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

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aikai 2025-02-18 16:03:14 +08:00
commit 9ee9fc7994
6 changed files with 187 additions and 83 deletions
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24
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java Normal file
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@ -0,0 +1,24 @@
package cn.iocoder.yudao.module.mqtt.api.path.task;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.Data;
import java.util.List;
/**
* 发送任务给PP
*/
@Data
public class TaskToPathPlanningDTO {
@Schema(description = "robot_task_detail 的 id")
private String id;
@Schema(description = "能执行此任务的机器人编号")
private List<String> robotNoList;
//线库: LINE + 线库号
//普通库位: POINT + 点位号
@Schema(description = "取的编号: 线库id+点位id")
private String takeId;
}

16
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java
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@ -7,43 +7,43 @@ public class PathPlanningTopicConstant {
/**
* 同步全部地图点位 ware_position_map_line数据
*/
public static String SYNCHRONOUS_ALL_MAP_POINT = "SYNCHRONOUS_MAP_POINT";
public static String SYNCHRONOUS_ALL_MAP_LINE = "SYNCHRONOUS_ALL_MAP_LINE";
/**
* 同步 ware_position_map_item数据
*/
public static String SYNCHRONOUS_ALL_ITEM = "SYNCHRONOUS_ALL_ITEM";
public static String SYNCHRONOUS_ALL_MAP_NODE = "SYNCHRONOUS_ALL_MAP_NODE";
/**
* 添加ware_position_map_line地图点位给PP
*/
public static String ADD_MAP_POINT = "ADD_MAP_POINT";
public static String ADD_MAP_LINE = "ADD_MAP_LINE";
/**
* 删除ware_position_map_line地图点位给PP
*/
public static String DELETE_MAP_POINT = "DELETE_MAP_POINT";
public static String DELETE_MAP_LINE = "DELETE_MAP_LINE";
/**
* 更新ware_position_map_line地图点位给PP
*/
public static String UPDATE_MAP_POINT = "UPDATE_MAP_POINT";
public static String UPDATE_MAP_LINE = "UPDATE_MAP_LINE";
/**
* 添加ware_position_map_item地图点位给PP
*/
public static String ADD_MAP_ITEM = "ADD_MAP_ITEM";
public static String ADD_MAP_NODE = "ADD_MAP_NODE";
/**
* 删除ware_position_map_item地图点位给PP
*/
public static String DELETE_MAP_ITEM = "DELETE_MAP_ITEM";
public static String DELETE_MAP_NODE = "DELETE_MAP_NODE";
/**
* 更新ware_position_map_item地图点位给PP
*/
public static String UPDATE_MAP_ITEM = "UPDATE_MAP_ITEM";
public static String UPDATE_MAP_NODE = "UPDATE_MAP_NODE";

18
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/config/CommonConfigServiceImpl.java
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@ -12,13 +12,16 @@ import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
import org.springframework.validation.annotation.Validated;
import org.springframework.transaction.annotation.Transactional;
import java.time.LocalDateTime;
import java.time.format.DateTimeFormatter;
import java.util.*;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
@ -45,11 +48,11 @@ public class CommonConfigServiceImpl implements CommonConfigService {
CommonConfigDO config = BeanUtils.toBean(createReqVO, CommonConfigDO.class);
if (ZeroOneEnum.ONE.getType().equals(config.getConfigType())) {
CommonConfigVO chargeConfig= JSONUtil.toBean(config.getConfigStr(),CommonConfigVO.class);
CommonConfigVO chargeConfig = JSONUtil.toBean(config.getConfigStr(), CommonConfigVO.class);
//一次
if (ZeroOneEnum.ZERO.getType().equals(chargeConfig.getEveryDay())
&& ObjectUtil.isNotEmpty(chargeConfig.getScheduleChargeStartTime())) {
setOnceStartTimeConfig(config,chargeConfig);
setOnceStartTimeConfig(config, chargeConfig);
}
}
@ -60,6 +63,7 @@ public class CommonConfigServiceImpl implements CommonConfigService {
/**
* 设置一次的开始时间和结束时间
*
* @param config
* @param chargeConfig
*/
@ -69,8 +73,8 @@ public class CommonConfigServiceImpl implements CommonConfigService {
LocalDateTime nowEnd = LocalDateTime.now();
if (now.isAfter(chargeConfig.getScheduleChargeEndTime())) {
now.plusDays(1);
nowEnd.plusDays(1);
now = now.plusDays(1);
nowEnd = nowEnd.plusDays(1);
}
LocalDateTime s = LocalDateTime.of(now.getYear(), now.getMonth(), now.getDayOfMonth(),
@ -103,12 +107,12 @@ public class CommonConfigServiceImpl implements CommonConfigService {
CommonConfigDO updateObj = BeanUtils.toBean(updateReqVO, CommonConfigDO.class);
if (ZeroOneEnum.ONE.getType().equals(updateReqVO.getConfigType())) {
CommonConfigVO chargeConfig= JSONUtil.toBean(updateReqVO.getConfigStr(),CommonConfigVO.class);
CommonConfigVO chargeConfig = JSONUtil.toBean(updateReqVO.getConfigStr(), CommonConfigVO.class);
//一次
if (ZeroOneEnum.ZERO.getType().equals(chargeConfig.getEveryDay())
&& ObjectUtil.isNotEmpty(chargeConfig.getScheduleChargeStartTime())) {
setOnceStartTimeConfig(updateObj,chargeConfig);
}else if(ZeroOneEnum.ONE.getType().equals(chargeConfig.getEveryDay()) ) {
setOnceStartTimeConfig(updateObj, chargeConfig);
} else if (ZeroOneEnum.ONE.getType().equals(chargeConfig.getEveryDay())) {
JSONObject jsonObject = new JSONObject(updateObj.getConfigStr());
jsonObject.put("onceStartTime", "");
jsonObject.put("onceEndTime", "");

16
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
View File

@ -121,7 +121,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
relatedPathNode.setType(PathTypeEnum.INIT.getType());
relatedPathNode.setControl_nodes(positionMapItemSynDTOS);
pathPlanningApi.synchronousLineObject(relatedPathNode, PathPlanningTopicConstant.SYNCHRONOUS_ALL_ITEM);
pathPlanningApi.synchronousLineObject(relatedPathNode, PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_NODE);
}
}
@ -166,7 +166,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
relatedPathNode.setArea(positionMapDO.getArea());
relatedPathNode.setControl_nodes(list);
pathPlanningApi.synchronousLineObject(relatedPathNode, PathPlanningTopicConstant.ADD_MAP_POINT);
pathPlanningApi.synchronousLineObject(relatedPathNode, PathPlanningTopicConstant.ADD_MAP_LINE);
}
/**
@ -195,7 +195,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
ids.add(data.getId());
relatedPathNode.setIds(ids);
pathPlanningApi.synchronousLineObject(relatedPathNode, PathPlanningTopicConstant.DELETE_MAP_POINT);
pathPlanningApi.synchronousLineObject(relatedPathNode, PathPlanningTopicConstant.DELETE_MAP_LINE);
}
@ -240,7 +240,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
relatedPathNode.setType(PathTypeEnum.UPDATE.getType());
relatedPathNode.setControl_nodes(list);
pathPlanningApi.synchronousLineObject(relatedPathNode, PathPlanningTopicConstant.UPDATE_MAP_POINT);
pathPlanningApi.synchronousLineObject(relatedPathNode, PathPlanningTopicConstant.UPDATE_MAP_LINE);
}
/**
@ -279,7 +279,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
PositionMapItemPathDTO.setType(PathTypeEnum.ADD.getType());
PositionMapItemPathDTO.setControl_nodes(Arrays.asList(build));
pathPlanningApi.synchronousLineObject(PositionMapItemPathDTO, PathPlanningTopicConstant.ADD_MAP_ITEM);
pathPlanningApi.synchronousLineObject(PositionMapItemPathDTO, PathPlanningTopicConstant.ADD_MAP_NODE);
}
/**
@ -312,7 +312,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
PositionMapItemPathDTO.setType(PathTypeEnum.DELETE.getType());
PositionMapItemPathDTO.setIds(Arrays.asList(data.getId()));
pathPlanningApi.synchronousLineObject(PositionMapItemPathDTO, PathPlanningTopicConstant.DELETE_MAP_ITEM);
pathPlanningApi.synchronousLineObject(PositionMapItemPathDTO, PathPlanningTopicConstant.DELETE_MAP_NODE);
}
@Override
@ -347,7 +347,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
PositionMapItemPathDTO.setType(PathTypeEnum.UPDATE.getType());
PositionMapItemPathDTO.setControl_nodes(Arrays.asList(build));
pathPlanningApi.synchronousLineObject(PositionMapItemPathDTO, PathPlanningTopicConstant.UPDATE_MAP_ITEM);
pathPlanningApi.synchronousLineObject(PositionMapItemPathDTO, PathPlanningTopicConstant.UPDATE_MAP_NODE);
}
public PositionMapLineDTO setPositionMapLineDTOData(PositionMapLineDTO positionMapLineDO) {
@ -391,7 +391,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
relatedPathNode.setControl_nodes(list);
pathPlanningApi.synchronousPointToPP(relatedPathNode, PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_POINT);
pathPlanningApi.synchronousPointToPP(relatedPathNode, PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_LINE);
});
}

171
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
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@ -24,6 +24,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMappe
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import cn.iocoder.yudao.module.system.enums.config.CommandConfigTypeEnum;
import cn.iocoder.yudao.module.system.enums.robot.*;
import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeModelEnum;
@ -34,6 +35,7 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang3.tuple.ImmutablePair;
import org.apache.commons.lang3.tuple.Pair;
import org.bouncycastle.pqc.crypto.util.PQCOtherInfoGenerator;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
@ -116,7 +118,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
// List<RobotTaskDetailDO> cycleTaskDetails = robotTaskMapper.getCycleTaskDetails();
//任务下发给机器人
distributeTasks(robots,taskDetailDOS);
distributeTasks(robots, taskDetailDOS);
}
/**
@ -125,24 +127,21 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
@Override
@Transactional(rollbackFor = Exception.class)
public Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> getRobotAndTaskDetails() {
TenantContextHolder.setTenantId(1L);
Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> pair = Pair.of(new ArrayList<>(), new ArrayList<>());
CommonConfigDO commonConfigDO = configMapper.selectOne(new LambdaQueryWrapper<CommonConfigDO>()
.eq(CommonConfigDO::getConfigType, CommandConfigTypeEnum.CHARG_CONFIG.getType()));
CommonConfigVO chargeConfig= JSONUtil.toBean(commonConfigDO.getConfigStr(),CommonConfigVO.class);
LocalDateTime now = LocalDateTime.now();
if ((ObjectUtil.isNotEmpty(chargeConfig.getScheduleChargeEndTime()) &&
(ObjectUtil.isNotEmpty(chargeConfig.getScheduleChargeStartTime())))
&& (now.isBefore(chargeConfig.getScheduleChargeEndTime()) && now.isAfter(chargeConfig.getScheduleChargeStartTime()))) {
log.info("充电时间,不派发任务");
Boolean needDoCharge = needDoCharge(commonConfigDO);
if (needDoCharge) {
log.info("所有机器人都需要去执行充电任务");
return pair;
}
TenantContextHolder.setTenantId(1L);
List<RobotInformationDO> robots = robotInformationMapper.selectList(new LambdaQueryWrapperX<RobotInformationDO>()
.in(RobotInformationDO::getRobotStatus, RobotStatusEnum.STAND_BY.getType(),RobotStatusEnum.CHARGE.getType())
.eq(RobotInformationDO::getRobotTaskModel, RobotTaskModelEnum.NORMAL.getType())
.orderByDesc(RobotInformationDO::getUpdateTime));
.in(RobotInformationDO::getRobotStatus, RobotStatusEnum.STAND_BY.getType(), RobotStatusEnum.CHARGE.getType())
.eq(RobotInformationDO::getRobotTaskModel, RobotTaskModelEnum.NORMAL.getType()));
if (robots.isEmpty()) {
log.info("暂无空闲的机器人");
@ -150,8 +149,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
}
for (RobotInformationDO robot : robots) {
String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS +robot.getMacAddress();
String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED +robot.getMacAddress();
String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robot.getMacAddress();
String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robot.getMacAddress();
Object taskStatus = redisUtil.get(taskStatusKey);
if (ObjectUtil.isEmpty(taskStatus) || RobotStatusCodeConstant.TASK_STATUS_RUNNING.equals(taskStatus.toString())) {
robot.setRobotStatus(RobotStatusEnum.DOING.getType());
@ -164,9 +163,10 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
continue;
}
//手动充电的机器人状态是待命
//自动充电的车子，电量到达设定的阀值，也能执行充电任务
if (ChargeTypeEnum.AUTOMATIC.getType().equals(robot.getChargeType())
&& RobotStatusEnum.CHARGE.getType().equals(robot.getRobotStatus())) {
setRobotStatus(commonConfigDO,robot);
&& RobotStatusEnum.CHARGE.getType().equals(robot.getRobotStatus())) {
setRobotStatus(commonConfigDO, robot);
}
}
@ -175,23 +175,37 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
.collect(Collectors.toList());
if (robots.isEmpty()) {
log.info("暂无可用的机器人");
log.info("暂无可用的机器人,可能正在充电,可能机器人有任务");
return pair;
}
//拼接任务id
List<Long> detailDongIds = robotTaskDetailMapper.getDoingTaskIds();
List<Long> montageTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.YES.getType(),detailDongIds);
/*List<Long> detailDongIds = robotTaskDetailMapper.getDoingTaskIds();
List<Long> montageTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.YES.getType(), detailDongIds);
//不拼接的任务id
List<Long> singleTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.NO.getType(),new ArrayList<>());
List<Long> singleTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.NO.getType(), new ArrayList<>());*/
List<RobotTaskDO> taskDOList = robotTaskMapper.selectList(new LambdaQueryWrapper<RobotTaskDO>()
.in(RobotTaskDO::getTaskStatus, RobotTaskStatusEnum.DOING.getType(), RobotTaskStatusEnum.NEW.getType()));
//拼接
List<Long> montageTaskIds =taskDOList.stream()
.filter(v -> MontageTaskEnum.YES.getType().equals(v.getMontageTask()))
.map(RobotTaskDO::getId)
.collect(Collectors.toList());
//不拼接
List<Long> singleTaskIds =taskDOList.stream()
.filter(v -> MontageTaskEnum.YES.getType().equals(v.getMontageTask()))
.map(RobotTaskDO::getId)
.collect(Collectors.toList());
if (ObjectUtil.isEmpty(montageTaskIds) && ObjectUtil.isEmpty(singleTaskIds)) {
log.info("暂无需要处理的主任务");
return pair;
}
List<RobotTaskDetailDO> taskDetailDOS = getTaskDetail(montageTaskIds,singleTaskIds);
List<RobotTaskDetailDO> taskDetailDOS = getTaskDetail(montageTaskIds, singleTaskIds);
if (taskDetailDOS.isEmpty()) {
log.info("暂无需要处理的明细任务");
@ -200,24 +214,51 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
return ImmutablePair.of(robots, taskDetailDOS);
}
/**
* true 需要去充电
*
* @param commonConfigDO
* @return
*/
public Boolean needDoCharge(CommonConfigDO commonConfigDO) {
if (ObjectUtil.isEmpty(commonConfigDO) || ObjectUtil.isEmpty(commonConfigDO.getConfigStr())) {
return false;
}
CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfigDO.getConfigStr(), CommonConfigVO.class);
LocalDateTime now = LocalDateTime.now();
if (ZeroOneEnum.ZERO.getType().equals(chargeConfig.getEveryDay())
&& now.isAfter(chargeConfig.getOnceStartTime()) && now.isBefore(chargeConfig.getOnceEndTime())) {
return true;
} else if (ZeroOneEnum.ONE.getType().equals(chargeConfig.getEveryDay())
&& now.isBefore(chargeConfig.getScheduleChargeEndTime())
&& now.isAfter(chargeConfig.getScheduleChargeStartTime())) {
return true;
}
return false;
}
/**
* 设置机器人的状态
*
* @param commonConfigDO
* @param robot
*/
private void setRobotStatus(CommonConfigDO commonConfigDO, RobotInformationDO robot) {
String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +robot.getMacAddress();
String chargeModelKey = RobotTaskChcheConstant.ROBOT_CHARGE_MODEL +robot.getRobotNo();
String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robot.getMacAddress();
String chargeModelKey = RobotTaskChcheConstant.ROBOT_CHARGE_MODEL + robot.getRobotNo();
Object chargeModelCache = redisUtil.get(chargeModelKey);
Object poseCache = redisUtil.get(pose2dKey);
RobotStatusDataPoseDTO dataPoseDTO= JSON.parseObject((String)poseCache, RobotStatusDataPoseDTO.class);
log.info("机器人编号:{} ,信息: {}",robot.getRobotNo(),JSON.toJSONString(dataPoseDTO));
RobotStatusDataPoseDTO dataPoseDTO = JSON.parseObject((String) poseCache, RobotStatusDataPoseDTO.class);
log.info("机器人编号:{} ,信息: {}", robot.getRobotNo(), JSON.toJSONString(dataPoseDTO));
if (ObjectUtil.isEmpty(commonConfigDO) || ObjectUtil.isEmpty(poseCache) || ObjectUtil.isEmpty(dataPoseDTO.getBat_soc())) {
return;
}
CommonConfigVO chargeConfig=JSONUtil.toBean(commonConfigDO.getConfigStr(),CommonConfigVO.class);
CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfigDO.getConfigStr(), CommonConfigVO.class);
//车子剩余电量
BigDecimal robotRemainingElectricity = new BigDecimal(dataPoseDTO.getBat_soc());
@ -230,7 +271,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
} else if (ObjectUtil.isNotEmpty(chargeModelCache) && ChargeModelEnum.FULL.getType().equals((Integer) chargeModelCache)) {
robotEndElectricity = new BigDecimal(fullElectricity);
} else if (ObjectUtil.isNotEmpty(chargeModelCache) && ChargeModelEnum.CHANCE.getType().equals((Integer) chargeModelCache)) {
robotEndElectricity = new BigDecimal(String.valueOf(chargeConfig.getChanceChargeEnd()));
robotEndElectricity = new BigDecimal(String.valueOf(chargeConfig.getChanceChargeEnd()));
} else {
robotEndElectricity = new BigDecimal(String.valueOf(chargeConfig.getEndAutoCharge()));
}
@ -242,14 +283,15 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
/**
* 获取明细
* @param montageTaskIds
* @param singleTaskIds
*
* @param montageTaskIds 拼接
* @param singleTaskIds 不拼接
* @return
*/
private List<RobotTaskDetailDO> getTaskDetail(List<Long> montageTaskIds, List<Long> singleTaskIds) {
if (ObjectUtil.isNotEmpty(montageTaskIds) && ObjectUtil.isEmpty(singleTaskIds)) {
return robotTaskDetailMapper.getMontageUnDoTask(montageTaskIds);
} else if (ObjectUtil.isEmpty(montageTaskIds) && ObjectUtil.isNotEmpty(singleTaskIds) ) {
} else if (ObjectUtil.isEmpty(montageTaskIds) && ObjectUtil.isNotEmpty(singleTaskIds)) {
return robotTaskDetailMapper.getSingleUnDoTask(singleTaskIds);
}
return robotTaskDetailMapper.getUnDoTaskDetail(montageTaskIds, singleTaskIds);
@ -257,6 +299,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
/**
* 下发任务给机器人
*
* @param robots
* @param taskDetailDOS
*/
@ -279,7 +322,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
RobotTaskTypeEnum robotTaskType = RobotTaskTypeEnum.getRobotTaskType(taskDetailDO.getTaskType());
switch (robotTaskType) {
case TAKE_RELEASE:
doTakeReleaseDistribute(taskDetailDO, robots,robotTaskDOS,taskIds,updateTaskDetails,robotNos,doingLocationIds);
doTakeReleaseDistribute(taskDetailDO, robots, robotTaskDOS, taskIds, updateTaskDetails, robotNos, doingLocationIds);
break;
/*case PARK:
doParkDistribute(taskDetailDO, robots,robotTaskDOS);
@ -326,67 +369,72 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
robotTaskDetailMapper.updateBatch(updateTaskDetails);
}
if (ObjectUtil.isNotEmpty(robotNos)) {
robotInformationMapper.updateRobotListStatus(robotNos,RobotStatusEnum.DOING.getType());
robotInformationMapper.updateRobotListStatus(robotNos, RobotStatusEnum.DOING.getType());
}
}
/**
* 检测托盘类型
*
* @param taskDetailDO
* @param robots
* @param robotTaskDOS
*/
@Transactional(rollbackFor = Exception.class)
public void doDetectingTraysDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
List<RobotAcceptTaskDTO> robotTaskDOS) {
List<RobotAcceptTaskDTO> robotTaskDOS) {
}
/**
* 扫描码
*
* @param taskDetailDO
* @param robots
* @param robotTaskDOS
*/
@Transactional(rollbackFor = Exception.class)
public void doScanDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
List<RobotAcceptTaskDTO> robotTaskDOS) {
List<RobotAcceptTaskDTO> robotTaskDOS) {
}
/**
* 仅放货
*
* @param taskDetailDO
* @param robots
* @param robotTaskDOS
*/
@Transactional(rollbackFor = Exception.class)
public void doReleaseDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
List<RobotAcceptTaskDTO> robotTaskDOS) {
List<RobotAcceptTaskDTO> robotTaskDOS) {
}
/**
* 取放货
*
* @param taskDetailDO
* @param robots
* @param robotTaskDOS
*/
@Transactional(rollbackFor = Exception.class)
public void doTakeDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
List<RobotAcceptTaskDTO> robotTaskDOS) {
List<RobotAcceptTaskDTO> robotTaskDOS) {
}
/**
* 移动
*
* @param taskDetailDO
* @param robots
* @param robotTaskDOS
*/
@Transactional(rollbackFor = Exception.class)
public void doMoveDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
List<RobotAcceptTaskDTO> robotTaskDOS) {
List<RobotAcceptTaskDTO> robotTaskDOS) {
String macAddress = "";
String robotNo = taskDetailDO.getRobotNo();
if (ObjectUtil.isNotEmpty(taskDetailDO.getRobotNo())) {
@ -395,7 +443,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
.map(RobotInformationDO::getMacAddress)
.findFirst()
.orElse("");
if (ObjectUtil.isEmpty(macAddress) ) {
if (ObjectUtil.isEmpty(macAddress)) {
return;
}
} else {
@ -406,7 +454,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
RobotAcceptTaskDTO robotTaskDO = new RobotAcceptTaskDTO();
robotTaskDO.setOrder_id(taskDetailDO.getId().toString());
robotTaskDO.setOrder_type("出库");//未定
robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC+macAddress);
robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC + macAddress);
//1
RobotAcceptTaskData taskOne = new RobotAcceptTaskData();
@ -434,30 +482,32 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
robotTaskDO.setData(data);
robotTaskDOS.add(robotTaskDO);
updateTaskStatus(robotNo,taskDetailDO);
updateTaskStatus(robotNo, taskDetailDO);
}
/**
* 充电
*
* @param taskDetailDO
* @param robots
* @param robotTaskDOS
*/
@Transactional(rollbackFor = Exception.class)
public void doChargeDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
List<RobotAcceptTaskDTO> robotTaskDOS) {
List<RobotAcceptTaskDTO> robotTaskDOS) {
}
/**
* 停车
*
* @param taskDetailDO
* @param robots
* @param robotTaskDOS
*/
@Transactional(rollbackFor = Exception.class)
public void doParkDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
List<RobotAcceptTaskDTO> robotTaskDOS) {
List<RobotAcceptTaskDTO> robotTaskDOS) {
String macAddress = "";
String robotNo = taskDetailDO.getRobotNo();
if (ObjectUtil.isNotEmpty(taskDetailDO.getRobotNo())) {
@ -466,7 +516,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
.map(RobotInformationDO::getMacAddress)
.findFirst()
.orElse("");
if (ObjectUtil.isEmpty(macAddress) ) {
if (ObjectUtil.isEmpty(macAddress)) {
return;
}
}
@ -474,7 +524,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
RobotAcceptTaskDTO robotTaskDO = new RobotAcceptTaskDTO();
robotTaskDO.setOrder_id(taskDetailDO.getId().toString());
robotTaskDO.setOrder_type("出库");//未定
robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC+macAddress);
robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC + macAddress);
RobotAcceptTaskData taskOne = new RobotAcceptTaskData();
taskOne.setSerial("1");
@ -490,28 +540,29 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
final String mac = macAddress;
robots.removeIf(v -> v.getMacAddress().equals(mac));
updateTaskStatus(robotNo,taskDetailDO);
updateTaskStatus(robotNo, taskDetailDO);
}
/**
* 取放货
*
* @param taskDetailDO
* @param robots
* @param robotTaskDOS
*/
@Transactional(rollbackFor = Exception.class)
public void doTakeReleaseDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
List<RobotAcceptTaskDTO> robotTaskDOS,Set<Long> taskIdSet,
List<RobotTaskDetailDO> updateTaskDetail, Set<String> robotNos
,Set<Long> doingLocationIds) {
List<RobotAcceptTaskDTO> robotTaskDOS, Set<Long> taskIdSet,
List<RobotTaskDetailDO> updateTaskDetail, Set<String> robotNos
, Set<Long> doingLocationIds) {
WareHouseLocationDO query = WareHouseLocationDO.builder().id(taskDetailDO.getFromLocationId()).build();
WareHouseLocationDO fromLocation = locationMapper.queryAllByLimit(query);
WareHouseLocationDO toQuery = WareHouseLocationDO.builder().id(taskDetailDO.getToLocationId()).build();
WareHouseLocationDO toLocation = locationMapper.queryAllByLimit(toQuery);
Pair<String,String> pair = getMadAddressRobotNo(taskDetailDO,robots,fromLocation,toLocation);
Pair<String, String> pair = getMadAddressRobotNo(taskDetailDO, robots, fromLocation, toLocation);
String macAddress = pair.getLeft();
String robotNo = pair.getRight();
@ -521,11 +572,11 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
}
// 取货/放货 校验有没有其他库位挡住
Boolean fromCanMove = checkCanMove(fromLocation,doingLocationIds);
Boolean fromCanMove = checkCanMove(fromLocation, doingLocationIds);
if (!fromCanMove) {
return;
}
Boolean toCanMove = checkCanMove(toLocation,doingLocationIds);
Boolean toCanMove = checkCanMove(toLocation, doingLocationIds);
if (!toCanMove) {
return;
}
@ -533,7 +584,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
RobotAcceptTaskDTO robotTaskDO = new RobotAcceptTaskDTO();
robotTaskDO.setOrder_id(taskDetailDO.getId().toString());
robotTaskDO.setOrder_type("出库");//未定
robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC+macAddress);
robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC + macAddress);
//1
RobotAcceptTaskData taskOne = new RobotAcceptTaskData();
@ -590,7 +641,6 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
taskSeven.setCommand_type(CommandTypeEnum.MOVE_TO_PALLET_POSE.getType());
//8
RobotAcceptTaskData taskEigth = new RobotAcceptTaskData();
taskEigth.setSerial("7");
@ -620,7 +670,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
.laneId(-2l)
.build();
List<WareHouseLocationDO> releaseStockList =
locationMapper.selectLocations(ware,new ArrayList<>(),new HashSet<>());
locationMapper.selectLocations(ware, new ArrayList<>(), new HashSet<>());
for (WareHouseLocationDO wareHouseLocationDO : releaseStockList) {
Pose2ds pose = positionMapItemMapper.selectByLocationId(wareHouseLocationDO.getId());
pose2dsNight.add(pose);
@ -720,6 +770,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
/**
* 校验当前库位能否取放
*
* @param fromLocation
* @return false : 有货，不能移动 ； true: 没货， 能移动
*/
@ -734,7 +785,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
.collect(Collectors.toList());
if (ObjectUtil.isNotEmpty(locationDOS)) {
// todo 后续记录到异常表
log.info("普通库位--库位上有其他货物, 库位号:{} ,无法进行移动 :{}",fromLocation.getLocationNo() ,locationDOS);
log.info("普通库位--库位上有其他货物, 库位号:{} ,无法进行移动 :{}", fromLocation.getLocationNo(), locationDOS);
return false;
}
} else {
@ -750,7 +801,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
.collect(Collectors.toList());
if (ObjectUtil.isNotEmpty(wareHouseLocationDOS)) {
// todo 后续记录到异常表
log.info("线库-当前库位上有其他货物, 库位号:{}，无法进行移动 :{}",fromLocation.getLocationNo() ,wareHouseLocationDOS);
log.info("线库-当前库位上有其他货物, 库位号:{}，无法进行移动 :{}", fromLocation.getLocationNo(), wareHouseLocationDOS);
return false;
}
}
@ -760,7 +811,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
}
public Pair<String, String> getMadAddressRobotNo(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
WareHouseLocationDO fromLocation, WareHouseLocationDO toLocation) {
WareHouseLocationDO fromLocation, WareHouseLocationDO toLocation) {
String macAddress = "";
String robotNo = taskDetailDO.getRobotNo();
if (ObjectUtil.isNotEmpty(robotNo)) {
@ -773,14 +824,14 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
RobotInformationDO robotInformationDO = robots.stream()
.filter(v ->
ObjectUtil.isNotEmpty(v.getMacAddress())
&& v.getFloorAreaJson().contains(fromLocation.getMapId())
&& v.getFloorAreaJson().contains(toLocation.getMapId()))
&& v.getFloorAreaJson().contains(fromLocation.getMapId())
&& v.getFloorAreaJson().contains(toLocation.getMapId()))
.findFirst()
.orElse(new RobotInformationDO());
macAddress = robotInformationDO.getMacAddress();
robotNo = robotInformationDO.getRobotNo();
}
Pair<String,String> pair = new ImmutablePair<>(macAddress,robotNo);
Pair<String, String> pair = new ImmutablePair<>(macAddress, robotNo);
return pair;
}

25
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
View File

@ -1,14 +1,20 @@
package cn.iocoder.yudao.module.system.service.robot.pathplanning;
import cn.hutool.core.util.ObjectUtil;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.mqtt.api.task.RobotTaskApi;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
import cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper;
import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
import cn.iocoder.yudao.module.system.service.robot.job.DistributeTasksService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang3.tuple.Pair;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
@ -16,9 +22,11 @@ import org.springframework.transaction.annotation.Transactional;
import org.springframework.validation.annotation.Validated;
import javax.annotation.Resource;
import java.util.List;
@Service
@Validated
@Slf4j
public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
@Autowired
private RobotInformationMapper robotInformationMapper;
@ -63,6 +71,9 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
@Resource
private RedisUtil redisUtil;
@Autowired
private DistributeTasksService distributeTasksService;
/**
* 下发任务给PP
*/
@ -70,6 +81,20 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
@Transactional(rollbackFor = Exception.class)
public void sendTaskToPP() {
TenantContextHolder.setTenantId(1L);
Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> robotAndTaskDetails =
distributeTasksService.getRobotAndTaskDetails();
List<RobotInformationDO> robots = robotAndTaskDetails.getLeft();
if (ObjectUtil.isEmpty(robots)) {
return;
}
List<RobotTaskDetailDO> taskDetailDOS = robotAndTaskDetails.getRight();
if (ObjectUtil.isEmpty(taskDetailDOS)) {
log.info("--不存在需要执行的任务--");
return;
}
}