Merge branch 'dev' of http://git.znkjfw.com/ak/zn-cloud-wcs into dev

# Conflicts:
#	yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java
#	yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapLineServiceImpl.java
#	yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java
#	yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
#	yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml

README.md

@@ -370,3 +370,5 @@
 | ![](/.image/admin-uniapp/07.png) | ![](/.image/admin-uniapp/08.png) | ![](/.image/admin-uniapp/09.png) |
 
 目前已经实现登录、我的、工作台、编辑资料、头像修改、密码修改、常见问题、关于我们等基础功能。
+
+### CICD 测试6

yudao-framework/yudao-spring-boot-starter-web/src/main/java/cn/iocoder/yudao/framework/apilog/core/interceptor/ApiAccessLogInterceptor.java

@@ -34,7 +34,9 @@ public class ApiAccessLogInterceptor implements HandlerInterceptor {
 
     private static final String ATTRIBUTE_STOP_WATCH = "ApiAccessLogInterceptor.StopWatch";
 
-    private static final List<String> ignoreInterfaceUrls = Arrays.asList("/rpc-api/system/task/robotStatusUpdate","/rpc-api/system/task/updateRobotCommonStatus");
+    private static final List<String> ignoreInterfaceUrls = Arrays.asList("/rpc-api/system/task/robotStatusUpdate",
+            "/rpc-api/system/task/robotReactiveStatus",
+            "/rpc-api/system/task/updateRobotCommonStatus");
 
     @Override
     public boolean preHandle(HttpServletRequest request, HttpServletResponse response, Object handler) {

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYArgDTO.java

@@ -13,6 +13,7 @@ import java.util.List;
 @AllArgsConstructor
 public class PathToRobotChangeXYArgDTO {
     private List<PathToRobotChangeXYArgMovePoseDTO> pose2ds;
+    private PathToRobotChangeXYArgMovePoseDTO pose2d;
     private PathToRobotChangeXYArgPoseDTO backPose;
     private PathToRobotChangeXYArgPoseDTO cargoPose;
     private Double height;

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYDTO.java

@@ -19,6 +19,7 @@ public class PathToRobotChangeXYDTO {
     //这个实体类不要修改
     private String executionType;
     private String orderId;
+    private String timeStamp;
     private String orderType;
     private String robotNo;
     private String taskType;

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotDTO.java

@@ -18,6 +18,7 @@ public class PathToRobotDTO {
     //这个实体类的信息,不能修改
     //这个实体类的信息,不能修改
     private String orderType;
+    private String timeStamp;
     private Integer isCommandEnd;
     private String robotNo;
     private String commandType;

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/RobotDimensionsDTO.java

@@ -31,4 +31,8 @@ public class RobotDimensionsDTO {
 
     @Schema(description = "转弯半径(单位米)")
     private Double robotTurningRadius;
+
+    @Schema(description = "偏移量")
+    private Double robotOffset;
+
 }

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java

@@ -23,6 +23,9 @@ public class CommonApiImpl implements CommonApi {
         try {
             String str = JSON.toJSONString(obj);
             mqttUtils.pub(topic, JSON.toJSONString(obj));
+            if(topic.equals("AGV_POSE")) {
+                return;
+            }
             if (str.length() > 510) {
                 log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str.substring(0, 500));
             }else {
@@ -37,6 +40,9 @@ public class CommonApiImpl implements CommonApi {
     public void commonMethodStr(String str, String topic) {
         try {
             mqttUtils.pub(topic, str);
+            if(topic.equals("AGV_POSE")) {
+                return;
+            }
             if (str.length() > 510) {
                 log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str.substring(0, 500));
             }else {

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttCallBack.java

@@ -9,6 +9,8 @@ import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.context.annotation.Configuration;
 
 import java.nio.charset.StandardCharsets;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
 
 /**
  * MQTT回调
@@ -17,6 +19,9 @@ import java.nio.charset.StandardCharsets;
 @Configuration
 public class MqttCallBack implements MqttCallback {
 
+
+    private static final ExecutorService fixedThreadPool = Executors.newFixedThreadPool(10);
+
     /**
      * 与服务器断开的回调
      */
@@ -35,16 +40,19 @@ public class MqttCallBack implements MqttCallback {
      */
     @Override
     public void messageArrived(String topic, MqttMessage mqttMessage) throws Exception {
-        String msg = new String(mqttMessage.getPayload(), StandardCharsets.UTF_8);
+        fixedThreadPool.execute(() -> {
+            String msg = new String(mqttMessage.getPayload(), StandardCharsets.UTF_8);
 //        log.info("[MQTT]接收当前消息为 :{}", msg);
 
-        try {
-            MqttService mqttService = MqttFactory.getMqttFactory(topic);
-            mqttService.analysisMessage(msg);
-        } catch (Exception e) {
-            log.info("消费失败的消息主题 :{},消息内容 :{}", topic, msg);
-            log.info("消费消息异常 :{}", e);
-        }
+            try {
+                MqttService mqttService = MqttFactory.getMqttFactory(topic);
+                mqttService.analysisMessage(msg);
+            } catch (Exception e) {
+                log.info("消费失败的消息主题 :{},消息内容 :{}", topic, msg);
+                log.info("消费消息异常 :{}", e);
+            }
+        });
+
     }
 
     /**

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotGenericsStatusServiceImpl.java

@@ -21,7 +21,7 @@ public class RobotGenericsStatusServiceImpl implements MqttService{
 
     @Override
     public void analysisMessage(String message) {
-        log.info("处理RobotGenericsStatusServiceImpl的消息 :{}",message);
+//        log.info("处理RobotGenericsStatusServiceImpl的消息 :{}",message);
         RobotGenericsDataDTO robotStatusData = JSON.parseObject(message , RobotGenericsDataDTO.class);
         robotGenericsStatusApi.updateRobotCommonStatus(robotStatusData);
     }

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java

@@ -22,7 +22,7 @@ public class RobotStatusServiceImpl implements MqttService {
      */
     @Override
     public void analysisMessage(String message) {
-//        log.info("处理RobotStatusServiceImpl的消息 :{}", message);
+        log.info("处理RobotStatusServiceImpl的消息 :{}", message);
         RobotPoseStatusDTO robotStatusData = JSON.parseObject(message, RobotPoseStatusDTO.class);
         robotStatusApi.robotStatusUpdate(robotStatusData);
     }

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-local.yaml

@@ -35,7 +35,8 @@ management:
 mqtt:
 #  host: tcp://123.57.12.40:1883
   host: tcp://127.0.0.1:1883
-#  host: tcp://10.10.7.195:1883
+#  host: tcp://10.10.7.116:1883
+#  host: tcp://10.10.7.114:1883
   username: adminuser
   password: adminuser
   qos: 2

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-test.yaml

@@ -34,7 +34,8 @@ management:
 # MQTT
 mqtt:
 #  host: tcp://123.57.12.40:1883
-  host: tcp://10.10.100.42:1883
+#  host: tcp://10.10.100.42:1883
+  host: tcp://127.0.0.1:1883
   username: adminuser
   password: adminuser
   qos: 0

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotPoseStatusDTO.java

@@ -18,6 +18,7 @@ public class RobotPoseStatusDTO {
      *  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;
+    public String timestamp;
 
     /**
      * 机器人位姿

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/websocket/RobotStatusDataPoseDTO.java

@@ -20,4 +20,6 @@ public class RobotStatusDataPoseDTO {
     public Double forkHeight;
     //电池剩余容量   废弃  从ROBOT_INFORMATION_SOC 获取电量
 //    public String batSoc;
+
+    public String timestamp;
 }

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java

@@ -202,6 +202,7 @@ public interface ErrorCodeConstants {
     ErrorCode ROBOT_PORT_NOT_COMPLIANCE = new ErrorCode(1-002-034-016, "车辆端口范围在4096至65535之间");
     ErrorCode ROBOT_IP_NOT_COMPLIANCE = new ErrorCode(1-002-034-017, "请检测车辆IP是否符合规范");
     ErrorCode ROBOT_IP_OR_PORT_EMPTY = new ErrorCode(1-002-034-020, "车辆IP或者端口为空");
+    ErrorCode ROBOT_PART_AREA = new ErrorCode(1-002-034-021, "车辆选择的楼层,不包含目前车辆停靠的楼层");
 
     // ========== 机器人任务主表 1-002-035-000 ==========
     ErrorCode TASK_NOT_EXISTS = new ErrorCode(1-002-035-001, "车辆任务主表不存在");

yudao-module-system/yudao-module-system-biz/pom.xml

@@ -46,6 +46,12 @@
             <version>${revision}</version>
         </dependency>
 
+        <dependency>
+            <groupId>cn.iocoder.cloud</groupId>
+            <artifactId>yudao-module-remote-api</artifactId>
+            <version>${revision}</version>
+        </dependency>
+
         <!-- 业务组件 -->
         <dependency>
             <groupId>cn.iocoder.cloud</groupId>
@@ -179,6 +185,15 @@
             <version>2.8.0</version>
         </dependency>
 
+        <dependency>
+            <groupId>org.springframework.integration</groupId>
+            <artifactId>spring-integration-mqtt</artifactId>
+        </dependency>
+        <dependency>
+            <groupId>org.eclipse.paho</groupId>
+            <artifactId>org.eclipse.paho.client.mqttv3</artifactId>
+        </dependency>
+
     </dependencies>
 
     <build>

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java

@@ -98,6 +98,7 @@ public class PathApiImpl implements PathApi {
      */
     @Override
     public void ppDistributionTaskFail(String message) {
+        log.info("111111路径规划上报失败的消息");
         TenantContextHolder.setTenantId(1L);
         RobotWarnMsgSaveReqVO data = JSON.parseObject(message, RobotWarnMsgSaveReqVO.class);
         warnMsgService.createWarnMsg(data);
@@ -108,7 +109,7 @@ public class PathApiImpl implements PathApi {
 
     @Override
     public void pathPlanningMove(String message) {
-        log.info("收到路径规划路径的消息 :{}", message);
+        log.info("111111路径规划发给车机的消息 :{}", message);
         taskExecutor.execute(() -> {
             TenantContextHolder.setTenantId(1L);
             pathPlanningService.sendPosedsToRobot(message);
@@ -145,7 +146,7 @@ public class PathApiImpl implements PathApi {
     @Override
     public void graphMatchData(String message) {
         TenantContextHolder.setTenantId(1L);
-        log.info("匹配路网的消息 :{}",message);
+        log.info("111111路径规划匹配路网的消息 :{}",message);
         pathPlanningService.graphMatchData(message);
     }
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteExceptionTaskApiImpl.java

@@ -5,12 +5,14 @@ import cn.iocoder.yudao.framework.common.pojo.CommonResult;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.module.system.api.remote.dto.*;
+import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
 import cn.iocoder.yudao.module.system.controller.admin.robot.camera.RobotCameraAddVO;
 import cn.iocoder.yudao.module.system.service.remote.RemoteControllerInformationService;
 import cn.iocoder.yudao.module.system.service.robot.RobotTaskDetailService;
 import cn.iocoder.yudao.module.system.service.robot.camera.RobotCameraService;
 import cn.iocoder.yudao.module.system.util.aes.AESEncryptionUtil;
 import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
@@ -39,8 +41,8 @@ public class RemoteExceptionTaskApiImpl implements RemoteExceptionTaskApi{
     @Resource
     private RobotCameraService cameraService;
 
-    @Value("${zn.camera_secret_key}")
-    private String cameraSecretKey;
+    @Autowired
+    private ZnConfigConstant znConfigConstant;
 
     /**
      * 远遥查询异常的车辆
@@ -67,8 +69,8 @@ public class RemoteExceptionTaskApiImpl implements RemoteExceptionTaskApi{
 
         for (RemoteRobotCameraDTO robotCameraDO : list) {
             try {
-                robotCameraDO.setCameraAccount(AESEncryptionUtil.decrypt(robotCameraDO.getCameraAccount(),cameraSecretKey));
-                robotCameraDO.setCameraPassword(AESEncryptionUtil.decrypt(robotCameraDO.getCameraPassword(),cameraSecretKey));
+                robotCameraDO.setCameraAccount(AESEncryptionUtil.decrypt(robotCameraDO.getCameraAccount(),znConfigConstant.getCameraSecretKey()));
+                robotCameraDO.setCameraPassword(AESEncryptionUtil.decrypt(robotCameraDO.getCameraPassword(),znConfigConstant.getCameraSecretKey()));
             } catch (Exception e) {
                 throw exception(CAMERA_DECRYPTION_FAILED);
             }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java

@@ -30,7 +30,7 @@ public class RobotGenericsStatusApiImpl implements RobotGenericsStatusApi {
     }
 
     public void doUpdateRobotCommonStatus(RobotGenericsDataDTO robotStatusData) {
-//        log.info("车机每3秒上报其他状态信息 :{}", JSONUtil.toJsonStr(robotStatusData));
+//        log.info("111111车机每3秒上报其他状态信息 :{}", JSONUtil.toJsonStr(robotStatusData));
         if (ObjectUtil.isEmpty(robotStatusData) || ObjectUtil.isEmpty(robotStatusData.getHwStates())
                 || ObjectUtil.isEmpty(robotStatusData.getMac())) {
             log.info("参数不全 :{}", JSON.toJSONString(robotStatusData));

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotObstaclesStatusApiImpl.java

@@ -41,7 +41,7 @@ public class RobotObstaclesStatusApiImpl implements RobotObstaclesStatusApi{
 
     @Override
     public void robotObstaclesStatus(String message) {
-        log.info("障碍物状态上报 :{}" ,message);
+        log.info("111111障碍物状态上报 :{}" ,message);
 
         RobotObstaclesStatusDTO data = JSON.parseObject(message, RobotObstaclesStatusDTO.class);
         if (!data.getObstacles()) {

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotPathStatusApiImpl.java

@@ -41,7 +41,7 @@ public class RobotPathStatusApiImpl implements RobotPathStatusApi {
     }
 
     private void doRobotPathStatus(String message) {
-        log.info("导航实时行为上报: {}", message);
+        log.info("111111导航实时行为上报: {}", message);
         TenantContextHolder.setTenantId(1L);
         RobotPathStatusDTO data = JSON.parseObject(message, RobotPathStatusDTO.class);
         String robotNo = robotInformationService.getRobotNoByMac(data.getMac());

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java

@@ -9,6 +9,8 @@ import cn.iocoder.yudao.module.system.api.robot.processor.RequestProcessor;
 import cn.iocoder.yudao.module.system.api.robot.websocket.RobotInformationVO;
 import cn.iocoder.yudao.module.system.api.robot.vo.RobotReactiveStatusDTO;
 import cn.iocoder.yudao.module.system.api.robot.websocket.RobotStatusDataPoseDTO;
+import cn.iocoder.yudao.module.system.config.mqtt.util.MqttUtils;
+import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
 import cn.iocoder.yudao.module.system.config.ratelimiter.SystemRateLimiter;
 import cn.iocoder.yudao.module.system.constant.CommonConstant;
 import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant;
@@ -41,16 +43,19 @@ public class RobotStatusApiImpl implements RobotStatusApi {
     @Autowired
     private RobotInformationService robotInformationService;
 
-    @Value("${zn.robot_position_cache_time:10}")
-    private Long robotPositionCacheTime;
+    @Autowired
+    private ZnConfigConstant znConfigConstant;
 
     @Resource
     private RequestProcessor processor;
 
-    private static final ExecutorService executorService = Executors.newFixedThreadPool(5);
+    private static final ExecutorService executorService = Executors.newFixedThreadPool(50);
 
-    @Resource
-    private CommonApi commonApi;
+    /*@Resource
+    private CommonApi commonApi;*/
+
+    @Autowired
+    private MqttUtils mqttUtils;
 
     /**
      * 更新机器人点位/异常/能否做任务
@@ -107,13 +112,10 @@ public class RobotStatusApiImpl implements RobotStatusApi {
             robotStatusDataPoseDTO.setForkHeight(data.getForkHeight());
         }
 
-        redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime);
+        redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), znConfigConstant.getRobotPositionCacheTime());
 
-        //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);
+        robotStatusDataPoseDTO.setTimestamp(robotStatusDataDTO.getTimestamp());
+        sendToPP(robotStatusDataPoseDTO);
 
         // -- 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();
@@ -123,18 +125,30 @@ public class RobotStatusApiImpl implements RobotStatusApi {
         }
         robotInformationVO.setPose2d(robotStatusDataPoseDTO);
 
-        Map<String, Object> map = new HashMap<>();
-        String value = FloorAreaConstant.FLOOR_AREA_ROBOT + floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea();
-        map.put(robotStatusDataDTO.getMac(), JSON.toJSONString(robotInformationVO));
-        redisUtil.hmset(value, map, 20);
+        RobotInformationVO finalRobotInformationVO = robotInformationVO;
+
+        String floorArea = floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea();
+        executorService.execute(() ->{
+            //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(), znConfigConstant.getRobotPositionCacheTime());
+            redisUtil.set(cargoDetectedKey, robotStatusDataDTO.getCargoDetected(), znConfigConstant.getRobotPositionCacheTime());
+            Map<String, Object> map = new HashMap<>();
+            String value = FloorAreaConstant.FLOOR_AREA_ROBOT +floorArea;
+            map.put(robotStatusDataDTO.getMac(), JSON.toJSONString(finalRobotInformationVO));
+            redisUtil.hmset(value, map, 5);
+        });
+
+       /* executorService.execute(() ->{
+            // 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(floorArea,robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(finalRobotInformationVO));
+        });*/
 
-        // 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(floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea(),
-                robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(robotInformationVO));
-        sendToPP(robotStatusDataPoseDTO);
     }
 
     private void sendToPP(RobotStatusDataPoseDTO robotStatusDataPoseDTO) {
-        commonApi.commonMethod(robotStatusDataPoseDTO, PathPlanningTopicConstant.AGV_POSE);
+//        commonApi.commonMethod(robotStatusDataPoseDTO, PathPlanningTopicConstant.AGV_POSE);
+        mqttUtils.pub(PathPlanningTopicConstant.AGV_POSE,JSON.toJSONString(robotStatusDataPoseDTO));
     }
 }

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

@@ -13,6 +13,8 @@ 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.websocket.RobotSkuInfoDTO;
 import cn.iocoder.yudao.module.system.api.robot.websocket.WsWareHouseLocationDTO;
+import cn.iocoder.yudao.module.system.config.mqtt.util.MqttUtils;
+import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
 import cn.iocoder.yudao.module.system.constant.CommonConstant;
 import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningChcheConstant;
@@ -99,8 +101,11 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
     @Resource
     private RobotChargeLogMapper chargeLogMapper;
 
-    @Resource
-    private CommonApi commonApi;
+    /*@Resource
+    private CommonApi commonApi;*/
+
+    @Autowired
+    private MqttUtils mqttUtils;
 
     @Resource
     public WebSocketSenderApi webSocketSenderApi;
@@ -120,15 +125,12 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
     @Resource
     private DeviceInformationService deviceInformationService;
 
-    @Value("${zn.robot_doing_action.doing_action_cache_time:2*24*60*60}")
-    private Long doingActionCacheTime;
-
-    @Value("${zn.is_simulation:false}")
-    private Boolean isSimulation;
+    @Autowired
+    private ZnConfigConstant znConfigConstant;
 
     @Transactional(rollbackFor = Exception.class)
     public void doRobotDoneTask(RobotCompleteTaskDTO robotCompleteTaskDTO) {
-        log.info("机器人完成任务上报 :{}", JSON.toJSONString(robotCompleteTaskDTO));
+        log.info("111111机器人完成任务上报 :{}", JSON.toJSONString(robotCompleteTaskDTO));
         TenantContextHolder.setTenantId(1L);
         String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_QUERY_DOING_ACTION + robotCompleteTaskDTO.getMac();
 
@@ -139,8 +141,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 
         if (!RobotStatusCodeEnum.SUCCESS.getType().equals(robotCompleteTaskDTO.getStatusCode())) {
             log.info("车机上报异常 :{}", JSON.toJSONString(robotCompleteTaskDTO));
-            closeTask(robotCompleteTaskDTO);//todo 取不了和放不了的异常
+            //todo 取不了和放不了的异常
             redisUtil.del(robotDoingActionKey);
+            closeTask(robotCompleteTaskDTO);
             return;
         }
 
@@ -193,7 +196,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 , null);
 
         if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
-            || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()) ) {
+                || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
             chargeDoing(robotCompleteTaskDTO);
         }
     }
@@ -206,6 +209,12 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      * @param orderId
      */
     public void sendStartDoActionToPP(RobotCommandStateDTO commandStatus, String mac, String orderId) {
+        if (ObjectUtil.isNotEmpty(commandStatus)
+                || CommandTypeEnum.WORK_PICK_UP_GOODS_MOVE_TO_CHECK.getType().equals(commandStatus.getCommandType())
+                || CommandTypeEnum.WORK_DROP_OFF_GOODS_MOVE_TO_CHECK.getType().equals(commandStatus.getCommandType())) {
+            log.info("不发作业");
+            return;
+        }
         if (ObjectUtil.isNotEmpty(commandStatus) && RobotExecutionStateConstant.DOING.equals(commandStatus.getExecutionState())
                 && !CommandTypeEnum.MOVE_POSES.getType().equals(commandStatus.getCommandType())) {
             String robotNo = robotInformationService.getRobotNoByMac(mac);
@@ -247,10 +256,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         } else if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
             RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
             if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType())) {
-                log.info("告诉路径规划任务完成 :{}, 状态: {}", robotCompleteTaskDTO.getOrderId(), PathIsReachEnum.END_WORK.getType());
+                log.info("告诉路径规划取货任务完成 :{}, 状态: {}", robotCompleteTaskDTO.getOrderId(), PathIsReachEnum.END_WORK.getType());
                 pathPlanningService.updateBehavior(String.valueOf(robotCompleteTaskDTO.getOrderId()), robotTaskDetailDO.getRobotNo()
                         , "", PathIsReachEnum.END_WORK.getType());
-                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING.getType());
+                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
                 robotTaskDetailMapper.updateById(robotTaskDetailDO);
                 return;
             } else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType())) {
@@ -260,7 +269,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 
         if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
                 || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
-            chargeLogMapper.updateChargStatusByTaskId(robotCompleteTaskDTO.getOrderId(),ChargeTaskStatusEnum.DONE.getType());
+            chargeLogMapper.updateChargStatusByTaskId(robotCompleteTaskDTO.getOrderId(), ChargeTaskStatusEnum.DONE.getType());
         }
         taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType(), LocalDateTime.now());
 
@@ -289,7 +298,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         toWareHouseLocation.setLocationLock(LocationLockEnum.YES.getType());
         toWareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.YES.getType());
         locationMapper.updateById(toWareHouseLocation);
-        pushWareLocation(toWareHouseLocation,robotCompleteTaskDTO.getMac(),ZeroOneEnum.ONE.getType());
+        pushWareLocation(toWareHouseLocation, robotCompleteTaskDTO.getMac(), ZeroOneEnum.ONE.getType());
     }
 
     /**
@@ -345,7 +354,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         wareHouseLocationDO.setLocationLock(LocationLockEnum.YES.getType());
         wareHouseLocationDO.setLocationUseStatus(LocationUseStatusEnum.NO.getType());
         locationMapper.updateById(wareHouseLocationDO);
-        pushWareLocation(wareHouseLocationDO,robotCompleteTaskDTO.getMac(),ZeroOneEnum.ZERO.getType());
+        pushWareLocation(wareHouseLocationDO, robotCompleteTaskDTO.getMac(), ZeroOneEnum.ZERO.getType());
     }
 
     public void pushWareLocation(WareHouseLocationDO wareHouseLocationDO, String mac, Integer type) {
@@ -378,7 +387,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 .robotNo(robotNo)
                 .id(robotCompleteTaskDTO.getOrderId().toString())
                 .build();
-        commonApi.commonMethod(closePathPlanting, PathPlanningTopicConstant.KILL_TASK);
+//        commonApi.commonMethod(closePathPlanting, PathPlanningTopicConstant.KILL_TASK);
+        mqttUtils.pub(PathPlanningTopicConstant.KILL_TASK,JSON.toJSONString(closePathPlanting));
         log.info("通知PP把任务取消 :{}", robotCompleteTaskDTO.getOrderId());
     }
 
@@ -389,19 +399,28 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      */
     @Transactional(rollbackFor = Exception.class)
     public void closeTask(RobotCompleteTaskDTO robotCompleteTaskDTO) {
+
+        if (RobotStatusCodeEnum.EXCEEDING_SECONDS.getType().equals(robotCompleteTaskDTO.getStatusCode())) {
+            doTaskContinue(robotCompleteTaskDTO);
+            return;
+        }
+
         PPCloseOrder(robotCompleteTaskDTO);
 //        taskService.closeTaskDetail(robotCompleteTaskDTO.getOrderId().toString(),robotCompleteTaskDTO.getMac());
         String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
 
-        String msg = "";
+        String msg = null;
+        RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
         if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())
                 || PathTaskTypeEnum.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
-            RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
             if (RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetailDO.getTaskStage())
                     || RobotTaskStageEnum.UN_START.getType().equals(robotTaskDetailDO.getTaskStage())) {
                 robotTaskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.NEW.getType());
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.UN_START.getType());
-                robotTaskDetailDO.setRobotNo("");
+
+                if (!znConfigConstant.getIsSimulation()) {
+//                    robotTaskDetailDO.setRobotNo("");
+                }
                 robotTaskDetailDO.setOccurError(ZeroOneEnum.ZERO.getType());
                 robotTaskDetailMapper.updateById(robotTaskDetailDO);
                 String taskNo = taskDetailService.getTaskNoByDetailId(robotCompleteTaskDTO.getOrderId());
@@ -439,8 +458,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 
         String solve = "";
         String taskNo = "";
-        if (!PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
-                && ObjectUtil.isEmpty(msg)) {
+        if (ObjectUtil.isEmpty(msg)) {
             taskNo = taskDetailService.getTaskNoByDetailId(robotCompleteTaskDTO.getOrderId());
             solve = " 并且到任务列表关闭任务 " + taskNo;
             taskDetailService.setTaskDetailError(robotCompleteTaskDTO.getOrderId());
@@ -462,6 +480,12 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         warnMsgService.sendWarnMsgToWebsocket(warnMsg.getWarnMsg());
     }
 
+    private void doTaskContinue(RobotCompleteTaskDTO robotCompleteTaskDTO) {
+        log.info("恢复任务");
+        String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
+        robotInformationService.doTaskContinue(robotNo, true);
+    }
+
     /**
      * 处理充电中
      *
@@ -478,7 +502,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
             setTaskDone(robotCompleteTaskDTO);
         }
 
-        chargeLogMapper.updateChargStatusByTaskId(robotCompleteTaskDTO.getOrderId(),ChargeTaskStatusEnum.CHARGEING.getType());
+        chargeLogMapper.updateChargStatusByTaskId(robotCompleteTaskDTO.getOrderId(), ChargeTaskStatusEnum.CHARGEING.getType());
     }
 
     public RobotTaskDetailDO setTaskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
@@ -513,7 +537,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      */
     private void taskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
 
-        RobotTaskDetailDO robotTaskDetailDO  = setTaskDone(robotCompleteTaskDTO);
+        RobotTaskDetailDO robotTaskDetailDO = setTaskDone(robotCompleteTaskDTO);
 
         RobotInformationDO robotInformationDO = robotInformationMapper.selectOne(new LambdaQueryWrapperX<RobotInformationDO>()
                 .eq(RobotInformationDO::getRobotNo, robotTaskDetailDO.getRobotNo()));
@@ -528,7 +552,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         pathPlanningService.updateBehavior(String.valueOf(robotCompleteTaskDTO.getOrderId()), robotTaskDetailDO.getRobotNo()
                 , "", PathIsReachEnum.END_WORK.getType());
 
-        if (!isSimulation) {
+        if (!znConfigConstant.getIsSimulation()) {
             String plantingKey = PathPlanningChcheConstant.PATH_PLANNING_TASK + robotCompleteTaskDTO.getOrderId();
             redisUtil.del(plantingKey);
         }
@@ -558,13 +582,17 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_TAKE.getType());
             } else if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(commandType)) {
                 logOne.setActionMsg("车辆正在取货");
-                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING.getType());
+                if (!RobotTaskStageEnum.GO_RELEASE.getType().equals(taskStage)) {
+                    robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING.getType());
+                }
             } else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(commandType)) {
                 logOne.setActionMsg("车辆正在放货");
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING.getType());
             } else if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) {
                 logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo() + "放货");
-                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
+                if (!RobotTaskStageEnum.DONE.getType().equals(taskStage)) {
+                    robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
+                }
             }
 
         } else if (PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
@@ -596,7 +624,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_TAKE.getType());
             } else if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(commandType)) {
                 logOne.setActionMsg("车辆正在取货");
-                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING.getType());
+                if (!RobotTaskStageEnum.DONE.getType().equals(taskStage)) {
+                    robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING.getType());
+                }
             }
 
         } else if (PathTaskTypeEnum.RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
@@ -605,7 +635,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
             } else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(commandType)) {
                 logOne.setActionMsg("车辆正在放货");
-                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING.getType());
+                if (!RobotTaskStageEnum.DONE.getType().equals(taskStage)) {
+                    robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING.getType());
+                }
             }
         }
 
@@ -631,7 +663,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
             logOne.setPositionMapId(mapId);
         }
         taskDetailActionLogService.createTaskDetailActionLog(logOne);
-        redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
+        redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), znConfigConstant.getRobotDoingAction().getDoingActionCacheTime());
         robotTaskDetailMapper.updateById(robotTaskDetailDO);
     }
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotUpdatePalletHeightApiImpl.java

@@ -50,7 +50,7 @@ public class RobotUpdatePalletHeightApiImpl implements RobotUpdatePalletHeightAp
     @Override
     @Transactional(rollbackFor = Exception.class)
     public void updatePalletHeight(String message) {
-        log.info("高度反馈 :{}", message);
+        log.info("111111高度反馈 :{}", message);
         TenantContextHolder.setTenantId(1L);
         RobotUpdatePalletHeightDTO data = JSON.parseObject(message, RobotUpdatePalletHeightDTO.class);
         if (RobotCommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(data.getCommandType())) {

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java

@@ -4,9 +4,15 @@ import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.system.api.robot.vo.RobotWorkStatusDTO;
 import cn.iocoder.yudao.module.system.constant.robot.RobotExecutionStateConstant;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.RobotOperationLogSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
+import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
 import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.path.PathIsReachEnum;
 import cn.iocoder.yudao.module.system.enums.robot.CommandTypeEnum;
+import cn.iocoder.yudao.module.system.enums.robot.RobotTaskDetailStatusEnum;
+import cn.iocoder.yudao.module.system.enums.robot.RobotTaskTypeEnum;
+import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
+import cn.iocoder.yudao.module.system.enums.robot.task.WorkProgressEnum;
 import cn.iocoder.yudao.module.system.service.log.RobotOperationLogService;
 import cn.iocoder.yudao.module.system.service.path.PathPlanningService;
 import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
@@ -32,9 +38,12 @@ public class RobotWorkStatusApiImpl implements RobotWorkStatusApi {
     @Resource
     private PathPlanningService pathPlanningService;
 
+    @Autowired
+    private RobotTaskDetailMapper robotTaskDetailMapper;
+
     @Override
     public void robotWorkStatus(String message) {
-        log.info("作业实时行为上报: {}", message);
+        log.info("111111作业实时行为上报: {}", message);
 
         TenantContextHolder.setTenantId(1L);
         RobotWorkStatusDTO data = JSON.parseObject(message, RobotWorkStatusDTO.class);
@@ -61,6 +70,59 @@ public class RobotWorkStatusApiImpl implements RobotWorkStatusApi {
                     , data.getCommandType(), PathIsReachEnum.END_WORK.getType());
         }
 
+        if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(data.getCommandType())
+                && RobotExecutionStateConstant.DONE.equals(Integer.valueOf(data.getExecutionState()))
+                && WorkProgressEnum.FORK_OFFSET.getType().equals(data.getWorkProgress())) {
+            setTakeDone(data.getOrderId());
+        }else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(data.getCommandType())
+                && RobotExecutionStateConstant.DONE.equals(Integer.valueOf(data.getExecutionState()))
+                && WorkProgressEnum.FORK_OFFSET.getType().equals(data.getWorkProgress())) {
+            setReleaseDone(data.getOrderId());
+        }
+
     }
 
+    private void setReleaseDone(String orderId) {
+        RobotTaskDetailDO data = new RobotTaskDetailDO();
+        data.setId(Long.valueOf(orderId));
+        data.setTaskStage(RobotTaskStageEnum.DONE.getType());
+        data.setTaskStatus(RobotTaskDetailStatusEnum.DONE.getType());
+        robotTaskDetailMapper.updateRobotDetailById(data);
+    }
+
+    private void setTakeDone(String orderId) {
+        RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(orderId);
+        if (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(robotTaskDetailDO.getTaskType())) {
+            RobotTaskDetailDO data = new RobotTaskDetailDO();
+            data.setId(robotTaskDetailDO.getId());
+            data.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
+            robotTaskDetailMapper.updateRobotDetailById(data);
+        }else if (RobotTaskTypeEnum.TAKE.getType().equals(robotTaskDetailDO.getTaskType())){
+            RobotTaskDetailDO data = new RobotTaskDetailDO();
+            data.setId(robotTaskDetailDO.getId());
+            data.setTaskStage(RobotTaskStageEnum.DONE.getType());
+            data.setTaskStatus(RobotTaskDetailStatusEnum.DONE.getType());
+            robotTaskDetailMapper.updateRobotDetailById(data);
+        }
+    }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/aop/SystemRateLimiterAspect.java

@@ -1,6 +1,7 @@
 package cn.iocoder.yudao.module.system.config.aop;
 
 import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
 import cn.iocoder.yudao.module.system.config.ratelimiter.SystemRateLimiter;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import lombok.extern.slf4j.Slf4j;
@@ -13,6 +14,7 @@ import org.aspectj.lang.annotation.Pointcut;
 import org.aspectj.lang.reflect.MethodSignature;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Component;
 import org.springframework.web.context.request.RequestContextHolder;
@@ -36,8 +38,9 @@ public class SystemRateLimiterAspect {
     @Resource
     private RedisUtil redisUtil;
 
-    @Value("${zn.open_rate_limiter:false}")
-    private Boolean openRateLimiter;
+
+    @Autowired
+    private ZnConfigConstant znConfigConstant;
 
     @Pointcut("@annotation(cn.iocoder.yudao.module.system.config.ratelimiter.SystemRateLimiter)")
     public void serviceLimit() {
@@ -46,7 +49,7 @@ public class SystemRateLimiterAspect {
 
     @Around("serviceLimit()")
     public Object around(ProceedingJoinPoint joinPoint) throws Throwable {
-        if (!openRateLimiter) {
+        if (!znConfigConstant.getOpenRateLimiter()) {
             return joinPoint.proceed();
         }
         MethodSignature signature = (MethodSignature) joinPoint.getSignature();

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/MqttBeforePoint.java

@@ -0,0 +1,30 @@
+package cn.iocoder.yudao.module.system.config.mqtt;
+
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttException;
+import org.springframework.boot.ApplicationArguments;
+import org.springframework.boot.ApplicationRunner;
+import org.springframework.core.annotation.Order;
+import org.springframework.stereotype.Component;
+
+/**
+ * 初始化执行
+ */
+@Slf4j
+@Order(1)
+@Component
+public class MqttBeforePoint implements ApplicationRunner {
+
+    @Override
+    public void run(ApplicationArguments args) throws Exception {
+        // 初始化Mqtt连接
+        try {
+            MqttFactory.getInstance();
+            log.info("[MQTT]初始化成功");
+        } catch (MqttException e) {
+            log.info("[MQTT]初始化失败。考虑是否服务端掉线");
+            MqttFactory.reconnect();
+        }
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/MqttCallBack.java

@@ -0,0 +1,69 @@
+package cn.iocoder.yudao.module.system.config.mqtt;
+
+import cn.iocoder.yudao.module.system.service.mqtt.MqttService;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.IMqttAsyncClient;
+import org.eclipse.paho.client.mqttv3.IMqttDeliveryToken;
+import org.eclipse.paho.client.mqttv3.MqttCallback;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.springframework.context.annotation.Configuration;
+
+import java.nio.charset.StandardCharsets;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+
+/**
+ * MQTT回调
+ */
+@Slf4j
+@Configuration
+public class MqttCallBack implements MqttCallback {
+
+
+    private static final ExecutorService fixedThreadPool = Executors.newFixedThreadPool(10);
+
+    /**
+     * 与服务器断开的回调
+     */
+    @Override
+    public void connectionLost(Throwable throwable) {
+        log.info("[MQTT]断开了与服务端的连接。考虑是否服务端掉线 or 回调参数解析报错 or 无默认sub");
+        // 执行自动重连
+        MqttFactory.reconnect();
+    }
+
+    /**
+     * 消息到达的回调
+     *
+     * @param topic 话题
+     * @param mqttMessage 消息内容
+     */
+    @Override
+    public void messageArrived(String topic, MqttMessage mqttMessage) throws Exception {
+        fixedThreadPool.execute(() -> {
+            String msg = new String(mqttMessage.getPayload(), StandardCharsets.UTF_8);
+//        log.info("[MQTT]接收当前消息为 :{}", msg);
+
+            try {
+                MqttService mqttService = MqttFactory.getMqttFactory(topic);
+                mqttService.analysisMessage(msg);
+            } catch (Exception e) {
+                log.info("消费失败的消息主题 :{},消息内容 :{}", topic, msg);
+                log.info("消费消息异常 :{}", e);
+            }
+        });
+
+    }
+
+    /**
+     * 消息发布成功的回调
+     *
+     * @param token token
+     */
+    @Override
+    public void deliveryComplete(IMqttDeliveryToken token) {
+        IMqttAsyncClient client = token.getClient();
+//        log.info("[MQTT]{}：消息发布成功！", client.getClientId());
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/MqttFactory.java

@@ -0,0 +1,190 @@
+package cn.iocoder.yudao.module.system.config.mqtt;
+
+//import cn.iododer.yudao.module.mqtt.customer.MqttMessageListener;
+import cn.iocoder.yudao.module.system.config.mqtt.enums.DefineSubTopicEnum;
+import cn.iocoder.yudao.module.system.config.mqtt.util.BeanUtils;
+import cn.iocoder.yudao.module.system.service.mqtt.MqttService;
+import cn.iocoder.yudao.module.system.service.mqtt.PathPlanningDistributionFailServiceImpl;
+import cn.iocoder.yudao.module.system.service.mqtt.PathPlanningDistributionTaskServiceImpl;
+import cn.iocoder.yudao.module.system.service.mqtt.PathPlanningInitDataServiceImpl;
+import cn.iocoder.yudao.module.system.service.mqtt.PathPlanningMoveServiceImpl;
+import cn.iocoder.yudao.module.system.service.mqtt.PathRouteDisplayPlanningServiceImpl;
+import cn.iocoder.yudao.module.system.service.mqtt.PlanningGraphMatchDataServiceImpl;
+import cn.iocoder.yudao.module.system.service.mqtt.PlanningRemoteRobotMovePosePlanningImpl;
+import cn.iocoder.yudao.module.system.service.mqtt.PlanningSimulationRobotPoseRequestServiceImpl;
+import cn.iocoder.yudao.module.system.service.mqtt.RobotGenericsStatusServiceImpl;
+import cn.iocoder.yudao.module.system.service.mqtt.RobotObstaclesStatusServiceImpl;
+import cn.iocoder.yudao.module.system.service.mqtt.RobotPathStatusServiceImpl;
+import cn.iocoder.yudao.module.system.service.mqtt.RobotReactiveStatusServiceImpl;
+import cn.iocoder.yudao.module.system.service.mqtt.RobotStatusServiceImpl;
+import cn.iocoder.yudao.module.system.service.mqtt.RobotTaskStatusServiceImpl;
+import cn.iocoder.yudao.module.system.service.mqtt.RobotUpdatePalletHeightServiceImpl;
+import cn.iocoder.yudao.module.system.service.mqtt.RobotWirelessSignalStatusServiceImpl;
+import cn.iocoder.yudao.module.system.service.mqtt.RobotWorkStatusServiceImpl;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.eclipse.paho.client.mqttv3.MqttConnectOptions;
+import org.eclipse.paho.client.mqttv3.MqttException;
+import org.eclipse.paho.client.mqttv3.persist.MemoryPersistence;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.PostConstruct;
+import java.util.concurrent.TimeUnit;
+
+/**
+ * Mqtt 工厂类
+ */
+@Slf4j
+@Component
+public class MqttFactory {
+
+    @Autowired
+    private MqttProperties config;
+
+    private static MqttFactory factory;
+
+    private static MqttClient client;
+
+
+    @PostConstruct
+    public void init() {
+        factory = this;
+        factory.config = this.config;
+    }
+
+
+    /**
+     * 获取客户端实例
+     *      单例模式：存在即返回，不存在则初始化
+     *
+     * @return client
+     * @throws MqttException 此处刻意抛出异常，否则无法执行断线重连
+     */
+    public static MqttClient getInstance() throws MqttException {
+        if (client == null) {
+            connect();
+        }
+        return client;
+    }
+
+
+    /**
+     * 清空客户端实例
+     *      当 mqtt 断开连接时，需清空 clientId，再执行断线重连
+     */
+    public static void clear() {
+        client = null;
+    }
+
+
+    /**
+     * 断线重连方法
+     */
+    public static void reconnect() {
+        int count = 0;
+        while (true) {
+            clear();
+            ++ count;
+
+            try {
+                log.info("----------------[MQTT]即将执行自动重连----------------");
+                getInstance();
+                log.info("----------------[MQTT]自动重连成功----------------");
+                break;
+            } catch (MqttException e) {
+                log.error("----------------[MQTT]自动重连失败，当前为第 {} 次尝试----------------", count);
+                try {
+                    TimeUnit.SECONDS.sleep(5);
+                } catch (InterruptedException ex) {
+                    log.error("----------------[MQTT]自动重连，休眠失败！----------------", e);
+                }
+            }
+        }
+    }
+
+    /**
+     * 客户端连接服务端
+     *
+     * @throws MqttException 此处刻意抛出异常，否则无法执行断线重连
+     */
+    private static void connect() throws MqttException {
+        // 创建MQTT客户端对象
+        client = new MqttClient(factory.config.getHostUrl(), factory.config.getClientId(), new MemoryPersistence());
+        // 连接设置
+        MqttConnectOptions options = new MqttConnectOptions();
+        // 是否清空session，设置false表示服务器会保留客户端的连接记录（订阅主题，qos）,客户端重连之后能获取到服务器在客户端断开连接期间推送的消息
+        // 设置为true表示每次连接服务器都是以新的身份
+        options.setCleanSession(false);
+        // 设置连接用户名
+        options.setUserName(factory.config.getUsername());
+        // 设置连接密码
+        options.setPassword(factory.config.getPassword().toCharArray());
+        // 设置超时时间，单位为秒
+        options.setConnectionTimeout(100);
+        // 设置心跳时间 单位为秒，表示服务器每隔 20 秒的时间向客户端发送心跳判断客户端是否在线
+        options.setKeepAliveInterval(20);
+        // 调整客户端连接参数
+        options.setMaxInflight(factory.config.getMaxInflight());
+        // 设置遗嘱消息的话题，若客户端和服务器之间的连接意外断开，服务器将发布客户端的遗嘱信息
+        options.setWill("willTopic", (factory.config.getClientId() + "MQTT客户端与服务器断开连接").getBytes(), 0, false);
+        // 设置回调
+        client.setCallback(new MqttCallBack());
+        client.connect(options);
+
+        // 设置默认订阅主题
+        // 消息等级，与主题数组一一对应
+        int[] qos = DefineSubTopicEnum.queryAllQos();
+        // 主题
+        String[] topics = DefineSubTopicEnum.queryAllTopic();
+        // 订阅主题
+        client.subscribe(topics, qos);
+    }
+
+
+    /**
+     * 根据topic去实现自己的业务
+     * @param topic
+     * @return
+     */
+    public static MqttService getMqttFactory(String topic){
+        DefineSubTopicEnum defineSubTopicEnum = DefineSubTopicEnum.getDefineSubTopicEnumByTopic(topic);
+        switch (defineSubTopicEnum){
+            case ROBOT_STATUS:
+                return BeanUtils.getBean(RobotStatusServiceImpl.class);
+            case ROBOT_REACTIVE_STATUS:
+                return BeanUtils.getBean(RobotReactiveStatusServiceImpl.class);
+            case ROBOT_GENERICS_STATUS:
+                return BeanUtils.getBean(RobotGenericsStatusServiceImpl.class);
+            case ROBOT_PATH_STATUS:
+                return BeanUtils.getBean(RobotPathStatusServiceImpl.class);
+            case ROBOT_WORK_STATUS:
+                return BeanUtils.getBean(RobotWorkStatusServiceImpl.class);
+            case ROBOT_UPDATE_PALLET_HEIGHT:
+                return BeanUtils.getBean(RobotUpdatePalletHeightServiceImpl.class);
+            case ROBOT_OBSTACLES_STATUS:
+                return BeanUtils.getBean(RobotObstaclesStatusServiceImpl.class);
+            case ROBOT_WIRELESS_SIGNAL_STATUS:
+                return BeanUtils.getBean(RobotWirelessSignalStatusServiceImpl.class);
+            case PLANNING_INIT_DATA:
+                return BeanUtils.getBean(PathPlanningInitDataServiceImpl.class);
+            case PLANNING_DISTRIBUTION_TASK:
+                return BeanUtils.getBean(PathPlanningDistributionTaskServiceImpl.class);
+            case PLANNING_DISTRIBUTION_FAIL:
+                return BeanUtils.getBean(PathPlanningDistributionFailServiceImpl.class);
+            case PLANNING_SIMULATION_ROBOT_POSE_REQUEST:
+                return BeanUtils.getBean(PlanningSimulationRobotPoseRequestServiceImpl.class);
+            case PLANNING_MOVE:
+                return BeanUtils.getBean(PathPlanningMoveServiceImpl.class);
+            case PLANNING_ROUTE_DISPLAY:
+                return BeanUtils.getBean(PathRouteDisplayPlanningServiceImpl.class);
+            case PLANNING_GRAPH_MATCH_DATA:
+                return BeanUtils.getBean(PlanningGraphMatchDataServiceImpl.class);
+            case PLANNING_REMOTE_ROBOT_MOVE_POSE_PLANNING:
+                return BeanUtils.getBean(PlanningRemoteRobotMovePosePlanningImpl.class);
+            default :
+                return BeanUtils.getBean(RobotTaskStatusServiceImpl.class);
+        }
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/MqttProperties.java

@@ -0,0 +1,43 @@
+package cn.iocoder.yudao.module.system.config.mqtt;
+
+import cn.hutool.core.util.IdUtil;
+import lombok.Getter;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.context.annotation.Configuration;
+
+/**
+ * Mqtt Config
+ *  *     备注：以下刻意将 defaultClientId、clientId 区分使用。
+ *  *          防止断线重连的时候，clientId 被重复拼接时间戳
+ */
+@Getter
+@Configuration
+public class MqttProperties {
+
+    @Value("${mqtt.host}")
+    private String hostUrl;
+
+    @Value("${mqtt.username}")
+    private String username;
+
+    @Value("${mqtt.password}")
+    private String password;
+
+    @Value("${mqtt.clientId}")
+    private String clientId;
+
+    @Value("${mqtt.qos}")
+    private int qos;
+
+    @Value("${mqtt.maxInflight}")
+    private int maxInflight;
+
+    private String clientUUId;
+
+    public String getClientId() {
+        if (clientUUId == null) {
+            clientUUId = clientId + IdUtil.fastSimpleUUID();
+        }
+        return clientUUId;
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/enums/DefineSubTopicEnum.java

@@ -0,0 +1,84 @@
+package cn.iocoder.yudao.module.system.config.mqtt.enums;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+import java.util.ArrayList;
+import java.util.List;
+
+/**
+ * 默认订阅的话题 -- 枚举类
+ */
+@Getter
+@AllArgsConstructor
+public enum DefineSubTopicEnum {
+
+    //qos 0-至多1次、1-至少1次、2-正好一次
+    ROBOT_STATUS("ROBOT_STATUS", 2,"点位"),
+    ROBOT_TASK_STATUS("ROBOT_TASK_STATUS", 2,"机器人任务完成上报"),
+    ROBOT_REACTIVE_STATUS("ROBOT_REACTIVE_STATUS", 2,"机器人响应式状态上报"),
+    ROBOT_GENERICS_STATUS("ROBOT_GENERICS_STATUS", 2,"机器人异常"),
+    ROBOT_PATH_STATUS("ROBOT_PATH_STATUS", 2,"导航实时行为上报"),
+    ROBOT_WORK_STATUS("ROBOT_WORK_STATUS", 2,"作业实时行为上报"),
+    ROBOT_UPDATE_PALLET_HEIGHT("UPDATE_PALLET_HEIGHT", 2,"放货后货物高度反馈和取货后货物高度反馈"),
+    ROBOT_OBSTACLES_STATUS("ROBOT_OBSTACLES_STATUS", 2,"障碍物状态上报"),
+    ROBOT_WIRELESS_SIGNAL_STATUS("ROBOT_WIRELESS_SIGNAL_STATUS", 2,"信号强度上报"),
+    PLANNING_INIT_DATA("SYNCHRONOUS_ALL_MAP_REQUEST", 2,"路径规划需要初始数据上报"),
+    PLANNING_DISTRIBUTION_TASK("TASK_ASSIGNMENT_FEEDBACK", 2,"路径规划任务分配上报"),
+    PLANNING_DISTRIBUTION_FAIL("TASK_ASSIGNMENT_FAIL", 2,"路径规划失败上报"),
+    PLANNING_SIMULATION_ROBOT_POSE_REQUEST("SIMULATION_ROBOT_POSE_REQUEST", 2,"仿真初始化点位信息"),
+    PLANNING_MOVE("UPDATE_ROUTE_DISPLAY_PLANNING", 2,"车辆即将走的点位"),
+    PLANNING_ROUTE_DISPLAY("ROBOT_MOVE_POSE_PLANNING", 2,"路径规划上报实时路径"),
+    PLANNING_GRAPH_MATCH_DATA("GRAPH_MATCH_DATA", 2,"路网匹配实时数据"),
+    PLANNING_REMOTE_ROBOT_MOVE_POSE_PLANNING("REMOTE_ROBOT_MOVE_POSE_PLANNING", 2,"远遥车辆行走导航");
+
+
+    private final String topic;
+
+    private final int qos;
+
+    private final String msg;
+
+    /**
+     * 获取所有话题名
+     *
+     * @return topicArr
+     */
+    public static String[] queryAllTopic() {
+        List<String> topicList = new ArrayList<>();
+        for (DefineSubTopicEnum item : DefineSubTopicEnum.values()) {
+            topicList.add(item.getTopic());
+        }
+        String[] topicArr = new String[topicList.size()];
+        topicArr = topicList.toArray(topicArr);
+        return topicArr;
+    }
+
+
+    /**
+     * 获取所有qos
+     *
+     * @return qosArr
+     */
+    public static int[] queryAllQos() {
+        List<Integer> qosList = new ArrayList<>();
+        for (DefineSubTopicEnum item : DefineSubTopicEnum.values()) {
+            qosList.add(item.getQos());
+        }
+
+        int[] qosArr = new int[qosList.size()];
+        qosArr = qosList.stream().mapToInt(Integer::intValue).toArray();
+
+        return qosArr;
+    }
+
+    public static DefineSubTopicEnum getDefineSubTopicEnumByTopic(String topic) {
+        for (DefineSubTopicEnum item : DefineSubTopicEnum.values()) {
+            if (item.getTopic().equals(topic)) {
+                return item;
+            }
+        }
+        return null;
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/util/BeanUtils.java

@@ -0,0 +1,31 @@
+package cn.iocoder.yudao.module.system.config.mqtt.util;
+
+import org.springframework.beans.BeansException;
+import org.springframework.context.ApplicationContext;
+import org.springframework.context.ApplicationContextAware;
+import org.springframework.stereotype.Component;
+
+@Component
+public class BeanUtils implements ApplicationContextAware  {
+    protected static ApplicationContext applicationContext ;
+
+    @Override
+    public void setApplicationContext(ApplicationContext arg0) throws BeansException {
+        if (applicationContext == null) {
+            applicationContext = arg0;
+        }
+
+    }
+    public static Object getBean(String name) {
+        //name表示其他要注入的注解name名
+        return applicationContext.getBean(name);
+    }
+
+    /**
+     * 拿到ApplicationContext对象实例后就可以手动获取Bean的注入实例对象
+     */
+    public static <T> T getBean(Class<T> clazz) {
+        return applicationContext.getBean(clazz);
+    }
+}
+

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/util/MqttUtils.java

@@ -0,0 +1,93 @@
+package cn.iocoder.yudao.module.system.config.mqtt.util;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.module.system.config.mqtt.MqttFactory;
+import cn.iocoder.yudao.module.system.config.mqtt.MqttProperties;
+import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
+import lombok.extern.slf4j.Slf4j;
+import org.eclipse.paho.client.mqttv3.MqttClient;
+import org.eclipse.paho.client.mqttv3.MqttDeliveryToken;
+import org.eclipse.paho.client.mqttv3.MqttException;
+import org.eclipse.paho.client.mqttv3.MqttMessage;
+import org.eclipse.paho.client.mqttv3.MqttTopic;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Component;
+
+import java.nio.charset.StandardCharsets;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+
+@Slf4j
+@Component
+public class MqttUtils {
+
+    @Autowired
+    private MqttProperties config;
+
+    private static final ExecutorService executorService = Executors.newFixedThreadPool(50);
+
+    /**
+     * 发布消息
+     *
+     * @param qos 0-至多1次、1-至少1次、2-一次
+     * @param retained 是否保留：true-sub重新连接mqtt服务端时，总能拿到该主题的最新消息、false-sub重新连接mqtt服务端时，只能拿到连接后发布的消息
+     * @param topic 话题
+     * @param message 消息内容
+     */
+    public void pub(String topic, String message) {
+        executorService.execute(() ->{
+            send(topic, message);
+        });
+    }
+
+    public void send(String topic, String message) {
+        // 获取客户端实例
+        MqttClient client = null;
+        try {
+            client = MqttFactory.getInstance();
+        } catch (MqttException e) {
+            log.info("获取客户端异常 :{}",e);
+        }
+        MqttMessage mqttMessage = new MqttMessage();
+        mqttMessage.setQos(config.getQos());
+        mqttMessage.setRetained(false);
+        // 此处必须指明编码方式，否则会出现订阅端中文乱码的情况
+        mqttMessage.setPayload(message.getBytes(StandardCharsets.UTF_8));
+        // 主题的目的地，用于发布/订阅信息
+        MqttTopic mqttTopic = client.getTopic(topic);
+        // 提供一种机制来跟踪消息的传递进度
+        // 用于在以非阻塞方式（在后台运行）执行发布是跟踪消息的传递进度
+        MqttDeliveryToken token;
+        try {
+            // 将指定消息发布到主题，但不等待消息传递完成，返回的token可用于跟踪消息的传递状态
+            // 一旦此方法干净地返回，消息就已被客户端接受发布，当连接可用，将在后台完成消息传递。
+            token = mqttTopic.publish(mqttMessage);
+            token.waitForCompletion();
+        } catch (MqttException e) {
+            log.info("MQTT");
+        }
+
+        if (PathPlanningTopicConstant.AGV_POSE.equals(topic)) {
+            return;
+        }
+
+        if (message.length() > 510) {
+            log.info("发送的主题 :{}, 内容 :{}",topic, message.substring(0, 500));
+        }else {
+            log.info("发送的主题 :{}, 内容 :{}",topic, message);
+        }
+    }
+
+    /**
+     * 断开连接
+     */
+    public static void disConnect() {
+        try {
+            // 获取客户端实例
+            MqttClient client = MqttFactory.getInstance();
+            client.disconnect();
+        } catch (MqttException e) {
+            e.printStackTrace();
+        }
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/ZnConfigConstant.java

@@ -0,0 +1,37 @@
+package cn.iocoder.yudao.module.system.config.poperties;
+
+import cn.iocoder.yudao.module.system.config.poperties.dto.RobotCharge;
+import cn.iocoder.yudao.module.system.config.poperties.dto.RobotConfig;
+import cn.iocoder.yudao.module.system.config.poperties.dto.RobotDoingAction;
+import cn.iocoder.yudao.module.system.config.poperties.dto.Task;
+import lombok.Data;
+import org.springframework.boot.context.properties.ConfigurationProperties;
+import org.springframework.cloud.context.config.annotation.RefreshScope;
+import org.springframework.stereotype.Component;
+
+@Data
+@RefreshScope
+@Component
+@ConfigurationProperties(prefix = "zn")
+public class ZnConfigConstant {
+    private String taskNo;
+    private String moveNo;
+    private String chargeNo;
+    private String cameraSecretKey;
+    private Boolean doCycle;
+    private Boolean laneAutoMove;
+    private Long robotPositionCacheTime;
+    private Boolean cycleDoAutoMove;
+    private String fullElectricity;
+    private Boolean taskNeedSingle;
+    private Long locationNumberReduce;
+    private RobotDoingAction robotDoingAction;
+    private RobotCharge robotCharge;
+    private Task task ;
+    private RobotConfig robotConfig;
+    private Boolean openRateLimiter;
+    private Boolean isSimulation;
+    private Boolean sendRobotInitPose;
+    private Integer synchronousAllMapNode;
+    private Boolean taskNotCheck;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/RobotCharge.java

@@ -0,0 +1,9 @@
+package cn.iocoder.yudao.module.system.config.poperties.dto;
+
+import lombok.Data;
+
+@Data
+public class RobotCharge {
+    private Long releaseLocationNumberConfig;
+    private Long priorityConfig;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/RobotConfig.java

@@ -0,0 +1,9 @@
+package cn.iocoder.yudao.module.system.config.poperties.dto;
+
+import lombok.Data;
+
+@Data
+public class RobotConfig {
+    private Double offsetHeight;
+    private Double defaultTrayHeight;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/RobotDoingAction.java

@@ -0,0 +1,8 @@
+package cn.iocoder.yudao.module.system.config.poperties.dto;
+
+import lombok.Data;
+
+@Data
+public class RobotDoingAction {
+    private Long doingActionCacheTime;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/Task.java

@@ -0,0 +1,9 @@
+package cn.iocoder.yudao.module.system.config.poperties.dto;
+
+import lombok.Data;
+
+@Data
+public class Task {
+    private Boolean checkSkuInfo;
+    private Long taskCacheTime;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java

@@ -49,4 +49,7 @@ public class RobotTaskChcheConstant {
 
     //机器人物料数量(拼接的是mac地址)
     public static String ROBOT_TASK_SKU_INFO = "robot:task:sku:info";
+
+    //所有的车辆信息 获得到一个map， key是 mac，value是具体信息
+    public static String ROBOT_ALL_INFORMATION = "robot:all:information";
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java

@@ -153,7 +153,7 @@ public class RobotInformationController {
     @Operation(summary = "恢复任务")
     @PreAuthorize("@ss.hasPermission('robot:information:doTaskContinue')")
     public CommonResult<Boolean> doTaskContinue(@RequestParam("robotNo") String robotNo) {
-        informationService.doTaskContinue(robotNo);
+        informationService.doTaskContinue(robotNo,false);
         return success(true);
     }
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotTaskController.java

@@ -130,4 +130,11 @@ public class RobotTaskController {
         return success(true);
     }
 
+    @GetMapping("/getRobotTaskNum")
+    @Operation(summary = "获取这台车工作的任务总数")
+    @Parameter(name = "robotNo", description = "车辆编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('robot:task:getRobotTaskNum')")
+    public CommonResult<Integer> getRobotTaskNum(@RequestParam("robotNo") String robotNo) {
+        return success(taskService.getRobotTaskNum(robotNo));
+    }
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapItemDO.java

@@ -84,6 +84,7 @@ public class PositionMapItemDO extends BaseDO {
     /**
      * AGV编号
      */
+    @TableField(updateStrategy = FieldStrategy.IGNORED)
     private String robotNo;
 
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/cycle/TaskCycleMapper.java

@@ -27,4 +27,10 @@ public interface TaskCycleMapper extends BaseMapperX<TaskCycleDO> {
     }
 
     void deletByRobotTaskId(@Param("robotTaskId") Long robotTaskId);
+
+    /**
+     * 批量删除
+     * @param taskIds
+     */
+    void deletByRobotTaskIds(@Param("taskIds")  Set<Long> taskIds);
 }

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

@@ -6,7 +6,6 @@ import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.module.mqtt.api.path.dto.PositionMapItemSynDTO;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.Pose2ds;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.RobotPositionMapDTO;
-import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapIdNumMapVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemPageReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
 import org.apache.ibatis.annotations.Mapper;
@@ -96,5 +95,7 @@ public interface PositionMapItemMapper extends BaseMapperX<PositionMapItemDO> {
      * @param ids
      * @return
      */
-    List<PositionMapIdNumMapVO> selectSortNumByIds(@Param("ids") List<Long> ids);
+    /*@MapKey("id")
+    Map<Long, Long> selectSortNumByIds(@Param("ids") List<Long> ids);*/
+    List<PositionMapItemDO> selectSortNumByIds(@Param("ids") List<Long> ids);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotInformationMapper.java

@@ -88,4 +88,8 @@ public interface RobotInformationMapper extends BaseMapperX<RobotInformationDO>
      * @return
      */
     List<RobotInformationDO> getListByMapId(@Param("mapId") Long mapId);
+
+    RobotInformationDO selectByRobotNoAndIdNotIn(@Param("robotNo") String robotNo, @Param("id") Long id);
+
+    RobotInformationDO selectByMacAndIdNotIn(@Param("macAddress") String macAddress,@Param("id") Long id);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotStatusCodeEnum.java

@@ -13,7 +13,8 @@ public enum RobotStatusCodeEnum {
     FAIL_JSON("10001","入参JSON解析失败"),
     FAIL_SYSTEM("10002","系统内部异常"),
     FAIL_UN_KNOW("10003","未知错误"),
-    FAIL_UN_SUPPOD("10004","未支持该指令执行");
+    FAIL_UN_SUPPOD("10004","未支持该指令执行"),
+    EXCEEDING_SECONDS("10017","PP发送的任务超过5秒到达");
     /**
      * 类型
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/WorkProgressEnum.java

@@ -0,0 +1,17 @@
+package cn.iocoder.yudao.module.system.enums.robot.task;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum WorkProgressEnum {
+
+    FORK_OFFSET("FORK_OFFSET","取放货");
+
+    /**
+     * 类型
+     */
+    private final String type;
+    private final String msg;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/framework/mqtt/MqttConfiguration.java

@@ -3,10 +3,11 @@ package cn.iocoder.yudao.module.system.framework.mqtt;
 import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
 import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
 import cn.iocoder.yudao.module.mqtt.api.task.RobotTaskApi;
+import cn.iocoder.yudao.module.remote.api.path.RemotePathApi;
 import org.springframework.cloud.openfeign.EnableFeignClients;
 import org.springframework.context.annotation.Configuration;
 
 @Configuration(proxyBeanMethods = false)
-@EnableFeignClients(clients = {RobotTaskApi.class, PathPlanningApi.class, CommonApi.class})
+@EnableFeignClients(clients = {RobotTaskApi.class, PathPlanningApi.class, CommonApi.class, RemotePathApi.class})
 public class MqttConfiguration {
 }

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

@@ -84,9 +84,11 @@ public class RobotJob {
         RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
         if (lock.tryLock()){
             try {
-                log.info("----下发自动充电任务----");
+                log.info("----111111下发自动充电任务----");
                 autoChargeService.autoChargeJob();
-            }  finally {
+            } catch (Exception e) {
+                log.info("自动充电异常 :{}",e);
+            } finally {
                 lock.unlock();
             }
         }else {
@@ -105,9 +107,11 @@ public class RobotJob {
         RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
         if (lock.tryLock()){
             try {
-                log.info("----下发任务给路径规划----");
+                log.info("----111111下发任务给路径规划----");
                 robotPathPlanningService.sendTaskToPP();
-            }  finally {
+            } catch (Exception e) {
+                log.info("----分配任务异常---- :{}",e);
+            } finally {
                 lock.unlock();
             }
         }else {
@@ -127,12 +131,16 @@ public class RobotJob {
 
         RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_ADD_LOCK.getKey());
         if (lock.tryLock()){
+
             try {
-                log.info("----创建循环任务----");
+                log.info("----111111创建循环任务----");
                 cycleService.cycleTaskJob();
-            }  finally {
+            } catch (Exception e) {
+                log.error("创建循环任务异常 :{}",e);
+            } finally {
                 lock.unlock();
             }
+
         }else {
             log.info("下发任务给路径规划未获取到锁");
             throw exception(REDISSON_NOT_OBTAIN_LOCK);
@@ -173,7 +181,9 @@ public class RobotJob {
                 log.info("----统计时长开始----");
                 TenantContextHolder.setTenantId(1L);
                 robotWorkingHoursStatisticsService.statisticsRobotDuration();
-            }  finally {
+            } catch (Exception e) {
+                log.info("统计工作时长异常 :{}",e);
+            } finally {
                 lock.unlock();
             }
         }else {

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java

@@ -0,0 +1,74 @@
+package cn.iocoder.yudao.module.system.schedul;
+
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
+import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
+import cn.iocoder.yudao.module.system.constant.CommonConstant;
+import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant;
+import cn.iocoder.yudao.module.system.constant.webSocket.WebSocketConstant;
+import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
+import cn.iocoder.yudao.module.system.service.positionmap.PositionMapService;
+import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
+import com.alibaba.fastjson.JSON;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.scheduling.annotation.EnableScheduling;
+import org.springframework.scheduling.annotation.Scheduled;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.Resource;
+import java.util.List;
+import java.util.Map;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
+import java.util.concurrent.TimeUnit;
+
+@EnableScheduling
+@Component
+@Slf4j
+public class RcsMapScheduled {
+
+    @Resource
+    private RedisUtil redisUtil;
+
+    @Resource
+    private PositionMapService positionMapService;
+
+    @Resource
+    public WebSocketSenderApi webSocketSenderApi;
+
+    private static final ExecutorService FIXED_THREAD_POOL = Executors.newFixedThreadPool(10);
+
+    // 这个方法将每200毫秒执行一次
+    @Scheduled(fixedDelay = 100, timeUnit = TimeUnit.MILLISECONDS)
+    public void executeTask() {
+        FIXED_THREAD_POOL.execute(this::sendRobotInformationToRcsMap);
+    }
+
+    private void sendRobotInformationToRcsMap() {
+
+        TenantContextHolder.setTenantId(1L);
+        Object o = redisUtil.get(FloorAreaConstant.FLOOR_AREA_ALL);
+
+        List<PositionMapDO> allMap = null;
+        if (ObjectUtil.isEmpty(o)) {
+            allMap = positionMapService.getAllMap();
+            if (ObjectUtil.isEmpty(allMap)) {
+                return;
+            }
+            redisUtil.set(FloorAreaConstant.FLOOR_AREA_ALL, JSON.toJSONString(allMap),600);
+        }else {
+            allMap = JSON.parseArray(String.valueOf(o), PositionMapDO.class);
+        }
+
+        for (PositionMapDO positionMap : allMap) {
+            String floorArea = positionMap.getFloor() + CommonConstant.SYMBOL + positionMap.getArea();
+            String key = FloorAreaConstant.FLOOR_AREA_ROBOT + floorArea;
+            Map<Object, Object> data = redisUtil.hmget(key);
+            if (ObjectUtil.isEmpty(data)) {
+                continue;
+            }
+            webSocketSenderApi.sendObject(floorArea, WebSocketConstant.MAP_PUSH, data);
+        }
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java

@@ -28,7 +28,7 @@ import java.util.concurrent.TimeUnit;
 @EnableScheduling
 @Component
 @Slf4j
-public class ScheduledTasks {
+public class ThreeDimensionalScheduled {
 
     @Resource
     private PositionMapService positionMapService;
@@ -39,17 +39,12 @@ public class ScheduledTasks {
     @Resource
     public WebSocketSenderApi webSocketSenderApi;
 
-    private static final ExecutorService fixedThreadPool = Executors.newFixedThreadPool(3);
+    private static final ExecutorService FIXED_THREAD_POOL = Executors.newFixedThreadPool(3);
 
     // 这个方法将每200毫秒执行一次
 //    @Scheduled(fixedDelay = 300, timeUnit = TimeUnit.MILLISECONDS)
     public void executeTask() {
-        fixedThreadPool.execute(new Runnable() {
-            @Override
-            public void run() {
-                sendData();
-            }
-        });
+        FIXED_THREAD_POOL.execute(this::sendData);
     }
 
     public void sendData() {
@@ -61,7 +56,7 @@ public class ScheduledTasks {
             if (ObjectUtil.isEmpty(allMap)) {
                 return;
             }
-            redisUtil.set(FloorAreaConstant.FLOOR_AREA_ALL,JSON.toJSONString(allMap),60);
+            redisUtil.set(FloorAreaConstant.FLOOR_AREA_ALL,JSON.toJSONString(allMap),600);
         }else {
             allMap = JSON.parseArray(String.valueOf(o), PositionMapDO.class);
         }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java

@@ -5,6 +5,7 @@ import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
+import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
 import cn.iocoder.yudao.module.system.constant.device.DeviceChcheConstant;
 import cn.iocoder.yudao.module.system.controller.admin.information.dto.DeviceInformationDTO;
 import cn.iocoder.yudao.module.system.controller.admin.information.dto.MapBindDeviceInfoDTO;
@@ -40,6 +41,7 @@ import com.serotonin.modbus4j.ModbusMaster;
 import com.serotonin.modbus4j.exception.ModbusInitException;
 import com.serotonin.modbus4j.exception.ModbusTransportException;
 import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Service;
@@ -91,8 +93,8 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
     @Resource
     private PositionMapItemService positionMapItemService;
 
-    @Value("${zn.camera_secret_key}")
-    private String cameraSecretKey;
+    @Autowired
+    private ZnConfigConstant znConfigConstant;
 
     @Override
     public Long createInformation(DeviceInformationSaveReqVO createReqVO) {
@@ -114,7 +116,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
 
         if (DeviceTypeEnum.CAMERA.getType().equals(createReqVO.getDeviceType())) {
             try {
-                createReqVO.setCameraCode(AESEncryptionUtil.getEncrypt(createReqVO.getCameraCode(), cameraSecretKey));
+                createReqVO.setCameraCode(AESEncryptionUtil.getEncrypt(createReqVO.getCameraCode(), znConfigConstant.getCameraSecretKey()));
             } catch (Exception ignored) {
             }
         }
@@ -149,7 +151,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
         // 更新
         if (DeviceTypeEnum.CAMERA.getType().equals(updateReqVO.getDeviceType())) {
             try {
-                updateReqVO.setCameraCode(AESEncryptionUtil.getEncrypt(updateReqVO.getCameraCode(), cameraSecretKey));
+                updateReqVO.setCameraCode(AESEncryptionUtil.getEncrypt(updateReqVO.getCameraCode(), znConfigConstant.getCameraSecretKey()));
             } catch (Exception ignored) {
             }
         }
@@ -478,7 +480,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
             return "";
         }
 
-        return AESEncryptionUtil.decrypt(deviceInformationDO.getCameraCode(), cameraSecretKey);
+        return AESEncryptionUtil.decrypt(deviceInformationDO.getCameraCode(), znConfigConstant.getCameraSecretKey());
     }
 
     public void shrink(String ip, int port, String deviceNo) {

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/MqttService.java

@@ -0,0 +1,5 @@
+package cn.iocoder.yudao.module.system.service.mqtt;
+
+public interface MqttService {
+    void analysisMessage(String message);
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathPlanningDistributionFailServiceImpl.java

@@ -0,0 +1,22 @@
+package cn.iocoder.yudao.module.system.service.mqtt;
+
+import cn.iocoder.yudao.module.system.api.path.PathApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+@Service
+@Slf4j
+public class PathPlanningDistributionFailServiceImpl implements MqttService{
+
+    @Resource
+    private PathApi pathApi;
+
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("路径规划失败信息上报 :{}", message);
+        pathApi.ppDistributionTaskFail(message);
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathPlanningDistributionTaskServiceImpl.java

@@ -0,0 +1,25 @@
+package cn.iocoder.yudao.module.system.service.mqtt;
+
+import cn.iocoder.yudao.module.system.api.path.PathApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+@Service
+@Slf4j
+public class PathPlanningDistributionTaskServiceImpl implements MqttService{
+
+    @Resource
+    private PathApi pathApi;
+
+    /**
+     * PP分配任务上报
+     * @param message
+     */
+    @Override
+    public void analysisMessage(String message) {
+        log.info("PP上报任务分配 :{}", message);
+        pathApi.ppDistributionTask(message);
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathPlanningInitDataServiceImpl.java

@@ -0,0 +1,25 @@
+package cn.iocoder.yudao.module.system.service.mqtt;
+
+import cn.iocoder.yudao.module.system.api.path.PathApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+@Service
+@Slf4j
+public class PathPlanningInitDataServiceImpl implements MqttService{
+
+    @Resource
+    private PathApi pathApi;
+
+    /**
+     * 路径规划需要初始数据上报
+     * @param message
+     */
+    @Override
+    public void analysisMessage(String message) {
+        log.info("收到路径规划需要初始化数据的请求");
+        pathApi.pathInitData();
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathPlanningMoveServiceImpl.java

@@ -0,0 +1,21 @@
+package cn.iocoder.yudao.module.system.service.mqtt;
+
+import cn.iocoder.yudao.module.system.api.path.PathApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+@Slf4j
+@Service
+public class PathPlanningMoveServiceImpl implements MqttService{
+
+    @Resource
+    private PathApi pathApi;
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("收到路径规划规划即将要走的点位的消息 :{}",message);
+        pathApi.pathPlanningMovePose(message);
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathRouteDisplayPlanningServiceImpl.java

@@ -0,0 +1,21 @@
+package cn.iocoder.yudao.module.system.service.mqtt;
+
+import cn.iocoder.yudao.module.system.api.path.PathApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+@Slf4j
+@Service
+public class PathRouteDisplayPlanningServiceImpl implements MqttService{
+
+    @Resource
+    private PathApi pathApi;
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("收到路径规划的消息 :{}",message);
+        pathApi.pathPlanningMove(message);
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PlanningGraphMatchDataServiceImpl.java

@@ -0,0 +1,25 @@
+package cn.iocoder.yudao.module.system.service.mqtt;
+
+import cn.iocoder.yudao.module.system.api.path.PathApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+/**
+ * 路网匹配实时数据
+ */
+@Slf4j
+@Service
+public class PlanningGraphMatchDataServiceImpl implements MqttService{
+
+    @Resource
+    private PathApi pathApi;
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("匹配路网实时数据 :{}",message);
+        pathApi.graphMatchData(message);
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PlanningRemoteRobotMovePosePlanningImpl.java

@@ -0,0 +1,22 @@
+package cn.iocoder.yudao.module.system.service.mqtt;
+
+import cn.iocoder.yudao.module.remote.api.path.RemotePathApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+@Service
+@Slf4j
+public class PlanningRemoteRobotMovePosePlanningImpl implements MqttService{
+
+    @Resource
+    private RemotePathApi remotePathApi;
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("处理远遥导航的消息 :{}",message);
+        remotePathApi.remoteDistanceInformation(message);
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PlanningSimulationRobotPoseRequestServiceImpl.java

@@ -0,0 +1,22 @@
+package cn.iocoder.yudao.module.system.service.mqtt;
+
+import cn.iocoder.yudao.module.system.api.path.PathApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+@Service
+@Slf4j
+public class PlanningSimulationRobotPoseRequestServiceImpl  implements MqttService{
+
+    @Resource
+    private PathApi pathApi;
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("收到仿真初始化点位的消息 :{}",message);
+        pathApi.simulationRobotPoseRequest(message);
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotGenericsStatusServiceImpl.java

@@ -0,0 +1,24 @@
+package cn.iocoder.yudao.module.system.service.mqtt;
+
+import cn.iocoder.yudao.module.system.api.robot.RobotGenericsStatusApi;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotGenericsDataDTO;
+import com.alibaba.fastjson.JSON;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+@Service
+@Slf4j
+public class RobotGenericsStatusServiceImpl implements MqttService{
+
+    @Resource
+    private RobotGenericsStatusApi robotGenericsStatusApi;
+
+    @Override
+    public void analysisMessage(String message) {
+//        log.info("处理RobotGenericsStatusServiceImpl的消息 :{}",message);
+        RobotGenericsDataDTO robotStatusData = JSON.parseObject(message , RobotGenericsDataDTO.class);
+        robotGenericsStatusApi.updateRobotCommonStatus(robotStatusData);
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotObstaclesStatusServiceImpl.java

@@ -0,0 +1,20 @@
+package cn.iocoder.yudao.module.system.service.mqtt;
+
+import cn.iocoder.yudao.module.system.api.robot.RobotObstaclesStatusApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+@Slf4j
+@Service
+public class RobotObstaclesStatusServiceImpl implements MqttService{
+
+    @Autowired
+    private RobotObstaclesStatusApi robotObstaclesStatusApi;
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("障碍物状态上报 :{}", message);
+        robotObstaclesStatusApi.robotObstaclesStatus(message);
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotPathStatusServiceImpl.java

@@ -0,0 +1,21 @@
+package cn.iocoder.yudao.module.system.service.mqtt;
+
+import cn.iocoder.yudao.module.system.api.robot.RobotPathStatusApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+@Slf4j
+@Service
+public class RobotPathStatusServiceImpl implements MqttService{
+
+    @Resource
+    private RobotPathStatusApi robotPathStatusApi;
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("导航实时行为上报 :{}", message);
+        robotPathStatusApi.robotPathStatus(message);
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotReactiveStatusServiceImpl.java

@@ -0,0 +1,22 @@
+package cn.iocoder.yudao.module.system.service.mqtt;
+
+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);
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotStatusServiceImpl.java

@@ -0,0 +1,28 @@
+package cn.iocoder.yudao.module.system.service.mqtt;
+
+import cn.iocoder.yudao.module.system.api.robot.RobotStatusApi;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotPoseStatusDTO;
+import com.alibaba.fastjson.JSON;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+@Slf4j
+@Service
+public class RobotStatusServiceImpl implements MqttService {
+    @Resource
+    private RobotStatusApi robotStatusApi;
+
+    /**
+     * 机器人点位
+     *
+     * @param message
+     */
+    @Override
+    public void analysisMessage(String message) {
+//        log.info("处理RobotStatusServiceImpl的消息 :{}", message);
+        RobotPoseStatusDTO robotStatusData = JSON.parseObject(message, RobotPoseStatusDTO.class);
+        robotStatusApi.robotStatusUpdate(robotStatusData);
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotTaskStatusServiceImpl.java

@@ -0,0 +1,23 @@
+package cn.iocoder.yudao.module.system.service.mqtt;
+
+import cn.iocoder.yudao.module.system.api.robot.RobotTaskStatusApi;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotCompleteTaskDTO;
+import com.alibaba.fastjson.JSON;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+
+@Service
+@Slf4j
+public class RobotTaskStatusServiceImpl implements MqttService {
+    @Autowired
+    private RobotTaskStatusApi robotTaskStatusApi;
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("处理RobotTaskStatusServiceImpl的消息 :{}",message);
+        RobotCompleteTaskDTO robotCompleteTask = JSON.parseObject(message , RobotCompleteTaskDTO.class);
+        robotTaskStatusApi.robotDoneTask(robotCompleteTask);
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotUpdatePalletHeightServiceImpl.java

@@ -0,0 +1,20 @@
+package cn.iocoder.yudao.module.system.service.mqtt;
+
+import cn.iocoder.yudao.module.system.api.robot.RobotUpdatePalletHeightApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+@Service
+@Slf4j
+public class RobotUpdatePalletHeightServiceImpl implements MqttService {
+
+    @Autowired
+    private RobotUpdatePalletHeightApi robotUpdatePalletHeightApi;
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("处理RobotTaskStatusServiceImpl的消息 :{}",message);
+        robotUpdatePalletHeightApi.updatePalletHeight(message);
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotWirelessSignalStatusServiceImpl.java

@@ -0,0 +1,22 @@
+package cn.iocoder.yudao.module.system.service.mqtt;
+
+
+import cn.iocoder.yudao.module.remote.api.path.RemotePathApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+@Slf4j
+@Service
+public class RobotWirelessSignalStatusServiceImpl implements MqttService{
+
+    @Resource
+    private RemotePathApi remotePathApi;
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("车辆信号上报 :{}",message);
+        remotePathApi.wirelessSignalStatus(message);
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotWorkStatusServiceImpl.java

@@ -0,0 +1,19 @@
+package cn.iocoder.yudao.module.system.service.mqtt;
+
+import cn.iocoder.yudao.module.system.api.robot.RobotWorkStatusApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+@Slf4j
+@Service
+public class RobotWorkStatusServiceImpl implements MqttService{
+    @Autowired
+    private RobotWorkStatusApi robotWorkStatusApi;
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("作业实时行为上报 :{}", message);
+        robotWorkStatusApi.robotWorkStatus(message);
+    }
+}

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

@@ -9,6 +9,8 @@ import cn.iocoder.yudao.module.mqtt.api.path.dto.*;
 import cn.iocoder.yudao.module.mqtt.api.path.task.TaskPathPlanningDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
 import cn.iocoder.yudao.module.system.api.robot.vo.PathPlanningMovePoseVO;
+import cn.iocoder.yudao.module.system.config.mqtt.util.MqttUtils;
+import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
 import cn.iocoder.yudao.module.system.constant.CommonConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningChcheConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
@@ -101,8 +103,11 @@ public class PathPlanningServiceImpl implements PathPlanningService {
     @Autowired
     private RobotInformationService robotInformationService;
 
-    @Resource
-    private CommonApi commonApi;
+    /*@Resource
+    private CommonApi commonApi;*/
+
+    @Autowired
+    private MqttUtils mqttUtils;
 
     @Resource
     private RedisUtil redisUtil;
@@ -120,11 +125,8 @@ public class PathPlanningServiceImpl implements PathPlanningService {
     @Resource
     private PositionMapItemService positionMapItemService;
 
-    @Value("${zn.send_robot_init_pose:false}")
-    private Boolean sendRobotInitPose;
-
-    @Value("${zn.synchronous_all_map_node:500}")
-    private Integer synchronousAllMapNodeSize;
+    @Autowired
+    private ZnConfigConstant znConfigConstant;
 
     @Resource
     private PositionChangePointBindingService positionChangePointBindingService;
@@ -175,7 +177,8 @@ public class PathPlanningServiceImpl implements PathPlanningService {
             assembleDataToPP(relatedPathNode, positionMapLineDOS);
         }
 
-        commonApi.commonMethod(new PositionMapLineDTO(), PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_LINE_END);
+//        commonApi.commonMethod(new PositionMapLineDTO(), PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_LINE_END);
+        mqttUtils.pub(PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_LINE_END,JSON.toJSONString(new PositionMapLineDO()));
     }
 
     /**
@@ -200,14 +203,15 @@ public class PathPlanningServiceImpl implements PathPlanningService {
                 continue;
             }
 
-            List<List<PositionMapItemSynDTO>> partition = Lists.partition(positionMapItemSynDTOS, synchronousAllMapNodeSize);
+            List<List<PositionMapItemSynDTO>> partition = Lists.partition(positionMapItemSynDTOS, znConfigConstant.getSynchronousAllMapNode());
             for (List<PositionMapItemSynDTO> nodes : partition) {
                 PositionMapItemPathDTO relatedPathNode = new PositionMapItemPathDTO();
                 relatedPathNode.setFloor(positionMapDO.getFloor());
                 relatedPathNode.setArea(positionMapDO.getArea());
                 relatedPathNode.setType(PathTypeEnum.INIT.getType());
                 relatedPathNode.setControl_nodes(nodes);
-                commonApi.commonMethod(relatedPathNode, PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_NODE);
+//                commonApi.commonMethod(relatedPathNode, PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_NODE);
+                mqttUtils.pub(PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_NODE,JSON.toJSONString(relatedPathNode));
             }
         }
 
@@ -257,7 +261,8 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         relatedPathNode.setArea(positionMapDO.getArea());
         relatedPathNode.setControl_nodes(list);
 
-        commonApi.commonMethod(relatedPathNode, PathPlanningTopicConstant.ADD_MAP_LINE);
+//        commonApi.commonMethod(relatedPathNode, PathPlanningTopicConstant.ADD_MAP_LINE);
+        mqttUtils.pub(PathPlanningTopicConstant.ADD_MAP_LINE,JSON.toJSONString(relatedPathNode));
     }
 
     /**
@@ -287,8 +292,8 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         ids.add(data.getId());
         relatedPathNode.setIds(ids);
 
-        commonApi.commonMethod(relatedPathNode, PathPlanningTopicConstant.DELETE_MAP_LINE);
-
+//        commonApi.commonMethod(relatedPathNode, PathPlanningTopicConstant.DELETE_MAP_LINE);
+        mqttUtils.pub(PathPlanningTopicConstant.DELETE_MAP_LINE,JSON.toJSONString(relatedPathNode));
     }
 
     /**
@@ -335,7 +340,8 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         relatedPathNode.setType(PathTypeEnum.UPDATE.getType());
         relatedPathNode.setControl_nodes(list);
 
-        commonApi.commonMethod(relatedPathNode, PathPlanningTopicConstant.UPDATE_MAP_LINE);
+//        commonApi.commonMethod(relatedPathNode, PathPlanningTopicConstant.UPDATE_MAP_LINE);
+        mqttUtils.pub(PathPlanningTopicConstant.UPDATE_MAP_LINE,JSON.toJSONString(relatedPathNode));
     }
 
     /**
@@ -377,7 +383,8 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         PositionMapItemPathDTO.setType(PathTypeEnum.ADD.getType());
         PositionMapItemPathDTO.setControl_nodes(Arrays.asList(build));
 
-        commonApi.commonMethod(PositionMapItemPathDTO, PathPlanningTopicConstant.ADD_MAP_NODE);
+//        commonApi.commonMethod(PositionMapItemPathDTO, PathPlanningTopicConstant.ADD_MAP_NODE);
+        mqttUtils.pub(PathPlanningTopicConstant.ADD_MAP_NODE,JSON.toJSONString(PositionMapItemPathDTO));
     }
 
     /**
@@ -411,7 +418,8 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         PositionMapItemPathDTO.setType(PathTypeEnum.DELETE.getType());
         PositionMapItemPathDTO.setIds(Arrays.asList(data.getId()));
 
-        commonApi.commonMethod(PositionMapItemPathDTO, PathPlanningTopicConstant.DELETE_MAP_NODE);
+//        commonApi.commonMethod(PositionMapItemPathDTO, PathPlanningTopicConstant.DELETE_MAP_NODE);
+        mqttUtils.pub( PathPlanningTopicConstant.DELETE_MAP_NODE,JSON.toJSONString(PositionMapItemPathDTO));
     }
 
     @Override
@@ -448,13 +456,15 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         PositionMapItemPathDTO.setType(PathTypeEnum.UPDATE.getType());
         PositionMapItemPathDTO.setControl_nodes(Arrays.asList(build));
 
-        commonApi.commonMethod(PositionMapItemPathDTO, PathPlanningTopicConstant.UPDATE_MAP_NODE);
+//        commonApi.commonMethod(PositionMapItemPathDTO, PathPlanningTopicConstant.UPDATE_MAP_NODE);
+        mqttUtils.pub(PathPlanningTopicConstant.UPDATE_MAP_NODE,JSON.toJSONString(PositionMapItemPathDTO));
     }
 
     @Override
     public void robotDimensions() {
         List<RobotDimensionsDTO> list = informationMapper.selectRobotDimensions();
-        commonApi.commonMethod(list, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
+//        commonApi.commonMethod(list, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
+        mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS,JSON.toJSONString(list));
     }
 
     /**
@@ -470,10 +480,11 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         String topic = RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + mac;
         if(RobotCommandTypeEnum.SWITCH_MAP.getType().equals(pathRobotDTO.getTaskType())) {
             switchMap(pathRobotDTO,topic);
-        } else if (PathTaskTypeToRobotEnum.DROP_OFF_GOODS.getType().equals(pathRobotDTO.getTaskType())) {
+        } /*else if (PathTaskTypeToRobotEnum.DROP_OFF_GOODS.getType().equals(pathRobotDTO.getTaskType())) {
             wordDropOffGoods(message,topic,pathRobotDTO.getRobotNo());
-        } else {
-            commonApi.commonMethodStr(message, topic);
+        } */else {
+//            commonApi.commonMethodStr(message, topic);
+            mqttUtils.pub(topic,message);
         }
     }
 
@@ -487,7 +498,8 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         RobotModelDO model = modelService.getModel(robotInformation.getRobotModelId());
         if (String.valueOf(ZeroOneEnum.ZERO.getType()).equals(model.getRobotXOffset())
                 && String.valueOf(ZeroOneEnum.ZERO.getType()).equals(model.getRobotYOffset())) {
-            commonApi.commonMethodStr(message, topic);
+//            commonApi.commonMethodStr(message, topic);
+            mqttUtils.pub(topic,message);
             return;
         }
         PathToRobotChangeXYDTO pathToRobotChangeXY = JSON.parseObject(message, PathToRobotChangeXYDTO.class);
@@ -502,7 +514,8 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         }
 
         if (!needOffset) {
-            commonApi.commonMethodStr(message, topic);
+//            commonApi.commonMethodStr(message, topic);
+            mqttUtils.pub(topic,message);
             return;
         }
 
@@ -518,8 +531,10 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         BigDecimal y = (sino.multiply(robotXOffset, MathContext.DECIMAL32)).add(coso.multiply(robotYOffset, MathContext.DECIMAL32)).add(y1);
         cargoPose.setX(x.doubleValue());
         cargoPose.setY(y.doubleValue());
-        log.info("转换后 :{}",JSON.toJSONString(pathToRobotChangeXY));
-        commonApi.commonMethodStr(JSON.toJSONString(pathToRobotChangeXY), topic);
+        log.info("111111转换前数据 :{}",message);
+        log.info("111111转换后 :{}",JSON.toJSONString(pathToRobotChangeXY));
+//        commonApi.commonMethodStr(JSON.toJSONString(pathToRobotChangeXY), topic);
+        mqttUtils.pub(topic,JSON.toJSONString(pathToRobotChangeXY));
     }
 
     /**
@@ -531,7 +546,8 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         String mapFileName = positionMapService.getMapFileNameByFloorAndAreaName(pathRobotDTO.getArg().getFloor(),pathRobotDTO.getArg().getAreaId());
         pathRobotDTO.getArg().setMapName(mapFileName);
         controllerInformationService.robotChangeSpeed(pathRobotDTO);
-        commonApi.commonMethodStr(JSON.toJSONString(pathRobotDTO), topic);
+//        commonApi.commonMethodStr(JSON.toJSONString(pathRobotDTO), topic);
+        mqttUtils.pub(topic,JSON.toJSONString(pathRobotDTO));
         RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getLastTaskByRobotNo(pathRobotDTO.getRobotNo(),null);
         if (ObjectUtil.isNotEmpty(actionLog)) {
             //为了统计各个地图的工作时间
@@ -568,7 +584,9 @@ public class PathPlanningServiceImpl implements PathPlanningService {
     public void updateBehavior(String orderId, String robotNo, String behaviorId, String isReach) {
         TaskPathPlanningDTO build = TaskPathPlanningDTO.builder().orderId(orderId).robotNo(robotNo)
                 .behaviorId(behaviorId).isReach(isReach).build();
-        commonApi.commonMethod(build, PathPlanningTopicConstant.UPDATE_BEHAVIOR);
+        log.info("111111发给PP的数据 :{}",JSON.toJSONString(build));
+//        commonApi.commonMethod(build, PathPlanningTopicConstant.UPDATE_BEHAVIOR);
+        mqttUtils.pub(PathPlanningTopicConstant.UPDATE_BEHAVIOR,JSON.toJSONString(build));
     }
 
     /**
@@ -577,7 +595,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
      */
     @Override
     public void pathPlanningMovePose(String message) {
-        log.info("车辆即将行走的点位 :{}",message);
+        log.info("111111路径规划车辆即将行走的点位 :{}",message);
         PathPlanningMovePoseVO robotStatusData = JSON.parseObject(message, PathPlanningMovePoseVO.class);
         String mac = robotInformationService.getMacByRobotNo(robotStatusData.getRobotNo());
         String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + mac;
@@ -593,7 +611,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
     @Override
     public void simulationRobotPoseRequest() {
 
-        if (!sendRobotInitPose) {
+        if (!znConfigConstant.getSendRobotInitPose()) {
             log.info("不同步初始点位信息");
             return;
         }
@@ -660,7 +678,8 @@ public class PathPlanningServiceImpl implements PathPlanningService {
             simulationList.add(simulationRobotPoseDTO);
             i++;
         }
-        commonApi.commonMethod(simulationList, PathPlanningTopicConstant.INIT_ROBOT_POSE);
+//        commonApi.commonMethod(simulationList, PathPlanningTopicConstant.INIT_ROBOT_POSE);
+        mqttUtils.pub( PathPlanningTopicConstant.INIT_ROBOT_POSE,JSON.toJSONString(simulationList));
     }
 
     /**
@@ -676,7 +695,8 @@ public class PathPlanningServiceImpl implements PathPlanningService {
 
     @Override
     public void synchronousStart() {
-        commonApi.commonMethodStr("开始同步点位信息", PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_INIT);
+//        commonApi.commonMethodStr("开始同步点位信息", PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_INIT);
+        mqttUtils.pub(PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_INIT,"开始同步点位信息");
         try {
             Thread.sleep(1000);
         } catch (InterruptedException e) {
@@ -688,7 +708,8 @@ public class PathPlanningServiceImpl implements PathPlanningService {
     public void sendPositionChangePointBinding() {
         List<PositionAllChangePointBindingDTO> bindingDTOS = positionChangePointBindingService.getAllPositionChangePointBinding();
         if (ObjectUtil.isNotEmpty(bindingDTOS)) {
-            commonApi.commonMethod(bindingDTOS, PathPlanningTopicConstant.SYNCHRONOUS_ALL_SWITCH_POINT_BINDING);
+//            commonApi.commonMethod(bindingDTOS, PathPlanningTopicConstant.SYNCHRONOUS_ALL_SWITCH_POINT_BINDING);
+            mqttUtils.pub(PathPlanningTopicConstant.SYNCHRONOUS_ALL_SWITCH_POINT_BINDING,JSON.toJSONString(bindingDTOS));
         }
     }
 
@@ -745,8 +766,8 @@ public class PathPlanningServiceImpl implements PathPlanningService {
 
         relatedPathNode.setControl_nodes(list);
 
-        commonApi.commonMethod(relatedPathNode, PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_LINE);
-
+//        commonApi.commonMethod(relatedPathNode, PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_LINE);
+        mqttUtils.pub(PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_LINE,JSON.toJSONString(relatedPathNode));
     }
 
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapLineServiceImpl.java

@@ -9,6 +9,7 @@ import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapIdNumMapVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLinePageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLineSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapLineMapper;
@@ -66,8 +67,10 @@ public class PositionMapLineServiceImpl extends ServiceImpl<PositionMapLineMappe
             List<Long> endPointIds = addList.stream().map(PositionMapLineDO::getEndPointId).collect(Collectors.toList());
             //合并startPointIds 和 endPointIds 并且去重
             Set<Long> pointIds = CollUtil.unionDistinct(startPointIds, endPointIds);
-            List<PositionMapIdNumMapVO> positionMapIdNumMapVOS = positionMapItemMapper.selectSortNumByIds(new ArrayList<>(pointIds));
-            map = positionMapIdNumMapVOS.stream().collect(Collectors.toMap(PositionMapIdNumMapVO::getId, PositionMapIdNumMapVO::getSortNum));
+            List<PositionMapItemDO> positionMapItemDOS = positionMapItemMapper.selectSortNumByIds(new ArrayList<>(pointIds));
+            if (ObjectUtil.isNotEmpty(positionMapItemDOS)) {
+                 map = positionMapItemDOS.stream().collect(Collectors.toMap(PositionMapItemDO::getId, PositionMapItemDO::getSortNum));
+            }
         }
         for (PositionMapLineDO positionMapLineDO : newList) {
             positionMapLineDO.setPositionMapId(positionMapId);

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java

@@ -7,8 +7,10 @@ import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO;
+import cn.iocoder.yudao.module.system.api.path.PathApi;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotDetailDTO;
+import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionMapDTO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapPageReqVO;
@@ -91,6 +93,10 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
     @Resource
     private RobotInformationService informationService;
 
+    @Resource
+    @Lazy
+    private PathApi pathApi;
+
     @Resource
     private UserOperationLogService userOperationLogService;
 
@@ -257,6 +263,8 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
             houseLaneService.deleteHouseLaneByMapId(positionMap.getId());
             parkingSpotService.deleteParkingByMapId(positionMap.getId());
             redisUtil.del("pngBase64");
+            redisUtil.del(FloorAreaConstant.FLOOR_AREA_ALL);
+            pathApi.pathInitData();
         }
 
         // 处理 PNG 文件

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java

@@ -13,6 +13,7 @@ import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotTransferDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteTaskTransferDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataSpeedDTO;
 import cn.iocoder.yudao.module.system.api.robot.vo.RobotReactiveStatusDTO;
+import cn.iocoder.yudao.module.system.config.mqtt.util.MqttUtils;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningChcheConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
@@ -58,6 +59,7 @@ import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import lombok.extern.slf4j.Slf4j;
 import org.redisson.api.RLock;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
@@ -113,8 +115,11 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
     @Resource
     private RedisUtil redisUtil;
 
-    @Resource
-    private CommonApi commonApi;
+    @Autowired
+    private MqttUtils mqttUtils;
+
+   /* @Resource
+    private CommonApi commonApi;*/
 
     @Resource
     private CommonConfigMapper configMapper;
@@ -783,7 +788,8 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
             robotModeDTO.setMaxSpeed(v);
         }
         String mac = informationService.getMacByRobotNo(robotNo);
-        commonApi.commonMethod(robotModeDTO, RobotTopicConstant.ROBOT_COMMAND_TOPIC + mac);
+//        commonApi.commonMethod(robotModeDTO, RobotTopicConstant.ROBOT_COMMAND_TOPIC + mac);
+        mqttUtils.pub(RobotTopicConstant.ROBOT_COMMAND_TOPIC + mac,JSON.toJSONString(robotModeDTO));
         log.info("发送消息让车机 :{} 切换模式 :{}", robotNo, JSON.toJSONString(robotModeDTO));
     }
 
@@ -796,7 +802,8 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
         RemotePathPlanningDTO remotePathPlanning = new RemotePathPlanningDTO();
         remotePathPlanning.setRobotNo(robotNo);
         remotePathPlanning.setOperationMode(operationMode);
-        commonApi.commonMethod(remotePathPlanning, topic);
+//        commonApi.commonMethod(remotePathPlanning, topic);
+        mqttUtils.pub(topic,JSON.toJSONString(remotePathPlanning));
     }
 
     /**

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

@@ -162,7 +162,7 @@ public interface RobotInformationService extends IService<RobotInformationDO> {
      * 继续做任务
      * @param robotNo
      */
-    void doTaskContinue(String robotNo);
+    void doTaskContinue(String robotNo,Boolean isRobot);
 
     /**
      *

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

@@ -23,6 +23,8 @@ import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
 import cn.iocoder.yudao.module.system.api.robot.websocket.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.api.robot.websocket.RobotInformationVO;
+import cn.iocoder.yudao.module.system.config.mqtt.util.MqttUtils;
+import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
 import cn.iocoder.yudao.module.system.constant.CommonConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningChcheConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
@@ -50,7 +52,6 @@ import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMappe
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.remote.RemoteControllerInformationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.*;
-import cn.iocoder.yudao.module.system.dal.mysql.statistics.RobotWorkingHoursStatisticsMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.wait.MoveToWaitMapper;
 import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.device.DeviceTypeEnum;
@@ -118,8 +119,11 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Resource
     private RobotModelMapper modelMapper;
 
-    @Resource
-    private CommonApi commonApi;
+    /*@Resource
+    private CommonApi commonApi;*/
+
+    @Autowired
+    private MqttUtils mqttUtils;
 
     @Resource
     private UserOperationLogService userOperationLogService;
@@ -159,27 +163,12 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Resource
     private RedissonUtils redissonUtils;
 
-    @Value("${zn.is_simulation:false}")
-    private Boolean isSimulation;
-
-    @Value("${zn.restore_task_restart:true}")
-    private Boolean restoreTaskRestart;
-
-    @Value("${zn.full_electricity:95}")
-    private String fullElectricity;
-
-    @Value("${zn.path_planning.task_chche_time:604800}")
-    private Long taskChcheTime;
-
     @Resource
     private RobotCameraService cameraService;
 
     @Resource
     private RobotChargeLogMapper chargeLogMapper;
 
-    @Resource
-    private RobotWorkingHoursStatisticsMapper robotWorkingHoursStatisticsMapper;
-
     @Resource
     private MoveToWaitMapper moveToWaitMapper;
 
@@ -189,23 +178,23 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Resource
     private RobotMapStopMapper mapStopMapper;
 
+    @Autowired
+    private ZnConfigConstant znConfigConstant;
+
     @Override
     @Transactional(rollbackFor = Exception.class)
     public Long createInformation(RobotInformationSaveReqVO createReqVO) {
-        //判断mac地址是否重复
-        RobotInformationDO existRobotMac = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
-                .eq(RobotInformationDO::getMacAddress, createReqVO.getMacAddress())
-                .last("limit 1"));
 
-        if (ObjectUtil.isNotEmpty(existRobotMac)) {
+        RobotInformationDO existRobotInformationDO =
+                informationMapper.selectByMacAndIdNotIn(createReqVO.getMacAddress(),null);
+        if (ObjectUtil.isNotEmpty(existRobotInformationDO)) {
             throw exception(ROBOT_MAC_ADDRESS_EXISTS);
         }
 
-        //判断机器人编号
-        RobotInformationDO existRobotNo = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
-                .eq(RobotInformationDO::getRobotNo, createReqVO.getRobotNo())
-                .last("limit 1"));
-        if (ObjectUtil.isNotEmpty(existRobotNo)) {
+        HashSet<String> set = new HashSet<>();
+        set.add(createReqVO.getRobotNo());
+        List<RobotInformationDO> robots = informationMapper.selectByRobotNos(set);
+        if (ObjectUtil.isNotEmpty(robots)) {
             throw exception(ROBOT_ROBOT_NO_EXISTS);
         }
 
@@ -251,7 +240,8 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         userOperationLogService.createUserOperationLog(operationLog);
 
         List<RobotDimensionsDTO> list = informationMapper.selectRobotDimensions();
-        commonApi.commonMethod(list, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
+//        commonApi.commonMethod(list, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
+        mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS, JSON.toJSONString(list));
 
         redisUtil.del(key);
         // 返回
@@ -369,6 +359,21 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         validateInformationExists(updateReqVO.getId());
         RobotInformationDO robotInformationDO = informationMapper.selectById(updateReqVO.getId());
 
+        if (RobotStatusEnum.STAND_BY.getType().equals(robotInformationDO.getRobotStatus())) {
+            PositionMapItemDO positionMapItem = positionMapItemMapper.selectOne(new LambdaQueryWrapper<PositionMapItemDO>()
+                    .eq(PositionMapItemDO::getRobotNo, robotInformationDO.getRobotNo())
+                    .eq(PositionMapItemDO::getUseStatus, UseStatusEnum.USEING.getType())
+                    .eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType())
+                    .last("limit 1"));
+            if (ObjectUtil.isNotEmpty(positionMapItem) && ObjectUtil.isEmpty(updateReqVO.getFloorAreaJson())) {
+                log.info("车辆 :{} ,停靠在 :{},", robotInformationDO.getRobotNo(), positionMapItem.getPositionMapId());
+                throw exception(ROBOT_PART_AREA);
+            } else if (ObjectUtil.isNotEmpty(positionMapItem) && ObjectUtil.isNotEmpty(updateReqVO.getFloorAreaJson())
+                    && !updateReqVO.getFloorAreaJson().contains(positionMapItem.getPositionMapId())) {
+                throw exception(ROBOT_PART_AREA);
+            }
+        }
+
         RemoteControllerInformationDO remoteControllerInformation = controllerInformationMapper.selectOne(new LambdaQueryWrapper<RemoteControllerInformationDO>()
                 .eq(RemoteControllerInformationDO::getRobotNo, robotInformationDO.getRobotNo())
                 .last("limit 1"));
@@ -385,24 +390,22 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             }
         }
 
-        //校验MAC地址
-        RobotInformationDO query = new RobotInformationDO();
-        query.setMacAddress(updateReqVO.getMacAddress());
-        List<RobotInformationDO> existRobot = informationMapper.queryAllByLimit(query);
-        boolean exist = existRobot.stream().anyMatch(v -> (v.getMacAddress().equals(updateReqVO.getMacAddress())
-                && !v.getId().equals(updateReqVO.getId())));
-        if (exist) {
-            throw exception(ROBOT_MAC_ADDRESS_EXISTS);
+        if (!updateReqVO.getRobotNo().equals(robotInformationDO.getRobotNo())) {
+            RobotInformationDO existRobotInformationDO =
+                    informationMapper.selectByRobotNoAndIdNotIn(updateReqVO.getRobotNo(),updateReqVO.getId());
+            if (ObjectUtil.isNotEmpty(existRobotInformationDO)) {
+                throw exception(ROBOT_ROBOT_NO_EXISTS);
+            }
         }
-        //校验机器人编号
-        query.setMacAddress(null);
-        query.setRobotNo(updateReqVO.getRobotNo());
-        List<RobotInformationDO> existRobotNo = informationMapper.queryAllByLimit(query);
-        boolean robotNoExist = existRobotNo.stream().anyMatch(v -> (v.getRobotNo().equals(updateReqVO.getRobotNo())
-                && !v.getId().equals(updateReqVO.getId())));
-        if (robotNoExist) {
-            throw exception(ROBOT_ROBOT_NO_EXISTS);
+
+        if (!updateReqVO.getMacAddress().equals(robotInformationDO.getMacAddress())) {
+            RobotInformationDO existRobotInformationDO =
+                    informationMapper.selectByMacAndIdNotIn(updateReqVO.getMacAddress(),updateReqVO.getId());
+            if (ObjectUtil.isNotEmpty(existRobotInformationDO)) {
+                throw exception(ROBOT_MAC_ADDRESS_EXISTS);
+            }
         }
+
         //校验IP
         RobotInformationDO existRobotIp = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
                 .eq(RobotInformationDO::getRobotIp, updateReqVO.getRobotIp())
@@ -425,7 +428,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         checkIpAndPort(updateObj);
 
         if (!updateReqVO.getRobotNo().equals(robotInformationDO.getRobotNo())) {
-            updateRobotNo(robotInformationDO.getRobotNo(),updateReqVO.getRobotNo());
+            updateRobotNo(robotInformationDO.getRobotNo(), updateReqVO.getRobotNo());
         }
 
         informationMapper.updateById(updateObj);
@@ -477,21 +480,23 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
 
-        List<RobotDimensionsDTO> RobotDimensions = informationMapper.selectRobotDimensions();
-        commonApi.commonMethod(RobotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
+        List<RobotDimensionsDTO> robotDimensions = informationMapper.selectRobotDimensions();
+//        commonApi.commonMethod(robotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
+        mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS, JSON.toJSONString(robotDimensions));
     }
 
     /**
      * 跟新车辆编号
+     *
      * @param oldRobotNo
      * @param newRobotNo
      */
     @Transactional(rollbackFor = Exception.class)
     public void updateRobotNo(String oldRobotNo, String newRobotNo) {
 
-        deviceInformationMapper.updateRobotNo(oldRobotNo,newRobotNo);
+        deviceInformationMapper.updateRobotNo(oldRobotNo, newRobotNo);
 
-        controllerInformationMapper.updateRobotNo(oldRobotNo,newRobotNo);
+        controllerInformationMapper.updateRobotNo(oldRobotNo, newRobotNo);
 
         RobotChargeLogDO robotChargeLog = chargeLogMapper.selectOne(new LambdaQueryWrapperX<RobotChargeLogDO>()
                 .eq(RobotChargeLogDO::getRobotNo, oldRobotNo)
@@ -504,11 +509,11 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         //这表暂时不改
 //        robotWorkingHoursStatisticsMapper
-        mapStopMapper.updateRobotNo(oldRobotNo,newRobotNo);
+        mapStopMapper.updateRobotNo(oldRobotNo, newRobotNo);
 
-        moveToWaitMapper.updateRobotNo(oldRobotNo,newRobotNo);
+        moveToWaitMapper.updateRobotNo(oldRobotNo, newRobotNo);
 
-        positionMapItemMapper.updateRobotNo(oldRobotNo,newRobotNo);
+        positionMapItemMapper.updateRobotNo(oldRobotNo, newRobotNo);
     }
 
     @Override
@@ -543,11 +548,22 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         // 删除
         informationMapper.deleteById(id);
 
+        PositionMapItemDO positionMapItem = positionMapItemMapper.selectOne(new LambdaQueryWrapper<PositionMapItemDO>()
+                .eq(PositionMapItemDO::getRobotNo, robotInformationDO.getRobotNo())
+                .eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType())
+                .last("limit 1"));
+        if (ObjectUtil.isNotEmpty(positionMapItem)) {
+            positionMapItem.setRobotNo(null);
+            positionMapItem.setUseStatus(UseStatusEnum.FREE.getType());
+            positionMapItemMapper.updateById(positionMapItem);
+        }
+
         //释放暂停记录
         releaseRobotStop(robotInformationDO);
 
-        List<RobotDimensionsDTO> RobotDimensions = informationMapper.selectRobotDimensions();
-        commonApi.commonMethod(RobotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
+        List<RobotDimensionsDTO> robotDimensions = informationMapper.selectRobotDimensions();
+//        commonApi.commonMethod(robotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
+        mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS, JSON.toJSONString(robotDimensions));
 
         String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + robotInformationDO.getMacAddress();
         redisUtil.del(pose2dKey);
@@ -668,7 +684,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                 if (ObjectUtil.isNotEmpty(cargoDetected) && RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))) {
                     //说明取货完成
                     v.setCargoDetected("有货");
-                }else {
+                } else {
                     v.setCargoDetected("空车");
                 }
                 if (RobotStatisticsTypeEnum.STANDBY.getType().equals(pageReqVO.getRobotStatisticsType())
@@ -1074,7 +1090,8 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         List<RobotInformationDO> robotInformations = informationMapper.queryAllByLimit(query);
         for (RobotInformationDO robotInformationDO : robotInformations) {
             String topic = RobotTopicConstant.RCS_HEART_BEAT + robotInformationDO.getMacAddress();
-            commonApi.commonMethod(new RobotRcsHeartBeatDTO(), topic);
+//            commonApi.commonMethod(new RobotRcsHeartBeatDTO(), topic);
+            mqttUtils.pub(topic, JSON.toJSONString(new RobotRcsHeartBeatDTO()));
         }
     }
 
@@ -1117,13 +1134,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                 .eq(RobotInformationDO::getRobotNo, robotNo)
                 .last("limit 1"));
         robotInformationDO.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
-        robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType());
+//        robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType());
         informationMapper.updateById(robotInformationDO);
     }
 
     public RobotTaskDetailActionLogDO closeTask(String robotNo) {
         CleanAgvDTO build = CleanAgvDTO.builder().robotNo(robotNo).build();
-        commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
+//        commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
+        mqttUtils.pub(PathPlanningTopicConstant.CLEAN_AGV, JSON.toJSONString(build));
         RobotTaskDetailActionLogDO log = taskDetailActionLogService.getLastTaskByRobotNo(robotNo, CommandIdEnum.TASK.getType());
         if (ObjectUtil.isEmpty(log) || ActionStatusEnum.DONE.getType().equals(log.getActionStatus())
                 || ActionStatusEnum.CLOSE.getType().equals(log.getActionStatus())) {
@@ -1141,7 +1159,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
      */
     @Override
     @Transactional(rollbackFor = Exception.class)
-    public void doTaskContinue(String robotNo) {
+    public void doTaskContinue(String robotNo, Boolean isRobot) {
 
         RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getOriginalLastTaskByRobotNo(robotNo);
         if (ObjectUtil.isEmpty(actionLog)) {
@@ -1156,12 +1174,13 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         String mac = getMacByRobotNo(robotNo);
         robotCloseTaskDetail(actionLog.getTaskDetailId() + "", mac, actionLog.getCommandType());
 
-        if (!isSimulation && ActionStatusEnum.DONE.getType().equals(actionLog.getActionStatus())) {
-            throw exception(TASK_CHECK_TASK_STATUS);
+        if (!znConfigConstant.getIsSimulation()) {
+            checkTaskDone(actionLog.getTaskDetailId() + "");
         }
 
         CleanAgvDTO build = CleanAgvDTO.builder().robotNo(robotNo).build();
-        commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
+//        commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
+        mqttUtils.pub(PathPlanningTopicConstant.CLEAN_AGV, JSON.toJSONString(build));
 
         Object o = checkTaskDetailExist(actionLog.getTaskDetailId());
 
@@ -1182,16 +1201,20 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         TaskToPathPlanningDTO pathPlanning = JSONUtil.toBean((String) o, TaskToPathPlanningDTO.class);
 
-        RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
-        if (lock.tryLock()) {
-            try {
-                resendToPP(pathPlanning, actionLog, robotInformationDO);
-            } finally {
-                lock.unlock();
-            }
+        if (isRobot) {
+            resendToPP(pathPlanning, actionLog, robotInformationDO);
         } else {
-            log.info("下发任务给路径规划未获取到锁");
-            throw exception(REDISSON_NOT_OBTAIN_LOCK);
+            RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
+            if (lock.tryLock()) {
+                try {
+                    resendToPP(pathPlanning, actionLog, robotInformationDO);
+                } finally {
+                    lock.unlock();
+                }
+            } else {
+                log.info("下发任务给路径规划未获取到锁");
+                throw exception(REDISSON_NOT_OBTAIN_LOCK);
+            }
         }
 
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
@@ -1228,18 +1251,17 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = Arrays.asList(taskRobotNoLimittationAreaDTO);
         pathPlanning.setRobotNoLimitationAreaDTOS(robotNoLimitions);
 
-        if (!isSimulation || !restoreTaskRestart) {
-            resendToPPData(pathPlanning, actionLog, robotInformationDO, false);
-        }
+        resendToPPData(pathPlanning, actionLog, robotInformationDO, false);
 
         List<TaskToPathPlanningDTO> pathPlanningList = new ArrayList<>();
         pathPlanningList.add(pathPlanning);
 
         String plantingKey = PathPlanningChcheConstant.PATH_PLANNING_TASK + pathPlanning.getOrderId();
-        redisUtil.set(plantingKey, JSON.toJSONString(pathPlanning), taskChcheTime);
+        redisUtil.set(plantingKey, JSON.toJSONString(pathPlanning), znConfigConstant.getTask().getTaskCacheTime());
 
         log.info("任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
-        commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
+//        commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
+        mqttUtils.pub(PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST, JSON.toJSONString(pathPlanningList));
     }
 
     private void resendToPPData(TaskToPathPlanningDTO pathPlanning, RobotTaskDetailActionLogDO actionLog, RobotInformationDO robotInformationDO, Boolean isRemote) {
@@ -1256,7 +1278,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         } else if (PathTaskTypeEnum.RELEASE.getType().equals(actionLog.getCommandType())) {
             releaseTask(pathPlanning);
         } else if (PathTaskTypeEnum.MOVE.getType().equals(actionLog.getCommandType())
-            || PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(actionLog.getCommandType())) {
+                || PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(actionLog.getCommandType())) {
 
         }
     }
@@ -1267,8 +1289,8 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
      * @param pathPlanning
      */
     private void releaseTask(TaskToPathPlanningDTO pathPlanning) {
-        RobotTaskDetailDO robotTaskDetail = checkTaskDone(pathPlanning.getOrderId());
-        releaseCheck(robotTaskDetail.getToLocationId(), robotTaskDetail.getRobotTaskId());
+//        RobotTaskDetailDO robotTaskDetail = checkTaskDone(pathPlanning.getOrderId());
+//        releaseCheck(robotTaskDetail.getToLocationId(), robotTaskDetail.getRobotTaskId());
     }
 
     /**
@@ -1277,13 +1299,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
      * @param pathPlanning
      */
     private void takeTask(TaskToPathPlanningDTO pathPlanning, Boolean isRemote) {
-        RobotTaskDetailDO robotTaskDetail = checkTaskDone(pathPlanning.getOrderId());
-        takeCheck(robotTaskDetail.getFromLocationId(), robotTaskDetail.getRobotTaskId(), isRemote);
+//        RobotTaskDetailDO robotTaskDetail = checkTaskDone(pathPlanning.getOrderId());
+//        takeCheck(robotTaskDetail.getFromLocationId(), robotTaskDetail.getRobotTaskId(), isRemote);
     }
 
     public RobotTaskDetailDO checkTaskDone(String id) {
         RobotTaskDetailDO robotTaskDetail = taskDetailMapper.selectById(id);
-        if (RobotTaskStageEnum.DONE.getType().equals(robotTaskDetail.getTaskStage())) {
+        if (RobotTaskStageEnum.DONE.getType().equals(robotTaskDetail.getTaskStage())
+                || RobotTaskStageEnum.MANUALLY_COMPLETED.getType().equals(robotTaskDetail.getTaskStage())  ) {
             throw exception(ROBOT_LAST_TASK_NO_EXISTS);
         }
         return robotTaskDetail;
@@ -1297,31 +1320,54 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     private void takeReleaseTask(TaskToPathPlanningDTO pathPlanning, Boolean isRemote) {
 
         RobotTaskDetailDO robotTaskDetail = checkTaskDone(pathPlanning.getOrderId());
+
+        if (RobotTaskStageEnum.UN_START.getType().equals(robotTaskDetail.getTaskStage())
+                || RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetail.getTaskStage())
+                || RobotTaskStageEnum.TAKEING.getType().equals(robotTaskDetail.getTaskStage())) {
+            return;
+        }
+
         String robotNo = pathPlanning.getRobotNoLimitationAreaDTOS().get(0).getRobotNo();
         String mac = getMacByRobotNo(robotNo);
         String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + mac;
         Object cargoDetected = redisUtil.get(cargoDetectedKey);
         if (ObjectUtil.isNotEmpty(cargoDetected) && RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))) {
             //说明取货完成
-            pathPlanning.setTakeLevel(null);
-            pathPlanning.setTakeGroupId(null);
-            pathPlanning.setTakeLocationNumber(null);
-            pathPlanning.setTakePointId(null);
-            pathPlanning.setTakeOffsetHeight(null);
-            pathPlanning.setTakeOffsetHeight(null);
-            pathPlanning.setTaskType(PathTaskTypeToRobotEnum.DROP_OFF_GOODS.getType());
+            takeDone(pathPlanning, robotTaskDetail);
+        } else if (RobotTaskStageEnum.GO_RELEASE.getType().equals(robotTaskDetail.getTaskStage())
+                || RobotTaskStageEnum.RELEASEING.getType().equals(robotTaskDetail.getTaskStage())) {
+            takeDone(pathPlanning, robotTaskDetail);
+        } else if (RobotTaskStageEnum.CLOSE.getType().equals(robotTaskDetail.getTaskStage())
+                || RobotTaskStageEnum.EXCEPTION.getType().equals(robotTaskDetail.getTaskStage()) ) {
             WareHouseLocationDO wareHouseLocation = wareHouseLocationMapper.selectById(robotTaskDetail.getFromLocationId());
-            if (wareHouseLocation.getTaskId().equals(robotTaskDetail.getTakeId()) && LocationLockEnum.NO.getType().equals(wareHouseLocation.getLocationLock())) {
-                wareHouseLocation.setSkuInfo(null);
-                wareHouseLocation.setSkuNumber(0L);
-                wareHouseLocation.setLocationLock(LocationLockEnum.YES.getType());
-                wareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.NO.getType());
-                wareHouseLocationMapper.updateById(wareHouseLocation);
+            if (ZeroOneEnum.ZERO.getType().equals(wareHouseLocation.getLocationUseStatus())) {
+                takeDone(pathPlanning, robotTaskDetail);
             }
-        }else {
+        }
+
+
+        /*else {
             takeCheck(robotTaskDetail.getFromLocationId(), robotTaskDetail.getRobotTaskId(), isRemote);
         }
-        releaseCheck(robotTaskDetail.getToLocationId(), robotTaskDetail.getRobotTaskId());
+        releaseCheck(robotTaskDetail.getToLocationId(), robotTaskDetail.getRobotTaskId());*/
+    }
+
+    public void takeDone(TaskToPathPlanningDTO pathPlanning, RobotTaskDetailDO robotTaskDetail) {
+        pathPlanning.setTakeLevel(null);
+        pathPlanning.setTakeGroupId(null);
+        pathPlanning.setTakeLocationNumber(null);
+        pathPlanning.setTakePointId(null);
+        pathPlanning.setTakeOffsetHeight(null);
+        pathPlanning.setTakeOffsetHeight(null);
+        pathPlanning.setTaskType(PathTaskTypeToRobotEnum.DROP_OFF_GOODS.getType());
+        WareHouseLocationDO wareHouseLocation = wareHouseLocationMapper.selectById(robotTaskDetail.getFromLocationId());
+        if (wareHouseLocation.getTaskId().equals(robotTaskDetail.getTakeId()) && LocationLockEnum.NO.getType().equals(wareHouseLocation.getLocationLock())) {
+            wareHouseLocation.setSkuInfo(null);
+            wareHouseLocation.setSkuNumber(0L);
+            wareHouseLocation.setLocationLock(LocationLockEnum.YES.getType());
+            wareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.NO.getType());
+            wareHouseLocationMapper.updateById(wareHouseLocation);
+        }
     }
 
     /**
@@ -1401,12 +1447,19 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             throw exception(ROBOT_NOT_FOUND_FREE_CHARGING_STATION);
         }
 
-        DeviceInformationDO deviceInformationDO = deviceInformations.stream()
-                .filter(v -> v.getDeviceAttribute().equals(robot.getChargeType())
-                        && robot.getFloorAreaJson().contains(v.getPositionMapId()))
-                .findFirst()
-                .orElse(new DeviceInformationDO());
-        if (ObjectUtil.isEmpty(deviceInformationDO.getDeviceNo())) {
+        DeviceInformationDO deviceInformationDO = null;
+        for (DeviceInformationDO v : deviceInformations) {
+            if (ObjectUtil.isNotEmpty(v.getLastUser()) && v.getLastUser().equals(robot.getRobotNo())) {
+                deviceInformationDO = v;
+                break;
+            }
+            if (v.getDeviceAttribute().equals(robot.getChargeType())
+                    && robot.getFloorAreaJson().contains(v.getPositionMapId()) && DeviceUseStatusEnum.IDLE.getType().equals(v.getDeviceUseStatus())) {
+                deviceInformationDO = v;
+            }
+        }
+
+        if (ObjectUtil.isEmpty(deviceInformationDO)) {
             log.info("当前机器人查不到对应的充电桩类型、或者机器人不能在此区域充电 :{}", robot.getRobotNo());
             throw exception(ROBOT_NOT_FOUND_FREE_CHARGING_STATION);
         }
@@ -1453,7 +1506,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                 || RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetail.getTaskStage())) {
             log.info("清除交管--任务阶段是前往取货/待执行/前往放货 :{}", robotTaskDetail.getRobotNo());
             robotTaskDetail.setTaskStatus(RobotTaskDetailStatusEnum.NEW.getType());
-            robotTaskDetail.setRobotNo(null);
+//            robotTaskDetail.setRobotNo(null);
             taskDetailMapper.updateById(robotTaskDetail);
         }
     }
@@ -1472,7 +1525,8 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         robotTask.setOrderType(orderType);
         robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + mac);
         robotTask.setExecutionType(ExecutionTypeEnum.CANCEL.getType());
-        commonApi.commonMethod(robotTask, robotTask.getTopic());
+//        commonApi.commonMethod(robotTask, robotTask.getTopic());
+        mqttUtils.pub(robotTask.getTopic(), JSON.toJSONString(robotTask));
     }
 
     /**
@@ -1493,7 +1547,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         List<String> robotNos = robots.stream().map(RobotInformationDO::getRobotNo).collect(Collectors.toList());
 
         List<String> list = new ArrayList<>();
-        String floorArea = floor + CommonConstant.SYMBOL  + area;
+        String floorArea = floor + CommonConstant.SYMBOL + area;
         Map<Object, Object> hmget = redisUtil.hmget(floorArea);
         if (ObjectUtil.isEmpty(hmget)) {
             return new ArrayList<>();
@@ -1519,7 +1573,8 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     public void sendEmergencyStopOrRecoveryToRobot(RobotSimulationPoseDTO robotSimulationPose, List<String> robotNos, String str) {
         for (String robotNo : robotNos) {
             String mac = getMacByRobotNo(robotNo);
-            commonApi.commonMethod(robotSimulationPose, RobotTopicConstant.ROBOT_COMMAND_TOPIC + mac);
+//            commonApi.commonMethod(robotSimulationPose, RobotTopicConstant.ROBOT_COMMAND_TOPIC + mac);
+            mqttUtils.pub(RobotTopicConstant.ROBOT_COMMAND_TOPIC + mac, JSON.toJSONString(robotSimulationPose));
             UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
                     .operateAction(str + robotNo)
                     .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
@@ -1643,7 +1698,8 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         robotCloseTaskDetail(actionLog.getTaskDetailId() + "", mac, actionLog.getCommandType());
 
         CleanAgvDTO build = CleanAgvDTO.builder().robotNo(robotNo).build();
-        commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
+//        commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
+        mqttUtils.pub(PathPlanningTopicConstant.CLEAN_AGV, JSON.toJSONString(build));
 
         TaskToPathPlanningDTO pathPlanning = JSONUtil.toBean((String) o, TaskToPathPlanningDTO.class);
 
@@ -1656,12 +1712,13 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         resendToPPData(pathPlanning, actionLog, robotInformationDO, true);
 
         String plantingKey = PathPlanningChcheConstant.PATH_PLANNING_TASK + pathPlanning.getOrderId();
-        redisUtil.set(plantingKey, JSON.toJSONString(pathPlanning), taskChcheTime);
+        redisUtil.set(plantingKey, JSON.toJSONString(pathPlanning), znConfigConstant.getTask().getTaskCacheTime());
 
         List<TaskToPathPlanningDTO> pathPlanningList = new ArrayList<>();
         pathPlanningList.add(pathPlanning);
         log.info("远遥任务转移, 任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
-        commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
+//        commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
+        mqttUtils.pub(PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST, JSON.toJSONString(pathPlanningList));
     }
 
     /**
@@ -1692,7 +1749,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                 && !ChargeModelEnum.FULL.getType().equals((Integer) chargeModelCache)) {
             robotEndElectricity = new BigDecimal(String.valueOf(robot.getAutoCharge()));
         } else if (ObjectUtil.isNotEmpty(chargeModelCache) && ChargeModelEnum.FULL.getType().equals((Integer) chargeModelCache)) {
-            robotEndElectricity = new BigDecimal(fullElectricity);
+            robotEndElectricity = new BigDecimal(znConfigConstant.getFullElectricity());
         } else if (ObjectUtil.isNotEmpty(chargeModelCache) && ChargeModelEnum.CHANCE.getType().equals((Integer) chargeModelCache)
                 && ObjectUtil.isNotEmpty(chargeConfig.getChanceChargeEnd())) {
             robotEndElectricity = new BigDecimal(String.valueOf(chargeConfig.getChanceChargeEnd()));

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

@@ -8,6 +8,7 @@ import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
 import cn.iocoder.yudao.module.system.api.path.vo.RobotClosePathPlantingDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteExceptionTaskDetailDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteTaskQueryDTO;
+import cn.iocoder.yudao.module.system.config.mqtt.util.MqttUtils;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.detail.RobotDoingTaskDTO;
@@ -35,6 +36,7 @@ import cn.iocoder.yudao.module.system.service.path.PathPlanningService;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.metadata.IPage;
 import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 
 import javax.annotation.Resource;
@@ -82,8 +84,11 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
     @Resource
     private RobotWarnMsgService warnMsgService;
 
-    @Resource
-    private CommonApi commonApi;
+   /* @Resource
+    private CommonApi commonApi;*/
+
+    @Autowired
+    private MqttUtils mqttUtils;
 
     @Resource
     private UserOperationLogService userOperationLogService;
@@ -224,7 +229,8 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
                 .robotNo(robotTaskDetailDO.getRobotNo())
                 .id(robotTaskDetailDO.getId().toString())
                 .build();
-        commonApi.commonMethod(closePathPlanting, PathPlanningTopicConstant.KILL_TASK);
+//        commonApi.commonMethod(closePathPlanting, PathPlanningTopicConstant.KILL_TASK);
+        mqttUtils.pub(PathPlanningTopicConstant.KILL_TASK,JSON.toJSONString(closePathPlanting));
     }
 
     @Override
@@ -246,6 +252,7 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
     public void setTaskDetailError(Long id) {
         RobotTaskDetailDO robotTaskDetailDO = new RobotTaskDetailDO();
         robotTaskDetailDO.setId(id);
+        robotTaskDetailDO.setTaskStatus(RobotTaskStatusEnum.Exc.getType());
         robotTaskDetailDO.setOccurError(ZeroOneEnum.ONE.getType());
         taskDetailMapper.updateById(robotTaskDetailDO);
     }

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

@@ -115,4 +115,11 @@ public interface RobotTaskService extends IService<RobotTaskDO> {
      * @param robotNo
      */
     void chargeDone(String robotNo);
+
+    /**
+     * 查询车辆的工作总数
+     * @param robotNo
+     * @return
+     */
+    Integer getRobotTaskNum(String robotNo);
 }

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

@@ -13,6 +13,8 @@ import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.*;
 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.config.mqtt.util.MqttUtils;
+import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
 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.robot.RobotTopicConstant;
@@ -62,6 +64,7 @@ import cn.iocoder.yudao.module.system.service.information.DeviceInformationServi
 import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogService;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
+import cn.iocoder.yudao.module.system.service.robot.simulation.RobotSimulationService;
 import cn.iocoder.yudao.module.system.service.statistics.RobotWorkingHoursStatisticsService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import cn.iocoder.yudao.module.system.util.redis.RedissonUtils;
@@ -129,20 +132,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     @Autowired
     private RobotInformationService robotInformationService;
 
-    @Value("${zn.task-no:ZN}")
-    private String taskNo;
-
-    @Value("${zn.do_cycle:true}")
-    private Boolean doCycle;
-
-    @Value("${zn.task.check_sku_info:true}")
-    private Boolean checkSkuInfo;
-
-    @Value("${zn.robot_config.offset_height}")
-    private Double offsetHeight;
-
-    @Value("${zn.robot_config.default_tray_height:0.82}")
-    private Double defaultTrayHeight;
+    @Autowired
+    private ZnConfigConstant znConfigConstant;
 
     @Resource
     private WareHouseLaneMapper houseLaneMapper;
@@ -156,8 +147,11 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     @Resource
     private DeviceInformationMapper deviceInformationMapper;
 
-    @Resource
-    private CommonApi commonApi;
+    /*@Resource
+    private CommonApi commonApi;*/
+
+    @Autowired
+    private MqttUtils mqttUtils;
 
     @Resource
     private UserOperationLogService userOperationLogService;
@@ -165,18 +159,12 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     @Resource
     private DeviceInformationService deviceInformationService;
 
-    @Resource
-    private RobotTaskDetailActionLogMapper taskDetailActionLogMapper;
-
     @Autowired
     private RobotTaskMapper robotTaskMapper;
 
     @Autowired
     private RobotTaskDetailMapper robotTaskDetailMapper;
 
-    @Value("${zn.move-no:MOVE}")
-    private String moveTaskNo;
-
     @Resource
     private PositionMapItemService positionMapItemService;
 
@@ -186,16 +174,23 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     @Resource
     private RobotWorkingHoursStatisticsService robotWorkingHoursStatisticsService;
 
+    @Resource
+    private RobotSimulationService robotSimulationService;
+
     @Override
     @Transactional(rollbackFor = Exception.class)
     public Long createTask(RobotTaskSaveReqVO createReqVO) throws InterruptedException {
+        if (znConfigConstant.getTaskNotCheck()) {
+            robotSimulationService.createTask(createReqVO);
+            return 1L;
+        }
         //校验
         doTaskCheck(createReqVO);
 
         //设置任务号
         if (ObjectUtil.isEmpty(createReqVO.getTaskNo())) {
             String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey());
-            createReqVO.setTaskNo(taskNo + DateUtils.getYearMonthDay() + incrementByKey);
+            createReqVO.setTaskNo(znConfigConstant.getTaskNo() + DateUtils.getYearMonthDay() + incrementByKey);
         }
         //获取库位id
         RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_ADD_LOCK.getKey());
@@ -228,7 +223,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             throw exception(TASK_DATA_NOT_FULL);
         }
         //校验循环任务的配置未开启
-        if (DoCycleEnum.YES.getType().equals(createReqVO.getDoCycle()) && !doCycle) {
+        if (DoCycleEnum.YES.getType().equals(createReqVO.getDoCycle()) && !znConfigConstant.getDoCycle()) {
             throw exception(TASK_CYCLE_NOT_OPEN);
         }
         //搬空任务只能选择线库或者区域
@@ -352,7 +347,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
         List<Long> laneIds = new ArrayList<>();
         List<Long> areaIds = new ArrayList<>();
-        if (ObjectUtil.isNotEmpty(task.getSkuInfo()) && checkSkuInfo) {
+        if (ObjectUtil.isNotEmpty(task.getSkuInfo()) && znConfigConstant.getTask().getCheckSkuInfo()) {
             List<WareHouseLaneDO> wareHouseLaneDOS = houseLaneMapper.selectList(new LambdaQueryWrapper<WareHouseLaneDO>()
                     .eq(WareHouseLaneDO::getLaneMsg, task.getSkuInfo()));
             if (ObjectUtil.isNotEmpty(wareHouseLaneDOS)) {
@@ -385,7 +380,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             locationMapper.updateLocationLockList(list, task.getId(), LocationLockEnum.NO.getType());
         });
 
-        if (doCycle && ObjectUtil.isNotEmpty(createReqVO.getDoCycle())
+        if (znConfigConstant.getDoCycle() && ObjectUtil.isNotEmpty(createReqVO.getDoCycle())
                 && ZeroOneEnum.ONE.getType().equals(createReqVO.getDoCycle().intValue())) {
             addCycle(task.getId(), createReqVO.getTaskDetailList());
         }
@@ -504,7 +499,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                     .robotNo(taskDetailDO.getRobotNo())
                     .id(taskDetailDO.getId().toString())
                     .build();
-            commonApi.commonMethod(closePathPlanting, PathPlanningTopicConstant.KILL_TASK);
+//            commonApi.commonMethod(closePathPlanting, PathPlanningTopicConstant.KILL_TASK);
+            mqttUtils.pub(PathPlanningTopicConstant.KILL_TASK, JSON.toJSONString(closePathPlanting));
         }
 
         RobotTaskDO updateObj = BeanUtils.toBean(updateReqVO, RobotTaskDO.class);
@@ -512,6 +508,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
         taskDetailMapper.updateById(taskDetailDOS);
 
+        taskCycleMapper.deletByRobotTaskId(robotTaskDO.getId());
+
         if (ObjectUtil.isNotEmpty(locationIds)) {
             locationMapper.releaseLocationLockList(locationIds, robotTaskDO.getId()
                     , LocationLockEnum.YES.getType());
@@ -536,13 +534,11 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                 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.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType());
             robotInformationDO.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
         }
 
         informationMapper.updateById(robotInformationDOS);
-
-        taskCycleMapper.deletByRobotTaskId(robotTaskDO.getId());
     }
 
     @Override
@@ -552,7 +548,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         robotTask.setOrderType(orderType);
         robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + mac);
         robotTask.setExecutionType(ExecutionTypeEnum.CANCEL.getType());
-        commonApi.commonMethod(robotTask, robotTask.getTopic());
+//        commonApi.commonMethod(robotTask, robotTask.getTopic());
+        mqttUtils.pub(robotTask.getTopic(), JSON.toJSONString(robotTask));
     }
 
     /**
@@ -560,6 +557,12 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
      */
     @Override
     public void checkHaveDoingTask() {
+
+        //暂时注释
+        if (true) {
+            return;
+        }
+
         List<RobotTaskDO> taskDOS = taskMapper.selectList(new LambdaQueryWrapper<RobotTaskDO>()
                 .in(RobotTaskDO::getTaskStatus, RobotTaskStatusEnum.NEW.getType(), RobotTaskStatusEnum.DOING.getType()));
         if (ObjectUtil.isNotEmpty(taskDOS)) {
@@ -582,7 +585,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
      */
     @Override
     public void assignTasks(String message) {
-        log.info("PP分配任务,开始更新任务状态 :{}", message);
+        log.info("111111PP路径规划分配任务,开始更新任务状态 :{}", message);
         TaskAssignDTO taskAssignDTO = JSON.parseObject(message, TaskAssignDTO.class);
 
         String mac = robotInformationService.getMacByRobotNo(taskAssignDTO.getRobotNo());
@@ -649,7 +652,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     private RobotTaskDO ppCreateMove(TaskAssignDTO taskAssignDTO) {
         RobotTaskDO task = new RobotTaskDO();
         String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.MOVE_TASK_NO.getKey());
-        task.setTaskNo(moveTaskNo + DateUtils.getYearMonthDay() + incrementByKey);
+        task.setTaskNo(znConfigConstant.getMoveNo() + DateUtils.getYearMonthDay() + incrementByKey);
         task.setId(IdUtil.getSnowflakeNextId());
         task.setCycleNumber(0L);
         task.setRemainingCycleNumber(0L);
@@ -664,7 +667,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         taskDetailDO.setReleaseType(ReleaseTakeEnum.TO_LOCATION.getType());
         taskDetailDO.setReleaseId(Long.valueOf(taskAssignDTO.getWaitId()));
         taskDetailDO.setToLocationId(Long.valueOf(taskAssignDTO.getWaitId()));
-        taskDetailDO.setToLocationNo( positionMapItem.getSortNum() + "");
+        taskDetailDO.setToLocationNo(positionMapItem.getSortNum() + "");
         taskDetailDO.setRobotNo(taskAssignDTO.getRobotNo());
         taskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
         taskDetailDO.setStartTime(LocalDateTime.now());
@@ -742,7 +745,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             data.add(robotAssignTaskData);
         }
         log.info("发送任务给车机 :{}", JSON.toJSONString(build));
-        commonApi.commonMethod(build, build.getTopic());
+//        commonApi.commonMethod(build, build.getTopic());
+        mqttUtils.pub(build.getTopic(),JSON.toJSONString(build));
     }
 
     public RobotAssignTaskDataDTO getEmptyRobotAssignTaskData() {
@@ -765,7 +769,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             location = locationMapper.selectById(v.getFromLocationId());
             build = RobotAssignTaskArgDTO.builder()
                     .level(Double.valueOf(location.getLocationStorey()))
-                    .offsetHeight(offsetHeight)
+                    .offsetHeight(znConfigConstant.getRobotConfig().getOffsetHeight())
                     .build();
             take.setArg(Arrays.asList(build));
         } else if (PathTaskTypeEnum.RELEASE.getType().equals(taskAssignDTO.getOrderType())) {
@@ -773,7 +777,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             location = locationMapper.selectById(v.getToLocationId());
             build = RobotAssignTaskArgDTO.builder()
                     .level(Double.valueOf(location.getLocationStorey()))
-                    .offsetHeight(offsetHeight)
+                    .offsetHeight(znConfigConstant.getRobotConfig().getOffsetHeight())
                     .build();
         }
 
@@ -790,7 +794,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
     private void setRobotAssignTaskArgHeigth(WareHouseLocationDO location, RobotAssignTaskArgDTO build) {
         Integer locationStorey = location.getLocationStorey() - 1;
-        double height = locationStorey * defaultTrayHeight;
+        double height = locationStorey * znConfigConstant.getRobotConfig().getDefaultTrayHeight();
         build.setHeight(height);
     }
 
@@ -818,6 +822,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         taskDetailMapper.updateById(taskDetailDO);
         RobotTaskDO task = new RobotTaskDO();
         task.setId(taskDetailDO.getRobotTaskId());
+        task.setStartTime(LocalDateTime.now());
         task.setTaskStatus(RobotTaskStatusEnum.DOING.getType());
         taskMapper.updateById(task);
         String taskNo = taskDetailMapper.getTaskNoByDetailId(detailId);
@@ -838,7 +843,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
         List<RobotTaskDetailAddVO> newTaskDetailList = new ArrayList<>();
         List<Long> mapItemIds = new ArrayList<>();
-        if (doCycle) {
+        if (znConfigConstant.getDoCycle()) {
             List<TaskCycleDO> taskCycleDOS = taskCycleMapper.selectList(new LambdaQueryWrapper<TaskCycleDO>());
             if (ObjectUtil.isNotEmpty(taskCycleDOS)) {
                 mapItemIds = taskCycleDOS.stream().map(TaskCycleDO::getMapItemId).collect(Collectors.toList());
@@ -1008,7 +1013,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             releaseMapItemIds = new ArrayList<>();
         }
 
-        if (doCycle) {
+        if (znConfigConstant.getDoCycle()) {
             List<TaskCycleDO> taskCycleDOS = taskCycleMapper.selectList(new LambdaQueryWrapper<TaskCycleDO>());
             if (ObjectUtil.isNotEmpty(taskCycleDOS)) {
                 List<Long> mapItemIds =
@@ -1482,7 +1487,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     @Override
     public String getTaskNo() {
         String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey());
-        return taskNo + DateUtils.getYearMonthDay() + incrementByKey;
+        return znConfigConstant.getTaskNo() + DateUtils.getYearMonthDay() + incrementByKey;
     }
 
     /**
@@ -1622,6 +1627,15 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         }
     }
 
+    @Override
+    public Integer getRobotTaskNum(String robotNo) {
+        List<RobotTaskDetailDO> taskDetailDOS = taskDetailMapper.selectList(new LambdaQueryWrapperX<RobotTaskDetailDO>()
+                .eq(RobotTaskDetailDO::getRobotNo, robotNo)
+                .ne(RobotTaskDetailDO::getTaskStatus, RobotTaskStatusEnum.NEW.getType()));
+
+        return ObjectUtil.isEmpty(taskDetailDOS) ? 0 : taskDetailDOS.size();
+    }
+
     /**
      * 任务日志分页
      *

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/camera/RobotCameraServiceImpl.java

@@ -1,6 +1,7 @@
 package cn.iocoder.yudao.module.system.service.robot.camera;
 
 import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
 import cn.iocoder.yudao.module.system.controller.admin.robot.camera.RobotCameraAddVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.camera.RobotCameraPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.camera.RobotCameraRespVO;
@@ -13,6 +14,7 @@ import cn.iocoder.yudao.module.system.util.aes.AESEncryptionUtil;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.google.common.collect.Sets;
 import org.apache.commons.lang3.StringUtils;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
 
@@ -45,8 +47,8 @@ public class RobotCameraServiceImpl extends ServiceImpl<RobotCameraMapper, Robot
     @Resource
     private RobotCameraMapper cameraMapper;
 
-    @Value("${zn.camera_secret_key}")
-    private String cameraSecretKey;
+    @Autowired
+    private ZnConfigConstant znConfigConstant;
 
     @Override
     public Long createCamera(RobotCameraSaveReqVO createReqVO) {
@@ -131,14 +133,14 @@ public class RobotCameraServiceImpl extends ServiceImpl<RobotCameraMapper, Robot
     private void setCameraAccountAndPassword(RobotCameraDO robotCameraDO) {
         if (ObjectUtil.isEmpty(robotCameraDO.getId())) {
             try {
-                robotCameraDO.setCameraAccount(AESEncryptionUtil.encrypt(robotCameraDO.getCameraAccount(), cameraSecretKey));
-                robotCameraDO.setCameraPassword(AESEncryptionUtil.encrypt(robotCameraDO.getCameraPassword(), cameraSecretKey));
+                robotCameraDO.setCameraAccount(AESEncryptionUtil.encrypt(robotCameraDO.getCameraAccount(), znConfigConstant.getCameraSecretKey()));
+                robotCameraDO.setCameraPassword(AESEncryptionUtil.encrypt(robotCameraDO.getCameraPassword(), znConfigConstant.getCameraSecretKey()));
             } catch (Exception e) {
                 throw new RuntimeException(e);
             }
         } else {
-            robotCameraDO.setCameraAccount(AESEncryptionUtil.getEncrypt(robotCameraDO.getCameraAccount(),cameraSecretKey));
-            robotCameraDO.setCameraPassword(AESEncryptionUtil.getEncrypt(robotCameraDO.getCameraPassword(),cameraSecretKey));
+            robotCameraDO.setCameraAccount(AESEncryptionUtil.getEncrypt(robotCameraDO.getCameraAccount(),znConfigConstant.getCameraSecretKey()));
+            robotCameraDO.setCameraPassword(AESEncryptionUtil.getEncrypt(robotCameraDO.getCameraPassword(),znConfigConstant.getCameraSecretKey()));
         }
     }
 

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

@@ -8,6 +8,7 @@ import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 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.websocket.RobotStatusDataPoseDTO;
+import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotStatusCodeConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.controller.admin.config.vo.CommonConfigVO;
@@ -74,11 +75,8 @@ public class AutoChargeServiceImpl implements AutoChargeService {
     @Resource
     private RedisUtil redisUtil;
 
-    @Value("${zn.full_electricity:100}")
-    private String fullElectricity;
-
-    @Value("${zn.charge-no:CHARGE}")
-    private String chargeNo;
+    @Autowired
+    private ZnConfigConstant znConfigConstant;
 
     @Autowired
     private RobotPathPlanningService robotPathPlanningService;
@@ -307,7 +305,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
                 && !ChargeModelEnum.FULL.getType().equals((Integer) chargeModelCache)) {
             robotEndElectricity = new BigDecimal(String.valueOf(robot.getAutoCharge()));
         } else if (ObjectUtil.isNotEmpty(chargeModelCache) && ChargeModelEnum.FULL.getType().equals((Integer) chargeModelCache)) {
-            robotEndElectricity = new BigDecimal(fullElectricity);
+            robotEndElectricity = new BigDecimal(znConfigConstant.getFullElectricity());
         } else if (ObjectUtil.isNotEmpty(chargeModelCache) && ChargeModelEnum.CHANCE.getType().equals((Integer) chargeModelCache)
                 && ObjectUtil.isNotEmpty(chargeConfig.getEndAutoCharge())) {
             robotEndElectricity = new BigDecimal(String.valueOf(chargeConfig.getChanceChargeEnd()));
@@ -386,7 +384,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
 
             logDo.setStartElectricity(electricity);
             //配置的充满电电量
-            BigDecimal robotFullElectricity = new BigDecimal(fullElectricity);
+            BigDecimal robotFullElectricity = new BigDecimal(znConfigConstant.getFullElectricity());
             //车子剩余电量
             BigDecimal robotRemainingElectricity = new BigDecimal(electricity + "");
             if (ObjectUtil.isNotEmpty(chargeConfig.getChanceCycle()) && !chargeFullNos.contains(robot.getRobotNo())
@@ -502,7 +500,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
     public Long createChargeTask(String robotNo, List<RobotTaskDO> tasks, List<RobotTaskDetailAddVO> taskDetails, Long positionMapItemId, String deviceNo) {
         RobotTaskDO task = new RobotTaskDO();
         String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.CHARGE_TASK_NO.getKey());
-        task.setTaskNo(chargeNo + DateUtils.getYearMonthDay() + incrementByKey);
+        task.setTaskNo(znConfigConstant.getChargeNo() + DateUtils.getYearMonthDay() + incrementByKey);
         task.setId(IdUtil.getSnowflakeNextId());
         task.setCycleNumber(0L);
         task.setRemainingCycleNumber(0L);

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

@@ -4,9 +4,11 @@ import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.common.util.date.DateUtils;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
+import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO;
 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.cycle.TaskCycleMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
@@ -20,6 +22,7 @@ import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.google.common.collect.Lists;
 import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
 
@@ -45,11 +48,8 @@ public class CycleServiceImpl implements CycleService {
     @Resource
     private RobotTaskDetailMapper taskDetailMapper;
 
-    @Value("${zn.do_cycle:true}")
-    private Boolean doCycle;
-
-    @Value("${zn.task-no:ZN}")
-    private String taskNo;
+    @Autowired
+    private ZnConfigConstant znConfigConstant;
 
     @Resource
     private RedisUtil redisUtil;
@@ -59,6 +59,9 @@ public class CycleServiceImpl implements CycleService {
 
     @Resource
     private RobotTaskService robotTaskService;
+
+    @Resource
+    private TaskCycleMapper taskCycleMapper;
     /**
      * 创建循环任务
      */
@@ -66,7 +69,7 @@ public class CycleServiceImpl implements CycleService {
     public void cycleTaskJob() {
         TenantContextHolder.setTenantId(1L);
 
-        if (!doCycle) {
+        if (!znConfigConstant.getDoCycle()) {
             log.info("循环任务关闭了--不自动创建循环任务");
         }
 
@@ -86,11 +89,12 @@ public class CycleServiceImpl implements CycleService {
         Map<Long, List<RobotTaskDetailDO>> taskIdMap =
                 detailDOS.stream().collect(Collectors.groupingBy(RobotTaskDetailDO::getRobotTaskId));
 
-        String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey());
+
 
         List<RobotTaskDO> taskDOList = new ArrayList<>();
         List<RobotTaskDetailDO> taskDetailList = new LinkedList<>();
         for (RobotTaskDO v : taskList) {
+            String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey());
             RobotTaskDO taskData = getTaskData(incrementByKey, v);
             List<RobotTaskDetailDO> taskDetailDOS = getTaskDetailData(taskData,taskIdMap,v.getId());
             taskDOList.add(taskData);
@@ -98,10 +102,21 @@ public class CycleServiceImpl implements CycleService {
             v.setRemainingCycleNumber(0l);
         }
 
-        taskMapper.insertBatch(taskDOList);
+        taskMapper.insert(taskDOList);
         taskMapper.updateById(taskList);
-        Collections.reverse(taskDetailList);
-        taskDetailMapper.insertBatch(taskDetailList);
+
+        List<RobotTaskDetailDO> moves = taskDetailList.stream().filter(v -> RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(v.getTaskType())).collect(Collectors.toList());
+        List<RobotTaskDetailDO> takes = taskDetailList.stream().filter(v -> !RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(v.getTaskType())).collect(Collectors.toList());
+        List<RobotTaskDetailDO> taskDetails= new LinkedList<>();
+        if (ObjectUtil.isNotEmpty(moves)) {
+            taskDetails.addAll(moves);
+        }
+        if (ObjectUtil.isNotEmpty(takes)) {
+            Collections.reverse(takes);
+            taskDetails.addAll(takes);
+        }
+
+        taskDetailMapper.insert(taskDetails);
 
         List<Long> fromLocationIds = taskDetailList.stream().map(RobotTaskDetailDO::getFromLocationId).collect(Collectors.toList());
         List<Long> toLocationIds = taskDetailList.stream().map(RobotTaskDetailDO::getToLocationId).collect(Collectors.toList());
@@ -114,12 +129,13 @@ public class CycleServiceImpl implements CycleService {
             locationMapper.updateLocationLockList(list, -1l, LocationLockEnum.NO.getType());
         });
 
-        List<RobotTaskDetailAddVO> bean = BeanUtils.toBean(taskDetailList, RobotTaskDetailAddVO.class);
+        List<RobotTaskDetailAddVO> bean = BeanUtils.toBean(taskDetails, RobotTaskDetailAddVO.class);
         Map<Long, List<RobotTaskDetailAddVO>> taskDetailMap =
                 bean.stream().collect(Collectors.groupingBy(RobotTaskDetailAddVO::getRobotTaskId));
         taskDetailMap.forEach((k,v) ->{
             robotTaskService.addCycle(k,v);
         });
+        taskCycleMapper.deletByRobotTaskIds(taskIds);
     }
 
     private List<RobotTaskDetailDO> getTaskDetailData(RobotTaskDO taskData, Map<Long,
@@ -178,7 +194,7 @@ public class CycleServiceImpl implements CycleService {
      * @return
      */
     public RobotTaskDO getTaskData(String incrementByKey, RobotTaskDO v ) {
-        String taskNoStr = taskNo + DateUtils.getYearMonthDay() + incrementByKey;
+        String taskNoStr = znConfigConstant.getTaskNo() + DateUtils.getYearMonthDay() + incrementByKey;
         RobotTaskDO task = new RobotTaskDO();
         BeanUtils.copyProperties(v, task);
         task.setRemainingCycleNumber(v.getRemainingCycleNumber() - 1);

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

@@ -5,6 +5,7 @@ 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.system.api.robot.websocket.RobotStatusDataPoseDTO;
+import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotStatusCodeConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.controller.admin.config.vo.CommonConfigVO;
@@ -54,9 +55,6 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
     @Autowired
     private RobotTaskDetailMapper robotTaskDetailMapper;
 
-    @Value("${zn.full_electricity:95}")
-    private String fullElectricity;
-
     @Resource
     private CommonConfigMapper configMapper;
 
@@ -66,6 +64,9 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
     @Resource
     private RemoteControllerInformationMapper controllerInformationMapper;
 
+    @Autowired
+    private ZnConfigConstant znConfigConstant;
+
 
     /**
      * 获取待执行的机器人和任务
@@ -92,7 +93,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                 .in(RobotInformationDO::getRobotStatus, RobotStatusEnum.STAND_BY.getType(), RobotStatusEnum.CHARGE.getType())
                 .eq(RobotInformationDO::getRobotTaskModel, RobotTaskModelEnum.NORMAL.getType()));
 
-        if (robots.isEmpty()) {
+        if (ObjectUtil.isEmpty(robots)) {
             log.info("暂无空闲的机器人");
             return pair;
         }
@@ -258,7 +259,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                 && !ChargeModelEnum.FULL.getType().equals((Integer) chargeModelCache)) {
             robotEndElectricity = new BigDecimal(String.valueOf(robot.getAutoCharge()));
         } else if (ObjectUtil.isNotEmpty(chargeModelCache) && ChargeModelEnum.FULL.getType().equals((Integer) chargeModelCache)) {
-            robotEndElectricity = new BigDecimal(fullElectricity);
+            robotEndElectricity = new BigDecimal(znConfigConstant.getFullElectricity());
         } else if (ObjectUtil.isNotEmpty(chargeModelCache) && ChargeModelEnum.CHANCE.getType().equals((Integer) chargeModelCache)
             && ObjectUtil.isNotEmpty(chargeConfig.getEndAutoCharge())) {
             robotEndElectricity = new BigDecimal(String.valueOf(chargeConfig.getChanceChargeEnd()));

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

@@ -4,6 +4,7 @@ import cn.hutool.core.util.ObjectUtil;
 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.system.config.poperties.ZnConfigConstant;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskAutoMovePageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskAutoMoveSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
@@ -60,12 +61,8 @@ public class RobotTaskAutoMoveServiceImpl implements RobotTaskAutoMoveService {
     @Resource
     private WareHouseLocationMapper locationMapper;
 
-
-    @Value("${zn.lane_auto_move:true}")
-    private Boolean laneAutoMove;
-
-    @Value("${zn.cycle_do_auto_move:true}")
-    private Boolean cycleDoAutoMove;
+    @Autowired
+    private ZnConfigConstant znConfigConstant;
 
     @Override
     public Long createTaskAutoMove(RobotTaskAutoMoveSaveReqVO createReqVO) {
@@ -311,7 +308,7 @@ public class RobotTaskAutoMoveServiceImpl implements RobotTaskAutoMoveService {
      */
     public List<Pair<RobotTaskDetailDO, List<WareHouseLocationDO>>> getLaneAutoMoveLocation(List<RobotTaskDetailDO> taskDetailDOS) {
         List<Pair<RobotTaskDetailDO, List<WareHouseLocationDO>>> result = new ArrayList<>();
-        if (ObjectUtil.isEmpty(taskDetailDOS) || !laneAutoMove) {
+        if (ObjectUtil.isEmpty(taskDetailDOS) || !znConfigConstant.getLaneAutoMove()) {
             log.info("没有线库的任务明细, 不需要执行线库移库");
             return result;
         }

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

@@ -10,6 +10,8 @@ import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
 import cn.iocoder.yudao.module.mqtt.api.path.task.TaskLimitationAreaDTO;
 import cn.iocoder.yudao.module.mqtt.api.path.task.TaskRobotNoLimittationAreaDTO;
 import cn.iocoder.yudao.module.mqtt.api.path.task.TaskToPathPlanningDTO;
+import cn.iocoder.yudao.module.system.config.mqtt.util.MqttUtils;
+import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningChcheConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotStatusCodeConstant;
@@ -68,12 +70,6 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     @Resource
     private PositionMapItemMapper positionMapItemMapper;
 
-    @Value("${zn.task_need_single:true}")
-    private Boolean taskNeedSingle;
-
-    @Value("${zn.location_number_reduce:100000000}")
-    private Long locationNumberReduce;
-
     @Resource
     private WareHouseLocationMapper locationMapper;
 
@@ -86,29 +82,17 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     @Resource
     private PositionMapMapper positionMapMapper;
 
-    @Value("${zn.robot_chearg.release_location_number_config:50}")
-    private Long releaseLocationNumberConfig;
-
-    @Value("${zn.robot_chearg.priority_config:50}")
-    private Long priorityConfig;
-
-    @Value("${zn.robot_config.offset_height}")
-    private Double offsetHeight;
-
-    @Value("${zn.path_planning.task_chche_time:604800}")
-    private Long taskChcheTime;
-
-    @Value("${zn.move-no:MOVE}")
-    private String moveTaskNo;
-
-    @Value("${zn.robot_config.default_tray_height:0.82}")
-    private Double defaultTrayHeight;
+    @Autowired
+    private ZnConfigConstant znConfigConstant;
 
     @Autowired
     private RobotTaskMapper robotTaskMapper;
 
-    @Resource
-    private CommonApi commonApi;
+    /*@Resource
+    private CommonApi commonApi;*/
+
+    @Autowired
+    private MqttUtils mqttUtils;
 
     @Resource
     @Lazy
@@ -137,7 +121,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         List<RobotTaskDetailDO> taskDetailDOS = robotAndTaskDetails.getRight();
         if (ObjectUtil.isEmpty(taskDetailDOS)) {
             log.info("--不存在需要执行的任务--派车辆去等待点");
-            moveRobotToWait(robots);
+//            moveRobotToWait(robots);
             return;
         }
 
@@ -148,7 +132,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             return;
         }
 
-        log.info("-------查找到车子和任务------");
+        log.info("-------可以分配任务的车辆编号------ ,:{}",JSON.toJSONString(robots.stream().map(RobotInformationDO::getRobotNo).collect(Collectors.toList())));
+        log.info("-------需要执行的任务id------ ,:{}",JSON.toJSONString(taskDetailDOS.stream().map(RobotTaskDetailDO::getId).collect(Collectors.toList())));
         distributeTasksToPP(robots, taskDetailDOS);
 
     }
@@ -205,6 +190,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             return;
         }
 
+        Map<Long, Long> sortMap = positionMapItems.stream().collect(Collectors.toMap(PositionMapItemDO::getId, PositionMapItemDO::getSortNum));
+
         List<String> inStopPointRobotNos = new ArrayList<>();
         for (PositionMapItemDO positionMapItem : positionMapItems) {
             if (UseStatusEnum.USEING.getType().equals(positionMapItem.getUseStatus()) && ObjectUtil.isNotEmpty(positionMapItem.getRobotNo())) {
@@ -285,8 +272,6 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             return;
         }
 
-        Map<Long, Long> sortMap = positionMapItems.stream().collect(Collectors.toMap(PositionMapItemDO::getId, PositionMapItemDO::getSortNum));
-
         //机器人不能行走的区域
         List<TaskRobotNoLimittationAreaDTO> robotNoLimitationArea = getRobotNoLimitationArea(robots);
         Map<String, TaskRobotNoLimittationAreaDTO> robotNoLimittationAreaDTOMap =
@@ -301,7 +286,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
             RobotTaskDO task = new RobotTaskDO();
             String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.MOVE_TASK_NO.getKey());
-            task.setTaskNo(moveTaskNo + DateUtils.getYearMonthDay() + incrementByKey);
+            task.setTaskNo(znConfigConstant.getMoveNo() + DateUtils.getYearMonthDay() + incrementByKey);
             task.setId(IdUtil.getSnowflakeNextId());
             task.setCycleNumber(0L);
             task.setRemainingCycleNumber(0L);
@@ -332,7 +317,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             pathPlanning.setRobotNoLimitationAreaDTOS(robotNoLimitions);
 
             String key = PathPlanningChcheConstant.PATH_PLANNING_TASK + pathPlanning.getOrderId();
-            redisUtil.set(key, JSON.toJSONString(pathPlanning), taskChcheTime);
+            redisUtil.set(key, JSON.toJSONString(pathPlanning), znConfigConstant.getTask().getTaskCacheTime());
             pathPlanningList.add(pathPlanning);
         }
 
@@ -344,7 +329,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         positionMapItemMapper.updateById(robotMapItems);
 
         log.info("派车去停车点--任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
-        commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
+//        commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
+        mqttUtils.pub(PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST,JSON.toJSONString(pathPlanningList));
 
     }
 
@@ -369,7 +355,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
         for (RobotChargeLogDO v : logs) {
 
-            Long priority = priorityConfig;
+            Long priority = znConfigConstant.getRobotCharge().getPriorityConfig();
             LocalDateTime createTime = LocalDateTime.now();
             if (ObjectUtil.isEmpty(ChargeModelEnum.TASK.getType().equals(v.getChargeModel()))
                     && ObjectUtil.isNotEmpty(v.getTaskDetailId())
@@ -396,17 +382,18 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             pathPlanning.setTaskType(taskType);
 
             pathPlanning.setReleaseGroupId("POINT_" + v.getPositionMapItemId());
-            pathPlanning.setReleaseLocationNumber(releaseLocationNumberConfig);
+            pathPlanning.setReleaseLocationNumber(znConfigConstant.getRobotCharge().getReleaseLocationNumberConfig());
             pathPlanning.setWaitIds(Collections.singletonList(v.getPositionMapItemId() + ""));
 
             String key = PathPlanningChcheConstant.PATH_PLANNING_TASK + pathPlanning.getOrderId();
-            redisUtil.set(key, JSON.toJSONString(pathPlanning), taskChcheTime);
+            redisUtil.set(key, JSON.toJSONString(pathPlanning), znConfigConstant.getTask().getTaskCacheTime());
 
             pathPlanningList.add(pathPlanning);
         }
 
         log.info("充电任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
-        commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
+//        commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
+        mqttUtils.pub(PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST,JSON.toJSONString(pathPlanningList));
     }
 
     @Transactional(rollbackFor = Exception.class)
@@ -484,20 +471,21 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + mac;
             Object cargoDetected = redisUtil.get(cargoDetectedKey);
             log.info("传感器是否按下 :{}", cargoDetected);
-            if (ObjectUtil.isEmpty(cargoDetected) || (RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))
+           /* if (ObjectUtil.isNotEmpty(cargoDetected) && (RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))
                     && !RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType()))) {
                 log.info("车机上报传感器为空,  或者 被按下且任务非仅放货任务 :{} ,任务id ：{}", taskDetailDO.getRobotNo(), taskDetailDO.getId());
                 continue;
-            } else if (!RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))
+            } else if (ObjectUtil.isNotEmpty(cargoDetected) && !RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))
                     && RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType())) {
                 log.info("仅放货任务,传感器未被按下，所以不执行任务 :{}, 任务id ：{}", taskDetailDO.getRobotNo(), taskDetailDO.getId());
                 continue;
-            }
+            }*/
 
             List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = null;
             if (ObjectUtil.isEmpty(taskDetailDO.getRobotNo())) {
                 robotNoLimitions = robotNoLimitationArea;
             } else {
+                log.info("区域 :{}",JSON.toJSONString(robotDoReleaseMap));
                 TaskRobotNoLimittationAreaDTO taskRobotNoLimittationAreaDTO = robotDoReleaseMap.get(taskDetailDO.getRobotNo());
                 if (ObjectUtil.isEmpty(taskRobotNoLimittationAreaDTO)) {
                     log.info("车辆没有能行走的区域 :{}", taskDetailDO.getRobotNo());
@@ -516,12 +504,12 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             WareHouseLocationDO toLocation = locationDOMap.get(taskDetailDO.getToLocationId());
 
             if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())) {
-                pathPlanning.setTakeLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getFromLocationNumber()));
+                pathPlanning.setTakeLocationNumber(Math.abs(znConfigConstant.getLocationNumberReduce() - taskDetailDO.getFromLocationNumber()));
                 pathPlanning.setTakePointId(fromLocation.getMapItemId());
 
                 pathPlanningSetTakeHeight(pathPlanning, fromLocation);
                 pathPlanning.setTakeLevel(fromLocation.getLocationStorey());
-                pathPlanning.setTakeOffsetHeight(offsetHeight);
+                pathPlanning.setTakeOffsetHeight(znConfigConstant.getRobotConfig().getOffsetHeight());
                 if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLaneId())) {
                     pathPlanning.setTakeGroupId("LINE_" + taskDetailDO.getFromLaneId());
                 } else {
@@ -535,7 +523,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
                 pathPlanningSetReleaseHeight(pathPlanning, toLocation);
                 pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
-                pathPlanning.setReleaseOffsetHeight(offsetHeight);
+                pathPlanning.setReleaseOffsetHeight(znConfigConstant.getRobotConfig().getOffsetHeight());
                 if (ObjectUtil.isNotEmpty(taskDetailDO.getToLaneId())) {
                     pathPlanning.setReleaseGroupId("LINE_" + taskDetailDO.getToLaneId());
                 } else {
@@ -544,14 +532,15 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             }
 
             String key = PathPlanningChcheConstant.PATH_PLANNING_TASK + pathPlanning.getOrderId();
-            redisUtil.set(key, JSON.toJSONString(pathPlanning), taskChcheTime);
+            redisUtil.set(key, JSON.toJSONString(pathPlanning), znConfigConstant.getTask().getTaskCacheTime());
 
             pathPlanningList.add(pathPlanning);
         }
 
         if (ObjectUtil.isNotEmpty(pathPlanningList)) {
-            log.info("作业任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
-            commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
+            log.info("111111作业任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
+//            commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
+            mqttUtils.pub(PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST,JSON.toJSONString(pathPlanningList));
         }
     }
 
@@ -567,18 +556,18 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             return;
         }
 
-        WareHouseLocationDO nextLocation = locationMapper.selectOne(new LambdaQueryWrapperX<WareHouseLocationDO>()
+        /*WareHouseLocationDO nextLocation = locationMapper.selectOne(new LambdaQueryWrapperX<WareHouseLocationDO>()
                 .eq(WareHouseLocationDO::getId, toLocation.getMapItemId())
                 .eq(WareHouseLocationDO::getLocationStorey, toLocation.getLocationStorey() - 1)
                 .last("limit 1"));
         if (ObjectUtil.isNotEmpty(nextLocation) && ObjectUtil.isNotEmpty(nextLocation.getLocationTotalHeight())) {
             pathPlanning.setReleaseHeight(Double.valueOf(nextLocation.getLocationTotalHeight() + ""));
             return;
-        }
+        }*/
 
         Integer locationStorey = toLocation.getLocationStorey() - 1;
-        double height = locationStorey * defaultTrayHeight;
-        log.info("放货设置默认高度 :{}", pathPlanning.getReleaseHeight());
+        double height = locationStorey * znConfigConstant.getRobotConfig().getDefaultTrayHeight();
+        log.info("放货设置默认高度 :{}", height);
         pathPlanning.setReleaseHeight(height);
     }
 
@@ -589,12 +578,12 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
      * @param fromLocation
      */
     private void pathPlanningSetTakeHeight(TaskToPathPlanningDTO pathPlanning, WareHouseLocationDO fromLocation) {
-        if (ObjectUtil.isNotEmpty(fromLocation.getLocationTotalHeight())) {
+        /*if (ObjectUtil.isNotEmpty(fromLocation.getLocationTotalHeight())) {
             pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTotalHeight() + ""));
             return;
-        }
+        }*/
         Integer locationStorey = fromLocation.getLocationStorey();
-        double height = locationStorey * defaultTrayHeight;
+        double height = locationStorey * znConfigConstant.getRobotConfig().getDefaultTrayHeight();
         log.info("取货设置默认取货高度 :{}", height);
         pathPlanning.setTakeHeight(height);
     }
@@ -699,7 +688,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
      */
     private List<RobotTaskDetailDO> getSingleTask(List<RobotTaskDetailDO> taskDetailDOS) {
         //剔除目前正在做的线库和点位
-        if (!taskNeedSingle) {
+        if (!znConfigConstant.getTaskNeedSingle()) {
             return taskDetailDOS;
         }
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/simulation/RobotSimulationService.java

@@ -0,0 +1,8 @@
+package cn.iocoder.yudao.module.system.service.robot.simulation;
+
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskSaveReqVO;
+
+public interface RobotSimulationService {
+
+    void createTask(RobotTaskSaveReqVO createReqVO);
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/simulation/RobotSimulationServiceImpl.java

@@ -0,0 +1,504 @@
+package cn.iocoder.yudao.module.system.service.robot.simulation;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.framework.common.util.date.DateUtils;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
+import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskSaveReqVO;
+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.positionmap.PositionMapItemDO;
+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.cycle.TaskCycleMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.housearea.HouseAreaMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.houselane.WareHouseLaneMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.log.RobotTaskDetailActionLogMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotChargeLogMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
+import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
+import cn.iocoder.yudao.module.system.enums.robot.LocationEnableEnum;
+import cn.iocoder.yudao.module.system.enums.robot.LocationLockEnum;
+import cn.iocoder.yudao.module.system.enums.robot.LocationUseStatusEnum;
+import cn.iocoder.yudao.module.system.enums.robot.MoveAllEnum;
+import cn.iocoder.yudao.module.system.enums.robot.ReleaseTakeEnum;
+import cn.iocoder.yudao.module.system.enums.robot.RobotTaskTypeEnum;
+import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
+import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogService;
+import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
+import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
+import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
+import cn.iocoder.yudao.module.system.service.robot.RobotTaskDetailService;
+import cn.iocoder.yudao.module.system.service.statistics.RobotWorkingHoursStatisticsService;
+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.query.LambdaQueryWrapper;
+import com.google.common.collect.Lists;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
+import org.springframework.validation.annotation.Validated;
+
+import javax.annotation.Resource;
+import java.util.ArrayList;
+import java.util.Collections;
+import java.util.HashSet;
+import java.util.List;
+import java.util.Set;
+import java.util.stream.Collectors;
+
+import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception0;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.TASK_CREATE_FAIL;
+
+@Slf4j
+@Service
+@Validated
+public class RobotSimulationServiceImpl implements RobotSimulationService{
+
+    @Resource
+    private RobotTaskMapper taskMapper;
+
+    @Resource
+    private WareHouseLocationMapper locationMapper;
+
+    @Resource
+    private RedisUtil redisUtil;
+
+    @Resource
+    private RobotTaskDetailMapper taskDetailMapper;
+
+    @Resource
+    private RobotTaskDetailService robotTaskDetailService;
+
+    @Resource
+    private RobotInformationMapper informationMapper;
+
+    @Resource
+    private WareHouseLaneMapper houseLaneMapper;
+
+    @Resource
+    private HouseAreaMapper houseAreaMapper;
+
+    @Resource
+    private PositionMapItemService positionMapItemService;
+
+    @Autowired
+    private ZnConfigConstant znConfigConstant;
+
+    @Override
+    public void createTask(RobotTaskSaveReqVO createReqVO) {
+
+        //设置任务号
+        if (ObjectUtil.isEmpty(createReqVO.getTaskNo())) {
+            String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey());
+            createReqVO.setTaskNo(znConfigConstant.getTaskNo() + DateUtils.getYearMonthDay() + incrementByKey);
+        }
+
+        log.info("111111创建一个不校验的任务 :{}",createReqVO.getTaskNo());
+
+        RobotTaskDO task = BeanUtils.toBean(createReqVO, RobotTaskDO.class);
+        task.setRemainingCycleNumber(task.getCycleNumber());
+        taskMapper.insert(task);
+
+        List<Long> laneIds = new ArrayList<>();
+        List<Long> areaIds = new ArrayList<>();
+        if (ObjectUtil.isNotEmpty(task.getSkuInfo()) && znConfigConstant.getTask().getCheckSkuInfo()) {
+            List<WareHouseLaneDO> wareHouseLaneDOS = houseLaneMapper.selectList(new LambdaQueryWrapper<WareHouseLaneDO>()
+                    .eq(WareHouseLaneDO::getLaneMsg, task.getSkuInfo()));
+            if (ObjectUtil.isNotEmpty(wareHouseLaneDOS)) {
+                laneIds = wareHouseLaneDOS.stream().map(WareHouseLaneDO::getId).collect(Collectors.toList());
+            }
+            List<HouseAreaDO> houseAreaDOS = houseAreaMapper.selectList(new LambdaQueryWrapper<HouseAreaDO>()
+                    .eq(HouseAreaDO::getSkuInfo, task.getSkuInfo()));
+            if (ObjectUtil.isNotEmpty(houseAreaDOS)) {
+                areaIds = houseAreaDOS.stream().map(HouseAreaDO::getId).collect(Collectors.toList());
+            }
+        }
+
+        //查找库位
+        List<Long> locationIds = new ArrayList<>();
+        if (MoveAllEnum.NO.getType().equals(createReqVO.getDoMoveAll())) {
+            locationIds = setSingleLocationIdNo(createReqVO.getTaskDetailList(), task, laneIds, areaIds);
+        } else {
+            locationIds = setAllLocationIdNo(createReqVO, task.getId(), laneIds, areaIds, task.getSkuInfo());
+        }
+
+        // 插入
+        createReqVO.getTaskDetailList()
+                .forEach(taskDetail -> {
+                    taskDetail.setRobotTaskId(task.getId());
+                });
+        robotTaskDetailService.insertRobotDetailList(createReqVO.getTaskDetailList());
+
+        List<List<Long>> fromPartition = Lists.partition(locationIds, 100);
+        fromPartition.forEach(list -> {
+            locationMapper.updateLocationLockList(list, task.getId(), LocationLockEnum.NO.getType());
+        });
+
+    }
+
+    @Transactional(rollbackFor = Exception.class)
+    public List<Long> setSingleLocationIdNo(List<RobotTaskDetailAddVO> taskDetailList, RobotTaskDO task,
+                                            List<Long> laneIds, List<Long> areaIds) {
+        //取货中的map_item_id， 此集合不能执行放货的任务
+        List<Long> takeMapItemIds = taskDetailMapper.selectTakeMapItemIds();
+        if (ObjectUtil.isEmpty(takeMapItemIds)) {
+            takeMapItemIds = new ArrayList<>();
+        }
+        //放货中的map_item_id， 此集合不能执行取货的任务
+        List<Long> releaseMapItemIds = taskDetailMapper.selectReleaseMapItemIds();
+        if (ObjectUtil.isEmpty(releaseMapItemIds)) {
+            releaseMapItemIds = new ArrayList<>();
+        }
+
+        List<Long> locationIds = new ArrayList<>();
+        Set<Long> chooseLocationIds = new HashSet<>();
+
+        for (RobotTaskDetailAddVO robotTaskVo : taskDetailList) {
+            robotTaskVo.setRobotTaskId(task.getId());
+            robotTaskVo.setPriority(task.getPriority());
+            RobotTaskTypeEnum robotTaskType = RobotTaskTypeEnum.getRobotTaskType(robotTaskVo.getTaskType());
+            switch (robotTaskType) {
+                case TAKE_RELEASE:
+                    doTakeRelease(robotTaskVo, locationIds, takeMapItemIds, releaseMapItemIds, laneIds, areaIds, task.getSkuInfo(), chooseLocationIds);
+                    break;
+                case PARK:
+                    doPark(robotTaskVo, locationIds, takeMapItemIds, releaseMapItemIds);
+                    break;
+                case CHARGE:
+                    doCharge(robotTaskVo, takeMapItemIds, releaseMapItemIds);
+                    break;
+                case MOVE:
+                    doMove(robotTaskVo, locationIds, takeMapItemIds, releaseMapItemIds);
+                    break;
+                case TAKE:
+                    doTake(robotTaskVo, locationIds, takeMapItemIds, releaseMapItemIds, chooseLocationIds);
+                    break;
+                case RELEASE:
+                    doRelease(robotTaskVo, locationIds, takeMapItemIds, releaseMapItemIds, laneIds, areaIds, task.getSkuInfo(), chooseLocationIds);
+                    break;
+                case SCAN:
+                    //暂无此功能
+                    doScan(robotTaskVo, locationIds, takeMapItemIds, releaseMapItemIds);
+                    break;
+                case DETECTING_TRAYS:
+                    //暂无此功能
+                    doDetectingTrays(robotTaskVo, locationIds, takeMapItemIds, releaseMapItemIds);
+                    break;
+                case MOVE_TO_POINT:
+                    doMoveToPoint(robotTaskVo);
+                    break;
+                default:
+                    log.error("任务类型不存在 ");
+                    throw exception0(TASK_CREATE_FAIL.getCode(), "任务类型不存在");
+            }
+        }
+        return locationIds;
+    }
+
+
+    public void doTakeRelease(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds,
+                              List<Long> takeMapItemIds, List<Long> releaseMapItemIds,
+                              List<Long> laneIds, List<Long> areaIds, String skuInfo, Set<Long> chooseLocationIds) {
+
+
+        //校验放货库位
+        setToLocation(robotTaskVo, null, locationIds, takeMapItemIds, releaseMapItemIds, laneIds, areaIds, skuInfo, chooseLocationIds);
+        locationIds.add(robotTaskVo.getToLocationId());
+
+        //校验取货库位
+        setFromLocation(robotTaskVo, null, locationIds, takeMapItemIds, releaseMapItemIds, chooseLocationIds);
+        locationIds.add(robotTaskVo.getFromLocationId());
+
+        //验证取货库位是否存在未完成的任务
+        Set<Long> set = new HashSet<>();
+        set.add(robotTaskVo.getFromLocationId());
+    }
+
+    /**
+     * 移动到指定点位
+     *
+     * @param robotTaskVo
+     */
+    private void doMoveToPoint(RobotTaskDetailAddVO robotTaskVo) {
+        PositionMapItemDO positionMapItem = positionMapItemService.getPositionMapItem(robotTaskVo.getReleaseId());
+        robotTaskVo.setToLocationNo(String.valueOf(positionMapItem.getSortNum()));
+    }
+
+    /**
+     * 检测托盘类型
+     *
+     * @param robotTaskVo
+     */
+    @Transactional(rollbackFor = Exception.class)
+    public void doDetectingTrays(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds, List<Long> takeMapItemIds,
+                                 List<Long> releaseMapItemIds) {
+        /*setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),new ArrayList<>());
+        locationIds.add(robotTaskVo.getToLocationId());*/
+    }
+
+    /**
+     * 扫描码
+     *
+     * @param robotTaskVo
+     */
+    @Transactional(rollbackFor = Exception.class)
+    public void doScan(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds, List<Long> takeMapItemIds,
+                       List<Long> releaseMapItemIds) {
+        /*setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),new ArrayList<>());
+        locationIds.add(robotTaskVo.getToLocationId());*/
+    }
+
+    /**
+     * 仅放货
+     *
+     * @param robotTaskVo
+     */
+    @Transactional(rollbackFor = Exception.class)
+    public void doRelease(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds, List<Long> takeMapItemIds,
+                          List<Long> releaseMapItemIds, List<Long> laneIds, List<Long> areaIds, String skuInfo,
+                          Set<Long> chooseLocationIds) {
+        setToLocation(robotTaskVo, null, locationIds, takeMapItemIds,
+                releaseMapItemIds, laneIds, areaIds, skuInfo, chooseLocationIds);
+        locationIds.add(robotTaskVo.getToLocationId());
+    }
+
+    public void setFromLocation(RobotTaskDetailAddVO robotTaskVo, Set<Long> mapIds, List<Long> locationIds,
+                                List<Long> takeMapItemIds, List<Long> releaseMapItemIds, Set<Long> chooseLocationIds) {
+        if (ReleaseTakeEnum.TO_LOCATION.getType().equals(robotTaskVo.getTakeType())) {
+            WareHouseLocationDO query = WareHouseLocationDO.builder().id(robotTaskVo.getTakeId()).build();
+            WareHouseLocationDO locationDO = locationMapper.queryAllByLimit(query);
+            robotTaskVo.setFromLocationNo(locationDO.getLocationNo());
+            robotTaskVo.setFromLocationId(robotTaskVo.getTakeId());
+            robotTaskVo.setFromLocationStorey(locationDO.getLocationStorey());
+            robotTaskVo.setFromLaneId(locationDO.getLaneId());
+            robotTaskVo.setFromLocationNumber(locationDO.getLocationNumber());
+            robotTaskVo.setFromMapItemId(locationDO.getMapItemId());
+            takeMapItemIds.add(locationDO.getMapItemId());
+        } else {
+            WareHouseLocationDO wareHouseLocationDO =
+                    locationMapper.selectByTypeAndId(LocationUseStatusEnum.YES.getType(), robotTaskVo.getTakeType(),
+                            robotTaskVo.getTakeId(), locationIds, null, releaseMapItemIds, new ArrayList<>(), new ArrayList<>());
+            robotTaskVo.setFromLocationNo(wareHouseLocationDO.getLocationNo());
+            robotTaskVo.setFromLocationId(wareHouseLocationDO.getId());
+            robotTaskVo.setFromLocationStorey(wareHouseLocationDO.getLocationStorey());
+            robotTaskVo.setFromLaneId(wareHouseLocationDO.getLaneId());
+            robotTaskVo.setFromLocationNumber(wareHouseLocationDO.getLocationNumber());
+            robotTaskVo.setFromMapItemId(wareHouseLocationDO.getMapItemId());
+            takeMapItemIds.add(wareHouseLocationDO.getMapItemId());
+        }
+    }
+
+    /**
+     * 仅取货
+     *
+     * @param robotTaskVo
+     */
+    @Transactional(rollbackFor = Exception.class)
+    public void doTake(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds, List<Long> takeMapItemIds,
+                       List<Long> releaseMapItemIds, Set<Long> chooseLocationIds) {
+
+        setFromLocation(robotTaskVo, null, locationIds, takeMapItemIds, releaseMapItemIds, chooseLocationIds);
+        locationIds.add(robotTaskVo.getFromLocationId());
+    }
+
+    public Set<Long> getMapIdsByRobotNo(String robotNo) {
+        if (ObjectUtil.isNotEmpty(robotNo)) {
+            RobotInformationPageReqVO pageReqVO = new RobotInformationPageReqVO();
+            pageReqVO.setRobotNo(robotNo);
+            return informationMapper.selectPage(pageReqVO).getList()
+                    .stream()
+                    .findFirst()
+                    .map(RobotInformationDO::getFloorAreaJson)
+                    .orElse(new HashSet<>());
+        }
+        return new HashSet<>();
+    }
+
+    /**
+     * 移动
+     *
+     * @param robotTaskVo
+     */
+    @Transactional(rollbackFor = Exception.class)
+    public void doMove(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds, List<Long> takeMapItemIds,
+                       List<Long> releaseMapItemIds) {
+        setToLocation(robotTaskVo, null, locationIds, takeMapItemIds, releaseMapItemIds,
+                null, null, null, null);
+        locationIds.add(robotTaskVo.getToLocationId());
+    }
+
+    /**
+     * 充电
+     *
+     * @param robotTaskVo
+     */
+    @Transactional(rollbackFor = Exception.class)
+    public void doCharge(RobotTaskDetailAddVO robotTaskVo, List<Long> takeMapItemIds,
+                         List<Long> releaseMapItemIds) {
+
+    }
+
+    /**
+     * 停车
+     *
+     * @param robotTaskVo
+     */
+    @Transactional(rollbackFor = Exception.class)
+    public void doPark(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds, List<Long> takeMapItemIds,
+                       List<Long> releaseMapItemIds) {
+        // todo 停车后续停到等待点
+        /*setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),locationIds);
+        locationIds.add(robotTaskVo.getToLocationId());*/
+    }
+
+
+    /**
+     * 设置放货和取货的id
+     *
+     * @param createReqVO
+     * @param taskId
+     */
+    @Transactional(rollbackFor = Exception.class)
+    public List<Long> setAllLocationIdNo(RobotTaskSaveReqVO createReqVO, Long taskId,
+                                         List<Long> laneIds, List<Long> areaIds, String skuInfo) {
+        List<RobotTaskDetailAddVO> taskDetailList = createReqVO.getTaskDetailList();
+
+        List<RobotTaskDetailAddVO> newTaskDetailList = new ArrayList<>();
+        List<Long> mapItemIds = new ArrayList<>();
+
+        //被此次任务锁定的空库位id
+        List<Long> toLocationIds = new ArrayList<>();
+        //被此次任务锁定的有货库位id
+        List<Long> fromLocationIds = new ArrayList<>();
+        for (RobotTaskDetailAddVO robotTaskVo : taskDetailList) {
+            Set<Long> mapIds = new HashSet<>();
+
+            //查找有货且非锁定的库位
+            WareHouseLocationDO query = null;
+            if (ReleaseTakeEnum.TO_LANE.getType().equals(robotTaskVo.getTakeType())) {
+                query = WareHouseLocationDO.builder()
+                        .laneId(robotTaskVo.getTakeId())
+                        .build();
+            } else if (ReleaseTakeEnum.TO_AREA.getType().equals(robotTaskVo.getTakeType())) {
+                query = WareHouseLocationDO.builder()
+                        .areaId(robotTaskVo.getTakeId())
+                        .build();
+            }
+
+            List<WareHouseLocationDO> stockList = locationMapper.selectLocations(query, toLocationIds, mapIds,
+                    new ArrayList<>(), new ArrayList<>(), new ArrayList<>());
+            if (ObjectUtil.isEmpty(stockList)) {
+                log.error("取货线库/区域为空或者已锁定或者机器人取放货区域受限制 :{}", robotTaskVo.toString());
+                throw exception0(TASK_CREATE_FAIL.getCode(), "取货线库/区域为空或者已锁定或者机器人取放货区域受限制");
+            }
+
+            //查找空库位
+            WareHouseLocationDO releaseQuery = null;
+            if (ReleaseTakeEnum.TO_LANE.getType().equals(robotTaskVo.getReleaseType())) {
+                releaseQuery = WareHouseLocationDO.builder()
+                        .laneId(robotTaskVo.getReleaseId())
+                        .build();
+            } else if (ReleaseTakeEnum.TO_AREA.getType().equals(robotTaskVo.getReleaseType())) {
+                releaseQuery = WareHouseLocationDO.builder()
+                        .areaId(robotTaskVo.getReleaseId())
+                        .build();
+            }
+
+            List<WareHouseLocationDO> releaseStockList = locationMapper.selectLocations(releaseQuery, toLocationIds, mapIds,
+                    laneIds, areaIds, mapItemIds);
+            if (ObjectUtil.isEmpty(releaseStockList) || releaseStockList.size() < stockList.size()) {
+                log.error("放货线库/区域库位数量不足或者机器人取放货区域受限制 :{}", robotTaskVo.toString());
+                throw exception0(TASK_CREATE_FAIL.getCode(), "放货线库/区域库位数量不足或者机器人取放货区域受限制");
+            }
+            Collections.reverse(releaseStockList);
+            //赋值数据
+            List<RobotTaskDetailAddVO> addTaskDetailList = getTaskDatail(stockList, releaseStockList, toLocationIds,
+                    robotTaskVo, taskId, fromLocationIds);
+            newTaskDetailList.addAll(addTaskDetailList);
+
+        }
+        createReqVO.setTaskDetailList(newTaskDetailList);
+
+        if (ObjectUtil.isNotEmpty(fromLocationIds)) {
+            toLocationIds.addAll(fromLocationIds);
+        }
+        return toLocationIds;
+    }
+
+    private List<RobotTaskDetailAddVO> getTaskDatail(List<WareHouseLocationDO> stockList,
+                                                     List<WareHouseLocationDO> releaseStockList,
+                                                     List<Long> toLocationIds, RobotTaskDetailAddVO robotTaskVo,
+                                                     Long taskId, List<Long> fromLocationIds) {
+        List<RobotTaskDetailAddVO> addTaskDetailList = new ArrayList<>();
+        for (int i = 0; i < stockList.size(); i++) {
+            RobotTaskDetailAddVO robotTaskDetailAddVo = new RobotTaskDetailAddVO();
+            robotTaskDetailAddVo.setTaskType(robotTaskVo.getTaskType());
+            robotTaskDetailAddVo.setReleaseType(robotTaskVo.getReleaseType());
+            robotTaskDetailAddVo.setTakeType(robotTaskVo.getTakeType());
+            robotTaskDetailAddVo.setTakeId(robotTaskVo.getTakeId());
+            robotTaskDetailAddVo.setReleaseId(robotTaskVo.getReleaseId());
+            robotTaskDetailAddVo.setRobotNo(robotTaskVo.getRobotNo());
+            robotTaskDetailAddVo.setFromLocationNo(stockList.get(i).getLocationNo());
+            robotTaskDetailAddVo.setFromLocationId(stockList.get(i).getId());
+            robotTaskDetailAddVo.setToLocationNo(releaseStockList.get(i).getLocationNo());
+            robotTaskDetailAddVo.setToLocationId(releaseStockList.get(i).getId());
+            robotTaskDetailAddVo.setFromLaneId(stockList.get(i).getLaneId());
+            robotTaskDetailAddVo.setToLaneId(releaseStockList.get(i).getLaneId());
+            robotTaskDetailAddVo.setFromLocationNumber(stockList.get(i).getLocationNumber());
+            robotTaskDetailAddVo.setFromMapItemId(stockList.get(i).getMapItemId());
+            robotTaskDetailAddVo.setToMapItemId(releaseStockList.get(i).getMapItemId());
+            robotTaskDetailAddVo.setRobotTaskId(taskId);
+            robotTaskDetailAddVo.setPriority(robotTaskVo.getPriority());
+            robotTaskDetailAddVo.setFromLocationStorey(stockList.get(i).getLocationStorey());
+            robotTaskDetailAddVo.setToLocationStorey(releaseStockList.get(i).getLocationStorey());
+            addTaskDetailList.add(robotTaskDetailAddVo);
+
+            toLocationIds.add(releaseStockList.get(i).getId());
+            fromLocationIds.add(stockList.get(i).getId());
+        }
+        return addTaskDetailList;
+    }
+
+    public void setToLocation(RobotTaskDetailAddVO robotTaskVo, Set<Long> mapIds, List<Long> locationIds,
+                              List<Long> takeMapItemIds, List<Long> releaseMapItemIds,
+                              List<Long> laneIds, List<Long> areaIds, String skuInfo, Set<Long> chooseLocationIds) {
+        if (ReleaseTakeEnum.TO_LOCATION.getType().equals(robotTaskVo.getReleaseType())) {
+            WareHouseLocationDO query = WareHouseLocationDO.builder().id(robotTaskVo.getReleaseId()).build();
+            WareHouseLocationDO locationDO = locationMapper.queryAllByLimit(query);
+            robotTaskVo.setToLocationNo(locationDO.getLocationNo());
+            robotTaskVo.setToLocationId(robotTaskVo.getReleaseId());
+            robotTaskVo.setToLocationStorey(locationDO.getLocationStorey());
+            robotTaskVo.setToLaneId(locationDO.getLaneId());
+            robotTaskVo.setToLocationNumber(locationDO.getLocationNumber());
+            robotTaskVo.setToMapItemId(locationDO.getMapItemId());
+            releaseMapItemIds.add(locationDO.getMapItemId());
+        } else {
+            WareHouseLocationDO wareHouseLocationDO =
+                    locationMapper.selectByTypeAndId(LocationUseStatusEnum.NO.getType(), robotTaskVo.getReleaseType()
+                            , robotTaskVo.getReleaseId(), locationIds, null, takeMapItemIds, laneIds, areaIds);
+            robotTaskVo.setToLocationNo(wareHouseLocationDO.getLocationNo());
+            robotTaskVo.setToLocationId(wareHouseLocationDO.getId());
+            robotTaskVo.setToLocationStorey(wareHouseLocationDO.getLocationStorey());
+            robotTaskVo.setToLaneId(wareHouseLocationDO.getLaneId());
+            robotTaskVo.setToLocationNumber(wareHouseLocationDO.getLocationNumber());
+            robotTaskVo.setToMapItemId(wareHouseLocationDO.getMapItemId());
+            releaseMapItemIds.add(wareHouseLocationDO.getMapItemId());
+        }
+    }
+
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java

@@ -9,6 +9,8 @@ import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDataDTO;
 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.config.mqtt.util.MqttUtils;
+import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
 import cn.iocoder.yudao.module.system.controller.admin.config.dto.TaskOrderConfigDTO;
@@ -48,8 +50,11 @@ import java.util.List;
 @Validated
 public class ToolsServiceImpl implements ToolsService {
 
-    @Resource
-    private CommonApi commonApi;
+    /*@Resource
+    private CommonApi commonApi;*/
+
+    @Autowired
+    private MqttUtils mqttUtils;
 
     @Resource
     private CommonConfigMapper configMapper;
@@ -69,14 +74,11 @@ public class ToolsServiceImpl implements ToolsService {
     @Resource
     private PositionMapItemService positionMapItemService;
 
-    /*@Resource
-    private CommonConfigService configService;*/
-
     @Resource
     private PositionMapService positionMapService;
 
-    @Value("${zn.is_simulation:false}")
-    private Boolean isSimulation;
+    @Autowired
+    private ZnConfigConstant znConfigConstant;
 
     /**
      * 发送时间、优先级、距离的权重给PP
@@ -100,8 +102,9 @@ public class ToolsServiceImpl implements ToolsService {
             List<RobotInformationDO> robots = informationService.getAllRobot();
             if (ObjectUtil.isNotEmpty(robots)) {
                 for (RobotInformationDO robot : robots) {
-                    commonApi.commonMethodStr(String.valueOf(chargeConfig.getWarnWaitTime()),
-                            RobotTopicConstant.WARN_WAIT_TIME_TOPIC+robot.getMacAddress());
+//                    commonApi.commonMethodStr(String.valueOf(chargeConfig.getWarnWaitTime()),
+//                            RobotTopicConstant.WARN_WAIT_TIME_TOPIC+robot.getMacAddress());
+                    mqttUtils.pub(RobotTopicConstant.WARN_WAIT_TIME_TOPIC+robot.getMacAddress(),String.valueOf(chargeConfig.getWarnWaitTime()));
                 }
             }
         }
@@ -120,8 +123,9 @@ public class ToolsServiceImpl implements ToolsService {
         }
 
         TaskOrderConfigDTO taskOrderConfigDTO = JSONUtil.toBean(config.getConfigStr(), TaskOrderConfigDTO.class);
-        commonApi.commonMethod(taskOrderConfigDTO,
-                PathPlanningTopicConstant.SEND_SORT_CONFIG_TO_PP);
+//        commonApi.commonMethod(taskOrderConfigDTO,
+//                PathPlanningTopicConstant.SEND_SORT_CONFIG_TO_PP);
+        mqttUtils.pub(PathPlanningTopicConstant.SEND_SORT_CONFIG_TO_PP,JSON.toJSONString(taskOrderConfigDTO));
 
         return "发送数据库权重配置成功";
     }
@@ -134,7 +138,8 @@ public class ToolsServiceImpl implements ToolsService {
     @Override
     public String cleanAgv(String robotNo) {
         CleanAgvDTO build = CleanAgvDTO.builder().robotNo(robotNo).build();
-        commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
+//        commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
+        mqttUtils.pub(PathPlanningTopicConstant.CLEAN_AGV,JSON.toJSONString(build));
         return "清除交管成功 " + robotNo;
     }
 
@@ -150,15 +155,16 @@ public class ToolsServiceImpl implements ToolsService {
                 .robotNo(informationDO.getRobotNo())
                 .id(taskDetailId)
                 .build();
-        commonApi.commonMethod(closePathPlanting, PathPlanningTopicConstant.KILL_TASK);
+//        commonApi.commonMethod(closePathPlanting, PathPlanningTopicConstant.KILL_TASK);
+        mqttUtils.pub(PathPlanningTopicConstant.KILL_TASK,JSON.toJSONString(closePathPlanting));
 
         RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO();
         robotTask.setOrderId(taskDetailId);
         String mac = robotInformationService.getMacByRobotNo(informationDO.getRobotNo());
         robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + mac);
         robotTask.setExecutionType(ExecutionTypeEnum.CANCEL.getType());
-        commonApi.commonMethod(robotTask, robotTask.getTopic());
-
+//        commonApi.commonMethod(robotTask, robotTask.getTopic());
+        mqttUtils.pub(robotTask.getTopic(),JSON.toJSONString(robotTask));
         return "关闭任务成功";
     }
 
@@ -170,7 +176,8 @@ public class ToolsServiceImpl implements ToolsService {
         }
 
         for (RobotInformationDO robot : robots) {
-            commonApi.commonMethodStr("请同步告警码值", RobotTopicConstant.UPDATE_ERROR_TOPIC+robot.getMacAddress());
+//            commonApi.commonMethodStr("请同步告警码值", RobotTopicConstant.UPDATE_ERROR_TOPIC+robot.getMacAddress());
+            mqttUtils.pub(RobotTopicConstant.UPDATE_ERROR_TOPIC+robot.getMacAddress(),"请同步告警码值");
             try {
                 //怕车机同时间同步对内存有影响
                 Thread.sleep(500);
@@ -183,7 +190,7 @@ public class ToolsServiceImpl implements ToolsService {
 
     @Override
     public void simulationPose() {
-        if (!isSimulation) {
+        if (!znConfigConstant.getIsSimulation()) {
             log.info("非仿真环境不需要同步默认的节点数据");
         }
 
@@ -238,7 +245,8 @@ public class ToolsServiceImpl implements ToolsService {
             poseData.setYaw(Double.valueOf(itemDOList.get(i).getLocationYaw()));
             simulationPoseDTO.setPose2d(poseData);
             simulationPoseDTO.setCommandType(RobotCommandTypeEnum.MOVE_POSE.getType());
-            commonApi.commonMethod(simulationPoseDTO, RobotTopicConstant.ROBOT_COMMAND_TOPIC + robot.getMacAddress());
+//            commonApi.commonMethod(simulationPoseDTO, RobotTopicConstant.ROBOT_COMMAND_TOPIC + robot.getMacAddress());
+            mqttUtils.pub(RobotTopicConstant.ROBOT_COMMAND_TOPIC + robot.getMacAddress(),JSON.toJSONString(simulationPoseDTO));
             log.info("仿真环境发送机器人默认点位信息 ：{}", JSON.toJSONString(poseData));
             i++;
         }
@@ -246,7 +254,8 @@ public class ToolsServiceImpl implements ToolsService {
 
     @Override
     public void sendMsgToMQTT(SendMsgToMqttDTO dto) {
-        commonApi.commonMethodStr(dto.getMsg(),dto.getTopic());
+//        commonApi.commonMethodStr(dto.getMsg(),dto.getTopic());
+        mqttUtils.pub(dto.getTopic(),dto.getMsg());
     }
 
 

yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml

@@ -191,28 +191,27 @@ zn:
   camera_secret_key: A2C4rv7DY012c9ef #摄像头秘钥
   do_cycle: true #是否开启循环
   lane_auto_move: true #线库是否自动移库 true:线库执行自动移库 、false：线库关闭执行自动移库
-  robot_position_cache_time: 10 #机器人上报点位存储时间(秒)
+  robot_position_cache_time: 10000000 #机器人上报点位存储时间(秒)
   cycle_do_auto_move: true #存在循环的任务，是否开启自动移库. true:存在循环任务，开启自动移库; false：有循环任务不自动移库
-  full_electricity: 100 #机器人充满电的电量
+  full_electricity: 95 #机器人充满电的电量
   task_need_single: true #机器人对同一线库/点位是不是只能有一台机器人做任务 (true:一个点位/线库，只有一台机器人)
   location_number_reduce: 100000000 #库位排序的差值(下发取货任务，将库位排序减去此值，然后取绝对值)
   robot_doing_action: # 机器人正在做的动作
     doing_action_cache_time: 172800 #单个动作缓存时间 8小时
-  robot_chearg: #机器人充电的配置
+  robot_charge: #机器人充电的配置
     release_location_number_config: 50 #同一组序号，越大越先执行
     priority_config: 50 #优先级
   task: #任务相关的配置
     check_sku_info: true #校验物料信息
+    task_cache_time: 1209600 #任务缓存的时间， 默认一星期
   robot_config: #机器人取放货默认配置
     offset_height: 0.1 #叉起货需要在原来高度基础上偏移的高度
-    default_tray_height: 1.1 #默认每层高度
+    default_tray_height: 0.82 #默认每层高度
   open_rate_limiter: true #是否开启限流
-  path_planning:
-    task_chche_time: 1209600 #任务缓存的时间， 默认一星期
   is_simulation: false # 是否为仿真环境
   send_robot_init_pose: true # 是否为发送默认的车辆所在地图和点位
-  restore_task_restart: false # 恢复任务是否全部重新执行  true:全部重新开始
   synchronous_all_map_node: 500 # 点位信息每次发送的数据量
+  task_not_check: true # 创建任务不校验
 
 
 #海康威视的相关配置
@@ -227,4 +226,19 @@ resource:
 #视频能力
 video:
   previewUrls: /artemis/api/video/v2/cameras/previewURLs
-  replayUrlApi: /artemis/api/video/v2/cameras/playbackURLs
+  replayUrlApi: /artemis/api/video/v2/cameras/playbackURLs
+
+# MQTT
+mqtt:
+  #  host: tcp://123.57.12.40:1883
+  host: tcp://127.0.0.1:1883
+  #  host: tcp://10.10.7.116:1883
+  #  host: tcp://10.10.7.114:1883
+  username: adminuser
+  password: adminuser
+  qos: 2
+  clientId: mqttx_b82345a52
+  # 表示允许同时在传输中的最大消息数量
+  maxInflight: 1000
+  timeout: 10
+  keepalive: 20

yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml

@@ -228,26 +228,25 @@ zn:
   lane_auto_move: true #线库是否自动移库 true:线库执行自动移库 、false：线库关闭执行自动移库
   robot_position_cache_time: 10000000 #机器人上报点位存储时间(秒)
   cycle_do_auto_move: true #存在循环的任务，是否开启自动移库. true:存在循环任务，开启自动移库; false：有循环任务不自动移库
-  full_electricity: 100 #机器人充满电的电量
+  full_electricity: 95 #机器人充满电的电量
   task_need_single: true #机器人对同一线库/点位是不是只能有一台机器人做任务 (true:一个点位/线库，只有一台机器人)
   location_number_reduce: 100000000 #库位排序的差值(下发取货任务，将库位排序减去此值，然后取绝对值)
   robot_doing_action: # 机器人正在做的动作
     doing_action_cache_time: 172800 #单个动作缓存时间 8小时
-  robot_chearg: #机器人充电的配置
+  robot_charge: #机器人充电的配置
     release_location_number_config: 50 #同一组序号，越大越先执行
     priority_config: 50 #优先级
   task: #任务相关的配置
     check_sku_info: true #校验物料信息
+    task_cache_time: 1209600 #任务缓存的时间， 默认一星期
   robot_config: #机器人取放货默认配置
     offset_height: 0.1 #叉起货需要在原来高度基础上偏移的高度
     default_tray_height: 0.82 #默认每层高度
   open_rate_limiter: true #是否开启限流
-  path_planning:
-    task_chche_time: 1209600 #任务缓存的时间， 默认一星期
-  is_simulation: true # 是否为仿真环境
+  is_simulation: false # 是否为仿真环境
   send_robot_init_pose: true # 是否为发送默认的车辆所在地图和点位
-  restore_task_restart: true # 恢复任务是否全部重新执行  true:全部重新开始
   synchronous_all_map_node: 500 # 点位信息每次发送的数据量
+  task_not_check: true # 创建任务不校验
 
 logging:
   file:
@@ -266,3 +265,18 @@ resource:
 video:
   previewUrls: /artemis/api/video/v2/cameras/previewURLs
   replayUrlApi: /artemis/api/video/v2/cameras/playbackURLs
+
+# MQTT
+mqtt:
+#  host: tcp://123.57.12.40:1883
+  host: tcp://127.0.0.1:1883
+  #  host: tcp://10.10.7.116:1883
+  #  host: tcp://10.10.7.114:1883
+  username: adminuser
+  password: adminuser
+  qos: 2
+  clientId: mqttx_b82345a52
+  # 表示允许同时在传输中的最大消息数量
+  maxInflight: 1000
+  timeout: 10
+  keepalive: 20

yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml

@@ -219,28 +219,27 @@ zn:
   camera_secret_key: A2C4rv7DY012c9ef #摄像头秘钥
   do_cycle: true #是否开启循环
   lane_auto_move: true #线库是否自动移库 true:线库执行自动移库 、false：线库关闭执行自动移库
-  robot_position_cache_time: 10 #机器人上报点位存储时间(秒)
+  robot_position_cache_time: 10000000 #机器人上报点位存储时间(秒)
   cycle_do_auto_move: true #存在循环的任务，是否开启自动移库. true:存在循环任务，开启自动移库; false：有循环任务不自动移库
-  full_electricity: 100 #机器人充满电的电量
+  full_electricity: 95 #机器人充满电的电量
   task_need_single: true #机器人对同一线库/点位是不是只能有一台机器人做任务 (true:一个点位/线库，只有一台机器人)
   location_number_reduce: 100000000 #库位排序的差值(下发取货任务，将库位排序减去此值，然后取绝对值)
   robot_doing_action: # 机器人正在做的动作
     doing_action_cache_time: 172800 #单个动作缓存时间 8小时
-  robot_chearg: #机器人充电的配置
+  robot_charge: #机器人充电的配置
     release_location_number_config: 50 #同一组序号，越大越先执行
     priority_config: 50 #优先级
   task: #任务相关的配置
     check_sku_info: true #校验物料信息
+    task_cache_time: 1209600 #任务缓存的时间， 默认一星期
   robot_config: #机器人取放货默认配置
     offset_height: 0.1 #叉起货需要在原来高度基础上偏移的高度
-    default_tray_height: 1.1 #默认每层高度
+    default_tray_height: 0.82 #默认每层高度
   open_rate_limiter: true #是否开启限流
-  path_planning:
-    task_chche_time: 1209600 #任务缓存的时间， 默认一星期
   is_simulation: false # 是否为仿真环境
   send_robot_init_pose: true # 是否为发送默认的车辆所在地图和点位
-  restore_task_restart: false # 恢复任务是否全部重新执行  true:全部重新开始
   synchronous_all_map_node: 500 # 点位信息每次发送的数据量
+  task_not_check: true # 创建任务不校验
 
 #海康威视的相关配置
 isc:
@@ -254,4 +253,18 @@ resource:
 #视频能力
 video:
   previewUrls: /artemis/api/video/v2/cameras/previewURLs
-  replayUrlApi: /artemis/api/video/v2/cameras/playbackURLs
+  replayUrlApi: /artemis/api/video/v2/cameras/playbackURLs
+
+# MQTT
+mqtt:
+  #  host: tcp://123.57.12.40:1883
+  #  host: tcp://10.10.100.42:1883
+  host: tcp://127.0.0.1:1883
+  username: adminuser
+  password: adminuser
+  qos: 0
+  clientId: mqttx_b82345a52
+  # 表示允许同时在传输中的最大消息数量
+  maxInflight: 1000
+  timeout: 10
+  keepalive: 20

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

@@ -86,7 +86,7 @@
             (#{item.positionMapId}, #{item.actualLocationX}, #{item.actualLocationY}, #{item.type})
         </foreach>
     </select>
-    <select id="selectSortNumByIds" resultType="cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapIdNumMapVO">
+    <select id="selectSortNumByIds" resultType="cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO">
         select
             id,
             sort_num as sortNum

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

@@ -160,8 +160,7 @@
         from
             robot_information
         where
-            deleted = '0'
-        and robot_no in
+            robot_no in
         <foreach collection="robotNos" item="robotNo" index="index" open="(" close=")"
                  separator=",">
             #{robotNo}
@@ -176,7 +175,8 @@
             t2.robot_center_headstock AS robotCenterHeadstock,
             t2.robot_center_tail AS robotCenterTail,
             t1.mac_address as macAddress,
-            t2.robot_turning_radius as robotTurningRadius
+            t2.robot_turning_radius as robotTurningRadius,
+            t2.robot_offset as robotOffset
         FROM
             robot_information t1
                 LEFT JOIN robot_model t2 ON t1.robot_model_id = t2.id
@@ -198,4 +198,28 @@
             </if>
         </where>
     </select>
+    <select id="selectByRobotNoAndIdNotIn"
+            resultType="cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO">
+        select
+             <include refid="base_sql"></include>
+        from
+            robot_information
+        where
+            robot_no = #{robotNo}
+            and id !=  #{id}
+        limit 1
+    </select>
+    <select id="selectByMacAndIdNotIn"
+            resultType="cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO">
+        select
+            <include refid="base_sql"></include>
+        from
+        robot_information
+        where
+            mac_address = #{macAddress}
+        <if test="id != null">
+            and id != #{id}
+        </if>
+        limit 1
+    </select>
 </mapper>

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

@@ -12,4 +12,12 @@
     <delete id="deletByRobotTaskId">
         delete from robot_task_cycle where robot_task_id = #{robotTaskId}
     </delete>
+    <delete id="deletByRobotTaskIds">
+        delete from robot_task_cycle
+               where robot_task_id in
+        <foreach collection="taskIds" item="robotTaskId" index="index" open="(" close=")"
+                 separator=",">
+            #{robotTaskId}
+        </foreach>
+    </delete>
 </mapper>