新任务下发

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

@@ -0,0 +1,17 @@
+package cn.iocoder.yudao.module.mqtt.api.task.dto;
+
+import lombok.Builder;
+import lombok.Data;
+
+@Data
+@Builder
+public class RobotAssignTaskArgDTO {
+    //检测托盘时需要抬叉的高度，现在是需要，以后不用了
+    private Double check_pallet_height;
+    //取货高度
+    private Double height;
+    //整型 取第几层货
+    private Double level;
+    //叉起货需要在原来高度基础上偏移的高度
+    private Double offset_height;
+}

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

@@ -0,0 +1,18 @@
+package cn.iocoder.yudao.module.mqtt.api.task.dto;
+
+import lombok.Builder;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * 下发任务给机器人
+ */
+@Data
+@Builder
+public class RobotAssignTaskDTO {
+    private String topic;
+    private String order_id;
+    private String order_type;
+    private List<RobotAssignTaskDataDTO> data;
+}

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

@@ -0,0 +1,11 @@
+package cn.iocoder.yudao.module.mqtt.api.task.dto;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class RobotAssignTaskDataDTO {
+    private String command_type;
+    private List<RobotAssignTaskArgDTO> arg;
+}

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

@@ -68,10 +68,11 @@ public class PathApiImpl implements PathApi {
     public void ppDistributionTask(String message) {
         taskExecutor.execute(() -> {
             TenantContextHolder.setTenantId(1L);
+            taskService.assignTasks(message);
             if (ObjectUtil.isEmpty(message)) {
                 return;
             }
-            taskService.ppDistributionTask(message);
+//            taskService.ppDistributionTask(message);  废弃了
         });
     }
 

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

@@ -84,10 +84,10 @@ public class RobotStatusApiImpl implements RobotStatusApi {
         String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robotStatusDataDTO.getMac();
         // todo 后续需要改为从车机上报
 
-        /*redisUtil.set(taskStatusKey, robotStatusDataDTO.getData().getTask_status(), robotPositionCacheTime);
+        redisUtil.set(taskStatusKey, robotStatusDataDTO.getData().getTask_status(), robotPositionCacheTime);
-        redisUtil.set(cargoDetectedKey, robotStatusDataDTO.getData().getCargo_detected(), robotPositionCacheTime);*/
+        redisUtil.set(cargoDetectedKey, robotStatusDataDTO.getData().getCargo_detected(), robotPositionCacheTime);
-        redisUtil.set(taskStatusKey, "IDLE", robotPositionCacheTime);
+        /*redisUtil.set(taskStatusKey, "IDLE", robotPositionCacheTime);
-        redisUtil.set(cargoDetectedKey, false, robotPositionCacheTime);
+        redisUtil.set(cargoDetectedKey, false, robotPositionCacheTime);*/
 
         Object object = redisUtil.get(pose2dKey);
         RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
@@ -105,8 +105,8 @@ public class RobotStatusApiImpl implements RobotStatusApi {
             robotStatusDataPoseDTO.setArea(robotStatusDataDTO.getData().getFloor_zone().getArea());
         }
 
-        robotStatusDataPoseDTO.setFloor("1");
+        /*robotStatusDataPoseDTO.setFloor("1");
-        robotStatusDataPoseDTO.setArea("D区");
+        robotStatusDataPoseDTO.setArea("C区");*/
 
         robotStatusDataPoseDTO.setRobotNo(robotNo);
         redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime);

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/NodeBaseDTO.java

@@ -43,4 +43,7 @@ public class NodeBaseDTO {
 
     @Schema(description = "排序的位置,越大越优先堆放")
     private Long locationNumber;
+
+    @Schema(description = " 弧度")
+    private String locationYaw;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemPageReqVO.java

@@ -1,6 +1,7 @@
 package cn.iocoder.yudao.module.system.controller.admin.positionmap.vo;
 
 import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import com.alibaba.excel.annotation.ExcelProperty;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 import lombok.EqualsAndHashCode;
@@ -48,4 +49,7 @@ public class PositionMapItemPageReqVO extends PageParam {
     @Schema(description = "弧度")
     private String locationYaw;
 
+    @Schema(description = "排序的位置,越大越优先堆放")
+    private Long locationNumber;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemRespVO.java

@@ -66,4 +66,8 @@ public class PositionMapItemRespVO {
     @ExcelProperty("弧度")
     private String locationYaw;
 
+    @Schema(description = "排序的位置,越大越优先堆放")
+    @ExcelProperty("排序的位置,越大越优先堆放")
+    private Long locationNumber;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemSaveReqVO.java

@@ -39,4 +39,7 @@ public class PositionMapItemSaveReqVO {
 
     @Schema(description = "弧度")
     private String locationYaw;
+
+    @Schema(description = "排序的位置,越大越优先堆放")
+    private Long locationNumber;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/task/TaskAssignDTO.java

@@ -0,0 +1,25 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.task;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+/**
+ * PP分配的任务
+ */
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class TaskAssignDTO {
+    @Schema(description = "robot_task_detail/robot_charge_log 的 id")
+    private Long id;
+
+    @Schema(description = "任务类型(TAKE_RELEASE、CHARGE、MOVE、TAKE、RELEASE、AUTO_CHARGE)")
+    private String type;
+
+    @Schema(description = "AGV编号")
+    private String robotNo;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapItemDO.java

@@ -1,6 +1,7 @@
 package cn.iocoder.yudao.module.system.dal.dataobject.positionmap;
 
 import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
+import com.alibaba.excel.annotation.ExcelProperty;
 import com.baomidou.mybatisplus.annotation.*;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
@@ -72,4 +73,9 @@ public class PositionMapItemDO extends BaseDO {
      */
     private String locationYaw;
 
+    /**
+     * 排序的位置,越大越优先堆放
+     */
+    private Long locationNumber;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskType.java

@@ -0,0 +1,46 @@
+package cn.iocoder.yudao.module.system.enums.path;
+
+import cn.iocoder.yudao.module.system.enums.robot.RobotTaskTypeEnum;
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * 下发路径规划的任务类型
+ */
+@Getter
+@AllArgsConstructor
+public enum PathTaskType {
+    TAKE_RELEASE("TAKE_RELEASE","取放货"),
+    CHARGE("CHARGE","充电任务"),
+    MOVE("MOVE","移动任务"),
+    TAKE("TAKE","仅取货"),
+    RELEASE("RELEASE","仅放货"),
+    AUTO_CHARGE("AUTO_CHARGE","自动充电");
+    /**
+     * 类型
+     */
+    private final String type;
+
+    private final String msg;
+
+    /**
+     * 仅设计个别类型
+     * @param taskType
+     * @return
+     */
+    public static String getTaskType(Integer taskType) {
+        if (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(taskType)) {
+            return TAKE_RELEASE.getType();
+        }else if (RobotTaskTypeEnum.CHARGE.getType().equals(taskType)) {
+            return CHARGE.getType();
+        }else if (RobotTaskTypeEnum.MOVE.getType().equals(taskType)) {
+            return MOVE.getType();
+        }else if (RobotTaskTypeEnum.TAKE.getType().equals(taskType)) {
+            return TAKE.getType();
+        }else if (RobotTaskTypeEnum.RELEASE.getType().equals(taskType)) {
+            return RELEASE.getType();
+        }else {
+            return AUTO_CHARGE.getType();
+        }
+    }
+}

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

@@ -0,0 +1,18 @@
+package cn.iocoder.yudao.module.system.enums.robot.task;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum RobotCommandTypeEnum {
+    WORD_PICK_UP_GOODS("WORD_PICK_UP_GOODS","取货"),
+    WORD_DROP_OFF_GOODS("WORD_DROP_OFF_GOODS","放货");
+    /**
+     * 类型
+     */
+    private final String type;
+
+    private final String msg;
+
+}

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

@@ -85,4 +85,10 @@ public interface RobotTaskService extends IService<RobotTaskDO> {
     void addCycle(Long id, List<RobotTaskDetailAddVO> taskDetailList);
 
     void closeTask(@Valid RobotTaskSaveReqVO updateReqVO);
+
+    /**
+     * PP分配任务
+     * @param message
+     */
+    void assignTasks(String message);
 }

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

@@ -11,6 +11,9 @@ import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.mybatis.core.util.MyBatisUtils;
 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.RobotAssignTaskArgDTO;
+import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAssignTaskDTO;
+import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAssignTaskDataDTO;
 import cn.iocoder.yudao.module.mqtt.enums.path.TaskTypeEnum;
 import cn.iocoder.yudao.module.mqtt.enums.task.ExecutionTypeEnum;
 import cn.iocoder.yudao.module.system.api.path.vo.RobotClosePathPlantingDTO;
@@ -21,6 +24,7 @@ import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
 import cn.iocoder.yudao.module.system.controller.admin.robot.detail.RobotTaskDetailLogResoVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.detail.RobotTaskDetailLogVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.task.TaskAssignDTO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.task.TaskPPDistribution;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
 import cn.iocoder.yudao.module.system.dal.dataobject.cycle.TaskCycleDO;
@@ -44,9 +48,11 @@ 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.device.DeviceUseStatusEnum;
+import cn.iocoder.yudao.module.system.enums.path.PathTaskType;
 import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
 import cn.iocoder.yudao.module.system.enums.robot.*;
 import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeTaskStatusEnum;
+import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaksOrderTypeEnum;
 import cn.iocoder.yudao.module.system.service.robot.job.RobotCommonTaskService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
@@ -133,6 +139,12 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     @Value("${zn.task.check_sku_info:true}")
     private Boolean checkSkuInfo;
 
+    @Value("${zn.robot_config.check_pallet_height}")
+    private Double checkPalletHeight;
+
+    @Value("${zn.robot_config.offset_height}")
+    private Double offsetHeight;
+
     @Resource
     private WareHouseLaneMapper houseLaneMapper;
 
@@ -434,6 +446,138 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
     }
 
+    /**
+     * PP分配任务
+     *
+     * @param message
+     */
+    @Override
+    public void assignTasks(String message) {
+        log.info("PP分配任务,开始更新任务状态 :{}", message);
+        TaskAssignDTO taskAssignDTO = JSON.parseObject(message, TaskAssignDTO.class);
+
+        String mac = robotInformationService.getMacByRobotNo(taskAssignDTO.getRobotNo());
+        String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_QUERY_DOING_ACTION + mac;
+        redisUtil.del(robotDoingActionKey);
+
+        Long detailId = null;
+
+        Map<Long, String> deviceNoMap = new HashMap<>();
+        RobotChargeLogDO robotChargeLogs = null;
+
+        /**
+         * 充电
+         */
+        if (PathTaskType.AUTO_CHARGE.getType().equals(taskAssignDTO.getType())) {
+            robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getId());
+
+            robotChargeLogs.setTaskStatus(ChargeTaskStatusEnum.DOING.getType());
+            chargeLogMapper.updateBatch(robotChargeLogs);
+
+            robotInformationMapper.updateRobotListStatus(taskAssignDTO.getRobotNo(), RobotStatusEnum.CHARGE.getType(), taskAssignDTO.getId());
+            if (ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId())) {
+                deviceNoMap.put(robotChargeLogs.getTaskDetailId(), robotChargeLogs.getDeviceNo());
+                detailId = robotChargeLogs.getTaskDetailId();
+            }
+        } else {
+            chargeDone(taskAssignDTO.getRobotNo());
+            robotInformationMapper.updateRobotListStatus(taskAssignDTO.getRobotNo(), RobotStatusEnum.DOING.getType(), taskAssignDTO.getId());
+            detailId = taskAssignDTO.getId();
+        }
+
+        RobotTaskDetailDO robotTaskDetailDO = null;
+        if (ObjectUtil.isNotEmpty(detailId)) {
+            robotTaskDetailDO = setTaskDoing(detailId, taskAssignDTO.getRobotNo(), deviceNoMap);
+        }
+
+        if (ObjectUtil.isNotEmpty(robotTaskDetailDO)) {
+            sendTaskToRobot(robotTaskDetailDO, taskAssignDTO);
+        }
+    }
+
+    /**
+     * 发送任务给车机
+     *
+     * @param v
+     */
+    private void sendTaskToRobot(RobotTaskDetailDO v, TaskAssignDTO taskAssignDTO) {
+        String mac = robotInformationService.getMacByRobotNo(v.getRobotNo());
+        String orderType = PathTaskType.getTaskType(v.getTaskType());
+        RobotAssignTaskDTO build = RobotAssignTaskDTO.builder()
+                .topic(RobotTopicConstant.ROBOT_TASK_TOPIC + mac)
+                .order_type(orderType)
+                .order_id(v.getId().toString())
+                .build();
+        if (PathTaskType.TAKE_RELEASE.getType().equals(taskAssignDTO.getType())
+            || PathTaskType.TAKE.getType().equals(taskAssignDTO.getType())
+            || PathTaskType.RELEASE.getType().equals(taskAssignDTO.getType())) {
+            List<RobotAssignTaskDataDTO> robotAssignTaskData = getRobotAssignTaskData(v,taskAssignDTO);
+            build.setData(robotAssignTaskData);
+        }
+        log.info("发送任务给车机 :{}",JSON.toJSONString(build));
+        commonApi.commonMethod(build, build.getTopic());
+    }
+
+    public List<RobotAssignTaskDataDTO> getRobotAssignTaskData(RobotTaskDetailDO v,TaskAssignDTO taskAssignDTO) {
+
+        RobotAssignTaskDataDTO take = null;
+        RobotAssignTaskDataDTO release = null;
+        if (PathTaskType.TAKE_RELEASE.getType().equals(taskAssignDTO.getType()) ||
+                PathTaskType.TAKE.getType().equals(taskAssignDTO.getType())) {
+            take = new RobotAssignTaskDataDTO();
+            take.setCommand_type(RobotCommandTypeEnum.WORD_PICK_UP_GOODS.getType());
+            WareHouseLocationDO location = locationMapper.selectById(v.getFromLocationId());
+            RobotAssignTaskArgDTO build = RobotAssignTaskArgDTO.builder()
+                    .level(Double.valueOf(location.getLocationStorey()))
+                    .height(Double.valueOf(location.getLocationTrayHeight() + ""))
+                    .check_pallet_height(checkPalletHeight)
+                    .offset_height(offsetHeight)
+                    .build();
+            take.setArg(Arrays.asList(build));
+        }
+        if (PathTaskType.TAKE_RELEASE.getType().equals(taskAssignDTO.getType()) ||
+                PathTaskType.RELEASE.getType().equals(taskAssignDTO.getType())) {
+            release = new RobotAssignTaskDataDTO();
+            release.setCommand_type(RobotCommandTypeEnum.WORD_DROP_OFF_GOODS.getType());
+            WareHouseLocationDO location = locationMapper.selectById(v.getToLocationId());
+            RobotAssignTaskArgDTO build = RobotAssignTaskArgDTO.builder()
+                    .level(Double.valueOf(location.getLocationStorey()))
+                    .height(Double.valueOf(location.getLocationTrayHeight() + ""))
+                    .check_pallet_height(checkPalletHeight)
+                    .offset_height(offsetHeight)
+                    .build();
+            release.setArg(Arrays.asList(build));
+        }
+
+        List<RobotAssignTaskDataDTO> list = new ArrayList<>();
+        if (ObjectUtil.isNotEmpty(take)) {
+            list.add(take);
+        }
+        if (ObjectUtil.isNotEmpty(release)) {
+            list.add(release);
+        }
+        return list;
+    }
+
+    public RobotTaskDetailDO setTaskDoing(Long detailId, String robotNo, Map<Long, String> deviceNoMap) {
+        RobotTaskDetailDO taskDetailDO = taskDetailMapper.selectById(detailId);
+        taskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
+        taskDetailDO.setStartTime(LocalDateTime.now());
+        if (ObjectUtil.isEmpty(taskDetailDO.getRobotNo())) {
+            taskDetailDO.setRobotNo(robotNo);
+        }
+        if (ObjectUtil.isEmpty(taskDetailDO.getToLocationNo())
+                && ObjectUtil.isNotEmpty(deviceNoMap.get(taskDetailDO.getId()))) {
+            taskDetailDO.setToLocationNo(deviceNoMap.get(taskDetailDO.getId()));
+        }
+
+        taskDetailMapper.updateBatch(taskDetailDO);
+        RobotTaskDO task = taskMapper.selectById(taskDetailDO.getRobotTaskId());
+        task.setTaskStatus(RobotTaskStatusEnum.DOING.getType());
+        taskMapper.updateBatch(task);
+        return taskDetailDO;
+    }
+
     /**
      * 设置放货和取货的id
      *
@@ -994,11 +1138,12 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     }
 
     /**
-     * PP分配的任务
+     * PP分配的任务(此方法已经废弃)
      *
      * @param message
      */
     @Override
+    @Deprecated
     @Transactional(rollbackFor = Exception.class)
     public void ppDistributionTask(String message) {
         log.info("PP分配任务 :{}", message);

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

@@ -252,4 +252,7 @@ zn:
     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
+    check_pallet_height: 0.0 #检测托盘时需要抬叉的高度，现在是需要，以后不用了
+    offset_height: 0.1 #叉起货需要在原来高度基础上偏移的高度