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远遥优化

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cbs 2025-04-30 16:02:41 +08:00
parent e49ae4cc98
commit a5f790ca04
4 changed files with 14 additions and 7 deletions
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1
yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotService.java
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@ -8,7 +8,6 @@ import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotDTO;
import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotStatusDTO;
import javax.servlet.http.HttpServletRequest;
import javax.validation.Valid;
import java.util.List;
public interface RemoteRobotService {

1
yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/task/RemoteTaskServiceImpl.java
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@ -8,7 +8,6 @@ import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
import java.util.Collections;
import java.util.List;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception0;

2
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
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@ -281,7 +281,7 @@ public interface ErrorCodeConstants {
ErrorCode ROBOT_ALREADY_RECOVERY = new ErrorCode(1_002_052_003, "车辆已经恢复");
// ========== 远遥设备信息 1_002_053_001 ==========
ErrorCode CONTROLLER_INFORMATION_NOT_EXISTS = new ErrorCode(1_002_053_001, "远遥设备信息不存在");
ErrorCode REMOTE_DEVICE_NOT_SET_UP = new ErrorCode(1_002_053_002, "远遥设备未设置通讯信息");
ErrorCode REMOTE_DEVICE_NOT_SET_UP = new ErrorCode(1_002_053_002, "远遥设备未选择车辆");
ErrorCode REMOTE_DEVICE_NEED_AUTOMATIC = new ErrorCode(1_002_053_003, "首次进入远遥设置,只能是自动模式");
ErrorCode REMOTE_DEVICE_CONTROLLER = new ErrorCode(1_002_053_004, "目前远遥设备控制的机器人是 ");
ErrorCode REMOTE_NOT_HAVE_TASK = new ErrorCode(1_002_053_005, "车辆没有处理中的任务,不能切换成手动模式");

17
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java
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@ -432,6 +432,10 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
} else {
//任务完成
taskDetailService.manuallyCompleted(robotDoingTaskNo.get(0).getId(), " 远遥点击任务完成 ");
information.setRemoteMode(RemoteModeEnum.FREE.getType());
information.setTaskDetailId(null);
information.setCollaborativeControl(ZeroOneEnum.ZERO.getType());
controllerInformationMapper.updateById(information);
}
}
@ -487,6 +491,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
throw exception(REMOTE_TASK_NOT_TAKE_RELEASE);
}
RobotTaskDetailSaveReqVO updateReqVO = BeanUtils.toBean(taskDetail, RobotTaskDetailSaveReqVO.class);
updateReqVO.setOccurError(ZeroOneEnum.ZERO.getType());
taskDetailService.updateTaskDetail(updateReqVO);
List<RobotTaskDetailActionLogDO> taskDetailActionLog = taskDetailActionLogService.getTaskDetailActionLogByDetailId(data.getId());
@ -607,10 +612,14 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
//自动切手动
if (RemoteModeEnum.AUTOMATIC.getType().equals(information.getRemoteMode()) && RemoteModeEnum.HAND_MOVEMENT.getType().equals(remoteMode)) {
List<RobotTaskDO> doingTask = informationService.selectDoingTaskByRobotNo(robotNo);
if (ObjectUtil.isEmpty(doingTask)) {
List<RobotDoingTaskDTO> robotDoingTaskNo = taskDetailService.getRobotDoingTaskNo(robotNo);
if (ObjectUtil.isEmpty(robotDoingTaskNo)) {
throw exception(REMOTE_NOT_HAVE_TASK);
}
if (ObjectUtil.isNotEmpty(robotDoingTaskNo) && robotDoingTaskNo.size() > 1) {
throw exception(REMOTE_ROBOT_HAVE_MORE_TASK);
}
String operateAction = information.getRemoteIp() + " 切换远遥模式为 " + RemoteModeEnum.getMsg(remoteMode);
setRemoteChangeLog(information, robotNo, remoteMode, operateAction);
sendRemoteMsgToPP(robotNo, PathPlanningTopicConstant.START_REMOTE_CONTROLLER, RemoteOperationModeEnum.MAN.getType());
@ -620,8 +629,8 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
//自动切自由
if (RemoteModeEnum.AUTOMATIC.getType().equals(information.getRemoteMode()) && RemoteModeEnum.FREE.getType().equals(remoteMode)) {
List<RobotTaskDO> doingTask = informationService.selectDoingTaskByRobotNo(robotNo);
if (ObjectUtil.isNotEmpty(doingTask)) {
List<RobotDoingTaskDTO> robotDoingTaskNo = taskDetailService.getRobotDoingTaskNo(robotNo);
if (ObjectUtil.isNotEmpty(robotDoingTaskNo)) {
throw exception(REMOTE_HAVE_TASK);
}