From 9296aabd48d0deda315a940b997bc1baabbf1910 Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Thu, 13 Mar 2025 08:59:55 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9C=BA=E5=99=A8=E4=BA=BA=E5=93=8D=E5=BA=94?= =?UTF-8?q?=E5=BC=8F=E7=8A=B6=E6=80=81=E4=B8=8A=E6=8A=A5?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../api/path/task/TaskToPathPlanningDTO.java | 21 +++ .../module/mqtt/enums/DefineSubTopicEnum.java | 1 + .../framework/system/SystemConfiguration.java | 3 +- .../RobotReactiveStatusServiceImpl.java | 22 +++ .../mqtt/service/RobotStatusServiceImpl.java | 3 +- .../api/robot/RobotReactiveStatusApi.java | 19 +++ .../system/api/robot/RobotStatusApi.java | 3 +- .../api/robot/dto/RobotPoseStatusDTO.java | 26 ++++ .../robot/dto/RobotStatusDataErrorDTO.java | 4 +- .../api/robot/dto/RobotStatusDataPoseDTO.java | 2 +- .../robot/dto/RobotStatusDataSpeedDTO.java | 4 +- .../api/robot/RobotGenericsStatusApiImpl.java | 2 +- .../api/robot/RobotReactiveStatusApiImpl.java | 147 ++++++++++++++++++ .../system/api/robot/RobotStatusApiImpl.java | 104 ++++++------- .../api/robot/RobotTaskStatusApiImpl.java | 40 +++-- .../api/robot/vo/RobotReactiveStatusDTO.java | 34 ++++ .../robot/RobotStatusCodeConstant.java | 6 +- .../vo/WareHouseLocationPageReqVO.java | 2 +- .../vo/WareHouseLocationRespVO.java | 4 +- .../vo/WareHouseLocationSaveReqVO.java | 2 +- .../chargelog/RobotChargeLogPageReqVO.java | 2 +- .../robot/chargelog/RobotChargeLogRespVO.java | 4 +- .../chargelog/RobotChargeLogSaveReqVO.java | 2 +- .../houselocation/WareHouseLocationDO.java | 2 +- .../dataobject/robot/RobotChargeLogDO.java | 2 +- .../robot/charge/ChargeTaskStatusEnum.java | 5 +- .../BulletinBoardServiceImpl.java | 2 +- .../robot/RobotInformationServiceImpl.java | 7 +- .../service/robot/RobotTaskServiceImpl.java | 58 +++---- .../robot/job/AutoChargeServiceImpl.java | 11 +- .../robot/job/DistributeTasksServiceImpl.java | 16 +- .../RobotPathPlanningServiceImpl.java | 26 +++- .../service/wait/MoveToWaitService.java | 4 +- .../service/wait/MoveToWaitServiceImpl.java | 2 +- 34 files changed, 437 insertions(+), 155 deletions(-) create mode 100644 yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotReactiveStatusServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApi.java create mode 100644 yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotPoseStatusDTO.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotReactiveStatusDTO.java diff --git a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java index e8066d72d..fd2e015d5 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java +++ b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java @@ -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 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; + } diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java index fb2e37cff..51c77065e 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java @@ -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"), diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/framework/system/SystemConfiguration.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/framework/system/SystemConfiguration.java index e292c9371..aaf0cb8bf 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/framework/system/SystemConfiguration.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/framework/system/SystemConfiguration.java @@ -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 { } diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotReactiveStatusServiceImpl.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotReactiveStatusServiceImpl.java new file mode 100644 index 000000000..92d83d35f --- /dev/null +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotReactiveStatusServiceImpl.java @@ -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); + } + +} diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java index c23752240..bcb25c607 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java @@ -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); } } diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApi.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApi.java new file mode 100644 index 000000000..0435178e2 --- /dev/null +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApi.java @@ -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); +} diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApi.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApi.java index b8d18b16b..0f825fe58 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApi.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApi.java @@ -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); } diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotPoseStatusDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotPoseStatusDTO.java new file mode 100644 index 000000000..f1a75d584 --- /dev/null +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotPoseStatusDTO.java @@ -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; + +} diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataErrorDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataErrorDTO.java index 7bc2e9bde..880ab6a3a 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataErrorDTO.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataErrorDTO.java @@ -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; } diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java index ea31b6ecf..f85c7e694 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java @@ -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; } diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataSpeedDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataSpeedDTO.java index b1e2808a8..5ad53d86d 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataSpeedDTO.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataSpeedDTO.java @@ -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; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java index e669c5d2c..6f588a2ad 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java @@ -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); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java new file mode 100644 index 000000000..77182d170 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java @@ -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 errCode = data.getErrCode(); + List warnCodes = + errCode.stream().map(RobotStatusDataErrorDTO::getErrorCode).collect(Collectors.toList()); + List robotWarnCodeMappingDOS = + warnCodeMappingMapper.selectList(new LambdaQueryWrapper() + .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> warnCodeMapping = + robotWarnCodeMappingDOS.stream().collect(Collectors.groupingBy(RobotWarnCodeMappingDO::getWarnCode)); + + List 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 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); + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java index 10f59f2b7..792241261 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java @@ -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 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 errCode = robotStatusDataDTO.getData().getErr_code(); @@ -132,7 +88,7 @@ public class RobotStatusApiImpl implements RobotStatusApi { } List warnCodes = - errCode.stream().map(RobotStatusDataErrorDTO::getError_code).collect(Collectors.toList()); + errCode.stream().map(RobotStatusDataErrorDTO::getErrorCode).collect(Collectors.toList()); List robotWarnCodeMappingDOS = warnCodeMappingMapper.selectList(new LambdaQueryWrapper() .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 mappingDOS = warnCodeMapping.get(robotStatusData.getError_code()); + List 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 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)); + } } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java index 4c81fc666..5b99bd8f1 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java @@ -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 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); } /** diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotReactiveStatusDTO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotReactiveStatusDTO.java new file mode 100644 index 000000000..2e54e9036 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotReactiveStatusDTO.java @@ -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 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; + +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotStatusCodeConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotStatusCodeConstant.java index 86de3be17..6f56931ae 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotStatusCodeConstant.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotStatusCodeConstant.java @@ -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; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationPageReqVO.java index 6ce033d7d..75f773e55 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationPageReqVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationPageReqVO.java @@ -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）") diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationRespVO.java index 454f93eb4..0de71cb62 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationRespVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationRespVO.java @@ -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）") diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationSaveReqVO.java index 0adc4632b..ea118352c 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationSaveReqVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationSaveReqVO.java @@ -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") diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogPageReqVO.java index 2f0127bdf..c648883f3 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogPageReqVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogPageReqVO.java @@ -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") diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogRespVO.java index d6b891141..539d27a30 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogRespVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogRespVO.java @@ -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") diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogSaveReqVO.java index 1e4cb172b..7301995a6 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogSaveReqVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/chargelog/RobotChargeLogSaveReqVO.java @@ -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") diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationDO.java index 779aa3149..86c2f4d5c 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationDO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationDO.java @@ -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; /** diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotChargeLogDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotChargeLogDO.java index 29828c57c..cefcfbc83 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotChargeLogDO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotChargeLogDO.java @@ -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; /** diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/charge/ChargeTaskStatusEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/charge/ChargeTaskStatusEnum.java index 7ad6b5b21..a28916f6d 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/charge/ChargeTaskStatusEnum.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/charge/ChargeTaskStatusEnum.java @@ -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 */ diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/bulletinboard/BulletinBoardServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/bulletinboard/BulletinBoardServiceImpl.java index 016452478..fa92f22d9 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/bulletinboard/BulletinBoardServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/bulletinboard/BulletinBoardServiceImpl.java @@ -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); } } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java index 4c3d84c53..a2e75cb4d 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java @@ -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 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() + .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() - .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()); } /** diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java index a146acbe6..527af697b 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java @@ -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); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java index 181896f00..3dbddf746 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java @@ -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; diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java index aa541af48..d11748c1a 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java @@ -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); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/wait/MoveToWaitService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/wait/MoveToWaitService.java index a09fceb55..18a0d639e 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/wait/MoveToWaitService.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/wait/MoveToWaitService.java @@ -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 getMoveToWaitPage(MoveToWaitPageReqVO pageReqVO); - void setMoveToWaitDoing(Long orderId,Integer status); + void updateWaitStatus(Long orderId, Integer status); } \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/wait/MoveToWaitServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/wait/MoveToWaitServiceImpl.java index 07514852c..eef30970a 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/wait/MoveToWaitServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/wait/MoveToWaitServiceImpl.java @@ -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);