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机器人响应式状态上报

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cbs 2025-03-13 08:59:55 +08:00
parent df8c8b28c6
commit 9296aabd48
34 changed files with 437 additions and 155 deletions
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21
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java
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@ -55,4 +55,25 @@ public class TaskToPathPlanningDTO {
@Schema(description = "创建时间")
private LocalDateTime createTime;
@Schema(description = "取货高度")
private Double takeHeight;
@Schema(description = "放货高度")
private Double releaseHeight;
@Schema(description = "等待点")
private List<String> waitIds;
@Schema(description = "取的层数")
private Integer takeLevel;
@Schema(description = "放的层数")
private Integer releaseLevel;
@Schema(description = "取货-叉起货需要在原来高度基础上偏移的高度")
private Double takeOffsetHeight;
@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;
}

1
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java
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@ -17,6 +17,7 @@ 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"),
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"),

3
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/framework/system/SystemConfiguration.java
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@ -1,12 +1,13 @@
package cn.iododer.yudao.module.mqtt.framework.system;
import cn.iocoder.yudao.module.system.api.robot.RobotGenericsStatusApi;
import cn.iocoder.yudao.module.system.api.robot.RobotReactiveStatusApi;
import cn.iocoder.yudao.module.system.api.robot.RobotStatusApi;
import cn.iocoder.yudao.module.system.api.robot.RobotTaskStatusApi;
import org.springframework.cloud.openfeign.EnableFeignClients;
import org.springframework.context.annotation.Configuration;
@Configuration(proxyBeanMethods = false)
@EnableFeignClients(clients = {RobotGenericsStatusApi.class, RobotTaskStatusApi.class, RobotStatusApi.class})
@EnableFeignClients(clients = {RobotGenericsStatusApi.class, RobotTaskStatusApi.class, RobotStatusApi.class, RobotReactiveStatusApi.class})
public class SystemConfiguration {
}

22
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotReactiveStatusServiceImpl.java Normal file
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@ -0,0 +1,22 @@
package cn.iododer.yudao.module.mqtt.service;
import cn.iocoder.yudao.module.system.api.robot.RobotReactiveStatusApi;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.stereotype.Service;
@Slf4j
@Service
public class RobotReactiveStatusServiceImpl implements MqttService{
@Autowired
private RobotReactiveStatusApi robotReactiveStatusApi;
@Override
public void analysisMessage(String message) {
log.info("机器人状态上报 :{}", message);
robotReactiveStatusApi.robotReactiveStatus(message);
}
}

3
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java
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@ -1,6 +1,7 @@
package cn.iododer.yudao.module.mqtt.service;
import cn.iocoder.yudao.module.system.api.robot.RobotStatusApi;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotPoseStatusDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
import com.alibaba.fastjson.JSON;
import lombok.extern.slf4j.Slf4j;
@ -22,7 +23,7 @@ public class RobotStatusServiceImpl implements MqttService {
@Override
public void analysisMessage(String message) {
log.info("处理RobotStatusServiceImpl的消息 :{}", message);
RobotStatusDTO robotStatusData = JSON.parseObject(message, RobotStatusDTO.class);
RobotPoseStatusDTO robotStatusData = JSON.parseObject(message, RobotPoseStatusDTO.class);
robotStatusApi.robotStatusUpdate(robotStatusData);
}
}

19
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApi.java Normal file
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@ -0,0 +1,19 @@
package cn.iocoder.yudao.module.system.api.robot;
import cn.iocoder.yudao.module.system.enums.ApiConstants;
import io.swagger.v3.oas.annotations.Operation;
import io.swagger.v3.oas.annotations.tags.Tag;
import org.springframework.cloud.openfeign.FeignClient;
import org.springframework.web.bind.annotation.PostMapping;
import org.springframework.web.bind.annotation.RequestParam;
@FeignClient(name = ApiConstants.NAME) // TODO 芋艿：fallbackFactory =
@Tag(name = "响应式状态上报")
public interface RobotReactiveStatusApi {
String PREFIX = ApiConstants.PREFIX + "/task";
@PostMapping(PREFIX + "/robotReactiveStatus")
@Operation(summary = "机器人响应式状态上报")
void robotReactiveStatus(@RequestParam("message") String message);
}

3
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApi.java
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@ -1,5 +1,6 @@
package cn.iocoder.yudao.module.system.api.robot;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotPoseStatusDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
import cn.iocoder.yudao.module.system.enums.ApiConstants;
import io.swagger.v3.oas.annotations.Operation;
@ -15,5 +16,5 @@ public interface RobotStatusApi {
@PostMapping(PREFIX + "/robotStatusUpdate")
@Operation(summary = "机器人点位状态/异常/是否能做任务上报")
void robotStatusUpdate(@RequestBody RobotStatusDTO robotStatusDataDTO);
void robotStatusUpdate(@RequestBody RobotPoseStatusDTO robotStatusDataDTO);
}

26
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotPoseStatusDTO.java Normal file
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@ -0,0 +1,26 @@
package cn.iocoder.yudao.module.system.api.robot.dto;
import lombok.Data;
@Data
public class RobotPoseStatusDTO {
/**
* mac地址
*/
public String mac;
/**
* 货物到位传感器触发状态：被按下则 true，否则 false
*/
public Boolean cargoDetected;
/**
* true表示可以做任务，如果是到达了充电点正在充电中应该返回true
*/
public Boolean taskStatus;
/**
* 机器人位姿
*/
public RobotStatusDataPoseDTO pose2d;
}

4
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataErrorDTO.java
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@ -10,9 +10,9 @@ public class RobotStatusDataErrorDTO {
/**
* 错误码
*/
public String error_code;
public String errorCode;
/**
* 错误等级
*/
public String code_level;
public String codeLevel;
}

2
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java
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@ -17,5 +17,5 @@ public class RobotStatusDataPoseDTO {
//区域
public String area;
//电池剩余容量
public String bat_soc;
public String batSoc;
}

4
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataSpeedDTO.java
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@ -10,9 +10,9 @@ public class RobotStatusDataSpeedDTO {
/**
* 线速度 float 单位m/s
*/
public String linear_speed;
public String linearSpeed;
/**
* 角速度 float rad/s
*/
public String angle_speed;
public String angleSpeed;
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java
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@ -56,7 +56,7 @@ public class RobotGenericsStatusApiImpl implements RobotGenericsStatusApi {
BigDecimal a = new BigDecimal(batSoc);
BigDecimal b = new BigDecimal("100");
BigDecimal multiply = a.multiply(b);
robotStatusDataPoseDTO.setBat_soc(multiply.toString());
robotStatusDataPoseDTO.setBatSoc(multiply.toString());
}
redisUtil.set(pose2dKey,JSON.toJSONString(robotStatusDataPoseDTO),robotPositionCacheTime);

147
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java Normal file
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@ -0,0 +1,147 @@
package cn.iocoder.yudao.module.system.api.robot;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.json.JSONUtil;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataErrorDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
import cn.iocoder.yudao.module.system.api.robot.vo.RobotReactiveStatusDTO;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnMsgDO;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnCodeMappingMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnMsgMapper;
import cn.iocoder.yudao.module.system.enums.robot.RobotWarnType;
import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.RestController;
import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
@Slf4j
@RestController // 提供 RESTful API 接口，给 Feign 调用
@Validated
public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi {
@Resource
private RedisUtil redisUtil;
@Value("${zn.robot_position_cache_time:600}")
private Long robotPositionCacheTime;
@Value("${zn.robot_error_level_time:30}")
private Long robotErrorLevelTime;
@Resource
private RobotWarnMsgService warnMsgService;
@Resource
private RobotWarnMsgMapper warnMsgMapper;
@Resource
private RobotWarnCodeMappingMapper warnCodeMappingMapper;
@Autowired
private RobotInformationService robotInformationService;
@Override
public void robotReactiveStatus(String message) {
TenantContextHolder.setTenantId(1L);
RobotReactiveStatusDTO data = JSON.parseObject(message, RobotReactiveStatusDTO.class);
String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + data.getMac();
Object object = redisUtil.get(pose2dKey);
RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
if (ObjectUtil.isNotEmpty(data.getFloorZone())) {
robotStatusDataPoseDTO.setFloor(data.getFloorZone().getFloor());
robotStatusDataPoseDTO.setArea(data.getFloorZone().getArea());
}
redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime);
//机器人异常等级
if (ObjectUtil.isEmpty(data.getErrCode())) {
String errorLevelKey = RobotTaskChcheConstant.ROBOT_ERROR_LEVEL + data.getMac();
String errorMsgKey = RobotTaskChcheConstant.ROBOT_ERROR_MSG + data.getMac();
redisUtil.del(errorLevelKey);
redisUtil.del(errorMsgKey);
}else {
addRobotErrorMsg(data);
}
}
/**
* 添加异常
* @param data
*/
private void addRobotErrorMsg(RobotReactiveStatusDTO data) {
String robotNo = robotInformationService.getRobotNoByMac(data.getMac());
List<RobotStatusDataErrorDTO> errCode = data.getErrCode();
List<String> warnCodes =
errCode.stream().map(RobotStatusDataErrorDTO::getErrorCode).collect(Collectors.toList());
List<RobotWarnCodeMappingDO> robotWarnCodeMappingDOS =
warnCodeMappingMapper.selectList(new LambdaQueryWrapper<RobotWarnCodeMappingDO>()
.in(RobotWarnCodeMappingDO::getWarnCode, warnCodes));
if (ObjectUtil.isEmpty(robotWarnCodeMappingDOS)) {
log.info("查不对应编号的告警信息 :{}", JSON.toJSONString(warnCodes));
return;
}
Map<String, List<RobotWarnCodeMappingDO>> warnCodeMapping =
robotWarnCodeMappingDOS.stream().collect(Collectors.groupingBy(RobotWarnCodeMappingDO::getWarnCode));
List<RobotWarnMsgDO> warnMsgDOS = new ArrayList<>();
//机器人异常等级
String errorLevelKey = RobotTaskChcheConstant.ROBOT_ERROR_LEVEL + data.getMac();
Object errorLevel = redisUtil.get(errorLevelKey);
String errorMsgKey = RobotTaskChcheConstant.ROBOT_ERROR_MSG + data.getMac();
Object errorMsg = redisUtil.get(errorMsgKey);
Integer level = ObjectUtil.isEmpty(errorLevel) ? 0 : Integer.valueOf(errorLevel.toString());
String msg = "";
int i = 0;
for (RobotStatusDataErrorDTO robotStatusData : errCode) {
List<RobotWarnCodeMappingDO> mappingDOS = warnCodeMapping.get(robotStatusData.getErrorCode());
if (ObjectUtil.isEmpty(mappingDOS)) {
log.info("当前告警类型查不到对应的告警信息 :{}", robotStatusData.getErrorCode());
continue;
}
RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(Integer.valueOf(robotStatusData.getCodeLevel()))
.warnCode(robotStatusData.getErrorCode())
.robotNo(robotNo)
.warnType(RobotWarnType.ROBOT_WARN.getType())
.warnMsg(robotNo+"_"+mappingDOS.get(0).getWarnMsg())
.warnSolve(mappingDOS.get(0).getWarnSolve())
.build();
warnMsgDOS.add(warnMsg);
if (level.intValue() < Integer.valueOf(robotStatusData.getCodeLevel()).intValue()) {
level = Integer.valueOf(robotStatusData.getCodeLevel());
errorMsg = warnMsg.getWarnMsg();
}
if (i< Integer.valueOf(robotStatusData.getCodeLevel()).intValue()) {
i = Integer.valueOf(robotStatusData.getCodeLevel());
msg = warnMsg.getWarnMsg();
}
}
redisUtil.set(errorLevelKey, level, robotErrorLevelTime);
redisUtil.set(errorMsgKey, errorMsg, robotErrorLevelTime);
warnMsgService.sendWarnMsgToWebsocket(msg);
warnMsgMapper.insertBatch(warnMsgDOS);
}
}

104
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
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@ -3,15 +3,14 @@ package cn.iocoder.yudao.module.system.api.robot;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.json.JSONUtil;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotPoseStatusDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataErrorDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.constant.webSocket.WebSocketConstant;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnMsgDO;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnCodeMappingMapper;
@ -79,49 +78,6 @@ public class RobotStatusApiImpl implements RobotStatusApi {
}
String robotNo = robotInformationService.getRobotNoByMac(robotStatusDataDTO.getMac());
String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robotStatusDataDTO.getMac();
String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robotStatusDataDTO.getMac();
String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robotStatusDataDTO.getMac();
// todo 后续需要改为从车机上报
redisUtil.set(taskStatusKey, robotStatusDataDTO.getData().getTask_status(), robotPositionCacheTime);
redisUtil.set(cargoDetectedKey, robotStatusDataDTO.getData().getCargo_detected(), robotPositionCacheTime);
/*redisUtil.set(taskStatusKey, "IDLE", robotPositionCacheTime);
redisUtil.set(cargoDetectedKey, false, robotPositionCacheTime);*/
Object object = redisUtil.get(pose2dKey);
RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
if (ObjectUtil.isNotEmpty(robotStatusDataDTO.getData())
&& ObjectUtil.isNotEmpty(robotStatusDataDTO.getData().getPose2d())) {
robotStatusDataPoseDTO.setX(robotStatusDataDTO.getData().getPose2d().getX());
robotStatusDataPoseDTO.setY(robotStatusDataDTO.getData().getPose2d().getY());
robotStatusDataPoseDTO.setYaw(robotStatusDataDTO.getData().getPose2d().getYaw());
}
if (ObjectUtil.isNotEmpty(robotStatusDataDTO.getData())
&& ObjectUtil.isNotEmpty(robotStatusDataDTO.getData().getFloor_zone())) {
robotStatusDataPoseDTO.setFloor(robotStatusDataDTO.getData().getFloor_zone().getFloor());
robotStatusDataPoseDTO.setArea(robotStatusDataDTO.getData().getFloor_zone().getArea());
}
/*robotStatusDataPoseDTO.setFloor("1");
robotStatusDataPoseDTO.setArea("C区");*/
robotStatusDataPoseDTO.setRobotNo(robotNo);
redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime);
pathPlanningApi.synchronousLineObject(robotStatusDataPoseDTO, PathPlanningTopicConstant.AGV_POSE);
// -- 通过mac 地址获取车辆信息 - (并且加入到缓存中)
Map<String, RobotInformationVO> robotInformationVOS = robotInformationService.getAllRobotByRedis();
RobotInformationVO robotInformationVO = robotInformationVOS.get(robotStatusDataDTO.getMac());
if (robotInformationVO == null) {
robotInformationVO = robotInformationService.getRobotByRedis(robotStatusDataDTO.getMac());
}
robotInformationVO.setPose2d(robotStatusDataDTO.getData().getPose2d());
// 合并请求 - 这里接受到的数据都丢给 RequestProcessor - 再整合数据通过WebSocket丢给前端
processor.handleRequest(robotStatusDataPoseDTO.getFloor() + "_" + robotStatusDataPoseDTO.getArea(),
robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(robotInformationVO));
if (ObjectUtil.isNotNull(robotStatusDataDTO.getData().getErr_code())) {
List<RobotStatusDataErrorDTO> errCode = robotStatusDataDTO.getData().getErr_code();
@ -132,7 +88,7 @@ public class RobotStatusApiImpl implements RobotStatusApi {
}
List<String> warnCodes =
errCode.stream().map(RobotStatusDataErrorDTO::getError_code).collect(Collectors.toList());
errCode.stream().map(RobotStatusDataErrorDTO::getErrorCode).collect(Collectors.toList());
List<RobotWarnCodeMappingDO> robotWarnCodeMappingDOS =
warnCodeMappingMapper.selectList(new LambdaQueryWrapper<RobotWarnCodeMappingDO>()
.in(RobotWarnCodeMappingDO::getWarnCode, warnCodes));
@ -156,13 +112,13 @@ public class RobotStatusApiImpl implements RobotStatusApi {
Integer level = ObjectUtil.isEmpty(errorLevel) ? 0 : Integer.valueOf(errorLevel.toString());
for (RobotStatusDataErrorDTO robotStatusData : errCode) {
List<RobotWarnCodeMappingDO> mappingDOS = warnCodeMapping.get(robotStatusData.getError_code());
List<RobotWarnCodeMappingDO> mappingDOS = warnCodeMapping.get(robotStatusData.getErrorCode());
if (ObjectUtil.isEmpty(mappingDOS)) {
log.info("当前告警类型查不到对应的告警信息 :{}", robotStatusData.getError_code());
log.info("当前告警类型查不到对应的告警信息 :{}", robotStatusData.getErrorCode());
continue;
}
RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(Integer.valueOf(robotStatusData.getCode_level()))
.warnCode(robotStatusData.getError_code())
RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(Integer.valueOf(robotStatusData.getCodeLevel()))
.warnCode(robotStatusData.getErrorCode())
.robotNo(robotNo)
.warnType(RobotWarnType.ROBOT_WARN.getType())
.warnMsg(robotNo+"_"+mappingDOS.get(0).getWarnMsg())
@ -170,8 +126,8 @@ public class RobotStatusApiImpl implements RobotStatusApi {
.build();
warnMsgDOS.add(warnMsg);
if (level.intValue() < Integer.valueOf(robotStatusData.getCode_level()).intValue()) {
level = Integer.valueOf(robotStatusData.getCode_level());
if (level.intValue() < Integer.valueOf(robotStatusData.getCodeLevel()).intValue()) {
level = Integer.valueOf(robotStatusData.getCodeLevel());
errorMsg = warnMsg.getWarnMsg();
}
}
@ -191,11 +147,51 @@ public class RobotStatusApiImpl implements RobotStatusApi {
* @return
*/
@Override
public void robotStatusUpdate(RobotStatusDTO robotStatusDataDTO) {
public void robotStatusUpdate(RobotPoseStatusDTO robotStatusDataDTO) {
taskExecutor.execute(()->{
doRobotStatusUpdate(robotStatusDataDTO);
updateRobotPosed(robotStatusDataDTO);
});
}
/**
* 更新点位信息
* @param robotStatusDataDTO
*/
private void updateRobotPosed(RobotPoseStatusDTO robotStatusDataDTO) {
TenantContextHolder.setTenantId(1L);
if (ObjectUtil.isEmpty(robotStatusDataDTO) || ObjectUtil.isEmpty(robotStatusDataDTO.getMac())) {
log.info("机器人上报的信息不全 :{}", JSON.toJSONString(robotStatusDataDTO));
return;
}
String robotNo = robotInformationService.getRobotNoByMac(robotStatusDataDTO.getMac());
String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robotStatusDataDTO.getMac();
Object object = redisUtil.get(pose2dKey);
RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
if (ObjectUtil.isNotEmpty(robotStatusDataDTO.getPose2d())) {
robotStatusDataPoseDTO.setX(robotStatusDataDTO.getPose2d().getX());
robotStatusDataPoseDTO.setY(robotStatusDataDTO.getPose2d().getY());
robotStatusDataPoseDTO.setYaw(robotStatusDataDTO.getPose2d().getYaw());
}
robotStatusDataPoseDTO.setRobotNo(robotNo);
redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime);
pathPlanningApi.synchronousLineObject(robotStatusDataPoseDTO, PathPlanningTopicConstant.AGV_POSE);
//机器人身上是否有货
String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robotStatusDataDTO.getMac();
String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robotStatusDataDTO.getMac();
redisUtil.set(taskStatusKey, robotStatusDataDTO.getTaskStatus(), robotPositionCacheTime);
redisUtil.set(cargoDetectedKey, robotStatusDataDTO.getCargoDetected(), robotPositionCacheTime);
// -- 通过mac 地址获取车辆信息 - (并且加入到缓存中)
Map<String, RobotInformationVO> robotInformationVOS = robotInformationService.getAllRobotByRedis();
RobotInformationVO robotInformationVO = robotInformationVOS.get(robotStatusDataDTO.getMac());
if (robotInformationVO == null) {
robotInformationVO = robotInformationService.getRobotByRedis(robotStatusDataDTO.getMac());
}
robotInformationVO.setPose2d(robotStatusDataPoseDTO);
// 合并请求 - 这里接受到的数据都丢给 RequestProcessor - 再整合数据通过WebSocket丢给前端
processor.handleRequest(robotStatusDataPoseDTO.getFloor() + "_" + robotStatusDataPoseDTO.getArea(),
robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(robotInformationVO));
}
}

40
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
View File

@ -1,27 +1,18 @@
package cn.iocoder.yudao.module.system.api.robot;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.json.JSONUtil;
import cn.iocoder.yudao.framework.common.pojo.CommonResult;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO;
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.RobotCommandStateDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotCompleteTaskDTO;
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.RobotExecutionStateConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
import cn.iocoder.yudao.module.system.constant.webSocket.WebSocketConstant;
import cn.iocoder.yudao.module.system.dal.dataobject.actionlog.RobotTaskDetailActionLogDO;
import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
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.robot.*;
import cn.iocoder.yudao.module.system.dal.mysql.actionlog.RobotTaskDetailActionLogMapper;
import cn.iocoder.yudao.module.system.dal.mysql.cycle.TaskCycleMapper;
@ -29,7 +20,6 @@ import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationM
import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
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.device.DeviceUseStatusEnum;
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.robot.*;
@ -44,7 +34,6 @@ import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
import cn.iocoder.yudao.module.system.service.wait.MoveToWaitService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@ -55,8 +44,6 @@ import org.springframework.web.bind.annotation.RestController;
import javax.annotation.Resource;
import java.time.LocalDateTime;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
import static com.baomidou.mybatisplus.core.toolkit.IdWorker.getId;
@ -141,7 +128,6 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
|| RobotExecutionStateConstant.STOP.equals(robotCompleteTaskDTO.getExecutionState())
|| RobotExecutionStateConstant.CLOSE.equals(robotCompleteTaskDTO.getExecutionState())) {
log.info("任务未开始/暂停/取消 :{}", robotCompleteTaskDTO.getOrderId());
return;
} else if (RobotExecutionStateConstant.DONE.equals(robotCompleteTaskDTO.getExecutionState())) {
robotTaskDone(robotCompleteTaskDTO);
redisUtil.del(robotDoingActionKey);
@ -164,7 +150,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
taskDetailActionLogMapper.insert(logOne);
redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
moveToWaitService.setMoveToWaitDoing(robotCompleteTaskDTO.getOrderId(), WaitStatusEnum.GO_TO_WAIT.getType());
moveToWaitService.updateWaitStatus(robotCompleteTaskDTO.getOrderId(), WaitStatusEnum.GO_TO_WAIT.getType());
} else {
taskDoing(robotCompleteTaskDTO, robotDoingActionKey);
}
@ -199,6 +185,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
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())) {
taskDone(robotCompleteTaskDTO);
@ -210,6 +197,15 @@ 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())) {
moveToWaitService.updateWaitStatus(robotCompleteTaskDTO.getOrderId(), WaitStatusEnum.REACH_WAIT.getType());
} else if (PathTaskType.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotChargeLogDO build = RobotChargeLogDO
.builder()
.id(robotCompleteTaskDTO.getOrderId())
.taskStatus(ChargeTaskStatusEnum.CHARGEING.getType())
.build();
chargeLogMapper.updateById(build);
}
}
@ -237,7 +233,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
@Transactional(rollbackFor = Exception.class)
public void closeTask(RobotCompleteTaskDTO robotCompleteTaskDTO) {
PPCloseOrder(robotCompleteTaskDTO);
String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
//先不释放库位状态
/*if (RobotTaksOrderTypeEnum.TASK.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotTaskDetailDO robotTaskDetailDO = closeTaskDetail(robotCompleteTaskDTO.getOrderId());
List<Long> locationIds = new ArrayList<>();
@ -266,7 +264,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
DeviceUseStatusEnum.IDLE.getType(), ZeroOneEnum.ZERO.getType());
}*/
/* RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(4)
RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(4)
.warnCode(robotCompleteTaskDTO.getStatusCode())
.robotNo(robotNo)
.warnType(RobotWarnType.ROBOT_WARN.getType())
@ -275,7 +273,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
.build();
warnMsgMapper.insert(warnMsg);
warnMsgService.sendWarnMsgToWebsocket(warnMsg.getWarnMsg());*/
warnMsgService.sendWarnMsgToWebsocket(warnMsg.getWarnMsg());
}
/**
@ -312,9 +310,11 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
private void chargeDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey) {
RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
RobotCommandStateDTO commandStatus = robotCompleteTaskDTO.getCommandStatus();
Integer taskStatus = ChargeTaskStatusEnum.CHARGEING.getType();
if (ObjectUtil.isNotEmpty(commandStatus) && CommandTypeEnum.MOVE_POSES.getType().equals(commandStatus.getCommandType())) {
RobotChargeLogDO robotChargeLogDO = chargeLogMapper.selectById(robotCompleteTaskDTO.getOrderId());
logOne.setActionMsg("车辆正在前往充电点" + robotChargeLogDO.getDeviceNo());
taskStatus = ChargeTaskStatusEnum.DOING.getType();
} else if (ObjectUtil.isNotEmpty(commandStatus)) {
logOne.setActionMsg("车辆正在充电");
}
@ -324,6 +324,12 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
taskDetailActionLogMapper.insert(logOne);
redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
RobotChargeLogDO build = RobotChargeLogDO
.builder()
.id(robotCompleteTaskDTO.getOrderId())
.taskStatus(taskStatus)
.build();
chargeLogMapper.updateById(build);
}
/**

34
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotReactiveStatusDTO.java Normal file
View File

@ -0,0 +1,34 @@
package cn.iocoder.yudao.module.system.api.robot.vo;
import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataErrorDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataSpeedDTO;
import lombok.Data;
import java.util.List;
@Data
public class RobotReactiveStatusDTO {
/**
* 楼层区域
*/
public FloorZoneDTO floorZone;
//货叉高度 float
public Double forkHeight;
/**
* 车辆运行速度
*/
public RobotStatusDataSpeedDTO agvSpeed;
/**
* 错误码
*/
public List<RobotStatusDataErrorDTO> errCode;
/**
* mac地址
*/
public String mac;
////手动充电 0或者1，1表示电源线连接着机器人充电口或者是准备连接机器人充电口（待定，充电会关机）
public String manualChargeStatus;
}

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotStatusCodeConstant.java
View File

@ -10,8 +10,8 @@ public class RobotStatusCodeConstant {
public static final String OK = "1000";
//货物到位传感器触发状态：被按下则 true，否则 false
public static Boolean CARGO_DETECTED_TRUE = true;
public static Boolean CARGO_DETECTED = true;
//IDLE 和 RUNNING
public static String TASK_STATUS_RUNNING = "RUNNING";
//true表示可以做任务，如果是到达了充电点正在充电中应该返回true
public static Boolean TASK_STATUS_RUNNING = true;
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationPageReqVO.java
View File

@ -80,7 +80,7 @@ public class WareHouseLocationPageReqVO extends PageParam {
@Schema(description = "机车上报的高度/总高(如果两个箱子叠加，就是叠加后的总高度)--备用")
private BigDecimal locationTotalHeight;
@Schema(description = "机车上报的托盘高度--备用")
@Schema(description = "机车上报的托盘高度--机车上报的下一层箱子高度")
private BigDecimal locationTrayHeight;
@Schema(description = "库位方向（1：单向、2：双向、3：三向、4：四向）")

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationRespVO.java
View File

@ -101,8 +101,8 @@ public class WareHouseLocationRespVO {
@ExcelProperty("机车上报的高度/总高(如果两个箱子叠加，就是叠加后的总高度)")
private BigDecimal locationTotalHeight;
@Schema(description = "机车上报的托盘高度--备用")
@ExcelProperty("机车上报的托盘高度")
@Schema(description = "机车上报的托盘高度--机车上报的下一层箱子高度")
@ExcelProperty("机车上报的托盘高度--机车上报的下一层箱子高度")
private BigDecimal locationTrayHeight;
@Schema(description = "库位方向（1：单向、2：双向、3：三向、4：四向）")

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationSaveReqVO.java
View File

@ -86,7 +86,7 @@ public class WareHouseLocationSaveReqVO {
@Schema(description = "机车上报的高度/总高(如果两个箱子叠加，就是叠加后的总高度)--备用")
private BigDecimal locationTotalHeight;
@Schema(description = "机车上报的托盘高度--备用")
@Schema(description = "机车上报的托盘高度--机车上报的下一层箱子高度")
private BigDecimal locationTrayHeight;
@Schema(description = "层数")

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogPageReqVO.java
View File

@ -38,7 +38,7 @@ public class RobotChargeLogPageReqVO extends PageParam {
@DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
private LocalDateTime[] createTime;
@Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)")
@Schema(description = "任务状态(0:未开始、1：前往充电途中、2：已完成、3：已取消、4:异常、5:充电中)")
private Integer taskStatus;
@Schema(description = "robot_task_detail的id")

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogRespVO.java
View File

@ -44,8 +44,8 @@ public class RobotChargeLogRespVO {
@ExcelProperty("创建时间")
private LocalDateTime createTime;
@Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)")
@ExcelProperty("任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)")
@Schema(description = "任务状态(0:未开始、1：前往充电途中、2：已完成、3：已取消、4:异常、5:充电中)")
@ExcelProperty("任务状态(0:未开始、1：前往充电途中、2：已完成、3：已取消、4:异常、5:充电中)")
private Integer taskStatus;
@Schema(description = "robot_task_detail的id")

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogSaveReqVO.java
View File

@ -33,7 +33,7 @@ public class RobotChargeLogSaveReqVO {
@Schema(description = "device_information表的设备编号")
private String deviceNo;
@Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)")
@Schema(description = "任务状态(0:未开始、1：前往充电途中、2：已完成、3：已取消、4:异常、5:充电中)")
private Integer taskStatus;
@Schema(description = "robot_task_detail的id")

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationDO.java
View File

@ -135,7 +135,7 @@ public class WareHouseLocationDO extends BaseDO {
*/
private BigDecimal locationTotalHeight;
/**
* 机车上报的托盘高度--备用
* 机车上报的下一层箱子高度
*/
private BigDecimal locationTrayHeight;
/**

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotChargeLogDO.java
View File

@ -55,7 +55,7 @@ public class RobotChargeLogDO extends BaseDO {
*/
private Integer chargeModel;
/**
* 任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)
* 任务状态(0:未开始、1：前往充电途中、2：已完成、3：已取消、4:异常、5:充电中)
*/
private Integer taskStatus;
/**

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/charge/ChargeTaskStatusEnum.java
View File

@ -10,10 +10,11 @@ import lombok.Getter;
@AllArgsConstructor
public enum ChargeTaskStatusEnum {
NEW(0),//未开始
DOING(1),//执行中
DOING(1),//前往充电涂中
DONE(2),//已完成
CLOSE(3), //已取消
ABNORMAL(4); //异常
ABNORMAL(4),//异常
CHARGEING(5); //充电中
/**
* 类型
*/

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

@ -122,7 +122,7 @@ public class BulletinBoardServiceImpl implements BulletinBoardService {
BeanUtil.copyProperties(item, robotElectricityLevelVO);
}
robotElectricityLevelVO.setRobotNo(robotInformationDO.getRobotNo());
robotElectricityLevelVO.setBatSoc(robotStatusDataPoseDTO.getBat_soc());
robotElectricityLevelVO.setBatSoc(robotStatusDataPoseDTO.getBatSoc());
robotElectricityLevelVOS.add(robotElectricityLevelVO);
}
}

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

@ -21,7 +21,6 @@ import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotModelDO;
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.RobotModelMapper;
import cn.iocoder.yudao.module.system.enums.robot.CommandTypeEnum;
import cn.iocoder.yudao.module.system.enums.robot.RobotStatusEnum;
import cn.iocoder.yudao.module.system.enums.robot.RobotTaskModelEnum;
import cn.iocoder.yudao.module.system.enums.robot.information.RobotStatisticsTypeEnum;
@ -170,7 +169,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
if (ObjectUtil.isNotEmpty(object) && ObjectUtil.isNotEmpty(robotStatusDataPoseDTO)) {
bean.setElectricity(robotStatusDataPoseDTO.getBat_soc());
bean.setElectricity(robotStatusDataPoseDTO.getBatSoc());
bean.setFloor(robotStatusDataPoseDTO.getFloor());
bean.setArea(robotStatusDataPoseDTO.getArea());
}
@ -259,7 +258,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
Object action = redisUtil.get(robotDoingActionKey);
if (ObjectUtil.isNotEmpty(object) && ObjectUtil.isNotEmpty(robotStatusDataPoseDTO)) {
v.setElectricity(robotStatusDataPoseDTO.getBat_soc());
v.setElectricity(robotStatusDataPoseDTO.getBatSoc());
v.setFloor(robotStatusDataPoseDTO.getFloor());
v.setArea(robotStatusDataPoseDTO.getArea());
v.setOnlineStatus(1);
@ -469,7 +468,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
robotStatusDataPoseDTO.setYaw(robotStatusDataDTO.getData().getPose2d().getYaw());
robotStatusDataPoseDTO.setFloor(robotStatusDataDTO.getData().getFloor_zone().getFloor());
robotStatusDataPoseDTO.setArea(robotStatusDataDTO.getData().getFloor_zone().getArea());
robotStatusDataPoseDTO.setBat_soc(robotStatusDataDTO.getData().getPose2d().getBat_soc());
robotStatusDataPoseDTO.setBatSoc(robotStatusDataDTO.getData().getPose2d().getBatSoc());
robotInformationVO.setPose2d(robotStatusDataPoseDTO);

58
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
View File

@ -1,7 +1,6 @@
package cn.iocoder.yudao.module.system.service.robot;
import cn.hutool.core.bean.BeanUtil;
import cn.hutool.core.util.ArrayUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.json.JSONUtil;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
@ -21,14 +20,12 @@ import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
import cn.iocoder.yudao.module.system.controller.admin.robot.detail.RobotTaskDetailLogResoVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.detail.RobotTaskDetailLogVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.task.TaskAssignDTO;
import cn.iocoder.yudao.module.system.controller.admin.robot.task.TaskPPDistribution;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
import cn.iocoder.yudao.module.system.dal.dataobject.cycle.TaskCycleDO;
import cn.iocoder.yudao.module.system.dal.dataobject.housearea.HouseAreaDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselane.WareHouseLaneDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotChargeLogDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
@ -50,16 +47,15 @@ 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.RobotCommandTypeEnum;
//import cn.iocoder.yudao.module.system.service.robot.job.RobotCommonTaskService;
import cn.iocoder.yudao.module.system.enums.wait.WaitStatusEnum;
import cn.iocoder.yudao.module.system.service.wait.MoveToWaitService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import cn.iocoder.yudao.module.system.util.redis.RedissonUtils;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.Wrapper;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.core.conditions.segments.MergeSegments;
import com.baomidou.mybatisplus.core.metadata.IPage;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.google.common.collect.Lists;
import com.google.gson.Gson;
import lombok.extern.slf4j.Slf4j;
import org.redisson.api.RLock;
import org.springframework.beans.factory.annotation.Autowired;
@ -72,9 +68,7 @@ import javax.annotation.Resource;
import java.time.LocalDateTime;
import java.util.*;
import java.util.concurrent.TimeUnit;
import java.util.function.Function;
import java.util.stream.Collectors;
import java.util.stream.Stream;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception0;
@ -149,6 +143,9 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
@Resource
private DeviceInformationMapper deviceInformationMapper;
@Resource
private MoveToWaitService moveToWaitService;
@Resource
private CommonApi commonApi;
@ -425,11 +422,13 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
}
for (RobotInformationDO robotInformationDO : robotInformationDOS) {
String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robotInformationDO.getMacAddress();
/*String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robotInformationDO.getMacAddress();
Object cargoDetected = redisUtil.get(cargoDetectedKey);
if (ObjectUtil.isEmpty(cargoDetected) || RobotStatusCodeConstant.CARGO_DETECTED_TRUE.equals(cargoDetected)) {
if (ObjectUtil.isEmpty(cargoDetected) || RobotStatusCodeConstant.CARGO_DETECTED.equals(cargoDetected)) {
robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType());
}
}*/
//因为机器人如果正在抬叉取货，这时把任务取消，如果货叉刚好伸到托盘底下，还是需要人为控制
robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType());
robotInformationDO.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
}
@ -456,32 +455,38 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
Map<Long, String> deviceNoMap = new HashMap<>();
RobotChargeLogDO robotChargeLogs = null;
/**
* 充电
*/
Integer robotStatus = RobotStatusEnum.DOING.getType();
if (PathTaskType.AUTO_CHARGE.getType().equals(taskAssignDTO.getType())) {
robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getId());
robotChargeLogs.setTaskStatus(ChargeTaskStatusEnum.DOING.getType());
chargeLogMapper.updateBatch(robotChargeLogs);
robotInformationMapper.updateRobotListStatus(taskAssignDTO.getRobotNo(), RobotStatusEnum.CHARGE.getType(), taskAssignDTO.getId());
robotStatus = RobotStatusEnum.CHARGE.getType();
if (ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId())) {
deviceNoMap.put(robotChargeLogs.getTaskDetailId(), robotChargeLogs.getDeviceNo());
detailId = robotChargeLogs.getTaskDetailId();
}
} else if (PathTaskType.MOVE_TO_WAIT.getType().equals(taskAssignDTO.getType())) {
chargeDone(taskAssignDTO.getRobotNo());
moveToWaitService.updateWaitStatus(taskAssignDTO.getId(), WaitStatusEnum.GO_TO_WAIT.getType());
} else if (PathTaskType.CHARGE.getType().equals(taskAssignDTO.getType())) {
robotStatus = RobotStatusEnum.CHARGE.getType();
detailId = taskAssignDTO.getId();
} else {
chargeDone(taskAssignDTO.getRobotNo());
robotInformationMapper.updateRobotListStatus(taskAssignDTO.getRobotNo(), RobotStatusEnum.DOING.getType(), taskAssignDTO.getId());
detailId = taskAssignDTO.getId();
}
RobotTaskDetailDO robotTaskDetailDO = null;
robotInformationMapper.updateRobotListStatus(taskAssignDTO.getRobotNo(), robotStatus, taskAssignDTO.getId());
if (ObjectUtil.isNotEmpty(detailId)) {
robotTaskDetailDO = setTaskDoing(detailId, taskAssignDTO.getRobotNo(), deviceNoMap);
setTaskDoing(detailId, taskAssignDTO.getRobotNo(), deviceNoMap);
}
sendTaskToRobot(robotTaskDetailDO, taskAssignDTO);
// sendTaskToRobot(robotTaskDetailDO, taskAssignDTO);
}
@ -1238,7 +1243,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
.eq(RobotChargeLogDO::getRobotNo, robotNo)
.orderByDesc(RobotChargeLogDO::getCreateTime)
.last("limit 1"));
if (ObjectUtil.isEmpty(robotChargeLogDO)) {
if (ObjectUtil.isEmpty(robotChargeLogDO) || !ChargeTaskStatusEnum.CHARGEING.getType().equals(robotChargeLogDO.getTaskStatus())) {
return;
}
log.info("开始结束充电，并接任务 :{}", robotNo);
@ -1249,11 +1254,17 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
if (ObjectUtil.isNotEmpty(object) && ObjectUtil.isNotEmpty(robotStatusDataPoseDTO)) {
robotChargeLogDO.setEndElectricity(Integer.valueOf(robotStatusDataPoseDTO.getBat_soc()));
robotChargeLogDO.setEndElectricity(Integer.valueOf(robotStatusDataPoseDTO.getBatSoc()));
}
robotChargeLogDO.setTaskStatus(ChargeTaskStatusEnum.DONE.getType());
chargeLogMapper.updateBatch(robotChargeLogDO);
DeviceInformationDO deviceInformationDO = deviceInformationMapper.selectOne(new LambdaQueryWrapperX<DeviceInformationDO>()
.eq(DeviceInformationDO::getDeviceNo, robotChargeLogDO.getDeviceNo()));
deviceInformationDO.setDeviceUseStatus(DeviceUseStatusEnum.IDLE.getType());
deviceInformationMapper.updateBatch(deviceInformationDO);
log.info("充电桩设置为空闲 :{}", deviceInformationDO.getDeviceNo());
if (ObjectUtil.isEmpty(robotChargeLogDO.getTaskDetailId())) {
return;
}
@ -1263,11 +1274,6 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
RobotTaskDO robotTask = taskMapper.selectById(taskDetail.getRobotTaskId());
robotTask.setTaskStatus(RobotTaskStatusEnum.DONE.getType());
taskMapper.updateBatch(robotTask);
DeviceInformationDO deviceInformationDO = deviceInformationMapper.selectOne(new LambdaQueryWrapperX<DeviceInformationDO>()
.eq(DeviceInformationDO::getDeviceNo, robotChargeLogDO.getDeviceNo()));
deviceInformationDO.setDeviceUseStatus(DeviceUseStatusEnum.IDLE.getType());
deviceInformationMapper.updateBatch(deviceInformationDO);
log.info("充电桩设置为空闲 :{}", deviceInformationDO.getDeviceNo());
}
/**

11
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java
View File

@ -2,7 +2,6 @@ package cn.iocoder.yudao.module.system.service.robot.job;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.json.JSONUtil;
import cn.iocoder.yudao.framework.common.exception.ServiceException;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
@ -12,7 +11,6 @@ import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
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.RobotTaskDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
import cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper;
import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
@ -24,7 +22,6 @@ import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import cn.iocoder.yudao.module.system.enums.config.CommandConfigTypeEnum;
import cn.iocoder.yudao.module.system.enums.device.DeviceTypeEnum;
import cn.iocoder.yudao.module.system.enums.device.DeviceUseStatusEnum;
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.ChargeModelEnum;
import cn.iocoder.yudao.module.system.service.robot.pathplanning.RobotPathPlanningService;
@ -40,14 +37,10 @@ import org.springframework.transaction.annotation.Transactional;
import javax.annotation.Resource;
import java.math.BigDecimal;
import java.time.LocalDateTime;
import java.util.*;
import java.util.stream.Collectors;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception0;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.PATH_PLANNING_DOING_DISTRIBUTE;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.TASK_CHECK_UPDATE_STATUS;
@Service
@Slf4j
@ -170,7 +163,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +robot.getMacAddress();
Object poseCache = redisUtil.get(pose2dKey);
RobotStatusDataPoseDTO dataPoseDTO= JSON.parseObject((String)poseCache, RobotStatusDataPoseDTO.class);
if (ObjectUtil.isEmpty(dataPoseDTO) || ObjectUtil.isEmpty(dataPoseDTO.getBat_soc())) {
if (ObjectUtil.isEmpty(dataPoseDTO) || ObjectUtil.isEmpty(dataPoseDTO.getBatSoc())) {
log.info("当前机器人查不到电量信息,所以不执行充电 :{}",robot.getRobotNo());
continue;
}
@ -194,7 +187,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
logDo.setRobotNo(robot.getRobotNo());
logDo.setDeviceNo(deviceInformationDO.getDeviceNo());
logDo.setPositionMapItemId(deviceInformationDO.getPositionMapItemId());
String[] split = dataPoseDTO.getBat_soc().split("\\.");
String[] split = dataPoseDTO.getBatSoc().split("\\.");
logDo.setStartElectricity(Integer.valueOf(split[0]));
//配置的充满电电量
BigDecimal robotFullElectricity = new BigDecimal(fullElectricity);

16
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
View File

@ -5,16 +5,11 @@ 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.task.RobotTaskApi;
import cn.iocoder.yudao.module.mqtt.api.task.dto.Pose2ds;
import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO;
import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskData;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
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.config.vo.CommonConfigVO;
import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
@ -35,7 +30,6 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang3.tuple.ImmutablePair;
import org.apache.commons.lang3.tuple.Pair;
import org.bouncycastle.pqc.crypto.util.PQCOtherInfoGenerator;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
@ -45,9 +39,7 @@ import javax.annotation.Resource;
import java.math.BigDecimal;
import java.time.LocalDateTime;
import java.util.ArrayList;
import java.util.HashSet;
import java.util.List;
import java.util.Set;
import java.util.stream.Collectors;
@Service
@ -129,14 +121,14 @@ 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(taskStatus.toString())) {
if (ObjectUtil.isEmpty(taskStatus) || RobotStatusCodeConstant.TASK_STATUS_RUNNING.equals(Boolean.parseBoolean(String.valueOf(taskStatus)))) {
robot.setRobotStatus(RobotStatusEnum.DOING.getType());
continue;
}
Object cargoDetected = redisUtil.get(cargoDetectedKey);
// todo 后续需要判断(新建个任务明细表)，如果上一条任务是仅取货，且正常完成， 则能进行仅放货的任务
if (ObjectUtil.isEmpty(cargoDetected) || RobotStatusCodeConstant.CARGO_DETECTED_TRUE.equals(cargoDetected)) {
if (ObjectUtil.isEmpty(cargoDetected) || RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))) {
robot.setRobotStatus(RobotStatusEnum.DOING.getType());
continue;
}
@ -229,14 +221,14 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
RobotStatusDataPoseDTO dataPoseDTO = JSON.parseObject((String) poseCache, RobotStatusDataPoseDTO.class);
log.info("充电机器人编号:{} ,信息: {}", robot.getRobotNo(), JSON.toJSONString(dataPoseDTO));
if (ObjectUtil.isEmpty(commonConfigDO) || ObjectUtil.isEmpty(poseCache) || ObjectUtil.isEmpty(dataPoseDTO.getBat_soc())) {
if (ObjectUtil.isEmpty(commonConfigDO) || ObjectUtil.isEmpty(poseCache) || ObjectUtil.isEmpty(dataPoseDTO.getBatSoc())) {
return;
}
CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfigDO.getConfigStr(), CommonConfigVO.class);
//车子剩余电量
BigDecimal robotRemainingElectricity = new BigDecimal(dataPoseDTO.getBat_soc());
BigDecimal robotRemainingElectricity = new BigDecimal(dataPoseDTO.getBatSoc());
//设置离开的电量
BigDecimal robotEndElectricity = null;

26
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
View File

@ -108,6 +108,9 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
@Value("${zn.robot_chearg.priority_config:50}")
private Long priorityConfig;
@Value("${zn.robot_config.offset_height}")
private Double offsetHeight;
/**
* 下发任务给PP
*/
@ -239,20 +242,28 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
}
pathPlanning.setRobotNoLimitationAreaDTOS(robotNoLimitions);
WareHouseLocationDO fromLocation = locationDOMap.get(taskDetailDO.getFromLocationId());
WareHouseLocationDO toLocation = locationDOMap.get(taskDetailDO.getToLocationId());
//取是线库
if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())
&& ObjectUtil.isNotEmpty(taskDetailDO.getFromLaneId())) {
pathPlanning.setTakeGroupId("LINE_" + taskDetailDO.getFromLaneId());
pathPlanning.setTakeLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getFromLocationNumber()));
pathPlanning.setTakePointId(locationDOMap.get(taskDetailDO.getFromLocationId()).getMapItemId());
pathPlanning.setTakePointId(fromLocation.getMapItemId());
pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTrayHeight()+""));
pathPlanning.setTakeLevel(fromLocation.getLocationStorey());
pathPlanning.setTakeOffsetHeight(offsetHeight);
} else if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())
&& ObjectUtil.isEmpty(taskDetailDO.getFromLaneId())) {
//取的是普通点位
pathPlanning.setTakeGroupId("POINT_" + taskDetailDO.getFromMapItemId());
pathPlanning.setTakeLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getFromLocationNumber()));
pathPlanning.setTakePointId(locationDOMap.get(taskDetailDO.getFromLocationId()).getMapItemId());
pathPlanning.setTakePointId(fromLocation.getMapItemId());
pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTrayHeight()+""));
pathPlanning.setTakeLevel(fromLocation.getLocationStorey());
pathPlanning.setTakeOffsetHeight(offsetHeight);
}
//放是线库
@ -261,14 +272,21 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
pathPlanning.setReleaseGroupId("LINE_" + taskDetailDO.getToLaneId());
pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
pathPlanning.setReleasePointId(locationDOMap.get(taskDetailDO.getToLocationId()).getMapItemId());
pathPlanning.setReleasePointId(toLocation.getMapItemId());
pathPlanning.setReleaseHeight(Double.valueOf(toLocation.getLocationTrayHeight()+""));
pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
pathPlanning.setReleaseOffsetHeight(offsetHeight);
} else if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())
&& ObjectUtil.isEmpty(taskDetailDO.getToLaneId())) {
//放的是普通点位
pathPlanning.setReleaseGroupId("POINT_" + taskDetailDO.getToMapItemId());
pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
pathPlanning.setReleasePointId(locationDOMap.get(taskDetailDO.getToLocationId()).getMapItemId());
pathPlanning.setReleasePointId(toLocation.getMapItemId());
pathPlanning.setReleaseHeight(Double.valueOf(toLocation.getLocationTrayHeight()+""));
pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
pathPlanning.setReleaseOffsetHeight(offsetHeight);
}
pathPlanningList.add(pathPlanning);

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/wait/MoveToWaitService.java
View File

@ -1,9 +1,7 @@
package cn.iocoder.yudao.module.system.service.wait;
import java.util.*;
import javax.validation.*;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
import cn.iocoder.yudao.module.system.controller.admin.wait.vo.*;
import cn.iocoder.yudao.module.system.dal.dataobject.wait.MoveToWaitDO;
@ -52,5 +50,5 @@ public interface MoveToWaitService {
*/
PageResult<MoveToWaitDO> getMoveToWaitPage(MoveToWaitPageReqVO pageReqVO);
void setMoveToWaitDoing(Long orderId,Integer status);
void updateWaitStatus(Long orderId, Integer status);
}

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

@ -72,7 +72,7 @@ public class MoveToWaitServiceImpl implements MoveToWaitService {
}
@Override
public void setMoveToWaitDoing(Long orderId,Integer status) {
public void updateWaitStatus(Long orderId, Integer status) {
MoveToWaitDO updateObj = new MoveToWaitDO();
updateObj.setId(orderId);
updateObj.setWaitStatus(status);