From 0f3a4ac1ed1d58eca9a84ccff2f2db8d9b09648b Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Wed, 11 Jun 2025 19:48:02 +0800 Subject: [PATCH 01/22] =?UTF-8?q?=E4=BB=A3=E7=A0=81=E4=BC=98=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../interceptor/ApiAccessLogInterceptor.java | 4 ++- .../mqtt/service/RobotStatusServiceImpl.java | 2 +- .../src/main/resources/application-local.yaml | 6 ++-- .../system/enums/ErrorCodeConstants.java | 1 + .../module/system/api/path/PathApiImpl.java | 4 +-- .../api/robot/RobotGenericsStatusApiImpl.java | 2 +- .../robot/RobotObstaclesStatusApiImpl.java | 2 +- .../api/robot/RobotPathStatusApiImpl.java | 2 +- .../api/robot/RobotTaskStatusApiImpl.java | 31 +++++++++------- .../robot/RobotUpdatePalletHeightApiImpl.java | 2 +- .../api/robot/RobotWorkStatusApiImpl.java | 2 +- .../admin/robot/RobotTaskController.java | 7 ++++ .../dal/mysql/cycle/TaskCycleMapper.java | 6 ++++ .../robot/RobotInformationServiceImpl.java | 36 +++++++++++++------ .../robot/RobotTaskDetailServiceImpl.java | 1 + .../service/robot/RobotTaskService.java | 7 ++++ .../service/robot/RobotTaskServiceImpl.java | 18 +++++++--- .../service/robot/job/CycleServiceImpl.java | 5 +++ .../RobotPathPlanningServiceImpl.java | 10 +++--- .../mapper/robot/TaskCycleMapper.xml | 8 +++++ 20 files changed, 112 insertions(+), 44 deletions(-) diff --git a/yudao-framework/yudao-spring-boot-starter-web/src/main/java/cn/iocoder/yudao/framework/apilog/core/interceptor/ApiAccessLogInterceptor.java b/yudao-framework/yudao-spring-boot-starter-web/src/main/java/cn/iocoder/yudao/framework/apilog/core/interceptor/ApiAccessLogInterceptor.java index 18c9b3bb3..448cfd05d 100644 --- a/yudao-framework/yudao-spring-boot-starter-web/src/main/java/cn/iocoder/yudao/framework/apilog/core/interceptor/ApiAccessLogInterceptor.java +++ b/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 ignoreInterfaceUrls = Arrays.asList("/rpc-api/system/task/robotStatusUpdate","/rpc-api/system/task/updateRobotCommonStatus"); + private static final List 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) { diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java index 2eb8a125b..bcb25c607 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java @@ -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); } diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-local.yaml b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-local.yaml index 2d0c482cd..13e70cf30 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-local.yaml +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-local.yaml @@ -33,9 +33,9 @@ management: # MQTT mqtt: -# host: tcp://123.57.12.40:1883 - host: tcp://127.0.0.1:1883 -# host: tcp://10.10.7.195:1883 + host: tcp://123.57.12.40:1883 +# host: tcp://127.0.0.1:1883 +# host: tcp://10.10.7.116:1883 username: adminuser password: adminuser qos: 2 diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java index bf930a7e3..0f77f8dc2 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java @@ -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"); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java index c0cbb4699..5b25e91be 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java @@ -108,7 +108,7 @@ 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收到路径规划路径的消息 :{}", message); taskExecutor.execute(() -> { TenantContextHolder.setTenantId(1L); pathPlanningService.sendPosedsToRobot(message); @@ -145,7 +145,7 @@ 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匹配路网的消息 :{}",message); pathPlanningService.graphMatchData(message); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java index 26a3a33e8..0c293c58f 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java @@ -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)); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotObstaclesStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotObstaclesStatusApiImpl.java index 5a9c7b4cc..5edec340f 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotObstaclesStatusApiImpl.java +++ b/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()) { diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotPathStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotPathStatusApiImpl.java index fa89f1487..61fef7840 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotPathStatusApiImpl.java +++ b/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()); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java index a4846ccd9..dc0802077 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java @@ -128,7 +128,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { @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(); @@ -193,7 +193,7 @@ 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 +206,12 @@ 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 +253,10 @@ 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 +266,7 @@ 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 +295,7 @@ 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 +351,7 @@ 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) { @@ -393,10 +399,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { // 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()); @@ -439,8 +445,7 @@ 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()); @@ -478,7 +483,7 @@ 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 +518,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { */ private void taskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) { - RobotTaskDetailDO robotTaskDetailDO = setTaskDone(robotCompleteTaskDTO); + RobotTaskDetailDO robotTaskDetailDO = setTaskDone(robotCompleteTaskDTO); RobotInformationDO robotInformationDO = robotInformationMapper.selectOne(new LambdaQueryWrapperX() .eq(RobotInformationDO::getRobotNo, robotTaskDetailDO.getRobotNo())); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotUpdatePalletHeightApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotUpdatePalletHeightApiImpl.java index 215fd4603..5ebb65709 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotUpdatePalletHeightApiImpl.java +++ b/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())) { diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java index bbabffc09..1a22bb6c3 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java @@ -34,7 +34,7 @@ public class RobotWorkStatusApiImpl implements RobotWorkStatusApi { @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); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotTaskController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotTaskController.java index e93bcefdf..9384bd7eb 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotTaskController.java +++ b/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 getRobotTaskNum(@RequestParam("robotNo") String robotNo) { + return success(taskService.getRobotTaskNum(robotNo)); + } } \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/cycle/TaskCycleMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/cycle/TaskCycleMapper.java index e111cc529..62ead36ed 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/cycle/TaskCycleMapper.java +++ b/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 { } void deletByRobotTaskId(@Param("robotTaskId") Long robotTaskId); + + /** + * 批量删除 + * @param taskIds + */ + void deletByRobotTaskIds(@Param("taskIds") Set taskIds); } \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java index ed5e8ffe3..9cacde0df 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java @@ -369,6 +369,21 @@ public class RobotInformationServiceImpl extends ServiceImpl() + .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() .eq(RemoteControllerInformationDO::getRobotNo, robotInformationDO.getRobotNo()) .last("limit 1")); @@ -425,7 +440,7 @@ public class RobotInformationServiceImpl extends ServiceImpl() .eq(RobotChargeLogDO::getRobotNo, oldRobotNo) @@ -504,11 +520,11 @@ public class RobotInformationServiceImpl extends ServiceImpl robotNos = robots.stream().map(RobotInformationDO::getRobotNo).collect(Collectors.toList()); List list = new ArrayList<>(); - String floorArea = floor + CommonConstant.SYMBOL + area; + String floorArea = floor + CommonConstant.SYMBOL + area; Map hmget = redisUtil.hmget(floorArea); if (ObjectUtil.isEmpty(hmget)) { return new ArrayList<>(); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java index 7f32c94a3..fdddc7c91 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java @@ -246,6 +246,7 @@ 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); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskService.java index c9a1eacf9..0ae9ded55 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskService.java +++ b/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 { * @param robotNo */ void chargeDone(String robotNo); + + /** + * 查询车辆的工作总数 + * @param robotNo + * @return + */ + Integer getRobotTaskNum(String robotNo); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java index ebeeecce0..135ff4b21 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java @@ -512,6 +512,8 @@ public class RobotTaskServiceImpl extends ServiceImpl taskDetailDOS = taskDetailMapper.selectList(new LambdaQueryWrapperX() + .eq(RobotTaskDetailDO::getRobotNo, robotNo) + .ne(RobotTaskDetailDO::getTaskStatus, RobotTaskStatusEnum.NEW.getType())); + + return ObjectUtil.isEmpty(taskDetailDOS) ? 0 : taskDetailDOS.size(); + } + /** * 任务日志分页 * diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java index 73d5aa55d..9b5c94e74 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java @@ -7,6 +7,7 @@ import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder; 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; @@ -59,6 +60,9 @@ public class CycleServiceImpl implements CycleService { @Resource private RobotTaskService robotTaskService; + + @Resource + private TaskCycleMapper taskCycleMapper; /** * 创建循环任务 */ @@ -120,6 +124,7 @@ public class CycleServiceImpl implements CycleService { taskDetailMap.forEach((k,v) ->{ robotTaskService.addCycle(k,v); }); + taskCycleMapper.deletByRobotTaskIds(taskIds); } private List getTaskDetailData(RobotTaskDO taskData, Map robotNoLimitions = null; if (ObjectUtil.isEmpty(taskDetailDO.getRobotNo())) { @@ -550,7 +550,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { } if (ObjectUtil.isNotEmpty(pathPlanningList)) { - log.info("作业任务下发给PP :{}", JSON.toJSONString(pathPlanningList)); + log.info("111111作业任务下发给PP :{}", JSON.toJSONString(pathPlanningList)); commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST); } } @@ -578,7 +578,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { Integer locationStorey = toLocation.getLocationStorey() - 1; double height = locationStorey * defaultTrayHeight; - log.info("放货设置默认高度 :{}", pathPlanning.getReleaseHeight()); + log.info("放货设置默认高度 :{}", height); pathPlanning.setReleaseHeight(height); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/TaskCycleMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/TaskCycleMapper.xml index 20015e06b..698e5b814 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/TaskCycleMapper.xml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/TaskCycleMapper.xml @@ -12,4 +12,12 @@ delete from robot_task_cycle where robot_task_id = #{robotTaskId} + + delete from robot_task_cycle + where robot_task_id in + + #{robotTaskId} + + \ No newline at end of file From 6737505fed26b87b4fc695b3fe449226730513b1 Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Thu, 12 Jun 2025 11:11:18 +0800 Subject: [PATCH 02/22] =?UTF-8?q?=E6=B6=88=E8=B4=B9MQTT=E6=B6=88=E6=81=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../module/mqtt/config/MqttCallBack.java | 24 ++++++++++++------- .../module/system/api/path/PathApiImpl.java | 5 ++-- .../positionmap/PositionMapItemDO.java | 1 + .../service/path/PathPlanningServiceImpl.java | 3 ++- .../robot/RobotInformationServiceImpl.java | 12 +++++++++- .../service/robot/RobotTaskServiceImpl.java | 2 +- .../RobotPathPlanningServiceImpl.java | 4 ++-- 7 files changed, 36 insertions(+), 15 deletions(-) diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttCallBack.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttCallBack.java index 4fe8dcb99..859691f81 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttCallBack.java +++ b/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); + } + }); + } /** diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java index 5b25e91be..322ea977d 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java +++ b/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("111111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("111111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); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapItemDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapItemDO.java index eca00f0db..baa4ddfaf 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapItemDO.java +++ b/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; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java index 77e829f0f..78fd2058e 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java @@ -565,6 +565,7 @@ 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(); + log.info("111111发给PP的数据 :{}",JSON.toJSONString(build)); commonApi.commonMethod(build, PathPlanningTopicConstant.UPDATE_BEHAVIOR); } @@ -574,7 +575,7 @@ 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; diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java index 9cacde0df..1a482e6c5 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java @@ -162,7 +162,7 @@ public class RobotInformationServiceImpl extends ServiceImpl() + .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); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java index 135ff4b21..a2cdc8818 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java @@ -582,7 +582,7 @@ public class RobotTaskServiceImpl extends ServiceImpl sortMap = positionMapItems.stream().collect(Collectors.toMap(PositionMapItemDO::getId, PositionMapItemDO::getSortNum)); + List inStopPointRobotNos = new ArrayList<>(); for (PositionMapItemDO positionMapItem : positionMapItems) { if (UseStatusEnum.USEING.getType().equals(positionMapItem.getUseStatus()) && ObjectUtil.isNotEmpty(positionMapItem.getRobotNo())) { @@ -285,8 +287,6 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { return; } - Map sortMap = positionMapItems.stream().collect(Collectors.toMap(PositionMapItemDO::getId, PositionMapItemDO::getSortNum)); - //机器人不能行走的区域 List robotNoLimitationArea = getRobotNoLimitationArea(robots); Map robotNoLimittationAreaDTOMap = From 0072a4e4d0ad2cc7210d822115d8ba220265c47d Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Thu, 12 Jun 2025 11:14:39 +0800 Subject: [PATCH 03/22] =?UTF-8?q?=E4=BF=AE=E6=94=B9=E6=B5=8B=E8=AF=95?= =?UTF-8?q?=E7=8E=AF=E5=A2=83MQTT=E7=9A=84IP?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../src/main/resources/application-test.yaml | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-test.yaml b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-test.yaml index a267e40df..a6e26b468 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-test.yaml +++ b/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 From 2e03d0780cf3e579d8a30e60d1e7a3320cbb1485 Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Thu, 12 Jun 2025 15:21:27 +0800 Subject: [PATCH 04/22] =?UTF-8?q?MQTT=E6=B6=88=E8=B4=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../system/api/robot/RobotStatusApiImpl.java | 38 ++++++++++++------- .../positionmap/PositionMapItemMapper.java | 5 ++- .../PositionMapLineServiceImpl.java | 6 ++- .../positionmap/PositionMapItemMapper.xml | 2 +- 4 files changed, 33 insertions(+), 18 deletions(-) diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java index 1108715ef..a06ef9e99 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java @@ -47,7 +47,7 @@ public class RobotStatusApiImpl implements RobotStatusApi { @Resource private RequestProcessor processor; - private static final ExecutorService executorService = Executors.newFixedThreadPool(5); + private static final ExecutorService executorService = Executors.newFixedThreadPool(20); @Resource private CommonApi commonApi; @@ -109,11 +109,9 @@ public class RobotStatusApiImpl implements RobotStatusApi { redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime); - //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); + executorService.execute(() ->{ + sendToPP(robotStatusDataPoseDTO); + }); // -- 通过mac 地址获取车辆信息 - (并且加入到缓存中) Map robotInformationVOS = robotInformationService.getAllRobotByRedis(); @@ -123,15 +121,27 @@ public class RobotStatusApiImpl implements RobotStatusApi { } robotInformationVO.setPose2d(robotStatusDataPoseDTO); - Map 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; + + 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(), robotPositionCacheTime); + redisUtil.set(cargoDetectedKey, robotStatusDataDTO.getCargoDetected(), robotPositionCacheTime); + Map map = new HashMap<>(); + String value = FloorAreaConstant.FLOOR_AREA_ROBOT + floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea(); + map.put(robotStatusDataDTO.getMac(), JSON.toJSONString(finalRobotInformationVO)); + redisUtil.hmset(value, map, 20); + }); + + 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(floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea(), + 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) { diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java index 9cfc0a128..53031782f 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java @@ -95,6 +95,7 @@ public interface PositionMapItemMapper extends BaseMapperX { * @param ids * @return */ - @MapKey("id") - Map selectSortNumByIds(@Param("ids") List ids); + /*@MapKey("id") + Map selectSortNumByIds(@Param("ids") List ids);*/ + List selectSortNumByIds(@Param("ids") List ids); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapLineServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapLineServiceImpl.java index f30a5a0c1..a8065ae8a 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapLineServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapLineServiceImpl.java @@ -8,6 +8,7 @@ import cn.iocoder.yudao.framework.common.util.collection.CollectionUtils; import cn.iocoder.yudao.framework.common.util.object.BeanUtils; 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; @@ -65,7 +66,10 @@ public class PositionMapLineServiceImpl extends ServiceImpl endPointIds = addList.stream().map(PositionMapLineDO::getEndPointId).collect(Collectors.toList()); //合并startPointIds 和 endPointIds 并且去重 Set pointIds = CollUtil.unionDistinct(startPointIds, endPointIds); - map = positionMapItemMapper.selectSortNumByIds(new ArrayList<>(pointIds)); + List 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); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml index 0675c6503..c7db4ded8 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml @@ -86,7 +86,7 @@ (#{item.positionMapId}, #{item.actualLocationX}, #{item.actualLocationY}, #{item.type}) - select id, sort_num as sortNum From 84b0106cc79130a46ebd669c92a75c27f41311f8 Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Thu, 12 Jun 2025 16:17:47 +0800 Subject: [PATCH 05/22] =?UTF-8?q?MQTT=E6=B6=88=E8=B4=B9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../yudao/module/mqtt/api/common/CommonApiImpl.java | 8 ++++---- .../yudao/module/mqtt/service/RobotStatusServiceImpl.java | 2 +- .../yudao/module/system/api/robot/RobotStatusApiImpl.java | 2 +- 3 files changed, 6 insertions(+), 6 deletions(-) diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java index 4ce25ce8b..e47489ebe 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java @@ -23,11 +23,11 @@ public class CommonApiImpl implements CommonApi { try { String str = JSON.toJSONString(obj); mqttUtils.pub(topic, JSON.toJSONString(obj)); - if (str.length() > 510) { + /*if (str.length() > 510) { log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str.substring(0, 500)); }else { log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str); - } + }*/ } catch (MqttException e) { log.info("MQTT消息发送异常 :{}",e); } @@ -37,11 +37,11 @@ public class CommonApiImpl implements CommonApi { public void commonMethodStr(String str, String topic) { try { mqttUtils.pub(topic, str); - if (str.length() > 510) { + /*if (str.length() > 510) { log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str.substring(0, 500)); }else { log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str); - } + }*/ } catch (MqttException e) { log.info("MQTT消息发送异常 :{}",e); } diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java index bcb25c607..2eb8a125b 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java @@ -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); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java index a06ef9e99..e38f9e876 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java @@ -47,7 +47,7 @@ public class RobotStatusApiImpl implements RobotStatusApi { @Resource private RequestProcessor processor; - private static final ExecutorService executorService = Executors.newFixedThreadPool(20); + private static final ExecutorService executorService = Executors.newFixedThreadPool(50); @Resource private CommonApi commonApi; From 6bb201eb0460ca3156a4bf4a5f211225f6036c92 Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Fri, 13 Jun 2025 10:58:10 +0800 Subject: [PATCH 06/22] =?UTF-8?q?=E5=8F=96=E6=B6=88=E4=BB=BB=E5=8A=A1?= =?UTF-8?q?=E6=A0=A1=E9=AA=8C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../api/path/dto/PathToRobotChangeXYDTO.java | 1 + .../mqtt/api/path/dto/PathToRobotDTO.java | 1 + .../mqtt/service/RobotStatusServiceImpl.java | 2 +- .../api/robot/RobotTaskStatusApiImpl.java | 5 +- .../robot/RobotTaskChcheConstant.java | 3 + .../system/schedul/RcsMapScheduled.java | 67 +++ ...ks.java => ThreeDimensionalScheduled.java} | 4 +- .../service/path/PathPlanningServiceImpl.java | 3 +- .../robot/RobotInformationServiceImpl.java | 2 +- .../service/robot/RobotTaskServiceImpl.java | 14 + .../RobotPathPlanningServiceImpl.java | 4 +- .../simulation/RobotSimulationService.java | 8 + .../RobotSimulationServiceImpl.java | 513 ++++++++++++++++++ .../src/main/resources/application-dev.yaml | 1 + .../src/main/resources/application-local.yaml | 1 + .../src/main/resources/application-test.yaml | 1 + 16 files changed, 622 insertions(+), 8 deletions(-) create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java rename yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/{ScheduledTasks.java => ThreeDimensionalScheduled.java} (96%) create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/simulation/RobotSimulationService.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/simulation/RobotSimulationServiceImpl.java diff --git a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYDTO.java b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYDTO.java index 565276c74..f01ef7b3e 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYDTO.java +++ b/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; diff --git a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotDTO.java b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotDTO.java index 17c269b05..4bc36da18 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotDTO.java +++ b/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; diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java index 2eb8a125b..bcb25c607 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java @@ -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); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java index dc0802077..70de26f1f 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java @@ -126,6 +126,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { @Value("${zn.is_simulation:false}") private Boolean isSimulation; + @Transactional(rollbackFor = Exception.class) public void doRobotDoneTask(RobotCompleteTaskDTO robotCompleteTaskDTO) { log.info("111111机器人完成任务上报 :{}", JSON.toJSONString(robotCompleteTaskDTO)); @@ -407,7 +408,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { || RobotTaskStageEnum.UN_START.getType().equals(robotTaskDetailDO.getTaskStage())) { robotTaskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.NEW.getType()); robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.UN_START.getType()); - robotTaskDetailDO.setRobotNo(""); + if (!isSimulation) { + robotTaskDetailDO.setRobotNo(""); + } robotTaskDetailDO.setOccurError(ZeroOneEnum.ZERO.getType()); robotTaskDetailMapper.updateById(robotTaskDetailDO); String taskNo = taskDetailService.getTaskNoByDetailId(robotCompleteTaskDTO.getOrderId()); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java index f15b5c986..99a15f076 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java +++ b/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"; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java new file mode 100644 index 000000000..50a033b12 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java @@ -0,0 +1,67 @@ +package cn.iocoder.yudao.module.system.schedul; + + +import cn.hutool.core.util.ObjectUtil; +import cn.hutool.json.JSONUtil; +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.constant.CommonConstant; +import cn.iocoder.yudao.module.system.service.robot.RobotInformationService; +import cn.iocoder.yudao.module.system.util.redis.RedisUtil; +import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.scheduling.annotation.EnableScheduling; +import org.springframework.stereotype.Component; + +import javax.annotation.Resource; +import java.util.Map; +import java.util.concurrent.ExecutorService; +import java.util.concurrent.Executors; + +@EnableScheduling +@Component +@Slf4j +public class RcsMapScheduled { + + @Resource + private RedisUtil redisUtil; + + @Resource + private RequestProcessor processor; + + @Autowired + private RobotInformationService robotInformationService; + + private static final ExecutorService fixedThreadPool = Executors.newFixedThreadPool(10); + + // 这个方法将每200毫秒执行一次 +// @Scheduled(fixedDelay = 300, timeUnit = TimeUnit.MILLISECONDS) + public void executeTask() { + fixedThreadPool.execute(() ->{ + sendRobotInformationToRcsMap(); + }); + } + + /** + * 发送车辆信息给车机 + */ + private void sendRobotInformationToRcsMap() { + Map robotInformationVOS = robotInformationService.getAllRobotByRedis(); + if (ObjectUtil.isEmpty(robotInformationVOS)) { + return; + } + + for (Map.Entry item : robotInformationVOS.entrySet()) { + RobotInformationVO v = item.getValue(); + if (ObjectUtil.isEmpty(v)) { + v = robotInformationService.getRobotByRedis(item.getKey()); + } + /*processor.handleRequest(floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea(), + item.getKey(), JSONUtil.toJsonStr(v));*/ + } + + + } + + +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ScheduledTasks.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java similarity index 96% rename from yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ScheduledTasks.java rename to yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java index 0a1f30b37..97d55f92a 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ScheduledTasks.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java @@ -14,7 +14,6 @@ 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; @@ -23,12 +22,11 @@ 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 ScheduledTasks { +public class ThreeDimensionalScheduled { @Resource private PositionMapService positionMapService; diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java index 78fd2058e..53d94496e 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java @@ -515,7 +515,8 @@ 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)); + log.info("111111转换前数据 :{}",message); + log.info("111111转换后 :{}",JSON.toJSONString(pathToRobotChangeXY)); commonApi.commonMethodStr(JSON.toJSONString(pathToRobotChangeXY), topic); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java index 1a482e6c5..0ad5cc38e 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java @@ -162,7 +162,7 @@ public class RobotInformationServiceImpl extends ServiceImpl laneIds = new ArrayList<>(); + List areaIds = new ArrayList<>(); + if (ObjectUtil.isNotEmpty(task.getSkuInfo()) && checkSkuInfo) { + List wareHouseLaneDOS = houseLaneMapper.selectList(new LambdaQueryWrapper() + .eq(WareHouseLaneDO::getLaneMsg, task.getSkuInfo())); + if (ObjectUtil.isNotEmpty(wareHouseLaneDOS)) { + laneIds = wareHouseLaneDOS.stream().map(WareHouseLaneDO::getId).collect(Collectors.toList()); + } + List houseAreaDOS = houseAreaMapper.selectList(new LambdaQueryWrapper() + .eq(HouseAreaDO::getSkuInfo, task.getSkuInfo())); + if (ObjectUtil.isNotEmpty(houseAreaDOS)) { + areaIds = houseAreaDOS.stream().map(HouseAreaDO::getId).collect(Collectors.toList()); + } + } + + //查找库位 + List 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> fromPartition = Lists.partition(locationIds, 100); + fromPartition.forEach(list -> { + locationMapper.updateLocationLockList(list, task.getId(), LocationLockEnum.NO.getType()); + }); + + } + + @Transactional(rollbackFor = Exception.class) + public List setSingleLocationIdNo(List taskDetailList, RobotTaskDO task, + List laneIds, List areaIds) { + //取货中的map_item_id， 此集合不能执行放货的任务 + List 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 releaseMapItemIds = taskDetailMapper.selectReleaseMapItemIds(); + if (ObjectUtil.isEmpty(releaseMapItemIds)) { + releaseMapItemIds = new ArrayList<>(); + } + + List locationIds = new ArrayList<>(); + Set 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 locationIds, + List takeMapItemIds, List releaseMapItemIds, + List laneIds, List areaIds, String skuInfo, Set 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 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 locationIds, List takeMapItemIds, + List 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 locationIds, List takeMapItemIds, + List 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 locationIds, List takeMapItemIds, + List releaseMapItemIds, List laneIds, List areaIds, String skuInfo, + Set chooseLocationIds) { + setToLocation(robotTaskVo, null, locationIds, takeMapItemIds, + releaseMapItemIds, laneIds, areaIds, skuInfo, chooseLocationIds); + locationIds.add(robotTaskVo.getToLocationId()); + } + + public void setFromLocation(RobotTaskDetailAddVO robotTaskVo, Set mapIds, List locationIds, + List takeMapItemIds, List releaseMapItemIds, Set 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 locationIds, List takeMapItemIds, + List releaseMapItemIds, Set chooseLocationIds) { + + setFromLocation(robotTaskVo, null, locationIds, takeMapItemIds, releaseMapItemIds, chooseLocationIds); + locationIds.add(robotTaskVo.getFromLocationId()); + } + + public Set 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 locationIds, List takeMapItemIds, + List 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 takeMapItemIds, + List releaseMapItemIds) { + + } + + /** + * 停车 + * + * @param robotTaskVo + */ + @Transactional(rollbackFor = Exception.class) + public void doPark(RobotTaskDetailAddVO robotTaskVo, List locationIds, List takeMapItemIds, + List 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 setAllLocationIdNo(RobotTaskSaveReqVO createReqVO, Long taskId, + List laneIds, List areaIds, String skuInfo) { + List taskDetailList = createReqVO.getTaskDetailList(); + + List newTaskDetailList = new ArrayList<>(); + List mapItemIds = new ArrayList<>(); + + //被此次任务锁定的空库位id + List toLocationIds = new ArrayList<>(); + //被此次任务锁定的有货库位id + List fromLocationIds = new ArrayList<>(); + for (RobotTaskDetailAddVO robotTaskVo : taskDetailList) { + Set 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 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 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 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 getTaskDatail(List stockList, + List releaseStockList, + List toLocationIds, RobotTaskDetailAddVO robotTaskVo, + Long taskId, List fromLocationIds) { + List 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 mapIds, List locationIds, + List takeMapItemIds, List releaseMapItemIds, + List laneIds, List areaIds, String skuInfo, Set 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()); + } + } + + +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml index c999a6167..9ceb11acb 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml @@ -213,6 +213,7 @@ zn: 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 diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml index 749253bde..f10ee789e 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml @@ -248,6 +248,7 @@ zn: 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: diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml index 2a33e2148..bd15da9ff 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml @@ -241,6 +241,7 @@ zn: 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: From fc34d7f3b8f837f3fcb2f329902751489dd5b106 Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Mon, 16 Jun 2025 14:22:51 +0800 Subject: [PATCH 07/22] =?UTF-8?q?=E4=BB=BB=E5=8A=A1?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../module/system/schedul/ThreeDimensionalScheduled.java | 4 +++- 1 file changed, 3 insertions(+), 1 deletion(-) diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java index 97d55f92a..e837a8a27 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java @@ -14,6 +14,7 @@ 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; @@ -22,6 +23,7 @@ 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 @@ -40,7 +42,7 @@ public class ThreeDimensionalScheduled { private static final ExecutorService fixedThreadPool = Executors.newFixedThreadPool(3); // 这个方法将每200毫秒执行一次 -// @Scheduled(fixedDelay = 300, timeUnit = TimeUnit.MILLISECONDS) + @Scheduled(fixedDelay = 300, timeUnit = TimeUnit.MILLISECONDS) public void executeTask() { fixedThreadPool.execute(new Runnable() { @Override From 41bf5bed58cfbdd4da32ffdb9ce9852ed90e5d0c Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Mon, 16 Jun 2025 16:25:53 +0800 Subject: [PATCH 08/22] =?UTF-8?q?=E4=BC=98=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../path/dto/PathToRobotChangeXYArgDTO.java | 1 + .../module/mqtt/api/common/CommonApiImpl.java | 14 +++- .../src/main/resources/application-local.yaml | 3 +- .../api/robot/RobotTaskStatusApiImpl.java | 31 ++++++-- .../api/robot/RobotWorkStatusApiImpl.java | 62 +++++++++++++++ .../config/poperties/ZnConfigConstant.java | 34 ++++++++ .../config/poperties/dto/RobotConfig.java | 9 +++ .../poperties/dto/RobotDoingAction.java | 8 ++ .../system/config/poperties/dto/Task.java | 9 +++ .../robot/RobotInformationController.java | 2 +- .../enums/robot/task/RobotStatusCodeEnum.java | 3 +- .../enums/robot/task/WorkProgressEnum.java | 17 ++++ .../module/system/job/robot/RobotJob.java | 24 ++++-- .../system/schedul/RcsMapScheduled.java | 2 + .../robot/RobotInformationService.java | 2 +- .../robot/RobotInformationServiceImpl.java | 79 ++++++++++--------- .../service/robot/RobotTaskServiceImpl.java | 4 +- .../service/robot/job/CycleServiceImpl.java | 22 ++++-- .../robot/job/DistributeTasksServiceImpl.java | 2 +- .../RobotPathPlanningServiceImpl.java | 6 +- .../src/main/resources/application-local.yaml | 6 +- 21 files changed, 269 insertions(+), 71 deletions(-) create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/ZnConfigConstant.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/RobotConfig.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/RobotDoingAction.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/Task.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/WorkProgressEnum.java diff --git a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYArgDTO.java b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYArgDTO.java index 6bb0bf2de..7b67dc6df 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYArgDTO.java +++ b/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 pose2ds; + private PathToRobotChangeXYArgMovePoseDTO pose2d; private PathToRobotChangeXYArgPoseDTO backPose; private PathToRobotChangeXYArgPoseDTO cargoPose; private Double height; diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java index e47489ebe..32cc4f78c 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java @@ -23,11 +23,14 @@ public class CommonApiImpl implements CommonApi { try { String str = JSON.toJSONString(obj); mqttUtils.pub(topic, JSON.toJSONString(obj)); - /*if (str.length() > 510) { + 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 { log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str); - }*/ + } } catch (MqttException e) { log.info("MQTT消息发送异常 :{}",e); } @@ -37,11 +40,14 @@ public class CommonApiImpl implements CommonApi { public void commonMethodStr(String str, String topic) { try { mqttUtils.pub(topic, str); - /*if (str.length() > 510) { + 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 { log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str); - }*/ + } } catch (MqttException e) { log.info("MQTT消息发送异常 :{}",e); } diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-local.yaml b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-local.yaml index 13e70cf30..032ce0325 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-local.yaml +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-local.yaml @@ -33,9 +33,10 @@ management: # MQTT mqtt: - host: tcp://123.57.12.40:1883 +# 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 diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java index 70de26f1f..71be94842 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java @@ -140,8 +140,9 @@ 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; } @@ -396,6 +397,12 @@ 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()); @@ -470,6 +477,12 @@ 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 * @@ -566,13 +579,17 @@ 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()) @@ -604,7 +621,9 @@ 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())) { @@ -613,7 +632,9 @@ 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()); + } } } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java index 1a22bb6c3..3a6a07552 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java +++ b/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; @@ -32,6 +38,9 @@ public class RobotWorkStatusApiImpl implements RobotWorkStatusApi { @Resource private PathPlanningService pathPlanningService; + @Autowired + private RobotTaskDetailMapper robotTaskDetailMapper; + @Override public void robotWorkStatus(String message) { log.info("111111作业实时行为上报: {}", message); @@ -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); + } + } + + + + + + + + + + + + + + + + + + + + } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/ZnConfigConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/ZnConfigConstant.java new file mode 100644 index 000000000..3e4295bba --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/ZnConfigConstant.java @@ -0,0 +1,34 @@ +package cn.iocoder.yudao.module.system.config.poperties; + +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 String taskNeedSingle; + private String locationNumberReduce; + private RobotDoingAction robotDoingAction; + private Task task ; + private RobotConfig robotConfig; + private Boolean openRateLimiter; + private Boolean isSimulation ; + private Boolean sendRobotInitPose; + private Boolean synchronousAllMapNode; +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/RobotConfig.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/RobotConfig.java new file mode 100644 index 000000000..b481f7fe6 --- /dev/null +++ b/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; +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/RobotDoingAction.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/RobotDoingAction.java new file mode 100644 index 000000000..91c3f27c3 --- /dev/null +++ b/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; +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/Task.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/Task.java new file mode 100644 index 000000000..474a1db4a --- /dev/null +++ b/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 taskChcheTime; +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java index 50e3ff803..e278d79b9 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java +++ b/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 doTaskContinue(@RequestParam("robotNo") String robotNo) { - informationService.doTaskContinue(robotNo); + informationService.doTaskContinue(robotNo,false); return success(true); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotStatusCodeEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotStatusCodeEnum.java index bfda718ca..271064018 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotStatusCodeEnum.java +++ b/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 */ diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/WorkProgressEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/WorkProgressEnum.java new file mode 100644 index 000000000..ffe96d5ef --- /dev/null +++ b/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; +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java index 06e8faf9f..cd91eace5 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java @@ -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 { diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java index 50a033b12..5ce817ae3 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java @@ -11,12 +11,14 @@ import cn.iocoder.yudao.module.system.util.redis.RedisUtil; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; import org.springframework.scheduling.annotation.EnableScheduling; +import org.springframework.scheduling.annotation.Scheduled; import org.springframework.stereotype.Component; import javax.annotation.Resource; import java.util.Map; import java.util.concurrent.ExecutorService; import java.util.concurrent.Executors; +import java.util.concurrent.TimeUnit; @EnableScheduling @Component diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java index 065612054..4c4441984 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java +++ b/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 { * 继续做任务 * @param robotNo */ - void doTaskContinue(String robotNo); + void doTaskContinue(String robotNo,Boolean isRobot); /** * diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java index 0ad5cc38e..8e43dab3b 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java @@ -162,13 +162,10 @@ public class RobotInformationServiceImpl extends ServiceImpl() .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()); + 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())) { + } else if (ObjectUtil.isNotEmpty(positionMapItem) && ObjectUtil.isNotEmpty(updateReqVO.getFloorAreaJson()) + && !updateReqVO.getFloorAreaJson().contains(positionMapItem.getPositionMapId())) { throw exception(ROBOT_PART_AREA); } } @@ -1167,7 +1164,7 @@ public class RobotInformationServiceImpl extends ServiceImpl robotNoLimitions = Arrays.asList(taskRobotNoLimittationAreaDTO); pathPlanning.setRobotNoLimitationAreaDTOS(robotNoLimitions); - if (!isSimulation || !restoreTaskRestart) { - resendToPPData(pathPlanning, actionLog, robotInformationDO, false); - } + resendToPPData(pathPlanning, actionLog, robotInformationDO, false); List pathPlanningList = new ArrayList<>(); pathPlanningList.add(pathPlanning); @@ -1329,27 +1328,35 @@ public class RobotInformationServiceImpl extends ServiceImpl> taskIdMap = detailDOS.stream().collect(Collectors.groupingBy(RobotTaskDetailDO::getRobotTaskId)); - String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey()); + List taskDOList = new ArrayList<>(); List taskDetailList = new LinkedList<>(); for (RobotTaskDO v : taskList) { + String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey()); RobotTaskDO taskData = getTaskData(incrementByKey, v); List taskDetailDOS = getTaskDetailData(taskData,taskIdMap,v.getId()); taskDOList.add(taskData); @@ -102,10 +103,21 @@ public class CycleServiceImpl implements CycleService { v.setRemainingCycleNumber(0l); } - taskMapper.insertBatch(taskDOList); + taskMapper.insert(taskDOList); taskMapper.updateById(taskList); - Collections.reverse(taskDetailList); - taskDetailMapper.insertBatch(taskDetailList); + + List moves = taskDetailList.stream().filter(v -> RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(v.getTaskType())).collect(Collectors.toList()); + List takes = taskDetailList.stream().filter(v -> !RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(v.getTaskType())).collect(Collectors.toList()); + List taskDetails= new LinkedList<>(); + if (ObjectUtil.isNotEmpty(moves)) { + taskDetails.addAll(moves); + } + if (ObjectUtil.isNotEmpty(takes)) { + Collections.reverse(takes); + taskDetails.addAll(takes); + } + + taskDetailMapper.insert(taskDetails); List fromLocationIds = taskDetailList.stream().map(RobotTaskDetailDO::getFromLocationId).collect(Collectors.toList()); List toLocationIds = taskDetailList.stream().map(RobotTaskDetailDO::getToLocationId).collect(Collectors.toList()); @@ -118,7 +130,7 @@ public class CycleServiceImpl implements CycleService { locationMapper.updateLocationLockList(list, -1l, LocationLockEnum.NO.getType()); }); - List bean = BeanUtils.toBean(taskDetailList, RobotTaskDetailAddVO.class); + List bean = BeanUtils.toBean(taskDetails, RobotTaskDetailAddVO.class); Map> taskDetailMap = bean.stream().collect(Collectors.groupingBy(RobotTaskDetailAddVO::getRobotTaskId)); taskDetailMap.forEach((k,v) ->{ diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java index 7ddcb96a6..cab931e09 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java @@ -92,7 +92,7 @@ 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; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java index 403795f61..c919f5aaf 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java @@ -95,7 +95,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { @Value("${zn.robot_config.offset_height}") private Double offsetHeight; - @Value("${zn.path_planning.task_chche_time:604800}") + @Value("${zn.task.task_chche_time:604800}") private Long taskChcheTime; @Value("${zn.move-no:MOVE}") @@ -148,8 +148,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { return; } - log.info("-------查找车子------ ,:{}",JSON.toJSONString(robots)); - log.info("-------查找任务------ ,:{}",JSON.toJSONString(taskDetailDOS)); + 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); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml index f10ee789e..b7c36c941 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml @@ -238,16 +238,16 @@ zn: 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_chche_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 +# 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: From e73d9a2002f0db6a57f8ddddcf8b801e773a8ad5 Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Tue, 17 Jun 2025 14:19:51 +0800 Subject: [PATCH 09/22] =?UTF-8?q?=E9=85=8D=E7=BD=AE?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../mqtt/api/path/dto/RobotDimensionsDTO.java | 4 ++ .../src/main/resources/application-local.yaml | 4 +- .../remote/RemoteExceptionTaskApiImpl.java | 10 ++-- .../system/api/robot/RobotStatusApiImpl.java | 11 ++-- .../api/robot/RobotTaskStatusApiImpl.java | 16 +++-- .../config/aop/SystemRateLimiterAspect.java | 9 ++- .../config/poperties/ZnConfigConstant.java | 11 ++-- .../config/poperties/dto/RobotCharge.java | 9 +++ .../system/config/poperties/dto/Task.java | 2 +- .../DeviceInformationServiceImpl.java | 12 ++-- .../service/path/PathPlanningServiceImpl.java | 16 +++-- .../robot/RobotInformationServiceImpl.java | 27 +++------ .../service/robot/RobotTaskServiceImpl.java | 57 +++++++----------- .../robot/camera/RobotCameraServiceImpl.java | 14 +++-- .../robot/job/AutoChargeServiceImpl.java | 14 ++--- .../service/robot/job/CycleServiceImpl.java | 13 ++--- .../robot/job/DistributeTasksServiceImpl.java | 9 +-- .../job/RobotTaskAutoMoveServiceImpl.java | 11 ++-- .../RobotPathPlanningServiceImpl.java | 58 ++++++------------- .../RobotSimulationServiceImpl.java | 19 ++---- .../system/service/tool/ToolsServiceImpl.java | 10 ++-- .../src/main/resources/application-dev.yaml | 12 ++-- .../src/main/resources/application-local.yaml | 10 ++-- .../src/main/resources/application-test.yaml | 12 ++-- .../mapper/robot/RobotInformationMapper.xml | 3 +- 25 files changed, 165 insertions(+), 208 deletions(-) create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/RobotCharge.java diff --git a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/RobotDimensionsDTO.java b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/RobotDimensionsDTO.java index 5bf1e96cb..adeb48e37 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/RobotDimensionsDTO.java +++ b/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; + } diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-local.yaml b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-local.yaml index 032ce0325..0db58fce3 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-local.yaml +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-local.yaml @@ -34,9 +34,9 @@ management: # MQTT mqtt: # host: tcp://123.57.12.40:1883 -# host: tcp://127.0.0.1:1883 + host: tcp://127.0.0.1:1883 # host: tcp://10.10.7.116:1883 - host: tcp://10.10.7.114:1883 +# host: tcp://10.10.7.114:1883 username: adminuser password: adminuser qos: 2 diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteExceptionTaskApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteExceptionTaskApiImpl.java index 7868edd7e..9658db6df 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteExceptionTaskApiImpl.java +++ b/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); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java index e38f9e876..78ab0e959 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java @@ -9,6 +9,7 @@ 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.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; @@ -41,8 +42,8 @@ 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; @@ -107,7 +108,7 @@ public class RobotStatusApiImpl implements RobotStatusApi { robotStatusDataPoseDTO.setForkHeight(data.getForkHeight()); } - redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime); + redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), znConfigConstant.getRobotPositionCacheTime()); executorService.execute(() ->{ sendToPP(robotStatusDataPoseDTO); @@ -127,8 +128,8 @@ public class RobotStatusApiImpl implements RobotStatusApi { //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); + redisUtil.set(taskStatusKey, robotStatusDataDTO.getTaskStatus(), znConfigConstant.getRobotPositionCacheTime()); + redisUtil.set(cargoDetectedKey, robotStatusDataDTO.getCargoDetected(), znConfigConstant.getRobotPositionCacheTime()); Map map = new HashMap<>(); String value = FloorAreaConstant.FLOOR_AREA_ROBOT + floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea(); map.put(robotStatusDataDTO.getMac(), JSON.toJSONString(finalRobotInformationVO)); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java index 71be94842..32b33fafb 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java @@ -13,6 +13,7 @@ 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.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; @@ -120,12 +121,8 @@ 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) { @@ -415,7 +412,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { || RobotTaskStageEnum.UN_START.getType().equals(robotTaskDetailDO.getTaskStage())) { robotTaskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.NEW.getType()); robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.UN_START.getType()); - if (!isSimulation) { + + if (!znConfigConstant.getIsSimulation()) { robotTaskDetailDO.setRobotNo(""); } robotTaskDetailDO.setOccurError(ZeroOneEnum.ZERO.getType()); @@ -549,7 +547,7 @@ 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); } @@ -660,7 +658,7 @@ 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); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/aop/SystemRateLimiterAspect.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/aop/SystemRateLimiterAspect.java index 9bb11cf7c..8d3e989f4 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/aop/SystemRateLimiterAspect.java +++ b/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(); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/ZnConfigConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/ZnConfigConstant.java index 3e4295bba..1029c4cf4 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/ZnConfigConstant.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/ZnConfigConstant.java @@ -1,5 +1,6 @@ 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; @@ -22,13 +23,15 @@ public class ZnConfigConstant { private Long robotPositionCacheTime; private Boolean cycleDoAutoMove; private String fullElectricity; - private String taskNeedSingle; - private String locationNumberReduce; + 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 isSimulation; private Boolean sendRobotInitPose; - private Boolean synchronousAllMapNode; + private Integer synchronousAllMapNode; + private Boolean taskNotCheck; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/RobotCharge.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/RobotCharge.java new file mode 100644 index 000000000..672566d7f --- /dev/null +++ b/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; +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/Task.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/Task.java index 474a1db4a..bf5e43e15 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/Task.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/poperties/dto/Task.java @@ -5,5 +5,5 @@ import lombok.Data; @Data public class Task { private Boolean checkSkuInfo; - private Long taskChcheTime; + private Long taskCacheTime; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java index 1038c2044..8cebd5b15 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java +++ b/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> partition = Lists.partition(positionMapItemSynDTOS, synchronousAllMapNodeSize); + List> partition = Lists.partition(positionMapItemSynDTOS, znConfigConstant.getSynchronousAllMapNode()); for (List nodes : partition) { PositionMapItemPathDTO relatedPathNode = new PositionMapItemPathDTO(); relatedPathNode.setFloor(positionMapDO.getFloor()); @@ -467,9 +465,9 @@ 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 { + } */else { commonApi.commonMethodStr(message, topic); } } @@ -592,7 +590,7 @@ 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; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java index 8e43dab3b..7a33d6441 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java @@ -23,6 +23,7 @@ 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.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 +51,6 @@ 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; @@ -159,24 +159,12 @@ public class RobotInformationServiceImpl extends ServiceImpl pathPlanningList = new ArrayList<>(); pathPlanningList.add(pathPlanning); @@ -1725,7 +1716,7 @@ public class RobotInformationServiceImpl extends ServiceImpl laneIds = new ArrayList<>(); List areaIds = new ArrayList<>(); - if (ObjectUtil.isNotEmpty(task.getSkuInfo()) && checkSkuInfo) { + if (ObjectUtil.isNotEmpty(task.getSkuInfo()) && znConfigConstant.getTask().getCheckSkuInfo()) { List wareHouseLaneDOS = houseLaneMapper.selectList(new LambdaQueryWrapper() .eq(WareHouseLaneDO::getLaneMsg, task.getSkuInfo())); if (ObjectUtil.isNotEmpty(wareHouseLaneDOS)) { @@ -397,7 +376,7 @@ public class RobotTaskServiceImpl extends ServiceImpl taskDOS = taskMapper.selectList(new LambdaQueryWrapper() .in(RobotTaskDO::getTaskStatus, RobotTaskStatusEnum.NEW.getType(), RobotTaskStatusEnum.DOING.getType())); if (ObjectUtil.isNotEmpty(taskDOS)) { @@ -661,7 +646,7 @@ public class RobotTaskServiceImpl extends ServiceImpl newTaskDetailList = new ArrayList<>(); List mapItemIds = new ArrayList<>(); - if (doCycle) { + if (znConfigConstant.getDoCycle()) { List taskCycleDOS = taskCycleMapper.selectList(new LambdaQueryWrapper()); if (ObjectUtil.isNotEmpty(taskCycleDOS)) { mapItemIds = taskCycleDOS.stream().map(TaskCycleDO::getMapItemId).collect(Collectors.toList()); @@ -1021,7 +1006,7 @@ public class RobotTaskServiceImpl extends ServiceImpl(); } - if (doCycle) { + if (znConfigConstant.getDoCycle()) { List taskCycleDOS = taskCycleMapper.selectList(new LambdaQueryWrapper()); if (ObjectUtil.isNotEmpty(taskCycleDOS)) { List mapItemIds = @@ -1495,7 +1480,7 @@ public class RobotTaskServiceImpl extends ServiceImpl tasks, List 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); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java index d43d1e2e9..15c0586f2 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java @@ -4,6 +4,7 @@ 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; @@ -21,6 +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; @@ -46,11 +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; @@ -70,7 +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"); } @@ -195,7 +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); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java index cab931e09..58e0c6f09 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java @@ -5,6 +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 @@ -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())); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/RobotTaskAutoMoveServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/RobotTaskAutoMoveServiceImpl.java index 7f6a94d96..779ff2f54 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/RobotTaskAutoMoveServiceImpl.java +++ b/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>> getLaneAutoMoveLocation(List taskDetailDOS) { List>> 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; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java index c919f5aaf..3caf4ac99 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java @@ -10,6 +10,7 @@ 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.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 +69,6 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { @Resource private PositionMapItemMapper positionMapItemMapper; - @Value("${zn.task_need_single:true}") - private Boolean taskNeedSingle; - - @Value("${zn.location_number_reduce:100000000}") - private Long locationNumberReduce; - @Resource private WareHouseLocationMapper locationMapper; @@ -86,23 +81,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { @Resource private PositionMapMapper positionMapMapper; - @Value("${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("${zn.task.task_chche_time:604800}") - private Long taskChcheTime; - - @Value("${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; @@ -302,7 +282,7 @@ 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); @@ -333,7 +313,7 @@ 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); } @@ -370,7 +350,7 @@ 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()) @@ -397,11 +377,11 @@ 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); } @@ -518,12 +498,12 @@ 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 { @@ -537,7 +517,7 @@ 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 { @@ -546,7 +526,7 @@ 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); } @@ -569,17 +549,17 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { return; } - WareHouseLocationDO nextLocation = locationMapper.selectOne(new LambdaQueryWrapperX() + /*WareHouseLocationDO nextLocation = locationMapper.selectOne(new LambdaQueryWrapperX() .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; + double height = locationStorey * znConfigConstant.getRobotConfig().getDefaultTrayHeight(); log.info("放货设置默认高度 :{}", height); pathPlanning.setReleaseHeight(height); } @@ -591,12 +571,12 @@ 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); } @@ -701,7 +681,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { */ private List getSingleTask(List taskDetailDOS) { //剔除目前正在做的线库和点位 - if (!taskNeedSingle) { + if (!znConfigConstant.getTaskNeedSingle()) { return taskDetailDOS; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/simulation/RobotSimulationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/simulation/RobotSimulationServiceImpl.java index 9da83398f..b92d914f6 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/simulation/RobotSimulationServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/simulation/RobotSimulationServiceImpl.java @@ -4,6 +4,7 @@ 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; @@ -85,27 +86,17 @@ public class RobotSimulationServiceImpl implements RobotSimulationService{ @Resource private RobotInformationMapper informationMapper; - - @Value("${zn.task-no:ZN}") - private String taskNo; - - @Value("${zn.task.check_sku_info:true}") - private Boolean checkSkuInfo; - - @Resource private WareHouseLaneMapper houseLaneMapper; @Resource private HouseAreaMapper houseAreaMapper; - @Value("${zn.move-no:MOVE}") - private String moveTaskNo; - @Resource private PositionMapItemService positionMapItemService; - + @Autowired + private ZnConfigConstant znConfigConstant; @Override public void createTask(RobotTaskSaveReqVO createReqVO) { @@ -113,7 +104,7 @@ public class RobotSimulationServiceImpl implements RobotSimulationService{ //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); } log.info("111111创建一个不校验的任务 :{}",createReqVO.getTaskNo()); @@ -124,7 +115,7 @@ public class RobotSimulationServiceImpl implements RobotSimulationService{ List laneIds = new ArrayList<>(); List areaIds = new ArrayList<>(); - if (ObjectUtil.isNotEmpty(task.getSkuInfo()) && checkSkuInfo) { + if (ObjectUtil.isNotEmpty(task.getSkuInfo()) && znConfigConstant.getTask().getCheckSkuInfo()) { List wareHouseLaneDOS = houseLaneMapper.selectList(new LambdaQueryWrapper() .eq(WareHouseLaneDO::getLaneMsg, task.getSkuInfo())); if (ObjectUtil.isNotEmpty(wareHouseLaneDOS)) { diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java index e640be08c..cad05d4cb 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java @@ -9,6 +9,7 @@ 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.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; @@ -70,14 +71,11 @@ 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 @@ -184,7 +182,7 @@ 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"); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml index 9ceb11acb..187b1c8f6 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml @@ -191,27 +191,25 @@ 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 diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml index b7c36c941..c01ec62b5 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml @@ -228,26 +228,24 @@ 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_chche_time: 1209600 #任务缓存的时间， 默认一星期 + 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: 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 -# synchronous_all_map_node: 500 # 点位信息每次发送的数据量 + 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: diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml index bd15da9ff..d18a69bde 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml @@ -219,27 +219,25 @@ 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 diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotInformationMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotInformationMapper.xml index 7f775cdb6..ae360b607 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotInformationMapper.xml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotInformationMapper.xml @@ -176,7 +176,8 @@ 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 From 235f751e13e8bc18f37c0d1de318920376972f60 Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Wed, 18 Jun 2025 20:01:45 +0800 Subject: [PATCH 10/22] =?UTF-8?q?=E6=B8=85=E9=99=A4=E4=BA=A4=E7=AE=A1?= =?UTF-8?q?=E4=B8=8D=E9=94=81=E8=BD=A6?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../system/service/robot/RobotInformationServiceImpl.java | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java index 7a33d6441..cf595d0b5 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java @@ -1131,7 +1131,7 @@ public class RobotInformationServiceImpl extends ServiceImpl Date: Thu, 19 Jun 2025 09:35:42 +0800 Subject: [PATCH 11/22] =?UTF-8?q?CICD=E6=B5=8B=E8=AF=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 2 ++ 1 file changed, 2 insertions(+) diff --git a/README.md b/README.md index 0e2897165..c68fb2a67 100644 --- a/README.md +++ b/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 From 4d64eef30a36b6c04266a3a223af48e7a624c43c Mon Sep 17 00:00:00 2001 From: hhn <1343701951@qq.com> Date: Thu, 19 Jun 2025 09:46:13 +0800 Subject: [PATCH 12/22] =?UTF-8?q?CICD=20=E6=B5=8B=E8=AF=951?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index c68fb2a67..eccc2fef9 100644 --- a/README.md +++ b/README.md @@ -371,4 +371,4 @@ 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 +### CICD 测试1 From 54f34a47e55cb24ad406331c8600ca50710157d8 Mon Sep 17 00:00:00 2001 From: hhn <1343701951@qq.com> Date: Thu, 19 Jun 2025 09:50:14 +0800 Subject: [PATCH 13/22] =?UTF-8?q?###=20CICD=20=E6=B5=8B=E8=AF=952?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index eccc2fef9..e02eec367 100644 --- a/README.md +++ b/README.md @@ -371,4 +371,4 @@ 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1 +### CICD 测试2 From 53b0285601061a376b72766232ecf26cea35b6c5 Mon Sep 17 00:00:00 2001 From: hhn <1343701951@qq.com> Date: Thu, 19 Jun 2025 09:51:08 +0800 Subject: [PATCH 14/22] =?UTF-8?q?CICD=20=E6=B5=8B=E8=AF=953?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index e02eec367..d3fbad2ac 100644 --- a/README.md +++ b/README.md @@ -371,4 +371,4 @@ 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2 +### CICD 测试3 From 2e9fa30f1f589a47ecf865b541f889ca11f8c6c0 Mon Sep 17 00:00:00 2001 From: hhn <1343701951@qq.com> Date: Thu, 19 Jun 2025 10:00:08 +0800 Subject: [PATCH 15/22] =?UTF-8?q?CICD=20=E6=B5=8B=E8=AF=954?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index d3fbad2ac..e359f2e03 100644 --- a/README.md +++ b/README.md @@ -371,4 +371,4 @@ 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3 +### CICD 测试4 From a17bcbb879df0ab7f1ab7836cdb9a8a1c721d9cf Mon Sep 17 00:00:00 2001 From: hhn <1343701951@qq.com> Date: Thu, 19 Jun 2025 10:01:59 +0800 Subject: [PATCH 16/22] =?UTF-8?q?###=20CICD=20=E6=B5=8B=E8=AF=955?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index e359f2e03..f1a927791 100644 --- a/README.md +++ b/README.md @@ -371,4 +371,4 @@ 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4 +### CICD 测试5 From a2841e92761c599ee2dd280ad25d3e9677614edd Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Fri, 20 Jun 2025 09:35:17 +0800 Subject: [PATCH 17/22] =?UTF-8?q?=E4=BB=A3=E7=A0=81=E4=BC=98=E5=8C=96?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../api/robot/dto/RobotPoseStatusDTO.java | 1 + .../websocket/RobotStatusDataPoseDTO.java | 2 ++ .../system/api/robot/RobotStatusApiImpl.java | 1 + .../api/robot/RobotTaskStatusApiImpl.java | 2 +- .../schedul/ThreeDimensionalScheduled.java | 2 +- .../robot/RobotInformationServiceImpl.java | 21 ++++++++++++------- 6 files changed, 20 insertions(+), 9 deletions(-) diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotPoseStatusDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotPoseStatusDTO.java index b46864b87..699b5c10f 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotPoseStatusDTO.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotPoseStatusDTO.java @@ -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 diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/websocket/RobotStatusDataPoseDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/websocket/RobotStatusDataPoseDTO.java index 9061ecd3d..e60150a56 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/websocket/RobotStatusDataPoseDTO.java +++ b/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; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java index 78ab0e959..4ef34dc17 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java @@ -111,6 +111,7 @@ public class RobotStatusApiImpl implements RobotStatusApi { redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), znConfigConstant.getRobotPositionCacheTime()); executorService.execute(() ->{ + robotStatusDataPoseDTO.setTimestamp(robotStatusDataDTO.getTimestamp()); sendToPP(robotStatusDataPoseDTO); }); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java index 32b33fafb..ffad01397 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java @@ -414,7 +414,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.UN_START.getType()); if (!znConfigConstant.getIsSimulation()) { - robotTaskDetailDO.setRobotNo(""); +// robotTaskDetailDO.setRobotNo(""); } robotTaskDetailDO.setOccurError(ZeroOneEnum.ZERO.getType()); robotTaskDetailMapper.updateById(robotTaskDetailDO); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java index e837a8a27..a2ffd5f1c 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java @@ -42,7 +42,7 @@ public class ThreeDimensionalScheduled { private static final ExecutorService fixedThreadPool = Executors.newFixedThreadPool(3); // 这个方法将每200毫秒执行一次 - @Scheduled(fixedDelay = 300, timeUnit = TimeUnit.MILLISECONDS) +// @Scheduled(fixedDelay = 300, timeUnit = TimeUnit.MILLISECONDS) public void executeTask() { fixedThreadPool.execute(new Runnable() { @Override diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java index cf595d0b5..340fd1860 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java @@ -1425,12 +1425,19 @@ public class RobotInformationServiceImpl extends ServiceImpl 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); } @@ -1477,7 +1484,7 @@ public class RobotInformationServiceImpl extends ServiceImpl Date: Fri, 20 Jun 2025 11:38:56 +0800 Subject: [PATCH 18/22] =?UTF-8?q?MQTT=E6=94=B9=E4=B8=BASystem?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../yudao-module-system-biz/pom.xml | 15 ++ .../system/api/robot/RobotStatusApiImpl.java | 11 +- .../api/robot/RobotTaskStatusApiImpl.java | 11 +- .../system/config/mqtt/MqttBeforePoint.java | 30 +++ .../system/config/mqtt/MqttCallBack.java | 69 +++++++ .../system/config/mqtt/MqttFactory.java | 190 ++++++++++++++++++ .../system/config/mqtt/MqttProperties.java | 43 ++++ .../config/mqtt/enums/DefineSubTopicEnum.java | 84 ++++++++ .../system/config/mqtt/util/BeanUtils.java | 31 +++ .../system/config/mqtt/util/MqttUtils.java | 84 ++++++++ .../framework/mqtt/MqttConfiguration.java | 3 +- .../system/service/mqtt/MqttService.java | 5 + ...thPlanningDistributionFailServiceImpl.java | 22 ++ ...thPlanningDistributionTaskServiceImpl.java | 25 +++ .../mqtt/PathPlanningInitDataServiceImpl.java | 25 +++ .../mqtt/PathPlanningMoveServiceImpl.java | 21 ++ .../PathRouteDisplayPlanningServiceImpl.java | 21 ++ .../PlanningGraphMatchDataServiceImpl.java | 25 +++ ...anningRemoteRobotMovePosePlanningImpl.java | 22 ++ ...SimulationRobotPoseRequestServiceImpl.java | 22 ++ .../mqtt/RobotGenericsStatusServiceImpl.java | 24 +++ .../mqtt/RobotObstaclesStatusServiceImpl.java | 20 ++ .../mqtt/RobotPathStatusServiceImpl.java | 21 ++ .../mqtt/RobotReactiveStatusServiceImpl.java | 22 ++ .../service/mqtt/RobotStatusServiceImpl.java | 28 +++ .../mqtt/RobotTaskStatusServiceImpl.java | 23 +++ .../RobotUpdatePalletHeightServiceImpl.java | 20 ++ .../RobotWirelessSignalStatusServiceImpl.java | 22 ++ .../mqtt/RobotWorkStatusServiceImpl.java | 19 ++ .../service/path/PathPlanningServiceImpl.java | 67 +++--- .../positionmap/PositionMapServiceImpl.java | 4 +- ...emoteControllerInformationServiceImpl.java | 15 +- .../robot/RobotInformationServiceImpl.java | 45 +++-- .../robot/RobotTaskDetailServiceImpl.java | 12 +- .../service/robot/RobotTaskServiceImpl.java | 19 +- .../RobotPathPlanningServiceImpl.java | 19 +- .../system/service/tool/ToolsServiceImpl.java | 37 ++-- .../src/main/resources/application-dev.yaml | 17 +- .../src/main/resources/application-local.yaml | 17 +- .../src/main/resources/application-test.yaml | 16 +- 40 files changed, 1144 insertions(+), 82 deletions(-) create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/MqttBeforePoint.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/MqttCallBack.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/MqttFactory.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/MqttProperties.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/enums/DefineSubTopicEnum.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/util/BeanUtils.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/util/MqttUtils.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/MqttService.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathPlanningDistributionFailServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathPlanningDistributionTaskServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathPlanningInitDataServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathPlanningMoveServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathRouteDisplayPlanningServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PlanningGraphMatchDataServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PlanningRemoteRobotMovePosePlanningImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PlanningSimulationRobotPoseRequestServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotGenericsStatusServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotObstaclesStatusServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotPathStatusServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotReactiveStatusServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotStatusServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotTaskStatusServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotUpdatePalletHeightServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotWirelessSignalStatusServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotWorkStatusServiceImpl.java diff --git a/yudao-module-system/yudao-module-system-biz/pom.xml b/yudao-module-system/yudao-module-system-biz/pom.xml index f56d0e304..9d56c0fc3 100644 --- a/yudao-module-system/yudao-module-system-biz/pom.xml +++ b/yudao-module-system/yudao-module-system-biz/pom.xml @@ -46,6 +46,12 @@ ${revision} + + cn.iocoder.cloud + yudao-module-remote-api + ${revision} + + cn.iocoder.cloud @@ -179,6 +185,15 @@ 2.8.0 + + org.springframework.integration + spring-integration-mqtt + + + org.eclipse.paho + org.eclipse.paho.client.mqttv3 + + diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java index 4ef34dc17..1d35e1171 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java @@ -9,6 +9,7 @@ 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; @@ -50,8 +51,11 @@ public class RobotStatusApiImpl implements RobotStatusApi { 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 @@ -147,6 +151,7 @@ public class RobotStatusApiImpl implements RobotStatusApi { } 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)); } } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java index ffad01397..cde0c4452 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java @@ -13,6 +13,7 @@ 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; @@ -100,8 +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; @@ -383,7 +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()); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/MqttBeforePoint.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/MqttBeforePoint.java new file mode 100644 index 000000000..189f91a86 --- /dev/null +++ b/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(); + } + } + +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/MqttCallBack.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/MqttCallBack.java new file mode 100644 index 000000000..d0d22a9cf --- /dev/null +++ b/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()); + } + +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/MqttFactory.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/MqttFactory.java new file mode 100644 index 000000000..9b547a2e3 --- /dev/null +++ b/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); + } + } + +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/MqttProperties.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/MqttProperties.java new file mode 100644 index 000000000..21868e984 --- /dev/null +++ b/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; + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/enums/DefineSubTopicEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/enums/DefineSubTopicEnum.java new file mode 100644 index 000000000..c75ab8e86 --- /dev/null +++ b/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 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 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; + } + +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/util/BeanUtils.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/util/BeanUtils.java new file mode 100644 index 000000000..0be825b04 --- /dev/null +++ b/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 getBean(Class clazz) { + return applicationContext.getBean(clazz); + } +} + diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/util/MqttUtils.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/util/MqttUtils.java new file mode 100644 index 000000000..806ebe592 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/util/MqttUtils.java @@ -0,0 +1,84 @@ +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; + +@Slf4j +@Component +public class MqttUtils { + + @Autowired + private MqttProperties config; + + /** + * 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) { + // 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(); + } + } +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/framework/mqtt/MqttConfiguration.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/framework/mqtt/MqttConfiguration.java index 37ff1a43a..fb74c29c6 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/framework/mqtt/MqttConfiguration.java +++ b/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 { } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/MqttService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/MqttService.java new file mode 100644 index 000000000..cb24e432c --- /dev/null +++ b/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); +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathPlanningDistributionFailServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathPlanningDistributionFailServiceImpl.java new file mode 100644 index 000000000..77242f681 --- /dev/null +++ b/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); + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathPlanningDistributionTaskServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathPlanningDistributionTaskServiceImpl.java new file mode 100644 index 000000000..956a9ea8b --- /dev/null +++ b/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); + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathPlanningInitDataServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathPlanningInitDataServiceImpl.java new file mode 100644 index 000000000..bcceb35e9 --- /dev/null +++ b/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(); + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathPlanningMoveServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathPlanningMoveServiceImpl.java new file mode 100644 index 000000000..ed688faab --- /dev/null +++ b/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); + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathRouteDisplayPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PathRouteDisplayPlanningServiceImpl.java new file mode 100644 index 000000000..9756483ed --- /dev/null +++ b/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); + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PlanningGraphMatchDataServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PlanningGraphMatchDataServiceImpl.java new file mode 100644 index 000000000..6a3c31122 --- /dev/null +++ b/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); + } + +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PlanningRemoteRobotMovePosePlanningImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PlanningRemoteRobotMovePosePlanningImpl.java new file mode 100644 index 000000000..2edb65e57 --- /dev/null +++ b/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); + } + +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PlanningSimulationRobotPoseRequestServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PlanningSimulationRobotPoseRequestServiceImpl.java new file mode 100644 index 000000000..26f6216ca --- /dev/null +++ b/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); + } + +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotGenericsStatusServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotGenericsStatusServiceImpl.java new file mode 100644 index 000000000..9afa2b644 --- /dev/null +++ b/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); + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotObstaclesStatusServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotObstaclesStatusServiceImpl.java new file mode 100644 index 000000000..de2c3b966 --- /dev/null +++ b/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); + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotPathStatusServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotPathStatusServiceImpl.java new file mode 100644 index 000000000..3afcba194 --- /dev/null +++ b/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); + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotReactiveStatusServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotReactiveStatusServiceImpl.java new file mode 100644 index 000000000..d3667fce0 --- /dev/null +++ b/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); + } + +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotStatusServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotStatusServiceImpl.java new file mode 100644 index 000000000..a1aaefdba --- /dev/null +++ b/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); + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotTaskStatusServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotTaskStatusServiceImpl.java new file mode 100644 index 000000000..6f2936b4d --- /dev/null +++ b/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); + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotUpdatePalletHeightServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotUpdatePalletHeightServiceImpl.java new file mode 100644 index 000000000..13af7a198 --- /dev/null +++ b/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); + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotWirelessSignalStatusServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotWirelessSignalStatusServiceImpl.java new file mode 100644 index 000000000..776bbc122 --- /dev/null +++ b/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); + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotWorkStatusServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotWorkStatusServiceImpl.java new file mode 100644 index 000000000..ee8e6b642 --- /dev/null +++ b/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); + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java index e9251b161..8458d1564 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java @@ -9,6 +9,7 @@ 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; @@ -101,8 +102,11 @@ 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; @@ -170,7 +174,8 @@ 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())); } /** @@ -202,7 +207,8 @@ public class PathPlanningServiceImpl implements PathPlanningService { 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)); } } @@ -252,7 +258,8 @@ 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)); } /** @@ -282,8 +289,8 @@ 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)); } /** @@ -330,7 +337,8 @@ 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)); } /** @@ -372,7 +380,8 @@ 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)); } /** @@ -406,7 +415,8 @@ 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 @@ -443,13 +453,15 @@ 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 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)); } /** @@ -468,7 +480,8 @@ public class PathPlanningServiceImpl implements PathPlanningService { } /*else if (PathTaskTypeToRobotEnum.DROP_OFF_GOODS.getType().equals(pathRobotDTO.getTaskType())) { wordDropOffGoods(message,topic,pathRobotDTO.getRobotNo()); } */else { - commonApi.commonMethodStr(message, topic); +// commonApi.commonMethodStr(message, topic); + mqttUtils.pub(topic,message); } } @@ -482,7 +495,8 @@ 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); @@ -497,7 +511,8 @@ public class PathPlanningServiceImpl implements PathPlanningService { } if (!needOffset) { - commonApi.commonMethodStr(message, topic); +// commonApi.commonMethodStr(message, topic); + mqttUtils.pub(topic,message); return; } @@ -515,7 +530,8 @@ public class PathPlanningServiceImpl implements PathPlanningService { cargoPose.setY(y.doubleValue()); log.info("111111转换前数据 :{}",message); log.info("111111转换后 :{}",JSON.toJSONString(pathToRobotChangeXY)); - commonApi.commonMethodStr(JSON.toJSONString(pathToRobotChangeXY), topic); +// commonApi.commonMethodStr(JSON.toJSONString(pathToRobotChangeXY), topic); + mqttUtils.pub(topic,JSON.toJSONString(pathToRobotChangeXY)); } /** @@ -527,7 +543,8 @@ 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 @@ -565,7 +582,8 @@ public class PathPlanningServiceImpl implements PathPlanningService { TaskPathPlanningDTO build = TaskPathPlanningDTO.builder().orderId(orderId).robotNo(robotNo) .behaviorId(behaviorId).isReach(isReach).build(); log.info("111111发给PP的数据 :{}",JSON.toJSONString(build)); - commonApi.commonMethod(build, PathPlanningTopicConstant.UPDATE_BEHAVIOR); +// commonApi.commonMethod(build, PathPlanningTopicConstant.UPDATE_BEHAVIOR); + mqttUtils.pub(PathPlanningTopicConstant.UPDATE_BEHAVIOR,JSON.toJSONString(build)); } /** @@ -657,7 +675,8 @@ 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)); } /** @@ -673,7 +692,8 @@ 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) { @@ -685,7 +705,8 @@ public class PathPlanningServiceImpl implements PathPlanningService { public void sendPositionChangePointBinding() { List 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)); } } @@ -742,8 +763,8 @@ 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)); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java index e6102061b..512364142 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java @@ -94,8 +94,8 @@ public class PositionMapServiceImpl extends ServiceImpl 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 @@ -480,8 +485,9 @@ public class RobotInformationServiceImpl extends ServiceImpl RobotDimensions = informationMapper.selectRobotDimensions(); - commonApi.commonMethod(RobotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS); + List robotDimensions = informationMapper.selectRobotDimensions(); +// commonApi.commonMethod(robotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS); + mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS,JSON.toJSONString(robotDimensions)); } /** @@ -560,8 +566,9 @@ public class RobotInformationServiceImpl extends ServiceImpl RobotDimensions = informationMapper.selectRobotDimensions(); - commonApi.commonMethod(RobotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS); + List 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); @@ -1088,7 +1095,8 @@ public class RobotInformationServiceImpl extends ServiceImpl 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())); } } @@ -1137,7 +1145,8 @@ public class RobotInformationServiceImpl extends ServiceImpl 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(); @@ -1674,7 +1687,8 @@ public class RobotInformationServiceImpl extends ServiceImpl 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)); } /** diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java index fdddc7c91..a8b7dcb0d 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java +++ b/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 diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java index 83e618f3a..ffebb895e 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java @@ -13,6 +13,7 @@ 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; @@ -146,8 +147,11 @@ public class RobotTaskServiceImpl extends ServiceImpl 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; } @@ -325,7 +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)); } @@ -387,7 +392,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { } 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) @@ -533,7 +539,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService { if (ObjectUtil.isNotEmpty(pathPlanningList)) { log.info("111111作业任务下发给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)); } } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java index cad05d4cb..f4ca7f2aa 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java @@ -9,6 +9,7 @@ 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; @@ -50,8 +51,11 @@ 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; @@ -99,8 +103,9 @@ public class ToolsServiceImpl implements ToolsService { List 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())); } } } @@ -119,8 +124,9 @@ 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"; } @@ -133,7 +139,8 @@ 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; } @@ -149,15 +156,16 @@ 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"; } @@ -169,7 +177,8 @@ 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); @@ -237,7 +246,8 @@ 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++; } @@ -245,7 +255,8 @@ 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()); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml index 187b1c8f6..f1e8ab99c 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml @@ -226,4 +226,19 @@ resource: #视频能力 video: previewUrls: /artemis/api/video/v2/cameras/previewURLs - replayUrlApi: /artemis/api/video/v2/cameras/playbackURLs \ No newline at end of file + 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 \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml index c01ec62b5..f83e04636 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml @@ -264,4 +264,19 @@ resource: #视频能力 video: previewUrls: /artemis/api/video/v2/cameras/previewURLs - replayUrlApi: /artemis/api/video/v2/cameras/playbackURLs \ No newline at end of file + 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 \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml index d18a69bde..681d06597 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml @@ -253,4 +253,18 @@ resource: #视频能力 video: previewUrls: /artemis/api/video/v2/cameras/previewURLs - replayUrlApi: /artemis/api/video/v2/cameras/playbackURLs \ No newline at end of file + 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 \ No newline at end of file From 23cc25e0d473c398076174b6e056de9b4af8aa90 Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Fri, 20 Jun 2025 15:01:59 +0800 Subject: [PATCH 19/22] wetsocket --- .../RobotGenericsStatusServiceImpl.java | 2 +- .../system/api/robot/RobotStatusApiImpl.java | 19 +++--- .../system/config/mqtt/util/MqttUtils.java | 11 +++- .../system/schedul/RcsMapScheduled.java | 63 ++++++++++--------- .../schedul/ThreeDimensionalScheduled.java | 11 +--- .../mqtt/RobotGenericsStatusServiceImpl.java | 2 +- .../mqtt/RobotReactiveStatusServiceImpl.java | 2 +- .../positionmap/PositionMapServiceImpl.java | 2 + 8 files changed, 60 insertions(+), 52 deletions(-) diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotGenericsStatusServiceImpl.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotGenericsStatusServiceImpl.java index cacfeb09d..fdb666b8e 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotGenericsStatusServiceImpl.java +++ b/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); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java index 1d35e1171..45cefdaf0 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java @@ -114,10 +114,8 @@ public class RobotStatusApiImpl implements RobotStatusApi { redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), znConfigConstant.getRobotPositionCacheTime()); - executorService.execute(() ->{ - robotStatusDataPoseDTO.setTimestamp(robotStatusDataDTO.getTimestamp()); - sendToPP(robotStatusDataPoseDTO); - }); + 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 robotInformationVOS = robotInformationService.getAllRobotByRedis(); @@ -129,6 +127,7 @@ public class RobotStatusApiImpl implements RobotStatusApi { 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(); @@ -136,17 +135,15 @@ public class RobotStatusApiImpl implements RobotStatusApi { redisUtil.set(taskStatusKey, robotStatusDataDTO.getTaskStatus(), znConfigConstant.getRobotPositionCacheTime()); redisUtil.set(cargoDetectedKey, robotStatusDataDTO.getCargoDetected(), znConfigConstant.getRobotPositionCacheTime()); Map map = new HashMap<>(); - String value = FloorAreaConstant.FLOOR_AREA_ROBOT + floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea(); + String value = FloorAreaConstant.FLOOR_AREA_ROBOT +floorArea; map.put(robotStatusDataDTO.getMac(), JSON.toJSONString(finalRobotInformationVO)); - redisUtil.hmset(value, map, 20); + redisUtil.hmset(value, map, 5); }); - executorService.execute(() ->{ + /* 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(floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea(), - robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(finalRobotInformationVO)); - }); - + processor.handleRequest(floorArea,robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(finalRobotInformationVO)); + });*/ } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/util/MqttUtils.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/util/MqttUtils.java index 806ebe592..446ddd093 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/util/MqttUtils.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/util/MqttUtils.java @@ -14,6 +14,8 @@ 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 @@ -22,6 +24,8 @@ public class MqttUtils { @Autowired private MqttProperties config; + private static final ExecutorService executorService = Executors.newFixedThreadPool(50); + /** * 发布消息 * @@ -31,6 +35,12 @@ public class MqttUtils { * @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 { @@ -68,7 +78,6 @@ public class MqttUtils { } } - /** * 断开连接 */ diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java index 5ce817ae3..5c1a88b72 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java @@ -2,19 +2,22 @@ package cn.iocoder.yudao.module.system.schedul; import cn.hutool.core.util.ObjectUtil; -import cn.hutool.json.JSONUtil; -import cn.iocoder.yudao.module.system.api.robot.processor.RequestProcessor; -import cn.iocoder.yudao.module.system.api.robot.websocket.RobotInformationVO; +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.service.robot.RobotInformationService; +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.beans.factory.annotation.Autowired; 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; @@ -29,41 +32,43 @@ public class RcsMapScheduled { private RedisUtil redisUtil; @Resource - private RequestProcessor processor; + private PositionMapService positionMapService; - @Autowired - private RobotInformationService robotInformationService; + @Resource + public WebSocketSenderApi webSocketSenderApi; - private static final ExecutorService fixedThreadPool = Executors.newFixedThreadPool(10); + 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 = 300, timeUnit = TimeUnit.MILLISECONDS) + @Scheduled(fixedDelay = 100, timeUnit = TimeUnit.MILLISECONDS) public void executeTask() { - fixedThreadPool.execute(() ->{ - sendRobotInformationToRcsMap(); - }); + FIXED_THREAD_POOL.execute(this::sendRobotInformationToRcsMap); } - /** - * 发送车辆信息给车机 - */ private void sendRobotInformationToRcsMap() { - Map robotInformationVOS = robotInformationService.getAllRobotByRedis(); - if (ObjectUtil.isEmpty(robotInformationVOS)) { - return; - } - for (Map.Entry item : robotInformationVOS.entrySet()) { - RobotInformationVO v = item.getValue(); - if (ObjectUtil.isEmpty(v)) { - v = robotInformationService.getRobotByRedis(item.getKey()); + TenantContextHolder.setTenantId(1L); + Object o = redisUtil.get(FloorAreaConstant.FLOOR_AREA_ALL); + + List allMap = null; + if (ObjectUtil.isEmpty(o)) { + allMap = positionMapService.getAllMap(); + if (ObjectUtil.isEmpty(allMap)) { + return; } - /*processor.handleRequest(floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea(), - item.getKey(), JSONUtil.toJsonStr(v));*/ + 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 data = redisUtil.hmget(key); + if (ObjectUtil.isEmpty(data)) { + continue; + } + webSocketSenderApi.sendObject(floorArea, WebSocketConstant.MAP_PUSH, data); + } } - - } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java index a2ffd5f1c..776ee5b82 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java @@ -39,17 +39,12 @@ public class ThreeDimensionalScheduled { @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 ThreeDimensionalScheduled { 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); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotGenericsStatusServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotGenericsStatusServiceImpl.java index 9afa2b644..c6190340f 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotGenericsStatusServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotGenericsStatusServiceImpl.java @@ -17,7 +17,7 @@ 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); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotReactiveStatusServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotReactiveStatusServiceImpl.java index d3667fce0..abff088db 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotReactiveStatusServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/RobotReactiveStatusServiceImpl.java @@ -15,7 +15,7 @@ public class RobotReactiveStatusServiceImpl implements MqttService{ @Override public void analysisMessage(String message) { - log.info("机器人状态上报 :{}", message); +// log.info("机器人状态上报 :{}", message); robotReactiveStatusApi.robotReactiveStatus(message); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java index 512364142..de72216f5 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java @@ -10,6 +10,7 @@ import cn.iocoder.yudao.module.mqtt.api.common.CommonApi; import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO; 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; @@ -262,6 +263,7 @@ public class PositionMapServiceImpl extends ServiceImpl Date: Fri, 20 Jun 2025 15:37:21 +0800 Subject: [PATCH 20/22] =?UTF-8?q?=E6=81=A2=E5=A4=8D=E4=BB=BB=E5=8A=A1?= =?UTF-8?q?=E5=8E=BB=E9=99=A4=E6=A0=A1=E9=AA=8C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../positionmap/PositionMapServiceImpl.java | 13 ++-- .../robot/RobotInformationServiceImpl.java | 70 ++++++++++++------- 2 files changed, 50 insertions(+), 33 deletions(-) diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java index de72216f5..a90109928 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java @@ -8,6 +8,7 @@ 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.common.CommonApi; 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; @@ -47,6 +48,7 @@ import org.apache.commons.io.IOUtils; import org.apache.commons.lang3.StringUtils; import org.springframework.beans.factory.annotation.Value; import org.springframework.cache.annotation.Cacheable; +import org.springframework.context.annotation.Lazy; import org.springframework.http.HttpHeaders; import org.springframework.http.HttpStatus; import org.springframework.stereotype.Service; @@ -93,17 +95,15 @@ public class PositionMapServiceImpl extends ServiceImpl list = informationMapper.selectRobotDimensions(); // commonApi.commonMethod(list, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS); - mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS,JSON.toJSONString(list)); + mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS, JSON.toJSONString(list)); redisUtil.del(key); // 返回 @@ -487,7 +487,7 @@ public class RobotInformationServiceImpl extends ServiceImpl robotDimensions = informationMapper.selectRobotDimensions(); // commonApi.commonMethod(robotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS); - mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS,JSON.toJSONString(robotDimensions)); + mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS, JSON.toJSONString(robotDimensions)); } /** @@ -568,7 +568,7 @@ public class RobotInformationServiceImpl extends ServiceImpl robotDimensions = informationMapper.selectRobotDimensions(); // commonApi.commonMethod(robotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS); - mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS,JSON.toJSONString(robotDimensions)); + mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS, JSON.toJSONString(robotDimensions)); String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + robotInformationDO.getMacAddress(); redisUtil.del(pose2dKey); @@ -1096,7 +1096,7 @@ public class RobotInformationServiceImpl extends ServiceImpl Date: Fri, 20 Jun 2025 16:18:06 +0800 Subject: [PATCH 21/22] =?UTF-8?q?=E8=BD=A6=E8=BE=86=E7=BC=96=E5=8F=B7?= =?UTF-8?q?=E9=87=8D=E5=A4=8D=E6=80=A7=E6=A0=A1=E9=AA=8C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../mysql/robot/RobotInformationMapper.java | 4 ++ .../robot/RobotInformationServiceImpl.java | 47 +++++++++---------- .../mapper/robot/RobotInformationMapper.xml | 27 ++++++++++- 3 files changed, 50 insertions(+), 28 deletions(-) diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotInformationMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotInformationMapper.java index 43c66cea0..b13efbd4d 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotInformationMapper.java +++ b/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 * @return */ List 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); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java index e1a180543..c1a384a76 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java @@ -184,20 +184,17 @@ public class RobotInformationServiceImpl extends ServiceImpl() - .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() - .eq(RobotInformationDO::getRobotNo, createReqVO.getRobotNo()) - .last("limit 1")); - if (ObjectUtil.isNotEmpty(existRobotNo)) { + HashSet set = new HashSet<>(); + set.add(createReqVO.getRobotNo()); + List robots = informationMapper.selectByRobotNos(set); + if (ObjectUtil.isNotEmpty(robots)) { throw exception(ROBOT_ROBOT_NO_EXISTS); } @@ -393,24 +390,22 @@ public class RobotInformationServiceImpl extends ServiceImpl 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 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() .eq(RobotInformationDO::getRobotIp, updateReqVO.getRobotIp()) diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotInformationMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotInformationMapper.xml index ae360b607..1a8e28ac3 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotInformationMapper.xml +++ b/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 #{robotNo} @@ -199,4 +198,28 @@ + + From 22b13fec788c52c4110832280aa7724b84b33a8f Mon Sep 17 00:00:00 2001 From: hhn <1343701951@qq.com> Date: Fri, 20 Jun 2025 16:46:00 +0800 Subject: [PATCH 22/22] =?UTF-8?q?###=20CICD=20=E6=B5=8B=E8=AF=956?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- README.md | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/README.md b/README.md index f1a927791..1ad273451 100644 --- a/README.md +++ b/README.md @@ -371,4 +371,4 @@ 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5 +### CICD 测试6