diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotGenericsStatusServiceImpl.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotGenericsStatusServiceImpl.java index 33e81c8ec..71de557b8 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotGenericsStatusServiceImpl.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotGenericsStatusServiceImpl.java @@ -1,15 +1,27 @@ package cn.iododer.yudao.module.mqtt.service; +import cn.iocoder.yudao.module.system.api.robot.RobotGenericsStatusApi; +import cn.iocoder.yudao.module.system.api.robot.RobotStatusApi; +import cn.iocoder.yudao.module.system.api.robot.dto.RobotGenericsDTO; +import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO; +import com.alibaba.fastjson.JSON; import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Component; import org.springframework.stereotype.Service; +import javax.annotation.Resource; + @Service @Slf4j public class RobotGenericsStatusServiceImpl implements MqttService{ + @Resource + private RobotGenericsStatusApi robotGenericsStatusApi; + @Override public void analysisMessage(String message) { -// log.info("处理RobotGenericsStatusServiceImpl的消息 :{}",message); + log.info("处理RobotGenericsStatusServiceImpl的消息 :{}",message); + RobotGenericsDTO robotStatusData = JSON.parseObject(message , RobotGenericsDTO.class); + robotGenericsStatusApi.updateRobotCommonStatus(robotStatusData); } } diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApi.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApi.java index 20f57cbde..78ab3633f 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApi.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApi.java @@ -1,11 +1,20 @@ package cn.iocoder.yudao.module.system.api.robot; +import cn.iocoder.yudao.module.system.api.robot.dto.RobotGenericsDTO; import cn.iocoder.yudao.module.system.enums.ApiConstants; +import io.swagger.v3.oas.annotations.Operation; import io.swagger.v3.oas.annotations.tags.Tag; import org.springframework.cloud.openfeign.FeignClient; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestBody; @FeignClient(name = ApiConstants.NAME) // TODO 芋艿：fallbackFactory = -@Tag(name = "RPC 服务 - 机器人异常上报") +@Tag(name = "RPC 服务 - 机器人异常上报/常规信息上报") public interface RobotGenericsStatusApi { + String PREFIX = ApiConstants.PREFIX + "/task"; + + @PostMapping(PREFIX + "/updateRobotCommonStatus") + @Operation(summary = "机器人异常上报/常规信息上报") + void updateRobotCommonStatus(@RequestBody RobotGenericsDTO robotStatusData); } diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotGenericsDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotGenericsDTO.java new file mode 100644 index 000000000..2101b7a38 --- /dev/null +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotGenericsDTO.java @@ -0,0 +1,24 @@ +package cn.iocoder.yudao.module.system.api.robot.dto; + +import lombok.Data; + +/** + * 车机响应信息 + */ +@Data +public class RobotGenericsDTO { + /** + * 错误码 + */ + private String status_code; + /** + * 错误信息 + */ + private String message; + /** + * 解决方法 + */ + private String solution; + + private RobotGenericsDataDTO data; +} diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotGenericsDataDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotGenericsDataDTO.java new file mode 100644 index 000000000..89dd53225 --- /dev/null +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotGenericsDataDTO.java @@ -0,0 +1,16 @@ +package cn.iocoder.yudao.module.system.api.robot.dto; + +import lombok.Data; + +@Data +public class RobotGenericsDataDTO { + //车身控制器状态 + private RobotHwStatesDTO hw_states; + //mac地址 + private String mac; + private String ip; + //楼层 + private String floor; + //区域 + private String zone; +} diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotHwStatesDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotHwStatesDTO.java new file mode 100644 index 000000000..a95a8de20 --- /dev/null +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotHwStatesDTO.java @@ -0,0 +1,66 @@ +package cn.iocoder.yudao.module.system.api.robot.dto; + +import lombok.Data; + +/** + * 车身控制器状态,详情如下表 + */ +@Data +public class RobotHwStatesDTO { + //控制器状态 + private String controller_state; + //转向电机角度，0 为正前方，逆时针正方向，顺时针负 + private String steer_angle; + //转向电机驱动器错误码 + private String steer_error_code; + //行走电机转速，m/s + private String walk_motor_vel; + //行走电机电流 + private String walk_motor_current; + //行走电机温度 + private String walk_motor_temperature; + //行走电机电源单元状态 + private String walk_motor_power_unit_state; + //行走电机主接触器状态 + private String walk_motor_main_contactor_state; + //行走电机电子制动状态 + private String walk_motor_electric_brake_state; + //行走电机锁定开关状态 + private String walk_motor_lock_switch_state; + //行走电机驱动器错误码 + private String walk_motor_error_code; + //货叉高度 + private String fork_height; + //电池的剩余容量 + private String bat_soc; + //电池电流 + private String bat_current; + //电池电压 + private String bat_voltage; + //电池温度 + private String bat_temperature; + //解析后的电池故障码 + private String bat_error_code; + //充电接触器闭合 false 为开，true 为闭合 + private String charge_relay_closed; + //bms 状态：电池充电中，false 为放电，true 为充电 + private String bat_charging; + //货物到位传感器触发状态：被按下则 true，否则 false + private String cargo_detected; + //叉尖传感器触发状态：物体接近触发为 true，否则为 false + private String fork_tip_sensor_state; + //急停按键状态：按下为 true，松开为 false + private String estop_button_state; + //启动按键状态：按下为 true，松开为 false + private String start_button_state; + //复位按键状态：按下为 true，松开为 false + private String reset_button_state; + //手动模式拨杆状态：true 表示在手动状态，false 为自动 + private String manual_switch_state; + //转向电机零位传感器状态，true 为触发，false 为未触发 + private String steer_sensor_state; + //碰撞传感器触发状态：触发为 true，否则为 false + private String bumper_sensor_state; + //灯条状态代码 + private String led_state; +} diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java index ca27b5e36..ef1afb4db 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java @@ -10,6 +10,10 @@ public class RobotStatusDataPoseDTO { public String y; public String x; public String yaw; + //楼层 public String floor; + //区域 public String area; + //电池剩余容量 + public String bat_soc; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java new file mode 100644 index 000000000..75048afbc --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java @@ -0,0 +1,47 @@ +package cn.iocoder.yudao.module.system.api.robot; + +import cn.hutool.core.util.ObjectUtil; +import cn.hutool.json.JSONUtil; +import cn.iocoder.yudao.module.system.api.robot.dto.RobotGenericsDTO; +import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO; +import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant; +import cn.iocoder.yudao.module.system.util.redis.RedisUtil; +import com.alibaba.fastjson.JSON; +import lombok.extern.slf4j.Slf4j; +import org.springframework.beans.factory.annotation.Value; +import org.springframework.validation.annotation.Validated; +import org.springframework.web.bind.annotation.RestController; + +import javax.annotation.Resource; + +@Slf4j +@RestController // 提供 RESTful API 接口，给 Feign 调用 +@Validated +public class RobotGenericsStatusApiImpl implements RobotGenericsStatusApi { + + @Resource + private RedisUtil redisUtil; + + @Resource@Value("${zn.robot_position_cache_time:600}") + private Long robotPositionCacheTime; + + @Override + public void updateRobotCommonStatus(RobotGenericsDTO robotStatusData) { + + if (ObjectUtil.isEmpty(robotStatusData) || ObjectUtil.isEmpty(robotStatusData.getData()) + || ObjectUtil.isEmpty(robotStatusData.getData().getMac())) { + log.info("参数不全 :{}", JSON.toJSONString(robotStatusData)); + } + + String mac = robotStatusData.getData().getMac(); + String pose2dKey = RobotTaskChcheConstant.ROBOT_POSE_BAT +mac; + + Object object = redisUtil.get(pose2dKey); + RobotStatusDataPoseDTO robotStatusDataPoseDTO= JSONUtil.toBean((String)object, RobotStatusDataPoseDTO.class); + robotStatusDataPoseDTO.setArea(robotStatusData.getData().getZone()); + robotStatusDataPoseDTO.setFloor(robotStatusData.getData().getFloor()); + robotStatusDataPoseDTO.setBat_soc(robotStatusData.getData().getHw_states().getBat_soc()); + redisUtil.set(pose2dKey,JSON.toJSONString(robotStatusDataPoseDTO),robotPositionCacheTime); + + } +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java index 8387c06f0..2ff94fd8d 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java @@ -1,10 +1,11 @@ package cn.iocoder.yudao.module.system.api.robot; import cn.hutool.core.util.ObjectUtil; +import cn.hutool.json.JSONUtil; import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder; import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO; import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataErrorDTO; -import cn.iocoder.yudao.module.system.constant.robot.RobotStatusCodeConstant; +import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO; import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant; import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO; import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnMsgDO; @@ -55,17 +56,23 @@ public class RobotStatusApiImpl implements RobotStatusApi { @Override public void robotStatusUpdate(RobotStatusDTO robotStatusDataDTO) { TenantContextHolder.setTenantId(1L); - if (ObjectUtil.isNotNull(robotStatusDataDTO) || RobotStatusCodeConstant.OK.equals(robotStatusDataDTO.getStatus_code()) - || ObjectUtil.isEmpty(robotStatusDataDTO.getMac())) { - + if (ObjectUtil.isEmpty(robotStatusDataDTO) || ObjectUtil.isEmpty(robotStatusDataDTO.getMac())) { + log.info("机器人上报的信息不全 :{}", JSON.toJSONString(robotStatusDataDTO)); + return; } String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS +robotStatusDataDTO.getMac(); String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED +robotStatusDataDTO.getMac(); - String pose2dKey = RobotTaskChcheConstant.ROBOT_POSE2D+robotStatusDataDTO.getMac(); + String pose2dKey = RobotTaskChcheConstant.ROBOT_POSE_BAT +robotStatusDataDTO.getMac(); redisUtil.set(taskStatusKey, robotStatusDataDTO.getData().getTask_status(),robotPositionCacheTime); redisUtil.set(cargoDetectedKey,robotStatusDataDTO.getData().getCargo_detected(),robotPositionCacheTime); - redisUtil.set(pose2dKey,String.valueOf(robotStatusDataDTO.getData().getPose2d()),robotPositionCacheTime); + + Object object = redisUtil.get(pose2dKey); + RobotStatusDataPoseDTO robotStatusDataPoseDTO= JSONUtil.toBean((String)object, RobotStatusDataPoseDTO.class); + robotStatusDataPoseDTO.setX(robotStatusDataDTO.getData().getPose2d().getX()); + robotStatusDataPoseDTO.setY(robotStatusDataDTO.getData().getPose2d().getY()); + robotStatusDataPoseDTO.setYaw(robotStatusDataDTO.getData().getPose2d().getYaw()); + redisUtil.set(pose2dKey,JSON.toJSONString(robotStatusDataPoseDTO),robotPositionCacheTime); if (ObjectUtil.isNotNull(robotStatusDataDTO.getData().getErr_code())) { List errCode = robotStatusDataDTO.getData().getErr_code(); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java index 47ef544f2..111569f28 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java @@ -1,9 +1,12 @@ package cn.iocoder.yudao.module.system.api.robot; +import cn.hutool.core.util.ObjectUtil; import cn.iocoder.yudao.framework.common.pojo.CommonResult; import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder; +import cn.iocoder.yudao.module.system.api.robot.dto.RobotCommandStateDTO; import cn.iocoder.yudao.module.system.api.robot.dto.RobotCompleteTaskDTO; import cn.iocoder.yudao.module.system.constant.robot.RobotExecutionStateConstant; +import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant; import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO; import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO; import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO; @@ -12,6 +15,7 @@ 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.robot.RobotStatusEnum; import cn.iocoder.yudao.module.system.enums.robot.RobotTaskDetailStatusEnum; +import cn.iocoder.yudao.module.system.util.redis.RedisUtil; import com.alibaba.fastjson.JSON; import lombok.extern.slf4j.Slf4j; import org.springframework.beans.factory.annotation.Autowired; @@ -22,6 +26,7 @@ import org.springframework.web.bind.annotation.RestController; import javax.annotation.Resource; import java.time.LocalDateTime; import java.util.List; +import java.util.Optional; @Slf4j @RestController // 提供 RESTful API 接口，给 Feign 调用 @@ -37,6 +42,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { @Autowired@Resource private RobotInformationMapper robotInformationMapper; + @Resource + private RedisUtil redisUtil; + /** * 机器人完成任务上报 * @param robotCompleteTaskDTO @@ -50,6 +58,18 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { if (RobotExecutionStateConstant.UN_DO.equals(robotCompleteTaskDTO.getExecution_state())) { return CommonResult.success(Boolean.TRUE); } + + String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_DOING_ACTION +robotCompleteTaskDTO.getMac(); + List commandState = robotCompleteTaskDTO.getCommand_state(); + if (ObjectUtil.isNotEmpty(commandState)) { + RobotCommandStateDTO robotCommandStateDTO = commandState.stream() + .filter(v -> RobotExecutionStateConstant.DOING.equals(Integer.valueOf(v.getExecution_state()))) + .findFirst() + .orElse(null); + if (ObjectUtil.isNotEmpty(robotCommandStateDTO)) { + redisUtil.set(robotDoingActionKey,robotCommandStateDTO.getCommand_type()); + } + } //更新任务状态 RobotTaskDetailDO detailDO = new RobotTaskDetailDO(); detailDO.setId(robotCompleteTaskDTO.getOrder_id()); @@ -77,6 +97,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { List existRobotMac = robotInformationMapper.queryAllByLimit(query); String robotNo = existRobotMac.get(0).getRobotNo(); robotInformationMapper.updateRobotStatus(robotNo, RobotStatusEnum.STAND_BY.getType()); + redisUtil.del(robotDoingActionKey); } return CommonResult.success(true); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java index ce06d75f6..28da685cb 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java @@ -1,8 +1,6 @@ package cn.iocoder.yudao.module.system.constant.robot; public class RobotTaskChcheConstant { - //机器人电量 - public static String ROBOT_ELECTRICITY = "robot:information:electricity"; //机器人能否做任务 public static String ROBOT_TASK_STATUS = "robot:information:task:status"; @@ -10,9 +8,12 @@ public class RobotTaskChcheConstant { //机器人身上是否有货 public static String ROBOT_CARGO_DETECTED = "robot:information:cargo:detected"; - //机器人点位 - public static String ROBOT_POSE2D = "robot:information:pose2d"; + //机器人点位和电量 + public static String ROBOT_POSE_BAT = "robot:information:pose2d"; //机器人mac地址和机器人编号映射 public static String ROBOT_NO_MAPPING_MAC = "robot:information:no:mapping:mac"; + + //机器人正在做的动作 + public static String ROBOT_DOING_ACTION = "robot:information:doing:action"; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java index 87c7d5f23..056a0893e 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java @@ -1,9 +1,6 @@ package cn.iocoder.yudao.module.system.controller.admin.robot; -import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationPageReqVO; -import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationRespVO; -import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationSaveReqVO; -import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationStatisticsVO; +import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*; import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO; import cn.iocoder.yudao.module.system.service.robot.RobotInformationService; import org.springframework.web.bind.annotation.*; @@ -76,9 +73,9 @@ public class RobotInformationController { @GetMapping("/page") @Operation(summary = "获得车辆信息分页") @PreAuthorize("@ss.hasPermission('robot:information:query')") - public CommonResult> getInformationPage(@Valid RobotInformationPageReqVO pageReqVO) { - PageResult pageResult = informationService.getInformationPage(pageReqVO); - return success(BeanUtils.toBean(pageResult, RobotInformationRespVO.class)); + public CommonResult> getInformationPage(@Valid RobotInformationPageReqVO pageReqVO) { + PageResult pageResult = informationService.getInformationPage(pageReqVO); + return success(BeanUtils.toBean(pageResult, RobotInformationPageRespVO.class)); } @GetMapping("/export-excel") @@ -88,10 +85,10 @@ public class RobotInformationController { public void exportInformationExcel(@Valid RobotInformationPageReqVO pageReqVO, HttpServletResponse response) throws IOException { pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE); - List list = informationService.getInformationPage(pageReqVO).getList(); + List list = informationService.getInformationPage(pageReqVO).getList(); // 导出 Excel - ExcelUtils.write(response, "车辆信息.xls", "数据", RobotInformationRespVO.class, - BeanUtils.toBean(list, RobotInformationRespVO.class)); + ExcelUtils.write(response, "车辆信息.xls", "数据", RobotInformationPageRespVO.class, + BeanUtils.toBean(list, RobotInformationPageRespVO.class)); } @PostMapping("/statistics") diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationPageRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationPageRespVO.java new file mode 100644 index 000000000..cbeeba763 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationPageRespVO.java @@ -0,0 +1,55 @@ +package cn.iocoder.yudao.module.system.controller.admin.robot.vo; + +import com.alibaba.excel.annotation.ExcelIgnoreUnannotated; +import com.alibaba.excel.annotation.ExcelProperty; +import io.swagger.v3.oas.annotations.media.Schema; +import lombok.Data; + + +@Schema(description = "管理后台 - 车辆信息 Response VO") +@Data +@ExcelIgnoreUnannotated +public class RobotInformationPageRespVO { + @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "21881") + @ExcelProperty("主键ID") + private Long id; + + @Schema(description = "车辆类型") + @ExcelProperty("车辆类型") + private String robotModelNumber; + + @Schema(description = "AGV编号") + @ExcelProperty("AGV编号") + private String robotNo; + + @Schema(description = "上传图片附件", example = "https://www.iocoder.cn") + @ExcelProperty("上传图片附件") + private String url; + + @Schema(description = "电量") + @ExcelProperty("电量") + private String electricity; + + @Schema(description = "状态（0：待命、1：任务中、2：锁定、3：离线、4:充电中、5:故障）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2") + @ExcelProperty("状态（0：待命、1：任务中、2：锁定、3：离线、4:充电中、5:故障）") + private Integer robotStatus; + + @Schema(description = "楼层") + @ExcelProperty("楼层") + public String floor; + + @Schema(description = "区域") + @ExcelProperty("区域") + public String area; + + @Schema(description = "信息") + @ExcelProperty("信息") + public String msg; + + private String macAddress; + /** + * 任务模式（0：拒收任务、1：正常） + */ + private Integer robotTaskModel; + +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationStatisticsVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationStatisticsVO.java index d2effd394..a4a8a2cf0 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationStatisticsVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationStatisticsVO.java @@ -7,12 +7,21 @@ import lombok.Data; public class RobotInformationStatisticsVO { @Schema(description = "待命") - private Integer standby; + private Integer standby = 0; + @Schema(description = "任务中") - private Integer inTask; - @Schema(description = "充电中") - private Integer charge; + private Integer inTask = 0; + + @Schema(description = "锁定") + private Integer doLock = 0; + @Schema(description = "离线") - private Integer offline; + private Integer offline = 0; + + @Schema(description = "充电中") + private Integer charge = 0; + + @Schema(description = "故障") + private Integer fault = 0; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotInformationMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotInformationMapper.java index 275232677..4155a7967 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotInformationMapper.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotInformationMapper.java @@ -47,12 +47,6 @@ public interface RobotInformationMapper extends BaseMapperX */ List queryAllByLimit(RobotInformationDO query); - /** - * 统计车辆任务 - * @return - */ - RobotInformationStatisticsVO statisticsInformation(); - /** * 根据机器人编号查询 * @param robotNos diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/CommandTypeEnum.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/CommandTypeEnum.java index 0c5bfcaa9..7a728a508 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/CommandTypeEnum.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/CommandTypeEnum.java @@ -10,20 +10,34 @@ import lombok.Getter; @AllArgsConstructor public enum CommandTypeEnum { - MOVE_POSES("MOVE_POSES"),//按规划好的路经移动 - MOVE_POSE("MOVE_POSE"),//移动到某个点 - JOY_AGV("JOY_AGV"),//遥控AGV运动 - JOY_FORK("JOY_FORK"),//遥控货叉上下移动，向上移动速度有1到5,向下速度有-5到-1 - SHUT_DOWN("SHUT_DOWN"),//关机 - RESTART("RESTART"),//重启 - STOP("STOP"),//停止 - START("START"),//启动 - WAIT("WAIT"),//等待 - GET_PALLET_TOPIC("GET_PALLET_TOPIC"),//获取托盘位置 - MOVE_TO_PALLET_POSE("MOVE_TO_PALLET_POSE"),//让车机移动到取货终点 - FORK("FORK"); //控制货叉上下移动 + MOVE_POSES("MOVE_POSES","移动"),//按规划好的路经移动 + MOVE_POSE("MOVE_POSE","移动"),//移动到某个点 + JOY_AGV("JOY_AGV","遥感AGV移动"),//遥控AGV运动 + JOY_FORK("JOY_FORK","遥控货叉上下移动"),//遥控货叉上下移动，向上移动速度有1到5,向下速度有-5到-1 + SHUT_DOWN("SHUT_DOWN","关机"),//关机 + RESTART("RESTART","重启"),//重启 + STOP("STOP","停止"),//停止 + START("START","启动"),//启动 + WAIT("WAIT","等待"),//等待 + GET_PALLET_TOPIC("GET_PALLET_TOPIC","获取托盘位置"),//获取托盘位置 + MOVE_TO_PALLET_POSE("MOVE_TO_PALLET_POSE","移动到取货终点"),//让车机移动到取货终点 + FORK("FORK","控制货叉上下移动"); //控制货叉上下移动 /** * 类型 */ private final String type; + /** + * 说明 + */ + private final String msg; + + public static CommandTypeEnum getCommandType(String type) { + for (CommandTypeEnum item : CommandTypeEnum.values()) { + if (item.getType().equals(type)) { + return item; + } + } + return null; + } + } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java index 24dbcbb89..b1265bf10 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationService.java @@ -4,10 +4,7 @@ import java.util.*; import javax.validation.*; import cn.iocoder.yudao.framework.common.pojo.PageResult; import cn.iocoder.yudao.framework.common.pojo.PageParam; -import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationPageReqVO; -import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationRespVO; -import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationSaveReqVO; -import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationStatisticsVO; +import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*; import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO; /** @@ -53,7 +50,7 @@ public interface RobotInformationService { * @param pageReqVO 分页查询 * @return 车辆信息分页 */ - PageResult getInformationPage(RobotInformationPageReqVO pageReqVO); + PageResult getInformationPage(RobotInformationPageReqVO pageReqVO); /** * 统计车辆待命/任务中/离线 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 8e4f4ca8d..9c5fc0087 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 @@ -2,15 +2,20 @@ package cn.iocoder.yudao.module.system.service.robot; import cn.hutool.core.bean.BeanUtil; import cn.hutool.core.util.ObjectUtil; +import cn.hutool.json.JSONUtil; +import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO; import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant; import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*; import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO; import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO; +import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO; import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper; import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper; -import cn.iocoder.yudao.module.system.enums.robot.RobotTaskModelEnum; +import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper; +import cn.iocoder.yudao.module.system.enums.robot.*; import cn.iocoder.yudao.module.system.util.redis.RedisUtil; import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper; +import io.swagger.v3.oas.annotations.media.Schema; import org.springframework.stereotype.Service; import javax.annotation.Resource; import org.springframework.validation.annotation.Validated; @@ -38,6 +43,9 @@ public class RobotInformationServiceImpl implements RobotInformationService { @Resource private PositionMapMapper positionMapMapper; + @Resource + private RobotTaskDetailMapper taskDetailMapper; + @Resource private RedisUtil redisUtil; @@ -123,43 +131,128 @@ public class RobotInformationServiceImpl implements RobotInformationService { } @Override - public PageResult getInformationPage(RobotInformationPageReqVO pageReqVO) { + public PageResult getInformationPage(RobotInformationPageReqVO pageReqVO) { PageResult pageResult = informationMapper.selectPage(pageReqVO); - PageResult dataPage = new PageResult<>(); + PageResult dataPage = new PageResult<>(); dataPage.setTotal(pageResult.getTotal()); List list = pageResult.getList(); - List targetList = BeanUtil.copyToList(list, RobotInformationRespVO.class); + List targetList = BeanUtil.copyToList(list, RobotInformationPageRespVO.class); targetList.stream().forEach(v -> { - setPositionMapList(v); - String electricity = (String)redisUtil.get(RobotTaskChcheConstant.ROBOT_ELECTRICITY + v.getRobotNo()); - v.setElectricity(electricity); + setMsgAndRobotStatus(v); }); dataPage.setList(targetList); return dataPage; } + /** + * 设置状态和信息 + * @param v + */ + private void setMsgAndRobotStatus(RobotInformationPageRespVO v) { + String pose2dKey = RobotTaskChcheConstant.ROBOT_POSE_BAT +v.getMacAddress(); + Object object = redisUtil.get(pose2dKey); + RobotStatusDataPoseDTO robotStatusDataPoseDTO= JSONUtil.toBean((String)object, RobotStatusDataPoseDTO.class); + + String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_DOING_ACTION +v.getMacAddress(); + Object action = redisUtil.get(robotDoingActionKey); + + if (ObjectUtil.isNotEmpty(object) && ObjectUtil.isNotEmpty(robotStatusDataPoseDTO)) { + v.setElectricity(robotStatusDataPoseDTO.getBat_soc()); + v.setFloor(robotStatusDataPoseDTO.getFloor()); + v.setArea(robotStatusDataPoseDTO.getArea()); + } + + if (ObjectUtil.isEmpty(object)) { + v.setRobotStatus(3); + v.setMsg("车辆已经离线"); + }else if (RobotTaskModelEnum.REJECTION.getType().equals(v.getRobotTaskModel())) { + v.setRobotStatus(2); + v.setMsg("车辆已经锁定"); + }else if (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())) { + //查看机器人最后做的任务是不是充电 + RobotTaskDetailDO robotTaskDetailDO = taskDetailMapper.selectOne(new LambdaQueryWrapper() + .eq(RobotTaskDetailDO::getRobotNo, v.getRobotNo()) + .orderByDesc(RobotTaskDetailDO::getCreateTime) + .last("limit 1")); + if (ObjectUtil.isNotEmpty(robotTaskDetailDO) + && RobotTaskTypeEnum.CHARGE.getType().equals(robotTaskDetailDO.getTaskType()) + && RobotTaskStatusEnum.DOING.getType().equals(robotTaskDetailDO.getTaskStatus())) { + v.setRobotStatus(4); + v.setMsg("车辆正在充电"); + }else { + v.setRobotStatus(0); + v.setMsg("车辆正在待命"); + } + }else if (RobotStatusEnum.DOING.getType().equals(v.getRobotStatus()) && ObjectUtil.isNotEmpty(action)) { + v.setRobotStatus(1); + CommandTypeEnum commandType = CommandTypeEnum.getCommandType(String.valueOf(action)); + if (ObjectUtil.isNotEmpty(commandType)) { + v.setMsg("车辆正在"+commandType.getMsg()); + } + } else { + v.setRobotStatus(5); + v.setMsg("车辆发生异常"); + } + + } + /** * 统计车辆待命/任务中/离线 * @return */ @Override public RobotInformationStatisticsVO statisticsInformation() { - RobotInformationStatisticsVO info = informationMapper.statisticsInformation(); + RobotInformationStatisticsVO info = new RobotInformationStatisticsVO(); RobotInformationDO query = new RobotInformationDO(); List existRobot = informationMapper.queryAllByLimit(query); - int i = 0; - if (ObjectUtil.isNotEmpty(existRobot)) { - for (RobotInformationDO v : existRobot) { - String electricity = (String)redisUtil.get(RobotTaskChcheConstant.ROBOT_ELECTRICITY + v.getRobotNo()); - if (ObjectUtil.isEmpty(electricity)) { - i++; + if (ObjectUtil.isEmpty(existRobot)) { + return info; + } + Integer standby = 0; + Integer inTask = 0; + Integer doLock = 0; + Integer offline = 0; + Integer charge = 0; + Integer fault = 0; + //0：待命、1：任务中、2：锁定、3：离线、4:充电中、5:故障 + for (RobotInformationDO v : existRobot) { + String pose2dKey = RobotTaskChcheConstant.ROBOT_POSE_BAT +v.getMacAddress(); + Object object = redisUtil.get(pose2dKey); + if (ObjectUtil.isEmpty(object)) { + offline++; + }else if (RobotTaskModelEnum.REJECTION.getType().equals(v.getRobotTaskModel())) { + doLock++; + }else if (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())) { + + //查看机器人最后做的任务是不是充电 + RobotTaskDetailDO robotTaskDetailDO = taskDetailMapper.selectOne(new LambdaQueryWrapper() + .eq(RobotTaskDetailDO::getRobotNo, v.getRobotNo()) + .orderByDesc(RobotTaskDetailDO::getCreateTime) + .last("limit 1")); + if (ObjectUtil.isNotEmpty(robotTaskDetailDO) + && RobotTaskTypeEnum.CHARGE.getType().equals(robotTaskDetailDO.getTaskType()) + && RobotTaskStatusEnum.DOING.getType().equals(robotTaskDetailDO.getTaskStatus())) { + charge++; + }else { + standby++; } + + }else if (RobotStatusEnum.DOING.getType().equals(v.getRobotStatus())) { + inTask++; + } else { + fault++; } } - info.setOffline(i); + info.setStandby(standby); + info.setInTask(inTask); + info.setDoLock(doLock); + info.setOffline(offline); + info.setCharge(charge); + info.setFault(fault); + return info; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/RobotTaskAutoMoveServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/RobotTaskAutoMoveServiceImpl.java index 642879895..87b9e5630 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/RobotTaskAutoMoveServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/RobotTaskAutoMoveServiceImpl.java @@ -213,13 +213,13 @@ public class RobotTaskAutoMoveServiceImpl implements RobotTaskAutoMoveService { } List locationDOS = locationMapper.selectNeedMoveLocation(doingLocationIds); if (ObjectUtil.isEmpty(locationDOS)) { - log.info("暂无需要自动移库的库位 :{}" ,String.valueOf(robotTaskDetailDO)); + log.info("暂无需要自动移库的库位 :{}" ,JSON.toJSONString(robotTaskDetailDO)); continue; } boolean enableOrLock = locationDOS.stream().anyMatch(v -> LocationEnableEnum.NO.getType().equals(v.getLocationEnable()) || LocationLockEnum.NO.getType().equals(v.getLocationLock())); if (enableOrLock) { - log.info("此库位被锁定或者禁用,无法执行移库 :{}",String.valueOf(locationDOS)); + log.info("此库位被锁定或者禁用,无法执行移库 :{}",JSON.toJSONString(locationDOS)); //todo 后期加到告警表里面 方便排查问题 continue; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotInformationMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotInformationMapper.xml index 9b6fbede8..26839b530 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotInformationMapper.xml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotInformationMapper.xml @@ -271,18 +271,6 @@ where id = #{id} - - -