机器人移动到等待点

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);
 }

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;
+
 }

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 {
+}

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);
+        }
+    }
 }

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_STATUS("ROBOT_STATUS", 2,"点位"),
-    ROBOT_TASK_STATUS("ROBOT_TASK_STATUS", 0,"机器人任务完成上报"),
+    ROBOT_TASK_STATUS("ROBOT_TASK_STATUS", 2,"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_REACTIVE_STATUS("ROBOT_REACTIVE_STATUS", 2,"机器人响应式状态上报"),
-    ROBOT_GENERICS_STATUS("ROBOT_GENERICS_STATUS", 0,"机器人异常"),
+    ROBOT_GENERICS_STATUS("ROBOT_GENERICS_STATUS", 2,"机器人异常"),
-    ROBOT_PATH_STATUS("ROBOT_PATH_STATUS", 0,"导航实时行为上报"),
+    ROBOT_PATH_STATUS("ROBOT_PATH_STATUS", 2,"导航实时行为上报"),
-    ROBOT_WORK_STATUS("ROBOT_WORK_STATUS", 0,"作业实时行为上报"),
+    ROBOT_WORK_STATUS("ROBOT_WORK_STATUS", 2,"作业实时行为上报"),
-    ROBOT_UPDATE_PALLET_HEIGHT("UPDATE_PALLET_HEIGHT", 0,"放货后货物高度反馈和取货后货物高度反馈"),
+    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", 0,"路径规划需要初始数据上报"),
+    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", 0,"路径规划任务分配上报"),
+    TASK_ASSIGNMENT_FEEDBACK("TASK_ASSIGNMENT_FEEDBACK", 2,"路径规划任务分配上报"),
-    TASK_ASSIGNMENT_FAIL("TASK_ASSIGNMENT_FAIL", 0,"路径规划失败上报"),
+    TASK_ASSIGNMENT_FAIL("TASK_ASSIGNMENT_FAIL", 2,"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_TASK_MOVE ("ROBOT_TASK_MOVE", 2,"路径规划上报实时路径");
 
 
     private final String topic;

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");

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())
+        if (PathTaskTypeEnum.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())
-                || PathTaskType.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())
+                || PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())
-                || PathTaskType.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())
+                || PathTaskTypeEnum.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())
-                || PathTaskType.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
+                || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
-                || PathTaskType.RELEASE.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());

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;
+}

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;

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

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<PositionMapItemDO> {
      * @param laneId
      */
     void emptyLaneId(@Param("mapId") Long mapId, @Param("laneId") Long laneId);
+
+    /**
+     *
+     * @param list
+     * @return
+     */
+    List<PositionMapItemDO> selectInWaitList(@Param("list") List<RobotPositionMapDTO> list);
 }

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;
+}

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"),

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);
+    }
+}

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);
         }
     }

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);
     }
 
     /**

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<RobotInformationMap
     @Override
     public void rcsHeartBeat() {
         RobotInformationDO query = new RobotInformationDO();
-        List<RobotInformationDO> robotInformationDOS = informationMapper.queryAllByLimit(query);
+        List<RobotInformationDO> robotInformations = informationMapper.queryAllByLimit(query);
-        for (RobotInformationDO robotInformationDO : robotInformationDOS) {
+        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);
         }
     }
 }

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<RobotTaskMapper, RobotTask
 
         Integer robotStatus = RobotStatusEnum.DOING.getType();
 
-        if (PathTaskType.AUTO_CHARGE.getType().equals(taskAssignDTO.getType())) {
+        if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getType())) {
-            robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getId());
+            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());
+            moveToWaitService.updateWaitStatus(taskAssignDTO.getOrderId(), WaitStatusEnum.GO_TO_WAIT.getType());
-        } else if (PathTaskType.CHARGE.getType().equals(taskAssignDTO.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())
+        if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(taskAssignDTO.getType())
-                || PathTaskType.TAKE.getType().equals(taskAssignDTO.getType())
+                || PathTaskTypeEnum.TAKE.getType().equals(taskAssignDTO.getType())
-                || PathTaskType.RELEASE.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())
+        } else if (PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getType())
-                || PathTaskType.AUTO_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()) ||
+        if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(taskAssignDTO.getType()) ||
-                PathTaskType.TAKE.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()

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

@@ -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;
             }

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

@@ -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 {
     }
 
 
-
-
-
-
-
-
-
-
 }

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

@@ -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-->
+    <select id="selectInWaitList"
-    <insert id="insertEntity" keyProperty="id" useGeneratedKeys="true">
+            resultType="cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO">
-        insert into ware_position_map_item(position_map_id, area_id, lane_id, location_x, location_y, type, data_json,
+        select
-                                           creator, create_time, updater, update_time, deleted, tenant_id)
+            <include refid="base_sql"></include>
-        values (#{positionMapId}, #{areaId}, #{laneId}, #{locationX}, #{locationY}, #{type}, #{dataJson}, #{creator},
+        from
-                #{createTime}, #{updater}, #{updateTime}, #{deleted}, #{tenantId})
+            ware_position_map_item
-    </insert>
+        where deleted = '0'
-
+        <foreach collection="list" item="item" index="index" open="(" close=")"
-    <insert id="insertBatch" keyProperty="id" useGeneratedKeys="true">
+                 separator=",">
-        insert into ware_position_map_item(position_map_id, area_id, lane_id, location_x, location_y, type, data_json,
+            <if test="positionMapId != null">
-        creator, create_time, updater, update_time, deleted, tenant_id)
+                and position_map_id = #{positionMapId}
-        values
+            </if>
-        <foreach collection="entities" item="entity" separator=",">
+            <if test="actualLocationX != null and actualLocationX != ''">
-            (#{entity.positionMapId}, #{entity.areaId}, #{entity.laneId}, #{entity.locationX}, #{entity.locationY},
+                and actual_location_x = #{actualLocationX}
-            #{entity.type}, #{entity.dataJson}, #{entity.creator}, #{entity.createTime}, #{entity.updater},
+            </if>
-            #{entity.updateTime}, #{entity.deleted}, #{entity.tenantId})
+            <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">

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

@@ -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。