diff --git a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/common/CommonApi.java b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/common/CommonApi.java index 5bf825dc4..52278dd7c 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/common/CommonApi.java +++ b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/common/CommonApi.java @@ -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); } diff --git a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java index fd2e015d5..e16700e1b 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java +++ b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java @@ -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; + } diff --git a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/dto/RobotRcsHeartBeatDTO.java b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/dto/RobotRcsHeartBeatDTO.java new file mode 100644 index 000000000..38c6e3f5c --- /dev/null +++ b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/dto/RobotRcsHeartBeatDTO.java @@ -0,0 +1,7 @@ +package cn.iocoder.yudao.module.mqtt.api.task.dto; + +import lombok.Data; + +@Data +public class RobotRcsHeartBeatDTO { +} diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java index c45dcb708..d6e91d9ab 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java @@ -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); + } + } } diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java index 8e15d4c9d..79bc0a92a 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java @@ -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; diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java index 89cf9f54e..34bf65ca6 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java @@ -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"); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java index 20b378712..331d8f91d 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java @@ -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()); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/RobotPositionMapDTO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/RobotPositionMapDTO.java new file mode 100644 index 000000000..91265f217 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/RobotPositionMapDTO.java @@ -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; +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/task/TaskAssignDTO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/task/TaskAssignDTO.java index d19977dd5..7882fa85e 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/task/TaskAssignDTO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/task/TaskAssignDTO.java @@ -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; diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/wait/MoveToWaitDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/wait/MoveToWaitDO.java index 5d78bbb14..eebda4864 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/wait/MoveToWaitDO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/wait/MoveToWaitDO.java @@ -25,7 +25,7 @@ public class MoveToWaitDO extends BaseDO { /** * 主键ID */ - @TableId + @TableId(type = IdType.ASSIGN_ID) private Long id; /** * AGV编号 diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java index 6d4657719..a09a2aaec 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java @@ -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 { * @param laneId */ void emptyLaneId(@Param("mapId") Long mapId, @Param("laneId") Long laneId); + + /** + * + * @param list + * @return + */ + List selectInWaitList(@Param("list") List list); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/item/PositionMapItemEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/item/PositionMapItemEnum.java new file mode 100644 index 000000000..6b9a71193 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/item/PositionMapItemEnum.java @@ -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; +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskType.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskTypeEnum.java similarity index 98% rename from yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskType.java rename to yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskTypeEnum.java index f300be3dc..4337af7eb 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskType.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskTypeEnum.java @@ -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"), diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskTypeToRobotEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskTypeToRobotEnum.java new file mode 100644 index 000000000..4050661d3 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskTypeToRobotEnum.java @@ -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); + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java index 1749336d3..15c9de739 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java @@ -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); } } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java index eb8902d59..a0bf48f48 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java @@ -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); } /** diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java index 33982b0c5..b526241f6 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java @@ -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 robotInformationDOS = informationMapper.queryAllByLimit(query); - for (RobotInformationDO robotInformationDO : robotInformationDOS) { + List 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); } } } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java index 006a4afc3..758e94ac5 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java @@ -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 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 data = build.getData(); @@ -536,8 +535,8 @@ public class RobotTaskServiceImpl extends ServiceImpl 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 robots) { + + List positionMapItems = positionMapItemMapper.selectList(new LambdaQueryWrapperX() + .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 positionMaps = positionMapMapper.selectList(new LambdaQueryWrapperX()); + Map positionMap = + positionMaps.stream().collect(Collectors.toMap(v -> v.getFloor() + "_" + v.getArea(), Function.identity())); + + List 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 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 list, List freePositionMapItems, + List existItems) { + Map robotNoPositionMap = + list.stream().collect(Collectors.toMap(v -> v.getActualLocationX() + "_" + + v.getActualLocationY() + "_" + v.getPositionMapId(), Function.identity())); + + Map existItemsMap = + existItems.stream().collect(Collectors.toMap(v -> v.getActualLocationX() + "_" + + v.getActualLocationY() + "_" + v.getPositionMapId(), Function.identity())); + + List 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 list, List 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 waitIds = positionMapItems + .stream() + .map(u -> u.getId() + "") + .collect(Collectors.toList()); + List waits = list.stream() + .map(v -> { + MoveToWaitDO build = MoveToWaitDO.builder().robotNo(v.getRobotNo()).build(); + return build; + }) + .collect(Collectors.toList()); + moveToWaitMapper.insertBatch(waits); + + List 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 logs, List taskDetailDOS, List robots) { @@ -149,6 +292,9 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { Map robotNoLimittationAreaDTOMap = robotNoLimitationArea.stream().collect(Collectors.toMap(v -> v.getRobotNo(), Function.identity())); + Map robotMap = + robots.stream().collect(Collectors.toMap(v -> v.getRobotNo(), Function.identity())); + Map 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 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 { } - - - - - - - - } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml index d937931f5..785057d3e 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml @@ -16,6 +16,8 @@ + + @@ -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 - - - - - - - - - - - - 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 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 - - (#{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}) + - - 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 - - (#{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}) - - 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) - diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailActionLogMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailActionLogMapper.xml index 62ead3ecd..5b603e5a9 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailActionLogMapper.xml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailActionLogMapper.xml @@ -1,6 +1,6 @@ - +