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

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This commit is contained in:
aikai 2025-04-09 09:57:01 +08:00
commit 9b7819387e
27 changed files with 326 additions and 46 deletions
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16
yudao-framework/yudao-spring-boot-starter-web/src/main/java/cn/iocoder/yudao/framework/banner/core/BannerApplicationRunner.java
View File

@ -29,22 +29,6 @@ public class BannerApplicationRunner implements ApplicationRunner {
"https://cloud.iocoder.cn",
"https://t.zsxq.com/02Yf6M7Qn");
// 数据报表
System.out.println("[报表模块 yudao-module-report 教程][参考 https://cloud.iocoder.cn/report/ 开启]");
// 工作流
System.out.println("[工作流模块 yudao-module-bpm 教程][参考 https://cloud.iocoder.cn/bpm/ 开启]");
// 商城系统
System.out.println("[商城系统 yudao-module-mall 教程][参考 https://cloud.iocoder.cn/mall/build/ 开启]");
// ERP 系统
System.out.println("[ERP 系统 yudao-module-erp - 教程][参考 https://cloud.iocoder.cn/erp/build/ 开启]");
// CRM 系统
System.out.println("[CRM 系统 yudao-module-crm - 教程][参考 https://cloud.iocoder.cn/crm/build/ 开启]");
// 微信公众号
System.out.println("[微信公众号 yudao-module-mp 教程][参考 https://cloud.iocoder.cn/mp/build/ 开启]");
// 支付平台
System.out.println("[支付系统 yudao-module-pay - 教程][参考 https://cloud.iocoder.cn/pay/build/ 开启]");
// AI 大模型
System.out.println("[AI 大模型 yudao-module-ai - 教程][参考 https://cloud.iocoder.cn/ai/build/ 开启]");
});
}

9
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/dto/RobotSimulationPoseDTO.java Normal file
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@ -0,0 +1,9 @@
package cn.iocoder.yudao.module.mqtt.api.task.dto;
import lombok.Data;
@Data
public class RobotSimulationPoseDTO {
private String commandType;
private RobotSimulationPoseDataDTO pose2d;
}

10
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/dto/RobotSimulationPoseDataDTO.java Normal file
View File

@ -0,0 +1,10 @@
package cn.iocoder.yudao.module.mqtt.api.task.dto;
import lombok.Data;
@Data
public class RobotSimulationPoseDataDTO {
private Double x;
private Double y;
private Double yaw;
}

2
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttCallBack.java
View File

@ -43,7 +43,7 @@ public class MqttCallBack implements MqttCallback {
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.getMessage());
log.info("消费消息异常 :{}", e);
}
}

3
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-dev.yaml
View File

@ -37,7 +37,8 @@ mqtt:
password: adminuser
qos: 0
clientId: mqttx_b82345a52
maxInflight: 10
# 表示允许同时在传输中的最大消息数量
maxInflight: 1000
timeout: 10
keepalive: 20

3
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-local.yaml
View File

@ -37,7 +37,8 @@ mqtt:
password: adminuser
qos: 2
clientId: mqttx_b82345a52
maxInflight: 10
# 表示允许同时在传输中的最大消息数量
maxInflight: 1000
timeout: 10
keepalive: 20

3
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/application-test.yaml
View File

@ -37,7 +37,8 @@ mqtt:
password: adminuser
qos: 0
clientId: mqttx_b82345a52
maxInflight: 10
# 表示允许同时在传输中的最大消息数量
maxInflight: 1000
timeout: 10
keepalive: 20

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java
View File

@ -83,6 +83,7 @@ public class PathApiImpl implements PathApi {
public void ppDistributionTaskFail(String message) {
TenantContextHolder.setTenantId(1L);
warnMsgService.addWarnMsg(message);
warnMsgService.sendWarnMsgToWebsocket(message);
}
@Override

13
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
View File

@ -269,8 +269,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
*/
@Transactional(rollbackFor = Exception.class)
public void closeTask(RobotCompleteTaskDTO robotCompleteTaskDTO) {
/*PPCloseOrder(robotCompleteTaskDTO);
taskService.closeTaskDetail(robotCompleteTaskDTO.getOrderId().toString(),robotCompleteTaskDTO.getMac());*/
PPCloseOrder(robotCompleteTaskDTO);
// taskService.closeTaskDetail(robotCompleteTaskDTO.getOrderId().toString(),robotCompleteTaskDTO.getMac());
String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
//先不释放库位状态
@ -302,12 +302,19 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
DeviceUseStatusEnum.IDLE.getType(), ZeroOneEnum.ZERO.getType());
}*/
String solve = "";
if (!PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())
&& !PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()) ) {
String taskNo= taskDetailService.getTaskNoByDetailId(robotCompleteTaskDTO.getOrderId());
solve = " 并且到任务列表关闭任务 " + taskNo;
}
RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(4)
.warnCode(robotCompleteTaskDTO.getStatusCode())
.robotNo(robotNo)
.warnType(RobotWarnType.ROBOT_WARN.getType())
.warnMsg(robotNo + "_" + robotCompleteTaskDTO.getMessage())
.warnSolve(robotCompleteTaskDTO.getSolution())
.warnSolve(robotCompleteTaskDTO.getSolution() + solve)
.build();
warnMsgMapper.insert(warnMsg);

23
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/SystemApplicationRunner.java Normal file
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@ -0,0 +1,23 @@
package cn.iocoder.yudao.module.system.config;
import cn.iocoder.yudao.module.system.service.tool.ToolsService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.boot.ApplicationArguments;
import org.springframework.boot.ApplicationRunner;
import org.springframework.stereotype.Component;
import javax.annotation.Resource;
@Slf4j
@Component
public class SystemApplicationRunner implements ApplicationRunner {
@Resource
private ToolsService toolsService;
@Override
public void run(ApplicationArguments args) {
toolsService.simulationPose();
}
}

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTopicConstant.java
View File

@ -24,4 +24,9 @@ public class RobotTopicConstant {
* 让机器人同步告警码值映射的topic （拼接mac地址）
*/
public static String WARN_WAIT_TIME_TOPIC = "WARN_WAIT_TIME";
/**
* 仿真初始化点位信息
*/
public static String ROBOT_COMMAND_TOPIC = "ROBOT_COMMAND_";
}

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/tool/ToolsController.java
View File

@ -47,4 +47,12 @@ public class ToolsController {
public CommonResult<String> updateWarnCode() {
return success(toolsService.updateWarnCode());
}
@PostMapping("/robot/simulationPose")
@Operation(summary = "机器人---仿真环境--初始化点位")
@PermitAll
public CommonResult<String> simulationPose() {
toolsService.simulationPose();
return success("同步完成");
}
}

18
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java
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@ -142,4 +142,22 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
* @param areaId
*/
void updateLocationAreaNameEmptyByAreaId(@Param("areaId") Long areaId);
/**
* 查询此库位的上层, 是否有货
* @param mapItemId
* @param locationStorey
* @return
*/
List<WareHouseLocationDO> queryUpperLevelsByMapItemId(@Param("mapItemId") Long mapItemId,
@Param("locationStorey") Integer locationStorey);
/**
* 查询此库位的下层，是否没货
* @param mapItemId
* @param locationStorey
* @return
*/
List<WareHouseLocationDO> queryLowerLevelsByMapItemId(@Param("mapItemId") Long mapItemId,
@Param("locationStorey") Integer locationStorey);
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskDetailMapper.java
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@ -122,4 +122,11 @@ public interface RobotTaskDetailMapper extends BaseMapperX<RobotTaskDetailDO> {
* @return
*/
List<RobotTaskDetailDO> getDoingTaskDetailByLocationIds(@Param("ids") List<Long> ids);
/**
* 查询任务明细对应的任务编号
* @param taskDetailId
* @return
*/
String getTaskNoByDetailId(@Param("taskDetailId") Long taskDetailId);
}

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotCommandTypeEnum.java
View File

@ -9,7 +9,8 @@ public enum RobotCommandTypeEnum {
MOVE_POSES("MOVE_POSES","移动"),
WORK_START_CHARGE("WORK_START_CHARGE","充电"),
WORD_PICK_UP_GOODS("WORD_PICK_UP_GOODS","取货"),
WORD_DROP_OFF_GOODS("WORD_DROP_OFF_GOODS","放货");
WORD_DROP_OFF_GOODS("WORD_DROP_OFF_GOODS","放货"),
MOVE_POSE("MOVE_POSE","仿真移动点位");
/**
* 类型
*/

15
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java
View File

@ -37,6 +37,7 @@ import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import com.google.gson.Gson;
import com.serotonin.modbus4j.ModbusMaster;
import com.serotonin.modbus4j.exception.ModbusInitException;
import com.serotonin.modbus4j.exception.ModbusTransportException;
@ -143,11 +144,19 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
if (ObjectUtil.isNotEmpty(updateObj.getPositionMapItemId())) {
PositionMapItemDO positionMapItem = positionMapItemService.getPositionMapItem(updateObj.getPositionMapItemId());
String dataJson = positionMapItem.getDataJson();
DeviceInformationDataJsonDTO data = JSON.parseObject(dataJson, DeviceInformationDataJsonDTO.class);
/*DeviceInformationDataJsonDTO data = JSON.parseObject(dataJson, DeviceInformationDataJsonDTO.class);
data.setDeviceType(updateObj.getDeviceType());
data.setDeviceNo(updateObj.getDeviceNo());
data.setMapImageUrl(updateObj.getMapImageUrl());
positionMapItem.setDataJson(JSON.toJSONString(data));
data.setMapImageUrl(updateObj.getMapImageUrl());*/
Gson gson = new Gson();
Map<Object,Object> map = new HashMap();
map = gson.fromJson(dataJson, map.getClass());
map.put("deviceType",updateObj.getDeviceType());
map.put("deviceNo",updateObj.getDeviceNo());
map.put("mapImageUrl",updateObj.getMapImageUrl());
positionMapItem.setDataJson(JSON.toJSONString(map));
positionMapItemService.updateById(positionMapItem);
}

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

@ -80,4 +80,11 @@ public interface RobotTaskDetailService {
* @return
*/
List<RobotTaskDetailDO> getDoingTaskDetailByLocationIds(List<Long> ids);
/**
* 获取任务编号
* @param orderId
* @return
*/
String getTaskNoByDetailId(Long orderId);
}

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java
View File

@ -168,4 +168,9 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
public List<RobotTaskDetailDO> getDoingTaskDetailByLocationIds(List<Long> ids) {
return taskDetailMapper.getDoingTaskDetailByLocationIds(ids);
}
@Override
public String getTaskNoByDetailId(Long taskDetailId) {
return taskDetailMapper.getTaskNoByDetailId(taskDetailId);
}
}

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

@ -91,8 +91,6 @@ import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
@Validated
public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTaskDO> implements RobotTaskService {
private final String RESULT = "SUCCESS";
@Resource
private RobotTaskMapper taskMapper;
@ -179,10 +177,9 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
//获取库位id
RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_ADD_LOCK.getKey());
String addResult = "";
if (lock.tryLock(60l, TimeUnit.MINUTES)) {
try {
addResult = addTask(createReqVO);
addTask(createReqVO);
} finally {
lock.unlock();
}
@ -190,10 +187,6 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
throw exception(REDISSON_NOT_OBTAIN_LOCK);
}
if (!RESULT.equals(addResult)) {
throw exception0(TASK_CHECK_EXCEPTION.getCode(), addResult);
}
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder().operateAction("创建任务 " + createReqVO.getTaskNo())
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
@ -257,7 +250,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
* @param createReqVO
*/
@Transactional(rollbackFor = Exception.class)
public String addTask(RobotTaskSaveReqVO createReqVO) {
public void addTask(RobotTaskSaveReqVO createReqVO) {
RobotTaskDO task = BeanUtils.toBean(createReqVO, RobotTaskDO.class);
taskMapper.insert(task);
@ -300,8 +293,6 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
&& ZeroOneEnum.ONE.getType().equals(createReqVO.getDoCycle().intValue())) {
addCycle(task.getId(), createReqVO.getTaskDetailList());
}
return RESULT;
}
@Transactional(rollbackFor = Exception.class)
@ -1026,6 +1017,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
log.error("此点位存在取货任务 :{}", locationDO.getLocationNo());
throw exception0(TASK_CREATE_FAIL.getCode(), "此库位存在取货任务 " + locationDO.getLocationNo());
}
checkToLocationNoneTask(locationDO);
releaseMapItemIds.add(locationDO.getMapItemId());
} else {
if (ReleaseTakeEnum.TO_LANE.getType().equals(robotTaskVo.getReleaseType()) && ObjectUtil.isEmpty(laneIds)
@ -1055,6 +1047,18 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
}
}
/**
* 校验放货库位的下一层是否没任务
* @param locationDO
*/
private void checkToLocationNoneTask(WareHouseLocationDO locationDO) {
List<WareHouseLocationDO> locations = locationMapper.queryLowerLevelsByMapItemId(locationDO.getMapItemId(),locationDO.getLocationStorey());
if (ObjectUtil.isNotEmpty(locations)) {
log.error("此放货库位的下层库位无货,请先放下层库位 :{}", locationDO.getLocationNo());
throw exception0(TASK_CREATE_FAIL.getCode(), "此放货库位的下层库位无货,请先放下层库位 " + locationDO.getLocationNo());
}
}
/**
* 设置取货库位
*
@ -1086,6 +1090,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
log.error("此取货库位没库存 :{}", locationDO.getLocationNo());
throw exception0(TASK_CREATE_FAIL.getCode(), "此取货库位没库存 " + locationDO.getLocationNo());
}
checkFromLocationNoneTask(locationDO);
takeMapItemIds.add(locationDO.getMapItemId());
} else {
WareHouseLocationDO wareHouseLocationDO =
@ -1105,6 +1110,19 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
}
}
/**
* 校验取货库位的上层是否存在未取的箱子
* @param locationDO
*/
private void checkFromLocationNoneTask(WareHouseLocationDO locationDO) {
List<WareHouseLocationDO> locations = locationMapper.queryUpperLevelsByMapItemId(locationDO.getMapItemId(),locationDO.getLocationStorey());
if (ObjectUtil.isNotEmpty(locations)) {
log.error("此取货库位的上层库位有货,请先取上层库位的货物 :{}", locationDO.getLocationNo());
throw exception0(TASK_CREATE_FAIL.getCode(), "此取货库位的上层库位有货,请先取上层库位的货物 " + locationDO.getLocationNo());
}
}
/**
* 取放
*

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnMsgServiceImpl.java
View File

@ -115,6 +115,9 @@ public class RobotWarnMsgServiceImpl extends ServiceImpl<RobotWarnMsgMapper, Rob
@Override
public void addWarnMsg(String message) {
if (message.length() > 200 ) {
message = message.substring(0,200);
}
RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(4)
.warnCode("PP")
.robotNo("")

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

@ -12,4 +12,6 @@ public interface ToolsService {
String closeTaskDetail(String taskDetailId);
String updateWarnCode();
void simulationPose();
}

88
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java
View File

@ -2,8 +2,11 @@ package cn.iocoder.yudao.module.system.service.tool;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.json.JSONUtil;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO;
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.constant.path.PathPlanningTopicConstant;
@ -12,21 +15,30 @@ import cn.iocoder.yudao.module.system.controller.admin.config.dto.TaskOrderConfi
import cn.iocoder.yudao.module.system.controller.admin.config.vo.CommonConfigVO;
import cn.iocoder.yudao.module.system.controller.admin.tool.dto.CleanAgvDTO;
import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnMsgDO;
import cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnMsgMapper;
import cn.iocoder.yudao.module.system.enums.config.CommandConfigTypeEnum;
import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum;
import cn.iocoder.yudao.module.system.enums.robot.RobotWarnType;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
import cn.iocoder.yudao.module.system.service.config.CommonConfigService;
import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
import cn.iocoder.yudao.module.system.service.positionmap.PositionMapService;
import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.validation.annotation.Validated;
import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.Arrays;
import java.util.List;
@ -53,6 +65,18 @@ public class ToolsServiceImpl implements ToolsService {
@Autowired
private RobotInformationService robotInformationService;
@Resource
private PositionMapItemService positionMapItemService;
/*@Resource
private CommonConfigService configService;*/
@Resource
private PositionMapService positionMapService;
@Value("${zn.is_simulation:false}")
private Boolean isSimulation;
/**
* 发送时间、优先级、距离的权重给PP
*
@ -156,6 +180,70 @@ public class ToolsServiceImpl implements ToolsService {
return "同步完成";
}
@Override
public void simulationPose() {
if (!isSimulation) {
log.info("非仿真环境不需要同步默认的节点数据");
}
TenantContextHolder.setTenantId(1L);
// CommonConfigDO config = configService.getConfig(CommandConfigTypeEnum.SIMULATION_CONFIG.getType().longValue());
CommonConfigDO config = configMapper.selectOne(new LambdaQueryWrapper<CommonConfigDO>()
.eq(CommonConfigDO::getConfigType, CommandConfigTypeEnum.SIMULATION_CONFIG.getType().longValue()));
PositionMapDO positionMap = null;
if (ObjectUtil.isEmpty(config) || ObjectUtil.isEmpty(config.getConfigStr())) {
List<PositionMapDO> maps = positionMapService.getAllMap();
if (ObjectUtil.isEmpty(maps)) {
return;
}
positionMap = maps.get(0);
} else {
positionMap = positionMapService.getPositionMap(Long.valueOf(config.getConfigStr()));
}
if (ObjectUtil.isEmpty(positionMap)) {
log.info("仿真环境没有地图信息");
return;
}
List<RobotInformationDO> robots = robotInformationService.getAllRobot();
if (ObjectUtil.isEmpty(robots)) {
log.info("仿真环境没有机器人信息");
return;
}
List<PositionMapItemDO> itemDOList = new ArrayList<>();
List<PositionMapItemDO> items = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.WAIT.getType());
if (ObjectUtil.isEmpty(items) || items.size() < robots.size()) {
List<PositionMapItemDO> itemPoses = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.PATH.getType());
itemDOList.addAll(itemPoses);
} else {
itemDOList = items;
}
int i = 0;
for (RobotInformationDO robot : robots) {
RobotSimulationPoseDataDTO poseData = new RobotSimulationPoseDataDTO();
RobotSimulationPoseDTO simulationPoseDTO = new RobotSimulationPoseDTO();
if (itemDOList.size() <= i) {
continue;
}
poseData.setX(Double.valueOf(itemDOList.get(i).getActualLocationX()));
poseData.setY(Double.valueOf(itemDOList.get(i).getActualLocationY()));
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());
log.info("仿真环境发送机器人默认点位信息");
i++;
}
}
public void addWarnMsg() {
RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(4)

26
yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml
View File

@ -187,8 +187,24 @@ justauth:
zn:
task-no: ZN #任务号开头
do_cycle: true #是否开启循环
init_height: 0.0 #初始化高度
scan_height: 0.4 #扫描高度
parm: 5000 #等待时间
lift_height: 0.1 #抬高托盘高度
move_height: 0.1 #行走高度
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)
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
task_need_single: false #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
action_entity_cache_time: 172800 #机器人所有动作缓存时间 8小时
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
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
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
open_rate_limiter: true #是否开启限流
path_planning:
task_chche_time: 604800 #任务缓存的时间， 默认一星期
is_simulation: true # 是否为仿真环境

7
yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
View File

@ -226,7 +226,7 @@ zn:
robot_position_cache_time: 10 #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
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)
task_need_single: false #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
action_entity_cache_time: 172800 #机器人所有动作缓存时间 8小时
@ -242,3 +242,8 @@ zn:
open_rate_limiter: true #是否开启限流
path_planning:
task_chche_time: 604800 #任务缓存的时间， 默认一星期
is_simulation: true # 是否为仿真环境
logging:
file:
name: D:/project/rcs/logs/${spring.application.name}.log

7
yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml
View File

@ -217,8 +217,7 @@ zn:
robot_position_cache_time: 10 #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
robot_error_level_time: 30 #机器人异常存储时间(秒)
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)
task_need_single: false #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
action_entity_cache_time: 172800 #机器人所有动作缓存时间 8小时
@ -231,6 +230,10 @@ zn:
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
open_rate_limiter: true #是否开启限流
path_planning:
task_chche_time: 604800 #任务缓存的时间， 默认一星期
is_simulation: true # 是否为仿真环境
logging:
file:

34
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationMapper.xml
View File

@ -542,6 +542,7 @@
from
ware_house_location t1
<where>
t1.deleted = '0'
<if test= " locationUseStatus != null ">
AND t1.location_use_status = #{locationUseStatus}
</if>
@ -840,6 +841,8 @@
</foreach>
and t2.location_number &lt; t1.location_number
and t2.location_use_status = '1'
and t1.deleted = '0'
and t2.deleted = '0'
and t2.id not in
<foreach collection="locationIds" item="id" index="index" open="(" close=")"
separator=",">
@ -849,4 +852,35 @@
limit 1
</select>
<select id="queryUpperLevelsByMapItemId"
resultType="cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO">
select
<include refid="base_sql"></include>
from
ware_house_location
<where>
deleted = '0'
and map_item_id = #{mapItemId}
and location_storey &gt; #{locationStorey}
and location_use_status = '1'
and location_lock = '1'
</where>
</select>
<select id="queryLowerLevelsByMapItemId"
resultType="cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO">
select
<include refid="base_sql"></include>
from
ware_house_location
<where>
deleted = '0'
and map_item_id = #{mapItemId}
and location_storey &lt; #{locationStorey}
and location_use_status = '0'
and location_lock = '1'
</where>
</select>
</mapper>

14
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailMapper.xml
View File

@ -272,6 +272,20 @@
</select>
<select id="getTaskNoByDetailId" resultType="java.lang.String">
select
distinct
t1.task_no
from
robot_task t1 left join robot_task_detail t2
on t1.id = t2.robot_task_id
where
t2.id = #{taskDetailId}
and t1.deleted = '0'
and t2.deleted = '0'
</select>
<!--通过主键修改数据-->
<update id="updateRobotDetailById">
update robot_task_detail