From a049eae0756d556bf16824c703a1ba9fbcbe599c Mon Sep 17 00:00:00 2001
From: cbs <18617195505@163.com>
Date: Fri, 20 Jun 2025 15:37:21 +0800
Subject: [PATCH] =?UTF-8?q?=E6=81=A2=E5=A4=8D=E4=BB=BB=E5=8A=A1=E5=8E=BB?=
 =?UTF-8?q?=E9=99=A4=E6=A0=A1=E9=AA=8C?=
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Content-Type: text/plain; charset=UTF-8
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---
 .../positionmap/PositionMapServiceImpl.java   | 13 ++--
 .../robot/RobotInformationServiceImpl.java    | 70 ++++++++++++-------
 2 files changed, 50 insertions(+), 33 deletions(-)

diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java
index de72216f5..a90109928 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java
@@ -8,6 +8,7 @@ import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
 import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO;
+import cn.iocoder.yudao.module.system.api.path.PathApi;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotDTO;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotDetailDTO;
 import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant;
@@ -47,6 +48,7 @@ import org.apache.commons.io.IOUtils;
 import org.apache.commons.lang3.StringUtils;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.cache.annotation.Cacheable;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.http.HttpHeaders;
 import org.springframework.http.HttpStatus;
 import org.springframework.stereotype.Service;
@@ -93,17 +95,15 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
     private RobotInformationService informationService;
 
     @Resource
-    private UserOperationLogService userOperationLogService;
+    @Lazy
+    private PathApi pathApi;
 
-    /*@Resource
-    private CommonApi commonApi;*/
+    @Resource
+    private UserOperationLogService userOperationLogService;
 
     @Resource
     private RobotMapStopService robotMapStopService;
 
-    @Resource
-    private RobotMapStopService mapStopService;
-
     @Resource
     private RobotTaskDetailService taskDetailService;
 
@@ -264,6 +264,7 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
             parkingSpotService.deleteParkingByMapId(positionMap.getId());
             redisUtil.del("pngBase64");
             redisUtil.del(FloorAreaConstant.FLOOR_AREA_ALL);
+            pathApi.pathInitData();
         }
 
         // 处理 PNG 文件
diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
index a593b5f24..e1a180543 100644
--- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
+++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
@@ -168,7 +168,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
     @Resource
     private RobotChargeLogMapper chargeLogMapper;
-    
+
     @Resource
     private MoveToWaitMapper moveToWaitMapper;
 
@@ -244,7 +244,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         List<RobotDimensionsDTO> list = informationMapper.selectRobotDimensions();
 //        commonApi.commonMethod(list, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
-        mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS,JSON.toJSONString(list));
+        mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS, JSON.toJSONString(list));
 
         redisUtil.del(key);
         // 返回
@@ -487,7 +487,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         List<RobotDimensionsDTO> robotDimensions = informationMapper.selectRobotDimensions();
 //        commonApi.commonMethod(robotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
-        mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS,JSON.toJSONString(robotDimensions));
+        mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS, JSON.toJSONString(robotDimensions));
     }
 
     /**
@@ -568,7 +568,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         List<RobotDimensionsDTO> robotDimensions = informationMapper.selectRobotDimensions();
 //        commonApi.commonMethod(robotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
-        mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS,JSON.toJSONString(robotDimensions));
+        mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS, JSON.toJSONString(robotDimensions));
 
         String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + robotInformationDO.getMacAddress();
         redisUtil.del(pose2dKey);
@@ -1096,7 +1096,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         for (RobotInformationDO robotInformationDO : robotInformations) {
             String topic = RobotTopicConstant.RCS_HEART_BEAT + robotInformationDO.getMacAddress();
 //            commonApi.commonMethod(new RobotRcsHeartBeatDTO(), topic);
-            mqttUtils.pub(topic,JSON.toJSONString(new RobotRcsHeartBeatDTO()));
+            mqttUtils.pub(topic, JSON.toJSONString(new RobotRcsHeartBeatDTO()));
         }
     }
 
@@ -1146,7 +1146,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     public RobotTaskDetailActionLogDO closeTask(String robotNo) {
         CleanAgvDTO build = CleanAgvDTO.builder().robotNo(robotNo).build();
 //        commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
-        mqttUtils.pub(PathPlanningTopicConstant.CLEAN_AGV,JSON.toJSONString(build));
+        mqttUtils.pub(PathPlanningTopicConstant.CLEAN_AGV, JSON.toJSONString(build));
         RobotTaskDetailActionLogDO log = taskDetailActionLogService.getLastTaskByRobotNo(robotNo, CommandIdEnum.TASK.getType());
         if (ObjectUtil.isEmpty(log) || ActionStatusEnum.DONE.getType().equals(log.getActionStatus())
                 || ActionStatusEnum.CLOSE.getType().equals(log.getActionStatus())) {
@@ -1179,13 +1179,13 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         String mac = getMacByRobotNo(robotNo);
         robotCloseTaskDetail(actionLog.getTaskDetailId() + "", mac, actionLog.getCommandType());
 
-        if (!znConfigConstant.getIsSimulation() && ActionStatusEnum.DONE.getType().equals(actionLog.getActionStatus())) {
-            throw exception(TASK_CHECK_TASK_STATUS);
+        if (!znConfigConstant.getIsSimulation()) {
+            checkTaskDone(actionLog.getTaskDetailId() + "");
         }
 
         CleanAgvDTO build = CleanAgvDTO.builder().robotNo(robotNo).build();
 //        commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
-        mqttUtils.pub(PathPlanningTopicConstant.CLEAN_AGV,JSON.toJSONString(build));
+        mqttUtils.pub(PathPlanningTopicConstant.CLEAN_AGV, JSON.toJSONString(build));
 
         Object o = checkTaskDetailExist(actionLog.getTaskDetailId());
 
@@ -1266,7 +1266,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         log.info("任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
 //        commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
-        mqttUtils.pub( PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST,JSON.toJSONString(pathPlanningList));
+        mqttUtils.pub(PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST, JSON.toJSONString(pathPlanningList));
     }
 
     private void resendToPPData(TaskToPathPlanningDTO pathPlanning, RobotTaskDetailActionLogDO actionLog, RobotInformationDO robotInformationDO, Boolean isRemote) {
@@ -1294,8 +1294,8 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
      * @param pathPlanning
      */
     private void releaseTask(TaskToPathPlanningDTO pathPlanning) {
-        RobotTaskDetailDO robotTaskDetail = checkTaskDone(pathPlanning.getOrderId());
-        releaseCheck(robotTaskDetail.getToLocationId(), robotTaskDetail.getRobotTaskId());
+//        RobotTaskDetailDO robotTaskDetail = checkTaskDone(pathPlanning.getOrderId());
+//        releaseCheck(robotTaskDetail.getToLocationId(), robotTaskDetail.getRobotTaskId());
     }
 
     /**
@@ -1304,13 +1304,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
      * @param pathPlanning
      */
     private void takeTask(TaskToPathPlanningDTO pathPlanning, Boolean isRemote) {
-        RobotTaskDetailDO robotTaskDetail = checkTaskDone(pathPlanning.getOrderId());
-        takeCheck(robotTaskDetail.getFromLocationId(), robotTaskDetail.getRobotTaskId(), isRemote);
+//        RobotTaskDetailDO robotTaskDetail = checkTaskDone(pathPlanning.getOrderId());
+//        takeCheck(robotTaskDetail.getFromLocationId(), robotTaskDetail.getRobotTaskId(), isRemote);
     }
 
     public RobotTaskDetailDO checkTaskDone(String id) {
         RobotTaskDetailDO robotTaskDetail = taskDetailMapper.selectById(id);
-        if (RobotTaskStageEnum.DONE.getType().equals(robotTaskDetail.getTaskStage())) {
+        if (RobotTaskStageEnum.DONE.getType().equals(robotTaskDetail.getTaskStage())
+                || RobotTaskStageEnum.MANUALLY_COMPLETED.getType().equals(robotTaskDetail.getTaskStage())  ) {
             throw exception(ROBOT_LAST_TASK_NO_EXISTS);
         }
         return robotTaskDetail;
@@ -1324,24 +1325,39 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     private void takeReleaseTask(TaskToPathPlanningDTO pathPlanning, Boolean isRemote) {
 
         RobotTaskDetailDO robotTaskDetail = checkTaskDone(pathPlanning.getOrderId());
+
+        if (RobotTaskStageEnum.UN_START.getType().equals(robotTaskDetail.getTaskStage())
+                || RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetail.getTaskStage())
+                || RobotTaskStageEnum.TAKEING.getType().equals(robotTaskDetail.getTaskStage())) {
+            return;
+        }
+
         String robotNo = pathPlanning.getRobotNoLimitationAreaDTOS().get(0).getRobotNo();
         String mac = getMacByRobotNo(robotNo);
         String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + mac;
         Object cargoDetected = redisUtil.get(cargoDetectedKey);
         if (ObjectUtil.isNotEmpty(cargoDetected) && RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))) {
             //说明取货完成
-            takeDone(pathPlanning,robotTaskDetail);
-        } else if (!RobotTaskStageEnum.UN_START.getType().equals(robotTaskDetail.getTaskStage())
-                && !RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetail.getTaskStage())
-                && !RobotTaskStageEnum.TAKEING.getType().equals(robotTaskDetail.getTaskStage())) {
-            takeDone(pathPlanning,robotTaskDetail);
-        } else {
+            takeDone(pathPlanning, robotTaskDetail);
+        } else if (RobotTaskStageEnum.GO_RELEASE.getType().equals(robotTaskDetail.getTaskStage())
+                || RobotTaskStageEnum.RELEASEING.getType().equals(robotTaskDetail.getTaskStage())) {
+            takeDone(pathPlanning, robotTaskDetail);
+        } else if (RobotTaskStageEnum.CLOSE.getType().equals(robotTaskDetail.getTaskStage())
+                || RobotTaskStageEnum.EXCEPTION.getType().equals(robotTaskDetail.getTaskStage()) ) {
+            WareHouseLocationDO wareHouseLocation = wareHouseLocationMapper.selectById(robotTaskDetail.getFromLocationId());
+            if (ZeroOneEnum.ZERO.getType().equals(wareHouseLocation.getLocationUseStatus())) {
+                takeDone(pathPlanning, robotTaskDetail);
+            }
+        }
+
+
+        /*else {
             takeCheck(robotTaskDetail.getFromLocationId(), robotTaskDetail.getRobotTaskId(), isRemote);
         }
-        releaseCheck(robotTaskDetail.getToLocationId(), robotTaskDetail.getRobotTaskId());
+        releaseCheck(robotTaskDetail.getToLocationId(), robotTaskDetail.getRobotTaskId());*/
     }
 
-    public void takeDone(TaskToPathPlanningDTO pathPlanning,RobotTaskDetailDO robotTaskDetail) {
+    public void takeDone(TaskToPathPlanningDTO pathPlanning, RobotTaskDetailDO robotTaskDetail) {
         pathPlanning.setTakeLevel(null);
         pathPlanning.setTakeGroupId(null);
         pathPlanning.setTakeLocationNumber(null);
@@ -1515,7 +1531,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + mac);
         robotTask.setExecutionType(ExecutionTypeEnum.CANCEL.getType());
 //        commonApi.commonMethod(robotTask, robotTask.getTopic());
-        mqttUtils.pub(robotTask.getTopic(),JSON.toJSONString(robotTask));
+        mqttUtils.pub(robotTask.getTopic(), JSON.toJSONString(robotTask));
     }
 
     /**
@@ -1563,7 +1579,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         for (String robotNo : robotNos) {
             String mac = getMacByRobotNo(robotNo);
 //            commonApi.commonMethod(robotSimulationPose, RobotTopicConstant.ROBOT_COMMAND_TOPIC + mac);
-            mqttUtils.pub(RobotTopicConstant.ROBOT_COMMAND_TOPIC + mac,JSON.toJSONString(robotSimulationPose));
+            mqttUtils.pub(RobotTopicConstant.ROBOT_COMMAND_TOPIC + mac, JSON.toJSONString(robotSimulationPose));
             UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
                     .operateAction(str + robotNo)
                     .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
@@ -1688,7 +1704,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         CleanAgvDTO build = CleanAgvDTO.builder().robotNo(robotNo).build();
 //        commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
-        mqttUtils.pub(PathPlanningTopicConstant.CLEAN_AGV,JSON.toJSONString(build));
+        mqttUtils.pub(PathPlanningTopicConstant.CLEAN_AGV, JSON.toJSONString(build));
 
         TaskToPathPlanningDTO pathPlanning = JSONUtil.toBean((String) o, TaskToPathPlanningDTO.class);
 
@@ -1707,7 +1723,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         pathPlanningList.add(pathPlanning);
         log.info("远遥任务转移, 任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
 //        commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
-        mqttUtils.pub(PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST,JSON.toJSONString(pathPlanningList));
+        mqttUtils.pub(PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST, JSON.toJSONString(pathPlanningList));
     }
 
     /**