From 28d30da941598388d20f1d0faace15a616abd1f4 Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Tue, 18 Feb 2025 08:56:04 +0800 Subject: [PATCH] =?UTF-8?q?=E5=85=85=E7=94=B5=E9=85=8D=E7=BD=AE=E5=8A=A0?= =?UTF-8?q?=E6=AF=8F=E5=A4=A9?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../api/path/task/TaskToPathPlanningDTO.java | 24 +++ .../path/PathPlanningTopicConstant.java | 16 +- .../config/CommonConfigServiceImpl.java | 18 +- .../service/path/PathPlanningServiceImpl.java | 16 +- .../robot/job/DistributeTasksServiceImpl.java | 171 ++++++++++++------ .../RobotPathPlanningServiceImpl.java | 25 +++ 6 files changed, 187 insertions(+), 83 deletions(-) create mode 100644 yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java diff --git a/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java new file mode 100644 index 000000000..1b2245473 --- /dev/null +++ b/yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java @@ -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 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; +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java index d6bf604fd..e122d643e 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java @@ -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"; diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/config/CommonConfigServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/config/CommonConfigServiceImpl.java index 45751a6ea..515f8a39a 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/config/CommonConfigServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/config/CommonConfigServiceImpl.java @@ -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", ""); 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 a5a4fce6e..aa1ba0e56 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 @@ -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); }); } 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 1f1065c28..e5800a05c 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 @@ -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 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> getRobotAndTaskDetails() { + TenantContextHolder.setTenantId(1L); Pair, List> pair = Pair.of(new ArrayList<>(), new ArrayList<>()); CommonConfigDO commonConfigDO = configMapper.selectOne(new LambdaQueryWrapper() .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 robots = robotInformationMapper.selectList(new LambdaQueryWrapperX() - .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 detailDongIds = robotTaskDetailMapper.getDoingTaskIds(); - List montageTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.YES.getType(),detailDongIds); + /*List detailDongIds = robotTaskDetailMapper.getDoingTaskIds(); + List montageTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.YES.getType(), detailDongIds); //不拼接的任务id - List singleTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.NO.getType(),new ArrayList<>()); + List singleTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.NO.getType(), new ArrayList<>());*/ + + List taskDOList = robotTaskMapper.selectList(new LambdaQueryWrapper() + .in(RobotTaskDO::getTaskStatus, RobotTaskStatusEnum.DOING.getType(), RobotTaskStatusEnum.NEW.getType())); + + //拼接 + List montageTaskIds =taskDOList.stream() + .filter(v -> MontageTaskEnum.YES.getType().equals(v.getMontageTask())) + .map(RobotTaskDO::getId) + .collect(Collectors.toList()); + + //不拼接 + List 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 taskDetailDOS = getTaskDetail(montageTaskIds,singleTaskIds); + List 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 getTaskDetail(List montageTaskIds, List 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 robots, - List robotTaskDOS) { + List robotTaskDOS) { } /** * 扫描码 + * * @param taskDetailDO * @param robots * @param robotTaskDOS */ @Transactional(rollbackFor = Exception.class) public void doScanDistribute(RobotTaskDetailDO taskDetailDO, List robots, - List robotTaskDOS) { + List robotTaskDOS) { } /** * 仅放货 + * * @param taskDetailDO * @param robots * @param robotTaskDOS */ @Transactional(rollbackFor = Exception.class) public void doReleaseDistribute(RobotTaskDetailDO taskDetailDO, List robots, - List robotTaskDOS) { + List robotTaskDOS) { } /** * 取放货 + * * @param taskDetailDO * @param robots * @param robotTaskDOS */ @Transactional(rollbackFor = Exception.class) public void doTakeDistribute(RobotTaskDetailDO taskDetailDO, List robots, - List robotTaskDOS) { + List robotTaskDOS) { } /** * 移动 + * * @param taskDetailDO * @param robots * @param robotTaskDOS */ @Transactional(rollbackFor = Exception.class) public void doMoveDistribute(RobotTaskDetailDO taskDetailDO, List robots, - List robotTaskDOS) { + List 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 robots, - List robotTaskDOS) { + List robotTaskDOS) { } /** * 停车 + * * @param taskDetailDO * @param robots * @param robotTaskDOS */ @Transactional(rollbackFor = Exception.class) public void doParkDistribute(RobotTaskDetailDO taskDetailDO, List robots, - List robotTaskDOS) { + List 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 robots, - List robotTaskDOS,Set taskIdSet, - List updateTaskDetail, Set robotNos - ,Set doingLocationIds) { + List robotTaskDOS, Set taskIdSet, + List updateTaskDetail, Set robotNos + , Set 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 pair = getMadAddressRobotNo(taskDetailDO,robots,fromLocation,toLocation); + Pair 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 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 getMadAddressRobotNo(RobotTaskDetailDO taskDetailDO, List 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 pair = new ImmutablePair<>(macAddress,robotNo); + Pair pair = new ImmutablePair<>(macAddress, robotNo); 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 47519781f..c18b1c35e 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 @@ -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> robotAndTaskDetails = + distributeTasksService.getRobotAndTaskDetails(); + + List robots = robotAndTaskDetails.getLeft(); + if (ObjectUtil.isEmpty(robots)) { + return; + } + + List taskDetailDOS = robotAndTaskDetails.getRight(); + if (ObjectUtil.isEmpty(taskDetailDOS)) { + log.info("--不存在需要执行的任务--"); + return; + } + }