ak/zn-cloud-wcs
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

任务下发校验

Browse Source
This commit is contained in:
cbs 2025-06-06 19:29:32 +08:00
parent 3479492b3d
commit b0ac304a8f
15 changed files with 163 additions and 72 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/resources/logback-spring.xml
View File

@ -31,7 +31,7 @@
<!-- 启动服务时，是否清理历史日志，一般不建议清理 -->
<cleanHistoryOnStart>${LOGBACK_ROLLINGPOLICY_CLEAN_HISTORY_ON_START:-false}</cleanHistoryOnStart>
<!-- 日志文件，到达多少容量，进行滚动 -->
<maxFileSize>${LOGBACK_ROLLINGPOLICY_MAX_FILE_SIZE:-10MB}</maxFileSize>
<maxFileSize>50MB</maxFileSize>
<!-- 日志文件的总大小，0 表示不限制 -->
<totalSizeCap>${LOGBACK_ROLLINGPOLICY_TOTAL_SIZE_CAP:-0}</totalSizeCap>
<!-- 日志文件的保留天数 -->

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java
View File

@ -62,7 +62,7 @@ public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi {
@Override
public void robotReactiveStatus(String message) {
TenantContextHolder.setTenantId(1L);
log.info("车辆所在楼层和异常信息 :{}", message);
// log.info("车辆所在楼层和异常信息 :{}", message);
RobotReactiveStatusDTO data = JSON.parseObject(message, RobotReactiveStatusDTO.class);
String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + data.getMac();
String robotNo = robotInformationService.getRobotNoByMac(data.getMac());

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/processor/RequestProcessor.java
View File

@ -47,7 +47,7 @@ public class RequestProcessor {
private void sendData(String map, Map<String, String> data) {
// -- 发送给对应的websocket
// System.out.println("key:" + map + "发送数据：" + data);
log.info("key:" + map + "发送数据：" + data);
// log.info("key:" + map + "发送数据：" + data);
webSocketSenderApi.sendObject(map, WebSocketConstant.MAP_PUSH, data);
}

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java
View File

@ -35,7 +35,7 @@ public class DeviceInformationPageReqVO extends PageParam {
@Schema(description = "深度")
private BigDecimal locationDeep;
//1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机
//1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机, 9:摄像头
@Schema(description = "设备类型 字典device_type", example = "2")
private Integer deviceType;
@ -89,4 +89,7 @@ public class DeviceInformationPageReqVO extends PageParam {
@Schema(description = "最后使用者")
private String lastUser;
@Schema(description = "摄像头类型（1 枪机 2半球 3球机 4云台枪机）")
private String cameraType;
}

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java
View File

@ -42,7 +42,7 @@ public class DeviceInformationRespVO {
@ExcelProperty("深度")
private BigDecimal locationDeep;
//1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机
//1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机, 9:摄像头
@Schema(description = "设备类型 字典device_type", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@ExcelProperty("设备类型 字典device_type")
private Integer deviceType;
@ -120,4 +120,8 @@ public class DeviceInformationRespVO {
@ExcelProperty("最后使用者")
private String lastUser;
@Schema(description = "摄像头类型（1 枪机 2半球 3球机 4云台枪机）")
@ExcelProperty("摄像头类型（1 枪机 2半球 3球机 4云台枪机）")
private String cameraType;
}

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java
View File

@ -35,7 +35,7 @@ public class DeviceInformationSaveReqVO {
@Schema(description = "深度")
private BigDecimal locationDeep;
//1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机
//1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机 9:摄像头
@Schema(description = "设备类型 字典device_type", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@NotNull(message = "设备类型不能为空")
private Integer deviceType;
@ -89,4 +89,7 @@ public class DeviceInformationSaveReqVO {
@Schema(description = "最后使用者")
private String lastUser;
@Schema(description = "摄像头类型（1 枪机 2半球 3球机 4云台枪机）")
private String cameraType;
}

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java
View File

@ -67,7 +67,7 @@ public class DeviceInformationDO extends BaseDO {
*/
private BigDecimal locationDeep;
/**
* 1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机
* 1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机, 9:摄像头
* 设备类型 字典device_type
*/
private Integer deviceType;
@ -135,4 +135,8 @@ public class DeviceInformationDO extends BaseDO {
*/
private String lastUser;
/**
* 摄像头类型（1 枪机 2半球 3球机 4云台枪机）
*/
private String cameraType;
}

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapDO.java
View File

@ -25,7 +25,6 @@ public class PositionMapDO extends BaseDO {
/**
* 主键ID
*/
@TableId(type = IdType.ASSIGN_ID)
private Long id;
/**
* 楼层

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceTypeEnum.java
View File

@ -14,7 +14,8 @@ public enum DeviceTypeEnum {
HOIST(5, "提升机"),
SIGNAL_LIGHT(6, "信号灯"),
BUTTON_BOX(7, "按钮盒"),
DISMANTLING_MACHINE(8, "拆垛机");
DISMANTLING_MACHINE(8, "拆垛机"),
CAMERA(9, "摄像头");
/**
* 类型

43
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java
View File

@ -32,6 +32,7 @@ import cn.iocoder.yudao.module.system.service.dict.DictDataService;
import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
import cn.iocoder.yudao.module.system.util.aes.AESEncryptionUtil;
import cn.iocoder.yudao.module.system.util.modbus3.ModbusUtils;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import com.alibaba.fastjson.JSON;
@ -42,6 +43,7 @@ import com.serotonin.modbus4j.ModbusMaster;
import com.serotonin.modbus4j.exception.ModbusInitException;
import com.serotonin.modbus4j.exception.ModbusTransportException;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
@ -92,6 +94,9 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
@Resource
private PositionMapItemService positionMapItemService;
@Value("${zn.camera_secret_key}")
private String cameraSecretKey;
@Override
public Long createInformation(DeviceInformationSaveReqVO createReqVO) {
// -- 先判断库里是否有相通的mac地址数据
@ -110,6 +115,13 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
createReqVO.setUrl(dictDataDO.getRemark());
}
if (DeviceTypeEnum.CAMERA.getType().equals(createReqVO.getDeviceType())) {
try {
createReqVO.setDeviceNo(AESEncryptionUtil.getEncrypt(createReqVO.getDeviceNo(), cameraSecretKey));
} catch (Exception ignored) {
}
}
// 插入
DeviceInformationDO information = BeanUtils.toBean(createReqVO, DeviceInformationDO.class);
information.setDeviceStatus(1);
@ -138,6 +150,13 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
updateReqVO.setUrl(dictDataDO.getRemark());
}
// 更新
if (DeviceTypeEnum.CAMERA.getType().equals(updateReqVO.getDeviceType())) {
try {
updateReqVO.setDeviceNo(AESEncryptionUtil.getEncrypt(updateReqVO.getDeviceNo(), cameraSecretKey));
} catch (Exception ignored) {
}
}
DeviceInformationDO updateObj = BeanUtils.toBean(updateReqVO, DeviceInformationDO.class);
informationMapper.updateById(updateObj);
@ -150,11 +169,11 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
data.setMapImageUrl(updateObj.getMapImageUrl());*/
Gson gson = new Gson();
Map<Object,Object> map = new HashMap();
Map<Object, Object> map = new HashMap();
map = gson.fromJson(dataJson, map.getClass());
map.put("deviceType",updateObj.getDeviceType());
map.put("deviceNo",updateObj.getDeviceNo());
map.put("mapImageUrl",updateObj.getMapImageUrl());
map.put("deviceType", updateObj.getDeviceType());
map.put("deviceNo", updateObj.getDeviceNo());
map.put("mapImageUrl", updateObj.getMapImageUrl());
positionMapItem.setDataJson(JSON.toJSONString(map));
positionMapItemService.updateById(positionMapItem);
@ -228,7 +247,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
editList.addAll(list.get(1));
}
if (isNotEmpty(list.get(2))) {
list.get(2).forEach( a -> {
list.get(2).forEach(a -> {
a.setPositionMapItemId(null);
a.setPositionMapId(null);
});
@ -349,7 +368,9 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
&& ObjectUtil.isNotEmpty(positionMapDO)) {
deviceInformationDO.setFloor(positionMapDO.getFloor() + "");
deviceInformationDO.setArea(positionMapDO.getArea());
deviceInformationDO.setDeviceLocation(positionMapDO.getFloor()+"层-"+positionMapDO.getArea());
String map = positionMapDO.getFloor() + "层-" + positionMapDO.getArea();
String deviceLocation = ObjectUtil.isEmpty(deviceInformationDO.getDeviceLocation()) ? map : map + deviceInformationDO.getDeviceLocation();
deviceInformationDO.setDeviceLocation(deviceLocation);
}
String deviceKey = DeviceChcheConstant.DEVICE_LAST_TIME + deviceInformationDO.getMacAddress();
@ -405,12 +426,13 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
warnMsgService.addWarnMsg(deviceNo + " 没有设备IP和端口");
return;
}
log.info("设备伸出 :{}",deviceNo);
log.info("设备伸出 :{}", deviceNo);
extend(deviceInformationDO.getDeviceIp(), Integer.parseInt(deviceInformationDO.getDevicePort()), deviceNo);
}
/**
* 充电任务，缩
*
* @param deviceNo
*/
@Override
@ -430,7 +452,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
log.info("没有设备IP、端口不能缩回 :{}", deviceNo);
return;
}
log.info("设备缩回 :{}",deviceNo);
log.info("设备缩回 :{}", deviceNo);
shrink(deviceInformationDO.getDeviceIp(), Integer.parseInt(deviceInformationDO.getDevicePort()), deviceNo);
}
@ -464,7 +486,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
log.info("充电设备缩回时,出现异常 :{}", ip);
warnMsgService.addWarnMsg(deviceNo + " 充电设备缩回失败");
success = false;
}finally {
} finally {
if (ObjectUtil.isNotEmpty(asciiMaster)) {
asciiMaster.destroy();
}
@ -478,6 +500,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
/**
* 控制设备伸缩
*
* @param ip
* @param port
*/
@ -496,7 +519,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
log.info("充电设备伸出时,出现异常 :{}", ip);
warnMsgService.addWarnMsg(deviceNo + " 充电设备伸出失败");
success = false;
}finally {
} finally {
if (ObjectUtil.isNotEmpty(asciiMaster)) {
asciiMaster.destroy();
}

50
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
View File

@ -256,15 +256,27 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
//移动点位是否为空闲/重复、 处理中的任务
List<Long> pointList = new ArrayList<>();
List<String> takeRobotNos = new ArrayList<>();
List<String> releaseRobotNos = new ArrayList<>();
for (RobotTaskDetailAddVO robotTaskDetail : createReqVO.getTaskDetailList()) {
if (!RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(robotTaskDetail.getTaskType())) {
continue;
if (RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(robotTaskDetail.getTaskType())) {
if (pointList.contains(robotTaskDetail.getReleaseId())) {
PositionMapItemDO positionMapItem = positionMapItemService.getPositionMapItem(robotTaskDetail.getReleaseId());
throw exception0(TASK_CHECK_EXCEPTION.getCode(), "以下移动的点位重复 " + positionMapItem.getSortNum(), positionMapItem.getSortNum());
}
pointList.add(robotTaskDetail.getReleaseId());
}else if (RobotTaskTypeEnum.TAKE.getType().equals(robotTaskDetail.getTaskType())) {
if (takeRobotNos.contains(robotTaskDetail.getRobotNo())) {
throw exception0(TASK_CHECK_EXCEPTION.getCode(), "一辆车只能有一个仅取货任务 " + robotTaskDetail.getRobotNo(), robotTaskDetail.getRobotNo());
}
takeRobotNos.add(robotTaskDetail.getRobotNo());
}else if (RobotTaskTypeEnum.RELEASE.getType().equals(robotTaskDetail.getTaskType())) {
if (releaseRobotNos.contains(robotTaskDetail.getRobotNo())) {
throw exception0(TASK_CHECK_EXCEPTION.getCode(), "一辆车只能有一个仅放货任务 " + robotTaskDetail.getRobotNo(), robotTaskDetail.getRobotNo());
}
releaseRobotNos.add(robotTaskDetail.getRobotNo());
}
if (pointList.contains(robotTaskDetail.getReleaseId())) {
PositionMapItemDO positionMapItem = positionMapItemService.getPositionMapItem(robotTaskDetail.getReleaseId());
throw exception0(TASK_CHECK_EXCEPTION.getCode(), "以下移动的点位重复 " + positionMapItem.getSortNum(), positionMapItem.getSortNum());
}
pointList.add(robotTaskDetail.getReleaseId());
}
if (ObjectUtil.isNotEmpty(pointList)) {
@ -285,6 +297,28 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
String sortNumStr = getSortNumStr(doingTaskItemIds);
throw exception0(TASK_CHECK_EXCEPTION.getCode(), "以下移动的点位存在处理中的任务 " + sortNumStr, sortNumStr);
}
if (ObjectUtil.isNotEmpty(takeRobotNos)) {
RobotTaskDetailDO takeTask = taskDetailMapper.selectOne(new LambdaQueryWrapperX<RobotTaskDetailDO>()
.in(RobotTaskDetailDO::getRobotNo, takeRobotNos)
.in(RobotTaskDetailDO::getTaskStatus,RobotTaskStatusEnum.NEW.getType(), RobotTaskStatusEnum.DOING.getType())
.eq(RobotTaskDetailDO::getTaskType, RobotTaskTypeEnum.TAKE.getType())
.last("limit 1"));
if (ObjectUtil.isNotEmpty(takeTask)) {
throw exception0(TASK_CHECK_EXCEPTION.getCode(), "一辆车只能有一个仅取货任务 " + takeTask.getRobotNo(), takeTask.getRobotNo());
}
}
if (ObjectUtil.isNotEmpty(releaseRobotNos)) {
RobotTaskDetailDO releaseTask = taskDetailMapper.selectOne(new LambdaQueryWrapperX<RobotTaskDetailDO>()
.in(RobotTaskDetailDO::getRobotNo, releaseRobotNos)
.in(RobotTaskDetailDO::getTaskStatus,RobotTaskStatusEnum.NEW.getType(), RobotTaskStatusEnum.DOING.getType())
.eq(RobotTaskDetailDO::getTaskType, RobotTaskTypeEnum.RELEASE.getType())
.last("limit 1"));
if (ObjectUtil.isNotEmpty(releaseTask)) {
throw exception0(TASK_CHECK_EXCEPTION.getCode(), "一辆车只能有一个仅放货任务 " + releaseTask.getRobotNo(), releaseTask.getRobotNo());
}
}
}
public String getSortNumStr(List<Long> pointList) {
@ -1123,7 +1157,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
robotTaskVo.setToMapItemId(locationDO.getMapItemId());
if (ObjectUtil.isNotEmpty(mapIds) && !mapIds.contains(locationDO.getMapId())) {
log.error("机器人不能在此放货库位放货 :{}, 机器人编号 :{}", locationDO.getLocationNo(), robotTaskVo.getRobotNo());
throw exception0(TASK_CREATE_FAIL.getCode(), "机器人不能在此放货库位放货 " + robotTaskVo.getReleaseId());
throw exception0(TASK_CREATE_FAIL.getCode(), "车辆不能在此放货库位放货,检查车辆能走的区域 " + robotTaskVo.getRobotNo());
}
if (ObjectUtil.isNotEmpty(takeMapItemIds) && takeMapItemIds.contains(locationDO.getMapItemId())) {
log.error("此点位存在取货任务 :{}", locationDO.getLocationNo());

19
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/camera/RobotCameraServiceImpl.java
View File

@ -137,23 +137,8 @@ public class RobotCameraServiceImpl extends ServiceImpl<RobotCameraMapper, Robot
throw new RuntimeException(e);
}
} else {
robotCameraDO.setCameraAccount(getEncrypt(robotCameraDO.getCameraAccount()));
robotCameraDO.setCameraPassword(getEncrypt(robotCameraDO.getCameraPassword()));
}
}
public String getEncrypt(String str){
try {
AESEncryptionUtil.decrypt(str, cameraSecretKey);
return str;
} catch (Exception e) {
}
try {
return AESEncryptionUtil.encrypt(str, cameraSecretKey);
} catch (Exception e) {
throw new RuntimeException(e);
robotCameraDO.setCameraAccount(AESEncryptionUtil.getEncrypt(robotCameraDO.getCameraAccount(),cameraSecretKey));
robotCameraDO.setCameraPassword(AESEncryptionUtil.getEncrypt(robotCameraDO.getCameraPassword(),cameraSecretKey));
}
}

26
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
View File

@ -98,11 +98,11 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
}
//机器人最后做的任务
List<RobotTaskDetailDO> lastTaskDetails = robotTaskDetailMapper.getLastTaskGroupByRobotNo();
/*List<RobotTaskDetailDO> lastTaskDetails = robotTaskDetailMapper.getLastTaskGroupByRobotNo();
Map<String, RobotTaskDetailDO> lastTaskDetailMap = null;
if (ObjectUtil.isNotEmpty(lastTaskDetails)) {
lastTaskDetailMap = lastTaskDetails.stream().collect(Collectors.toMap(v -> v.getRobotNo(), Function.identity()));
}
}*/
CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfigDO.getConfigStr(), CommonConfigVO.class);
@ -113,7 +113,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
}
String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robot.getMacAddress();
String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robot.getMacAddress();
Object taskStatus = redisUtil.get(taskStatusKey);
if (ObjectUtil.isEmpty(taskStatus) || !RobotStatusCodeConstant.CAN_DO_TASK.equals(Boolean.parseBoolean(String.valueOf(taskStatus)))) {
robot.setRobotStatus(RobotStatusEnum.DOING.getType());
@ -121,12 +121,12 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
continue;
}
Object cargoDetected = redisUtil.get(cargoDetectedKey);
//取货的，先执行放货再去充电
if (ObjectUtil.isNotEmpty(lastTaskDetailMap) && ObjectUtil.isNotEmpty(lastTaskDetailMap.get(robot.getRobotNo()))) {
/*if (ObjectUtil.isNotEmpty(lastTaskDetailMap) && ObjectUtil.isNotEmpty(lastTaskDetailMap.get(robot.getRobotNo()))) {
robot.setRobotStatus(RobotStatusEnum.LAST_TASK_IS_TAKE.getType());
continue;
}
}*/
if (ObjectUtil.isNotEmpty(chargeConfig) && ObjectUtil.isNotEmpty(chargeConfig.getStartAutoCharge())) {
String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC +robot.getMacAddress();
@ -146,11 +146,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
}
}
if (ObjectUtil.isEmpty(cargoDetected) || RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))) {
robot.setRobotStatus(RobotStatusEnum.DOING.getType());
log.info("车机上报传感器被按下--不允许接任务 :{}",robot.getRobotNo());
continue;
}
//自动充电的车子，电量到达设定的阀值，也能执行任务
/*if (ChargeTypeEnum.AUTOMATIC.getType().equals(robot.getChargeType())
&& RobotStatusEnum.CHARGE.getType().equals(robot.getRobotStatus())) {
@ -162,15 +158,15 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
}
}
robots = robots.stream()
/*robots = robots.stream()
.filter(v -> (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())
|| RobotStatusEnum.LAST_TASK_IS_TAKE.getType().equals(v.getRobotStatus())))
.collect(Collectors.toList());
.collect(Collectors.toList());*/
if (robots.isEmpty()) {
/*if (robots.isEmpty()) {
log.info("暂无可用的机器人,可能正在充电,可能车机上报不允许接任务");
return pair;
}
}*/
log.info("完成查找车子");

44
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
View File

@ -12,6 +12,8 @@ import cn.iocoder.yudao.module.mqtt.api.path.task.TaskRobotNoLimittationAreaDTO;
import cn.iocoder.yudao.module.mqtt.api.path.task.TaskToPathPlanningDTO;
import cn.iocoder.yudao.module.system.constant.path.PathPlanningChcheConstant;
import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotStatusCodeConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
@ -34,6 +36,7 @@ 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.ChargeModelEnum;
import cn.iocoder.yudao.module.system.enums.robot.information.ChargeTypeEnum;
import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
import cn.iocoder.yudao.module.system.service.robot.RobotTaskService;
import cn.iocoder.yudao.module.system.service.robot.job.DistributeTasksService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
@ -111,6 +114,10 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
@Lazy
private RobotTaskService taskService;
@Resource
@Lazy
private RobotInformationService informationService;
/**
* 下发任务给PP
*/
@ -230,7 +237,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
if (ObjectUtil.isNotEmpty(robotNos)) {
List<PositionMapItemDO> emptyMapItems = positionMapItems.stream()
.filter(v -> UseStatusEnum.FREE.getType().equals(v.getUseStatus()))
.filter(v -> UseStatusEnum.FREE.getType().equals(v.getUseStatus()))
.collect(Collectors.toList());
if (ObjectUtil.isNotEmpty(emptyMapItems)) {
for (PositionMapItemDO positionMapItem : emptyMapItems) {
@ -404,7 +411,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
List<TaskRobotNoLimittationAreaDTO> robotNoLimitationArea = pair.getLeft();
//前一个任务是仅取货
List<String> robotDoTake = getRobotDoTake(robots);
// List<String> robotDoTake = getRobotDoTake(robots);
for (RobotInformationDO robot : robots) {
taskService.chargeDone(robot.getRobotNo());
@ -445,10 +452,17 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
moveToPoint(pathPlanning, taskDetailDO);
}
if (ObjectUtil.isNotEmpty(robotDoTake) && ObjectUtil.isNotEmpty(taskDetailDO.getRobotNo())
&& robotDoTake.contains(taskDetailDO.getRobotNo())
&& !RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType())) {
log.info("机器人前一个任务是仅取货，当前任务非仅放货,所以当前任务不执行 :{}", taskDetailDO.getId());
String mac = informationService.getMacByRobotNo(taskDetailDO.getRobotNo());
String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + mac;
Object cargoDetected = redisUtil.get(cargoDetectedKey);
log.info("传感器是否按下 :{}", cargoDetected);
if (ObjectUtil.isEmpty(cargoDetected) || (RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))
&& !RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType()))) {
log.info("车机上报传感器为空, 或者 被按下且任务非仅放货任务 :{} ,任务id ：{}", taskDetailDO.getRobotNo(), taskDetailDO.getId());
continue;
} else if (!RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))
&& RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType())) {
log.info("仅放货任务,传感器未被按下，所以不执行任务 :{}, 任务id ：{}", taskDetailDO.getRobotNo(), taskDetailDO.getId());
continue;
}
@ -457,7 +471,11 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
robotNoLimitions = robotNoLimitationArea;
} else {
TaskRobotNoLimittationAreaDTO taskRobotNoLimittationAreaDTO = robotDoReleaseMap.get(taskDetailDO.getRobotNo());
robotNoLimitions = Arrays.asList(taskRobotNoLimittationAreaDTO);
if (ObjectUtil.isEmpty(taskRobotNoLimittationAreaDTO)) {
log.info("车辆没有能行走的区域 :{}", taskDetailDO.getRobotNo());
continue;
}
robotNoLimitions = Collections.singletonList(taskRobotNoLimittationAreaDTO);
}
if (ObjectUtil.isEmpty(robotNoLimitions)) {
@ -587,14 +605,14 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
}
}
if (positionMapDOS.size() == limitationAreaList.size()) {
log.info("车辆不能行走所有的区域所以不下发任务 :{}", robot.getRobotNo());
continue;
}
robotNoLimitationAreaDTO.setLimitationAreaList(limitationAreaList);
if (RobotStatusEnum.LAST_TASK_IS_TAKE.getType().equals(robot.getRobotStatus())) {
map.put(robot.getRobotNo(), robotNoLimitationAreaDTO);
} else {
robotNoLimitationAreaDTOS.add(robotNoLimitationAreaDTO);
map.put(robot.getRobotNo(), robotNoLimitationAreaDTO);
}
robotNoLimitationAreaDTOS.add(robotNoLimitationAreaDTO);
map.put(robot.getRobotNo(), robotNoLimitationAreaDTO);
}
return ImmutablePair.of(robotNoLimitationAreaDTOS, map);

21
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/aes/AESEncryptionUtil.java
View File

@ -48,4 +48,25 @@ public class AESEncryptionUtil {
String decryptedText = decrypt(encryptedText, key);
System.out.println("Decrypted Text: " + decryptedText);
}
/**
* 获取解密后数据
* @param str
* @param cameraSecretKey
* @return
*/
public static String getEncrypt(String str, String cameraSecretKey){
try {
AESEncryptionUtil.decrypt(str, cameraSecretKey);
return str;
} catch (Exception ignored) {
}
try {
return AESEncryptionUtil.encrypt(str, cameraSecretKey);
} catch (Exception e) {
throw new RuntimeException(e);
}
}
}