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代码优化

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cbs 2025-06-20 09:35:17 +08:00
parent 235f751e13
commit a2841e9276
6 changed files with 20 additions and 9 deletions
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1
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotPoseStatusDTO.java
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@ -18,6 +18,7 @@ public class RobotPoseStatusDTO {
* true表示可以做任务，如果是到达了充电点正在充电中应该返回true * true表示可以做任务，如果是到达了充电点正在充电中应该返回true
*/ */
public Boolean taskStatus; public Boolean taskStatus;
public String timestamp;
/** /**
* 机器人位姿 * 机器人位姿

2
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/websocket/RobotStatusDataPoseDTO.java
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@ -20,4 +20,6 @@ public class RobotStatusDataPoseDTO {
public Double forkHeight; public Double forkHeight;
//电池剩余容量 废弃 从ROBOT_INFORMATION_SOC 获取电量 //电池剩余容量 废弃 从ROBOT_INFORMATION_SOC 获取电量
// public String batSoc; // public String batSoc;
public String timestamp;
} }

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
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@ -111,6 +111,7 @@ public class RobotStatusApiImpl implements RobotStatusApi {
redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), znConfigConstant.getRobotPositionCacheTime()); redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), znConfigConstant.getRobotPositionCacheTime());
executorService.execute(() ->{ executorService.execute(() ->{
robotStatusDataPoseDTO.setTimestamp(robotStatusDataDTO.getTimestamp());
sendToPP(robotStatusDataPoseDTO); sendToPP(robotStatusDataPoseDTO);
}); });

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
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@ -414,7 +414,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.UN_START.getType()); robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.UN_START.getType());
if (!znConfigConstant.getIsSimulation()) { if (!znConfigConstant.getIsSimulation()) {
robotTaskDetailDO.setRobotNo(""); // robotTaskDetailDO.setRobotNo("");
} }
robotTaskDetailDO.setOccurError(ZeroOneEnum.ZERO.getType()); robotTaskDetailDO.setOccurError(ZeroOneEnum.ZERO.getType());
robotTaskDetailMapper.updateById(robotTaskDetailDO); robotTaskDetailMapper.updateById(robotTaskDetailDO);

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java
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@ -42,7 +42,7 @@ public class ThreeDimensionalScheduled {
private static final ExecutorService fixedThreadPool = Executors.newFixedThreadPool(3); private static final ExecutorService fixedThreadPool = Executors.newFixedThreadPool(3);
// 这个方法将每200毫秒执行一次 // 这个方法将每200毫秒执行一次
@Scheduled(fixedDelay = 300, timeUnit = TimeUnit.MILLISECONDS) // @Scheduled(fixedDelay = 300, timeUnit = TimeUnit.MILLISECONDS)
public void executeTask() { public void executeTask() {
fixedThreadPool.execute(new Runnable() { fixedThreadPool.execute(new Runnable() {
@Override @Override

21
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
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@ -1425,12 +1425,19 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
throw exception(ROBOT_NOT_FOUND_FREE_CHARGING_STATION); throw exception(ROBOT_NOT_FOUND_FREE_CHARGING_STATION);
} }
DeviceInformationDO deviceInformationDO = deviceInformations.stream() DeviceInformationDO deviceInformationDO = null;
.filter(v -> v.getDeviceAttribute().equals(robot.getChargeType()) for (DeviceInformationDO v : deviceInformations) {
&& robot.getFloorAreaJson().contains(v.getPositionMapId())) if (ObjectUtil.isNotEmpty(v.getLastUser()) && v.getLastUser().equals(robot.getRobotNo())) {
.findFirst() deviceInformationDO = v;
.orElse(new DeviceInformationDO()); break;
if (ObjectUtil.isEmpty(deviceInformationDO.getDeviceNo())) { }
if (v.getDeviceAttribute().equals(robot.getChargeType())
&& robot.getFloorAreaJson().contains(v.getPositionMapId()) && DeviceUseStatusEnum.IDLE.getType().equals(v.getDeviceUseStatus())) {
deviceInformationDO = v;
}
}
if (ObjectUtil.isEmpty(deviceInformationDO)) {
log.info("当前机器人查不到对应的充电桩类型、或者机器人不能在此区域充电 :{}", robot.getRobotNo()); log.info("当前机器人查不到对应的充电桩类型、或者机器人不能在此区域充电 :{}", robot.getRobotNo());
throw exception(ROBOT_NOT_FOUND_FREE_CHARGING_STATION); throw exception(ROBOT_NOT_FOUND_FREE_CHARGING_STATION);
} }
@ -1477,7 +1484,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
|| RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetail.getTaskStage())) { || RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetail.getTaskStage())) {
log.info("清除交管--任务阶段是前往取货/待执行/前往放货 :{}", robotTaskDetail.getRobotNo()); log.info("清除交管--任务阶段是前往取货/待执行/前往放货 :{}", robotTaskDetail.getRobotNo());
robotTaskDetail.setTaskStatus(RobotTaskDetailStatusEnum.NEW.getType()); robotTaskDetail.setTaskStatus(RobotTaskDetailStatusEnum.NEW.getType());
robotTaskDetail.setRobotNo(null); // robotTaskDetail.setRobotNo(null);
taskDetailMapper.updateById(robotTaskDetail); taskDetailMapper.updateById(robotTaskDetail);
} }
} }