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

yudao-framework/yudao-spring-boot-starter-web/src/main/java/cn/iocoder/yudao/framework/banner/core/BannerApplicationRunner.java

@@ -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]");
         });
     }
 

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/dto/RobotSimulationPoseDTO.java

@@ -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;
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/dto/RobotSimulationPoseDataDTO.java

@@ -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;
+}

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

@@ -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);
         }
     }
 

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

@@ -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
 

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

@@ -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
 

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

@@ -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
 

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

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

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

@@ -269,8 +269,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      */
     @Transactional(rollbackFor = Exception.class)
     public void closeTask(RobotCompleteTaskDTO robotCompleteTaskDTO) {
-        /*PPCloseOrder(robotCompleteTaskDTO);
+        PPCloseOrder(robotCompleteTaskDTO);
-        taskService.closeTaskDetail(robotCompleteTaskDTO.getOrderId().toString(),robotCompleteTaskDTO.getMac());*/
+//        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);
 

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

@@ -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();
+    }
+}

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

@@ -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_";
 }

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

@@ -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");
+    }
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java

@@ -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);
 }

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

@@ -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);
 }

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

@@ -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
      */

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

@@ -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());
+            data.setMapImageUrl(updateObj.getMapImageUrl());*/
-            positionMapItem.setDataJson(JSON.toJSONString(data));
+
+            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);
         }
 

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

@@ -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);
 }

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

@@ -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);
+    }
 }

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

@@ -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
      *

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

@@ -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("")

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

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

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

@@ -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)

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

@@ -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
+  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
-  scan_height: 0.4 #扫描高度
+  robot_position_cache_time: 10 #机器人上报点位存储时间(秒)
-  parm: 5000 #等待时间
+  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
-  lift_height: 0.1 #抬高托盘高度
+  full_electricity: 100 #机器人充满电的电量
-  move_height: 0.1 #行走高度
+  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

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

@@ -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

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

@@ -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: 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)
-  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
     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:

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

@@ -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>

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

@@ -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