告警信息

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/RobotDimensionsDTO.java

@@ -25,4 +25,7 @@ public class RobotDimensionsDTO {
 
     @Schema(description = "中心到车尾距离(单位米)")
     private Double robotCenterTail;
+
+    @Schema(description = "mac地址")
+    private String macAddress;
 }

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttFactory.java

@@ -141,8 +141,9 @@ public class MqttFactory {
                 return BeanUtils.getBean(PathPlanningInitDataServiceImpl.class);
             case TASK_ASSIGNMENT_FEEDBACK:
                 return BeanUtils.getBean(PathPlanningDistributionTaskServiceImpl.class);
+            case TASK_ASSIGNMENT_FAIL:
+                return BeanUtils.getBean(PathPlanningDistributionFailServiceImpl.class);
             default :
-//            case ROBOT_TASK_STATUS:
                 return BeanUtils.getBean(RobotTaskStatusServiceImpl.class);
         }
     }

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java

@@ -19,7 +19,8 @@ public enum DefineSubTopicEnum {
     ROBOT_TASK_STATUS("ROBOT_TASK_STATUS", 0,"机器人任务完成上报"),
     ROBOT_GENERICS_STATUS("ROBOT_GENERICS_STATUS", 0,"机器人异常"),
     SYNCHRONOUS_ALL_MAP_REQUEST("SYNCHRONOUS_ALL_MAP_REQUEST", 0,"路径规划需要初始数据上报"),
-    TASK_ASSIGNMENT_FEEDBACK("TASK_ASSIGNMENT_FEEDBACK", 0,"路径规划任务分配上报");
+    TASK_ASSIGNMENT_FEEDBACK("TASK_ASSIGNMENT_FEEDBACK", 0,"路径规划任务分配上报"),
+    TASK_ASSIGNMENT_FAIL("TASK_ASSIGNMENT_FAIL", 0,"路径规划失败上报");
 
 
     private final String topic;

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/PathPlanningDistributionFailServiceImpl.java

@@ -0,0 +1,22 @@
+package cn.iododer.yudao.module.mqtt.service;
+
+import cn.iocoder.yudao.module.system.api.path.PathApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+@Service
+@Slf4j
+public class PathPlanningDistributionFailServiceImpl implements MqttService{
+
+    @Resource
+    private PathApi pathApi;
+
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("路径规划失败信息上报 :{}", message);
+        pathApi.ppDistributionTaskFail(message);
+    }
+}

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

@@ -20,4 +20,8 @@ public interface PathApi {
     @PostMapping(PREFIX + "/ppDistributionTask")
     @Operation(summary = "路径规划需要初始化信息")
     void ppDistributionTask(@RequestParam("message") String message);
+
+    @PostMapping(PREFIX + "/ppDistributionTaskFail")
+    @Operation(summary = "路径规划需要初始化信息")
+    void ppDistributionTaskFail(@RequestParam("message") String message);
 }

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java

@@ -239,4 +239,7 @@ public interface ErrorCodeConstants {
 
     // ========== 循环任务点位 1_002_046_001==========
     ErrorCode TASK_CYCLE_NOT_EXISTS = new ErrorCode(1_002_046_001, "循环任务点位不存在");
+    // ========== 用户操作记录 1_002_047_001 ==========
+    ErrorCode OPERATE_LOG_NOT_EXISTS = new ErrorCode(1_002_047_001, "用户操作记录不存在");
+
 }

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

@@ -6,6 +6,7 @@ import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapSaveReqVO;
 import cn.iocoder.yudao.module.system.service.path.PathPlanningService;
 import cn.iocoder.yudao.module.system.service.robot.RobotTaskService;
+import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
 import cn.iocoder.yudao.module.system.service.tool.ToolsService;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -35,12 +36,14 @@ public class PathApiImpl implements PathApi {
     @Autowired
     private ThreadPoolTaskExecutor taskExecutor;
 
+    @Resource
+    private RobotWarnMsgService warnMsgService;
+
     /**
      * 发送初始化信息给PP
      */
     @Override
     public void pathInitData() {
-//        new Thread(() -> {
         taskExecutor.execute(() -> {
             TenantContextHolder.setTenantId(1L);
             log.info("初始化数据发送个PP---开始");
@@ -55,8 +58,6 @@ public class PathApiImpl implements PathApi {
             toolsService.sendPPsortConfig();
             log.info("初始化数据发送个PP---完成");
         });
-
-//        }).start();
     }
 
     /**
@@ -74,12 +75,14 @@ public class PathApiImpl implements PathApi {
         });
     }
 
-
+    /**
-
+     * PP处理任务失败
-
+     * @param message
-
+     */
-
+    @Override
-
+    public void ppDistributionTaskFail(String message) {
+        warnMsgService.addWarnMsg(message);
+    }
 
 
 }

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

@@ -24,7 +24,7 @@ public class RequestProcessor {
 
     public RequestProcessor() {
         // 每秒执行一次 - 处理并发送数据 - 避免数据丢失
-        scheduler.scheduleAtFixedRate(this::processAndSend, 1, 1, TimeUnit.SECONDS);
+        scheduler.scheduleAtFixedRate(this::processAndSend, 300, 300, TimeUnit.MILLISECONDS);
     }
 
     public void handleRequest(String map, String mac, String data) {

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

@@ -83,10 +83,11 @@ public class RobotStatusApiImpl implements RobotStatusApi {
         String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robotStatusDataDTO.getMac();
         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, "IDLE", robotPositionCacheTime);
+
-         redisUtil.set(cargoDetectedKey, false, robotPositionCacheTime);*/
+        /*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(cargoDetectedKey, false, robotPositionCacheTime);
 
         Object object = redisUtil.get(pose2dKey);
         RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
@@ -104,6 +105,9 @@ public class RobotStatusApiImpl implements RobotStatusApi {
             robotStatusDataPoseDTO.setArea(robotStatusDataDTO.getData().getFloor_zone().getArea());
         }
 
+        robotStatusDataPoseDTO.setFloor("1");
+        robotStatusDataPoseDTO.setArea("D区");
+
         robotStatusDataPoseDTO.setRobotNo(robotNo);
         redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime);
         pathPlanningApi.synchronousLineObject(robotStatusDataPoseDTO, PathPlanningTopicConstant.AGV_POSE);

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

@@ -175,7 +175,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 locationIds.add(robotTaskDetailDO.getToLocationId());
             }
             if (ObjectUtil.isNotEmpty(locationIds)) {
-                locationMapper.releaseLocationLockList(locationIds, robotTaskDetailDO.getId()
+                locationMapper.releaseLocationLockList(locationIds, robotTaskDetailDO.getRobotTaskId()
                         , LocationLockEnum.YES.getType());
             }
 
@@ -200,7 +200,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 .warnMsg(robotNo +"_"+robotCompleteTaskDTO.getMessage())
                 .warnSolve(robotCompleteTaskDTO.getSolution())
                 .build();
-        warnMsgMapper.insertBatch(Arrays.asList(warnMsg));
+        warnMsgMapper.insert(warnMsg);
 
         warnMsgService.sendWarnMsgToWebsocket(warnMsg.getWarnMsg());
     }
@@ -259,8 +259,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrder_id());
         List<RobotTaskDetailDO> taskDetails = robotTaskDetailMapper.queryByTaskId(robotTaskDetailDO.getRobotTaskId());
         boolean done =
-                taskDetails.stream().allMatch(v -> (v.getTaskStatus().equals(RobotTaskDetailStatusEnum.DONE.getType())
+                taskDetails.stream().noneMatch(v -> (v.getTaskStatus().equals(RobotTaskDetailStatusEnum.NEW.getType())));
-                        || v.getTaskStatus().equals(RobotTaskDetailStatusEnum.CLOSE.getType())));
         if (done) {
             RobotTaskDO robotTaskDO = new RobotTaskDO();
             robotTaskDO.setId(taskDetails.get(0).getRobotTaskId());

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotExecutionStateConstant.java

@@ -8,10 +8,12 @@ public class RobotExecutionStateConstant {
     public static Integer UN_DO = 0;
     //正在做
     public static Integer DOING = 1;
-    //已完成
+    //已暂停
-    public static Integer DONE = 2;
+    public static Integer STOP = 2;
     //已取消
     public static Integer CLOSE = 3;
     //已失败、异常
     public static Integer FAIL = 4;
+    //已完成
+    public static Integer DONE = 5;
 }

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

@@ -6,6 +6,8 @@ import cn.iocoder.yudao.framework.common.pojo.PageParam;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils;
+import cn.iocoder.yudao.framework.security.core.LoginUser;
+import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;

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

@@ -11,7 +11,8 @@ import lombok.Getter;
 public enum RobotWarnType {
 
     ROBOT_WARN(1),//告警
-    USER_OPERATE(2);//用户操作
+    USER_OPERATE(2),//用户操作
+    PATH(3);//路径规划
     /**
      * 类型
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/HouseLocationStrategyImpl.java

@@ -46,9 +46,9 @@ public class HouseLocationStrategyImpl implements NodeProcessingStrategy {
             int max = wareHouseLocationDOS.stream().map(WareHouseLocationDO::getLocationNo).filter(StrUtil::isNotEmpty)
                     .mapToInt(s -> Integer.parseInt(s.substring(s.length() - 1))).max().orElse(1);
             int locationStorey = wareHouseLocationDOS.size();
-            Long locationNumber = 0l;
+            Long locationNumber = null;
-            if (ObjectUtil.isNotEmpty(nodeBaseDTOS)) {
+            if (ObjectUtil.isNotEmpty(item.getLocationNumber())) {
-                locationNumber = nodeBaseDTOS.get(0).getLocationNumber();
+                locationNumber = item.getLocationNumber();
             }
             for (WareHouseLocationDO wareHouseLocationDO : wareHouseLocationDOS) {
                 wareHouseLocationDO.setLocationX(item.getLocationX());
@@ -65,7 +65,7 @@ public class HouseLocationStrategyImpl implements NodeProcessingStrategy {
                 }
                 wareHouseLocationDO.setMapId(positionMapId);
                 wareHouseLocationDO.setMapItemId(item.getId());
-                if (ObjectUtil.isNotEmpty(locationNumber)) {
+                if (ObjectUtil.isNotEmpty(locationNumber) && ObjectUtil.isEmpty(wareHouseLocationDO.getLocationNumber())) {
                     wareHouseLocationDO.setLocationNumber(locationNumber);
                     locationNumber = locationNumber - 10;
                 }

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

@@ -55,4 +55,10 @@ public interface RobotWarnMsgService extends IService<RobotWarnMsgDO> {
     PageResult<RobotWarnMsgDO> getWarnMsgPage(RobotWarnMsgPageReqVO pageReqVO);
 
     void sendWarnMsgToWebsocket(Object errorMsg);
+
+    /**
+     * 添加告警信息
+     * @param message
+     */
+    void addWarnMsg(String message);
 }

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

@@ -13,6 +13,7 @@ import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnMsgDO;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnMsgMapper;
+import cn.iocoder.yudao.module.system.enums.robot.RobotWarnType;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
@@ -20,6 +21,7 @@ import org.springframework.validation.annotation.Validated;
 
 import javax.annotation.Resource;
 
+import java.util.Arrays;
 import java.util.List;
 
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
@@ -99,4 +101,16 @@ public class RobotWarnMsgServiceImpl extends ServiceImpl<RobotWarnMsgMapper, Rob
         }
     }
 
+    @Override
+    public void addWarnMsg(String message) {
+        RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(4)
+                .warnCode("PP")
+                .robotNo("")
+                .warnType(RobotWarnType.PATH.getType())
+                .warnMsg(message)
+                .warnSolve(message)
+                .build();
+        warnMsgMapper.insert(warnMsg);
+    }
+
 }

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationMapper.xml

@@ -405,12 +405,8 @@
             <if test="groupName != null and groupName != ''">
                 group_name = #{groupName},
             </if>
-            <if test="skuInfo != null and skuInfo != ''">
                 sku_info = #{skuInfo},
-            </if>
-            <if test="skuBatch != null and skuBatch != ''">
                 sku_batch = #{skuBatch},
-            </if>
             <if test="skuNumber != null">
                 sku_number = #{skuNumber},
             </if>

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotInformationMapper.xml

@@ -259,7 +259,8 @@
             t1.robot_no AS robotNo,
             t2.robot_wide AS robotWide,
             t2.robot_center_headstock AS robotCenterHeadstock,
-            t2.robot_center_tail AS robotCenterTail
+            t2.robot_center_tail AS robotCenterTail,
+            t1.mac_address as macAddress
         FROM
             robot_information t1
                 LEFT JOIN robot_model t2 ON t1.robot_model_id = t2.id