);
/**
*
* @param list
* @return
*/
List<PositionMapItemDO> selectInWaitList(@Param("list") List<RobotPositionMapDTO> list);
}

21
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/item/PositionMapItemEnum.java Normal file
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@ -0,0 +1,21 @@
package cn.iocoder.yudao.module.system.enums.item;
import lombok.AllArgsConstructor;
import lombok.Getter;
@Getter
@AllArgsConstructor
public enum PositionMapItemEnum {
PATH(1,"路径点位"),
LOCATION(2,"库位点"),
CHARGE(3,"充电桩"),
STOP(4,"停车点"),
CHANGE(5,"区域变更点"),
WAIT(6,"等待点");
/**
* 类型
*/
private final Integer type;
private final String msg;
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskType.java → yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskTypeEnum.java
View File

@ -9,7 +9,7 @@ import lombok.Getter;
*/
@Getter
@AllArgsConstructor
public enum PathTaskType {
public enum PathTaskTypeEnum {
TAKE_RELEASE("TAKE_RELEASE","取放货"),
CHARGE("CHARGE","充电任务"),
MOVE("MOVE","移动任务"),

45
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskTypeToRobotEnum.java Normal file
View File

@ -0,0 +1,45 @@
package cn.iocoder.yudao.module.system.enums.path;
import cn.iocoder.yudao.module.system.enums.robot.RobotTaskTypeEnum;
import lombok.AllArgsConstructor;
import lombok.Getter;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.ROBOT_MAC_ADDRESS_EXISTS;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.TASK_TYPE_UN_EXIST;
@Getter
@AllArgsConstructor
public enum PathTaskTypeToRobotEnum {
PICK_UP_GOODS("PICK_UP_GOODS","取货"),
DROP_OFF_GOODS("DROP_OFF_GOODS","放货"),
MOVE("MOVE","移动"),
AUTO_CHARGE("AUTO_CHARGE","自动充电"),
MANUAL_CHARGE("MANUAL_CHARGE","手动充电");
/**
* 类型
*/
private final String type;
private final String msg;
/**
* 任务对应的类型
* @param taskType
* @return
*/
public static String taskDetailGetType(Integer taskType) {
if (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(taskType)) {
return PICK_UP_GOODS.getType();
}else if (RobotTaskTypeEnum.MOVE.getType().equals(taskType)) {
return MOVE.getType();
}else if (RobotTaskTypeEnum.TAKE.getType().equals(taskType)) {
return PICK_UP_GOODS.getType();
}else if (RobotTaskTypeEnum.RELEASE.getType().equals(taskType)) {
return DROP_OFF_GOODS.getType();
}else if (RobotTaskTypeEnum.PARK.getType().equals(taskType)) {
return MOVE.getType();
}
throw exception(TASK_TYPE_UN_EXIST);
}
}

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java
View File

@ -164,7 +164,6 @@ public class RobotJob {
lock.unlock();
}
}else {
log.info("维护车机心跳未获取到锁");
throw exception(REDISSON_NOT_OBTAIN_LOCK);
}
}

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

@ -395,7 +395,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
PathPosedsDTO pathPosedsDTO = JSON.parseObject(message, PathPosedsDTO.class);
String mac = robotInformationService.getMacByRobotNo(pathPosedsDTO.getRobotNo());
String topic = RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + mac;
commonApi.commonMethod(message, topic);
commonApi.commonMethodStr(message, topic);
}
/**

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

@ -9,6 +9,7 @@ import cn.iocoder.yudao.framework.common.util.collection.CollectionUtils;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
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.RobotStatusDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
@ -574,10 +575,10 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
@Override
public void rcsHeartBeat() {
RobotInformationDO query = new RobotInformationDO();
List<RobotInformationDO> robotInformationDOS = informationMapper.queryAllByLimit(query);
for (RobotInformationDO robotInformationDO : robotInformationDOS) {
List<RobotInformationDO> robotInformations = informationMapper.queryAllByLimit(query);
for (RobotInformationDO robotInformationDO : robotInformations) {
String topic = RobotTopicConstant.RCS_HEART_BEAT + robotInformationDO.getMacAddress();
commonApi.commonMethod("同步的消息", topic);
commonApi.commonMethod(new RobotRcsHeartBeatDTO(), topic);
}
}
}

37
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
View File

@ -14,7 +14,6 @@ import cn.iocoder.yudao.module.mqtt.enums.task.ExecutionTypeEnum;
import cn.iocoder.yudao.module.system.api.path.vo.RobotClosePathPlantingDTO;
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.RobotStatusCodeConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
import cn.iocoder.yudao.module.system.controller.admin.robot.detail.RobotTaskDetailLogResoVO;
@ -41,7 +40,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import cn.iocoder.yudao.module.system.enums.device.DeviceUseStatusEnum;
import cn.iocoder.yudao.module.system.enums.path.PathTaskType;
import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum;
import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
import cn.iocoder.yudao.module.system.enums.robot.*;
import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeTaskStatusEnum;
@ -457,8 +456,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
Integer robotStatus = RobotStatusEnum.DOING.getType();
if (PathTaskType.AUTO_CHARGE.getType().equals(taskAssignDTO.getType())) {
robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getId());
if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getType())) {
robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getOrderId());
robotChargeLogs.setTaskStatus(ChargeTaskStatusEnum.DOING.getType());
chargeLogMapper.updateBatch(robotChargeLogs);
@ -469,18 +468,18 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
detailId = robotChargeLogs.getTaskDetailId();
}
} else if (PathTaskType.MOVE_TO_WAIT.getType().equals(taskAssignDTO.getType())) {
} else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(taskAssignDTO.getType())) {
chargeDone(taskAssignDTO.getRobotNo());
moveToWaitService.updateWaitStatus(taskAssignDTO.getId(), WaitStatusEnum.GO_TO_WAIT.getType());
} else if (PathTaskType.CHARGE.getType().equals(taskAssignDTO.getType())) {
moveToWaitService.updateWaitStatus(taskAssignDTO.getOrderId(), WaitStatusEnum.GO_TO_WAIT.getType());
} else if (PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getType())) {
robotStatus = RobotStatusEnum.CHARGE.getType();
detailId = taskAssignDTO.getId();
detailId = taskAssignDTO.getOrderId();
} else {
chargeDone(taskAssignDTO.getRobotNo());
detailId = taskAssignDTO.getId();
detailId = taskAssignDTO.getOrderId();
}
robotInformationMapper.updateRobotListStatus(taskAssignDTO.getRobotNo(), robotStatus, taskAssignDTO.getId());
robotInformationMapper.updateRobotListStatus(taskAssignDTO.getRobotNo(), robotStatus, taskAssignDTO.getOrderId());
if (ObjectUtil.isNotEmpty(detailId)) {
setTaskDoing(detailId, taskAssignDTO.getRobotNo(), deviceNoMap);
@ -502,17 +501,17 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
.topic(RobotTopicConstant.ROBOT_TASK_TOPIC + mac)
.orderType(taskAssignDTO.getType())
.executionType(ExecutionTypeEnum.DEFAULT.getType())
.orderId(taskAssignDTO.getId().toString())
.orderId(taskAssignDTO.getOrderId().toString())
.data(Lists.newArrayList(robotAssignTask))
.build();
if (PathTaskType.TAKE_RELEASE.getType().equals(taskAssignDTO.getType())
|| PathTaskType.TAKE.getType().equals(taskAssignDTO.getType())
|| PathTaskType.RELEASE.getType().equals(taskAssignDTO.getType())) {
if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(taskAssignDTO.getType())
|| PathTaskTypeEnum.TAKE.getType().equals(taskAssignDTO.getType())
|| PathTaskTypeEnum.RELEASE.getType().equals(taskAssignDTO.getType())) {
RobotAssignTaskDataDTO robotAssignTaskData = getRobotAssignTaskData(v, taskAssignDTO);
List<RobotAssignTaskDataDTO> data = build.getData();
data.add(robotAssignTaskData);
} else if (PathTaskType.CHARGE.getType().equals(taskAssignDTO.getType())
|| PathTaskType.AUTO_CHARGE.getType().equals(taskAssignDTO.getType())) {
} else if (PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getType())
|| PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getType())) {
RobotAssignTaskDataDTO robotAssignTaskData = new RobotAssignTaskDataDTO();
robotAssignTaskData.setCommandType(RobotCommandTypeEnum.WORK_START_CHARGE.getType());
List<RobotAssignTaskDataDTO> data = build.getData();
@ -536,8 +535,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
RobotAssignTaskDataDTO take = new RobotAssignTaskDataDTO();
RobotAssignTaskArgDTO build = null;
WareHouseLocationDO location = null;
if (PathTaskType.TAKE_RELEASE.getType().equals(taskAssignDTO.getType()) ||
PathTaskType.TAKE.getType().equals(taskAssignDTO.getType())) {
if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(taskAssignDTO.getType()) ||
PathTaskTypeEnum.TAKE.getType().equals(taskAssignDTO.getType())) {
take.setCommandType(RobotCommandTypeEnum.WORD_PICK_UP_GOODS.getType());
location = locationMapper.selectById(v.getFromLocationId());
build = RobotAssignTaskArgDTO.builder()
@ -545,7 +544,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
.offsetHeight(offsetHeight)
.build();
take.setArg(Arrays.asList(build));
} else if (PathTaskType.RELEASE.getType().equals(taskAssignDTO.getType())) {
} else if (PathTaskTypeEnum.RELEASE.getType().equals(taskAssignDTO.getType())) {
take.setCommandType(RobotCommandTypeEnum.WORD_DROP_OFF_GOODS.getType());
location = locationMapper.selectById(v.getToLocationId());
build = RobotAssignTaskArgDTO.builder()

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
View File

@ -121,7 +121,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robot.getMacAddress();
String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robot.getMacAddress();
Object taskStatus = redisUtil.get(taskStatusKey);
if (ObjectUtil.isEmpty(taskStatus) || RobotStatusCodeConstant.TASK_STATUS_RUNNING.equals(Boolean.parseBoolean(String.valueOf(taskStatus)))) {
if (ObjectUtil.isEmpty(taskStatus) || !RobotStatusCodeConstant.TASK_STATUS_RUNNING.equals(Boolean.parseBoolean(String.valueOf(taskStatus)))) {
robot.setRobotStatus(RobotStatusEnum.DOING.getType());
continue;
}

181
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
View File

@ -1,6 +1,7 @@
package cn.iocoder.yudao.module.system.service.robot.pathplanning;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.json.JSONUtil;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
@ -8,12 +9,17 @@ 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.mqtt.api.task.RobotTaskApi;
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;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.RobotPositionMapDTO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
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.dataobject.robot.RobotChargeLogDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
import cn.iocoder.yudao.module.system.dal.dataobject.wait.MoveToWaitDO;
import cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper;
import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
@ -21,14 +27,18 @@ import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
import cn.iocoder.yudao.module.system.enums.path.PathTaskType;
import cn.iocoder.yudao.module.system.dal.mysql.wait.MoveToWaitMapper;
import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum;
import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum;
import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeToRobotEnum;
import cn.iocoder.yudao.module.system.enums.robot.*;
import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeModelEnum;
import cn.iocoder.yudao.module.system.enums.robot.information.ChargeTypeEnum;
import cn.iocoder.yudao.module.system.service.robot.job.DistributeTasksService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import com.alibaba.fastjson.JSON;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang3.tuple.ImmutablePair;
import org.apache.commons.lang3.tuple.Pair;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@ -37,7 +47,6 @@ import org.springframework.transaction.annotation.Transactional;
import org.springframework.validation.annotation.Validated;
import javax.annotation.Resource;
import java.math.BigDecimal;
import java.time.LocalDateTime;
import java.util.*;
import java.util.function.Function;
@ -111,6 +120,9 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
@Value("${zn.robot_config.offset_height}")
private Double offsetHeight;
@Resource
private MoveToWaitMapper moveToWaitMapper;
/**
* 下发任务给PP
*/
@ -130,7 +142,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
List<RobotTaskDetailDO> taskDetailDOS = robotAndTaskDetails.getRight();
if (ObjectUtil.isEmpty(taskDetailDOS)) {
log.info("--不存在需要执行的任务--");
log.info("--不存在需要执行的任务--派车辆去等待点");
moveRobotToWait(robots);
return;
}
@ -139,6 +152,136 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
}
/**
* 派车辆去等待点
*
* @param robots
*/
private void moveRobotToWait(List<RobotInformationDO> robots) {
List<PositionMapItemDO> positionMapItems = positionMapItemMapper.selectList(new LambdaQueryWrapperX<PositionMapItemDO>()
.eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType())
.eq(PositionMapItemDO::getUseStatus, ZeroOneEnum.ZERO.getType()));
if (ObjectUtil.isEmpty(positionMapItems)) {
log.info("------没有空闲的停车点-----");
return;
}
List<PositionMapDO> positionMaps = positionMapMapper.selectList(new LambdaQueryWrapperX<PositionMapDO>());
Map<String, PositionMapDO> positionMap =
positionMaps.stream().collect(Collectors.toMap(v -> v.getFloor() + "_" + v.getArea(), Function.identity()));
List<RobotPositionMapDTO> list = new ArrayList<>();
for (RobotInformationDO robot : robots) {
String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robot.getMacAddress();
Object object = redisUtil.get(pose2dKey);
RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
if (ObjectUtil.isEmpty(object) || ObjectUtil.isEmpty(robotStatusDataPoseDTO)) {
log.info("------此机器人没有点位信息------ :{}", robot.getRobotNo());
continue;
}
String mapKey = robotStatusDataPoseDTO.getFloor() + "_" + robotStatusDataPoseDTO.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());
}
RobotPositionMapDTO build = RobotPositionMapDTO.builder()
.actualLocationX(robotStatusDataPoseDTO.getX())
.actualLocationY(robotStatusDataPoseDTO.getY())
.robotNo(robot.getRobotNo())
.positionMapId(positionMapDO.getId())
.type(PositionMapItemEnum.STOP.getType())
.build();
list.add(build);
}
if (ObjectUtil.isEmpty(list)) {
log.info("------没有需要移动到等待点的机器人------");
return;
}
//在等待点的车
List<PositionMapItemDO> existItems = positionMapItemMapper.selectInWaitList(list);
if (ObjectUtil.isEmpty(existItems)) {
robotToWait(list, positionMapItems);
} else {
robotToWaitFilterWait(list, positionMapItems, existItems);
}
}
/**
* 派部分车去停车点
*
* @param list 车辆
* @param freePositionMapItems 空闲点位
* @param existItems 已经有车的点位
*/
private void robotToWaitFilterWait(List<RobotPositionMapDTO> list, List<PositionMapItemDO> freePositionMapItems,
List<PositionMapItemDO> existItems) {
Map<String, RobotPositionMapDTO> robotNoPositionMap =
list.stream().collect(Collectors.toMap(v -> v.getActualLocationX() + "_"
+ v.getActualLocationY() + "_" + v.getPositionMapId(), Function.identity()));
Map<String, PositionMapItemDO> existItemsMap =
existItems.stream().collect(Collectors.toMap(v -> v.getActualLocationX() + "_"
+ v.getActualLocationY() + "_" + v.getPositionMapId(), Function.identity()));
List<RobotPositionMapDTO> needMoveToWaitList = new ArrayList<>();
robotNoPositionMap.forEach((key, value) -> {
PositionMapItemDO positionMapItemDO = existItemsMap.get(key);
if (ObjectUtil.isEmpty(positionMapItemDO)) {
needMoveToWaitList.add(value);
}
});
if (ObjectUtil.isEmpty(needMoveToWaitList)) {
log.info("没有需要移动到等待点的车辆");
return;
}
robotToWait(needMoveToWaitList, freePositionMapItems);
}
/**
* 派车去停车点
*
* @param list
* @param positionMapItems
*/
private void robotToWait(List<RobotPositionMapDTO> list, List<PositionMapItemDO> positionMapItems) {
if (positionMapItems.size() < list.size()) {
log.info("空闲停车点少于车辆数量");
list = list.subList(0, positionMapItems.size());
}
List<String> waitIds = positionMapItems
.stream()
.map(u -> u.getId() + "")
.collect(Collectors.toList());
List<MoveToWaitDO> waits = list.stream()
.map(v -> {
MoveToWaitDO build = MoveToWaitDO.builder().robotNo(v.getRobotNo()).build();
return build;
})
.collect(Collectors.toList());
moveToWaitMapper.insertBatch(waits);
List<TaskToPathPlanningDTO> pathPlanningList = new ArrayList<>();
for (MoveToWaitDO wait : waits) {
TaskToPathPlanningDTO pathPlanning = TaskToPathPlanningDTO.builder()
.orderId(String.valueOf(wait.getId()))
.orderType(PathTaskTypeEnum.MOVE_TO_WAIT.getType())
.priority(1l)
.createTime(LocalDateTime.now())
.taskType(PathTaskTypeToRobotEnum.MOVE.getType())
.build();
pathPlanningList.add(pathPlanning);
}
log.info("派车去停车点--任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
pathPlanningApi.synchronousLineObject(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
}
@Override
public void sendChargeTaskToPP(List<RobotChargeLogDO> logs, List<RobotTaskDetailDO> taskDetailDOS,
List<RobotInformationDO> robots) {
@ -149,6 +292,9 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
Map<String, TaskRobotNoLimittationAreaDTO> robotNoLimittationAreaDTOMap =
robotNoLimitationArea.stream().collect(Collectors.toMap(v -> v.getRobotNo(), Function.identity()));
Map<String, RobotInformationDO> robotMap =
robots.stream().collect(Collectors.toMap(v -> v.getRobotNo(), Function.identity()));
Map<Long, RobotTaskDetailDO> taskDetailMap =
taskDetailDOS.stream().collect(Collectors.toMap(v -> v.getId(), Function.identity()));
@ -165,7 +311,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
priority = taskDetailMap.get(v.getTaskDetailId()).getPriority();
}
String orderType = ObjectUtil.isEmpty(v.getTaskDetailId()) ? PathTaskType.AUTO_CHARGE.getType():PathTaskType.CHARGE.getType();
String orderType = ObjectUtil.isEmpty(v.getTaskDetailId()) ? PathTaskTypeEnum.AUTO_CHARGE.getType() : PathTaskTypeEnum.CHARGE.getType();
TaskToPathPlanningDTO pathPlanning = TaskToPathPlanningDTO.builder()
.orderId(String.valueOf(v.getId()))
.orderType(orderType)
@ -177,6 +323,11 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = Arrays.asList(taskRobotNoLimittationAreaDTO);
pathPlanning.setRobotNoLimitationAreaDTOS(robotNoLimitions);
RobotInformationDO robotInformationDO = robotMap.get(taskRobotNoLimittationAreaDTO.getRobotNo());
String taskType = ChargeTypeEnum.AUTOMATIC.getType().equals(robotInformationDO.getChargeType()) ?
PathTaskTypeToRobotEnum.AUTO_CHARGE.getType() : PathTaskTypeToRobotEnum.MANUAL_CHARGE.getType();
pathPlanning.setTaskType(taskType);
pathPlanning.setReleaseGroupId("POINT_" + v.getPositionMapItemId());
pathPlanning.setReleaseLocationNumber(releaseLocationNumberConfig);
pathPlanning.setReleasePointId(v.getPositionMapItemId());
@ -221,10 +372,12 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
log.info("开始组装需要下发给PP的任务");
for (RobotTaskDetailDO taskDetailDO : taskDetailDOS) {
String taskType = PathTaskTypeToRobotEnum.taskDetailGetType(taskDetailDO.getTaskType());
TaskToPathPlanningDTO pathPlanning = TaskToPathPlanningDTO.builder()
.orderId(String.valueOf(taskDetailDO.getId()))
.orderType(PathTaskType.getTaskType(taskDetailDO.getTaskType()))
.orderType(PathTaskTypeEnum.getTaskType(taskDetailDO.getTaskType()))
.priority(taskDetailDO.getPriority())
.taskType(taskType)
.createTime(taskDetailDO.getCreateTime())
.build();
@ -251,7 +404,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
pathPlanning.setTakeGroupId("LINE_" + taskDetailDO.getFromLaneId());
pathPlanning.setTakeLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getFromLocationNumber()));
pathPlanning.setTakePointId(fromLocation.getMapItemId());
pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTrayHeight()+""));
pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTrayHeight() + ""));
pathPlanning.setTakeLevel(fromLocation.getLocationStorey());
pathPlanning.setTakeOffsetHeight(offsetHeight);
@ -261,7 +414,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
pathPlanning.setTakeGroupId("POINT_" + taskDetailDO.getFromMapItemId());
pathPlanning.setTakeLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getFromLocationNumber()));
pathPlanning.setTakePointId(fromLocation.getMapItemId());
pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTrayHeight()+""));
pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTrayHeight() + ""));
pathPlanning.setTakeLevel(fromLocation.getLocationStorey());
pathPlanning.setTakeOffsetHeight(offsetHeight);
}
@ -273,7 +426,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
pathPlanning.setReleaseGroupId("LINE_" + taskDetailDO.getToLaneId());
pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
pathPlanning.setReleasePointId(toLocation.getMapItemId());
pathPlanning.setReleaseHeight(Double.valueOf(toLocation.getLocationTrayHeight()+""));
pathPlanning.setReleaseHeight(Double.valueOf(toLocation.getLocationTrayHeight() + ""));
pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
pathPlanning.setReleaseOffsetHeight(offsetHeight);
@ -283,7 +436,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
pathPlanning.setReleaseGroupId("POINT_" + taskDetailDO.getToMapItemId());
pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
pathPlanning.setReleasePointId(toLocation.getMapItemId());
pathPlanning.setReleaseHeight(Double.valueOf(toLocation.getLocationTrayHeight()+""));
pathPlanning.setReleaseHeight(Double.valueOf(toLocation.getLocationTrayHeight() + ""));
pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
pathPlanning.setReleaseOffsetHeight(offsetHeight);
@ -560,12 +713,4 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
}
}

178
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml
View File

@ -16,6 +16,8 @@
<result property="laneId" column="lane_id" jdbcType="INTEGER"/>
<result property="locationX" column="location_x" jdbcType="VARCHAR"/>
<result property="locationY" column="location_y" jdbcType="VARCHAR"/>
<result property="actualLocationX" column="actual_location_x" jdbcType="VARCHAR"/>
<result property="actualLocationY" column="actual_location_y" jdbcType="VARCHAR"/>
<result property="type" column="type" jdbcType="INTEGER"/>
<result property="dataJson" column="data_json" jdbcType="VARCHAR"/>
<result property="creator" column="creator" jdbcType="VARCHAR"/>
@ -33,6 +35,8 @@
lane_id,
location_x,
location_y,
actual_location_x,
actual_location_y,
type,
data_json,
creator,
@ -43,117 +47,6 @@
tenant_id
</sql>
<!--查询指定行数据-->
<select id="queryAllByLimit" resultMap="BaseResultMap">
select
id, position_map_id, area_id, lane_id, location_x, location_y, type, data_json, creator, create_time, updater,
update_time, deleted, tenant_id
from ware_position_map_item
<where>
<if test="id != null">
and id = #{id}
</if>
<if test="positionMapId != null">
and position_map_id = #{positionMapId}
</if>
<if test="areaId != null">
and area_id = #{areaId}
</if>
<if test="laneId != null">
and lane_id = #{laneId}
</if>
<if test="locationX != null and locationX != ''">
and location_x = #{locationX}
</if>
<if test="locationY != null and locationY != ''">
and location_y = #{locationY}
</if>
<if test="type != null">
and type = #{type}
</if>
<if test="dataJson != null and dataJson != ''">
and data_json = #{dataJson}
</if>
<if test="creator != null and creator != ''">
and creator = #{creator}
</if>
<if test="createTime != null">
and create_time = #{createTime}
</if>
<if test="updater != null and updater != ''">
and updater = #{updater}
</if>
<if test="updateTime != null">
and update_time = #{updateTime}
</if>
<if test="deleted != null">
and deleted = #{deleted}
</if>
<if test="tenantId != null">
and tenant_id = #{tenantId}
</if>
</where>
limit #{pageable.offset}, #{pageable.pageSize}
</select>
<!--通过实体作为筛选条件查询-->
<select id="queryAll" resultMap="BaseResultMap">
select
id, position_map_id, area_id, lane_id, location_x, location_y, type, data_json, creator, create_time, updater,
update_time, deleted, tenant_id
from zn_wcs.ware_position_map_item
</select>
<!--统计总行数-->
<select id="count" resultType="java.lang.Long">
select count(1)
from ware_position_map_item
<where>
<if test="id != null">
and id = #{id}
</if>
<if test="positionMapId != null">
and position_map_id = #{positionMapId}
</if>
<if test="areaId != null">
and area_id = #{areaId}
</if>
<if test="laneId != null">
and lane_id = #{laneId}
</if>
<if test="locationX != null and locationX != ''">
and location_x = #{locationX}
</if>
<if test="locationY != null and locationY != ''">
and location_y = #{locationY}
</if>
<if test="type != null">
and type = #{type}
</if>
<if test="dataJson != null and dataJson != ''">
and data_json = #{dataJson}
</if>
<if test="creator != null and creator != ''">
and creator = #{creator}
</if>
<if test="createTime != null">
and create_time = #{createTime}
</if>
<if test="updater != null and updater != ''">
and updater = #{updater}
</if>
<if test="updateTime != null">
and update_time = #{updateTime}
</if>
<if test="deleted != null">
and deleted = #{deleted}
</if>
<if test="tenantId != null">
and tenant_id = #{tenantId}
</if>
</where>
</select>
<select id="selectByLocationId" resultType="cn.iocoder.yudao.module.mqtt.api.task.dto.Pose2ds">
select
t1.location_x as x,
@ -180,49 +73,30 @@
and type in ('1','2')
</select>
<!--新增所有列-->
<insert id="insertEntity" keyProperty="id" useGeneratedKeys="true">
insert into ware_position_map_item(position_map_id, area_id, lane_id, location_x, location_y, type, data_json,
creator, create_time, updater, update_time, deleted, tenant_id)
values (#{positionMapId}, #{areaId}, #{laneId}, #{locationX}, #{locationY}, #{type}, #{dataJson}, #{creator},
#{createTime}, #{updater}, #{updateTime}, #{deleted}, #{tenantId})
</insert>
<insert id="insertBatch" keyProperty="id" useGeneratedKeys="true">
insert into ware_position_map_item(position_map_id, area_id, lane_id, location_x, location_y, type, data_json,
creator, create_time, updater, update_time, deleted, tenant_id)
values
<foreach collection="entities" item="entity" separator=",">
(#{entity.positionMapId}, #{entity.areaId}, #{entity.laneId}, #{entity.locationX}, #{entity.locationY},
#{entity.type}, #{entity.dataJson}, #{entity.creator}, #{entity.createTime}, #{entity.updater},
#{entity.updateTime}, #{entity.deleted}, #{entity.tenantId})
<select id="selectInWaitList"
resultType="cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO">
select
<include refid="base_sql"></include>
from
ware_position_map_item
where deleted = '0'
<foreach collection="list" item="item" index="index" open="(" close=")"
separator=",">
<if test="positionMapId != null">
and position_map_id = #{positionMapId}
</if>
<if test="actualLocationX != null and actualLocationX != ''">
and actual_location_x = #{actualLocationX}
</if>
<if test="actualLocationY != null and actualLocationY != ''">
and actual_location_y = #{actualLocationY},
</if>
<if test="type != null">
and type = #{type},
</if>
</foreach>
</insert>
</select>
<insert id="insertOrUpdateBatch" keyProperty="id" useGeneratedKeys="true">
insert into ware_position_map_item(position_map_id, area_id, lane_id, location_x, location_y, type, data_json,
creator, create_time, updater, update_time, deleted, tenant_id)
values
<foreach collection="entities" item="entity" separator=",">
(#{entity.positionMapId}, #{entity.areaId}, #{entity.laneId}, #{entity.locationX}, #{entity.locationY},
#{entity.type}, #{entity.dataJson}, #{entity.creator}, #{entity.createTime}, #{entity.updater},
#{entity.updateTime}, #{entity.deleted}, #{entity.tenantId})
</foreach>
on duplicate key update
position_map_id = values(position_map_id),
area_id = values(area_id),
lane_id = values(lane_id),
location_x = values(location_x),
location_y = values(location_y),
type = values(type),
data_json = values(data_json),
creator = values(creator),
create_time = values(create_time),
updater = values(updater),
update_time = values(update_time),
deleted = values(deleted),
tenant_id = values(tenant_id)
</insert>
<!--通过主键修改数据-->
<update id="update">

2
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailActionLogMapper.xml
View File

@ -1,6 +1,6 @@
<?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.actionlog.RobotTaskDetailActionLogMapper">
<mapper namespace="cn.iocoder.yudao.module.system.dal.mysql.log.RobotTaskDetailActionLogMapper">
<!--
一般情况下，尽可能使用 Mapper 进行 CRUD 增删改查即可。