From bf2fdaa023342bca39b5857e554baa0f63abeb2c Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Tue, 27 May 2025 17:50:19 +0800 Subject: [PATCH] =?UTF-8?q?3D=E7=89=A9=E6=96=99=E4=BF=A1=E6=81=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../api/robot/RemoteControllerProcessor.java | 10 +- .../api/robot/RemoteScheduledTasks.java | 36 ++++++ .../api/robot/vo/RobotInformationVO.java | 5 + .../api/robot/RobotReactiveStatusApiImpl.java | 19 ++- .../system/api/robot/RobotStatusApiImpl.java | 2 +- .../api/robot/RobotTaskStatusApiImpl.java | 101 ++++++++++++++- .../api/robot/processor/RequestProcessor.java | 3 +- .../processor/ThreeDRequestProcessor.java | 59 --------- .../api/robot/schedul/ScheduledTasks.java | 118 ++++++++++++++++++ .../system/api/robot/vo/RobotSkuInfoDTO.java | 17 +++ .../constant/area/FloorAreaConstant.java | 3 +- .../robot/RobotTaskChcheConstant.java | 3 + .../log/RobotTaskDetailActionLogMapper.java | 7 ++ .../service/robot/RobotTaskServiceImpl.java | 1 + .../robot/RobotTaskDetailActionLogMapper.xml | 12 ++ 15 files changed, 319 insertions(+), 77 deletions(-) create mode 100644 yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/robot/RemoteScheduledTasks.java delete mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/processor/ThreeDRequestProcessor.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/schedul/ScheduledTasks.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotSkuInfoDTO.java diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/robot/RemoteControllerProcessor.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/robot/RemoteControllerProcessor.java index 3a4a8804e..a4de8237c 100644 --- a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/robot/RemoteControllerProcessor.java +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/robot/RemoteControllerProcessor.java @@ -29,9 +29,9 @@ import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.REMOTE_ROB @Component @Slf4j public class RemoteControllerProcessor { - private final ConcurrentHashMap cache = new ConcurrentHashMap<>(); + public final ConcurrentHashMap cache = new ConcurrentHashMap<>(); - private final ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(1); + public final ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(1); @Value("${remote.msg}") private String defaultMsg; @@ -185,12 +185,12 @@ public class RemoteControllerProcessor { } - public RemoteControllerProcessor() { + /*public RemoteControllerProcessor() { // 每秒执行一次 - 处理并发送数据 - 避免数据丢失 scheduler.scheduleAtFixedRate(this::processAndSend, 150, 150, TimeUnit.MILLISECONDS); - } + }*/ - private void processAndSend() { + public void processAndSend() { if (ObjectUtil.isEmpty(cache)) { return; } diff --git a/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/robot/RemoteScheduledTasks.java b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/robot/RemoteScheduledTasks.java new file mode 100644 index 000000000..6e1d13280 --- /dev/null +++ b/yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/robot/RemoteScheduledTasks.java @@ -0,0 +1,36 @@ +package cn.iocoder.yudao.module.remote.api.robot; + +import lombok.extern.slf4j.Slf4j; +import org.springframework.scheduling.annotation.EnableScheduling; +import org.springframework.scheduling.annotation.Scheduled; +import org.springframework.stereotype.Component; + +import javax.annotation.Resource; +import java.util.concurrent.ExecutorService; +import java.util.concurrent.Executors; +import java.util.concurrent.TimeUnit; + +@EnableScheduling +@Component +@Slf4j +public class RemoteScheduledTasks { + + private static final ExecutorService fixedThreadPool = Executors.newFixedThreadPool(3); + + @Resource + private RemoteControllerProcessor remoteControllerProcessor; + + // 这个方法将每200毫秒执行一次 + @Scheduled(fixedDelay = 300, timeUnit = TimeUnit.MILLISECONDS) + public void executeTask() { + fixedThreadPool.execute(new Runnable() { + @Override + public void run() { + remoteControllerProcessor.processAndSend(); + } + }); + } + + + +} diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotInformationVO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotInformationVO.java index 0d93d450f..21827df63 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotInformationVO.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotInformationVO.java @@ -31,4 +31,9 @@ public class RobotInformationVO { * 车辆即将走的点位 */ private List data; + + /** + * 车辆身上的物料信息和数量 + */ + private Object skuInfo; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java index a77363d5d..7382dbe1a 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java @@ -7,6 +7,7 @@ import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO; import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataErrorDTO; import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO; import cn.iocoder.yudao.module.system.api.robot.vo.RobotReactiveStatusDTO; +import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant; import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant; import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO; import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO; @@ -64,7 +65,7 @@ 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()); @@ -73,8 +74,14 @@ public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi { FloorZoneDTO floorZone = new FloorZoneDTO(); if (ObjectUtil.isNotEmpty(o)) { floorZone = JSON.parseObject((String) o, FloorZoneDTO.class); - String oldFloorArea = floorZone.getFloor()+"-"+floorZone.getArea(); - redisUtil.hdel(oldFloorArea,robotNo); + String oldFloorArea = floorZone.getFloor() + "-" + floorZone.getArea(); + redisUtil.hdel(oldFloorArea, robotNo); + + String newFloorArea = data.getFloorZone().getFloor() + "-" + data.getFloorZone().getArea(); + String key = FloorAreaConstant.FLOOR_AREA_ROBOT + floorZone.getFloor() + "-" + floorZone.getArea(); + if (!oldFloorArea.equals(newFloorArea)) { + redisUtil.hdel(key, robotNo); + } } floorZone.setArea(data.getFloorZone().getArea()); @@ -84,8 +91,8 @@ public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi { redisUtil.set(floorAreaKey, JSON.toJSONString(floorZone)); Map map = new HashMap<>(); String value = floorZone.getFloor() + "-" + floorZone.getArea(); - map.put(robotNo,value); - redisUtil.hmset(value,map); + map.put(robotNo, value); + redisUtil.hmset(value, map); String speedKey = RobotTaskChcheConstant.ROBOT_SPEED_FORK_HEIGHT + robotNo; redisUtil.set(speedKey, message); @@ -158,7 +165,7 @@ public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi { warnMsgDOS.add(warnMsg); if (level < mappingDOS.getWarnLevel()) { - level = mappingDOS.getWarnLevel(); + level = mappingDOS.getWarnLevel(); msg = warnMsg.getWarnMsg(); } } 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 b5945f653..2f3816a78 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 @@ -105,7 +105,7 @@ public class RobotStatusApiImpl implements RobotStatusApi { Map map = new HashMap<>(); String value = FloorAreaConstant.FLOOR_AREA_ROBOT + floorZoneDTO.getFloor() + "-" + floorZoneDTO.getArea(); - map.put(robotNo, robotInformationVO); + map.put(robotStatusDataDTO.getMac(), JSON.toJSONString(robotInformationVO)); redisUtil.hmset(value, map, 20); // 合并请求 - 这里接受到的数据都丢给 RequestProcessor - 再整合数据通过WebSocket丢给前端 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 41b477523..4b7861dee 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 @@ -8,6 +8,7 @@ import cn.iocoder.yudao.module.mqtt.api.common.CommonApi; import cn.iocoder.yudao.module.system.api.path.vo.RobotClosePathPlantingDTO; 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.api.robot.vo.RobotSkuInfoDTO; import cn.iocoder.yudao.module.system.constant.CommonConstant; import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant; import cn.iocoder.yudao.module.system.constant.robot.RobotExecutionStateConstant; @@ -204,6 +205,19 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { */ private void robotTaskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) { setLastLogDone(robotCompleteTaskDTO.getOrderId()); + + //释放库位数据 + if (PathTaskTypeEnum.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType()) + || (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType()) + && CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType()))) { + releaseFromLocationAndSetRobotSkuInfo(robotCompleteTaskDTO); + } else if (PathTaskTypeEnum.RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType()) + || PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) { + releaseToLocation(robotCompleteTaskDTO); + redisUtil.del(RobotTaskChcheConstant.ROBOT_TASK_SKU_INFO + robotCompleteTaskDTO.getMac()); + } else { + redisUtil.del(RobotTaskChcheConstant.ROBOT_TASK_SKU_INFO + robotCompleteTaskDTO.getMac()); + } //todo 后面考虑下充电，车机目前对充电的逻辑未定义 if (PathTaskTypeEnum.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType()) || PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType()) @@ -228,7 +242,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { } if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()) - || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) { + || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) { RobotChargeLogDO build = RobotChargeLogDO .builder() .id(robotCompleteTaskDTO.getOrderId()) @@ -237,6 +251,85 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { chargeLogMapper.updateById(build); } taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType(), LocalDateTime.now()); + + } + + /** + * 释放放货库位 + * + * @param robotCompleteTaskDTO + */ + private void releaseToLocation(RobotCompleteTaskDTO robotCompleteTaskDTO) { + RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId()); + if (ObjectUtil.isEmpty(robotTaskDetailDO) || ObjectUtil.isEmpty(robotTaskDetailDO.getToLocationId())) { + return; + } + WareHouseLocationDO toWareHouseLocation = locationMapper.selectById(robotTaskDetailDO.getToLocationId()); + if (ObjectUtil.isEmpty(toWareHouseLocation)) { + return; + } + //查询最近一起取货任务 + WareHouseLocationDO fromWareHouseLocation = getFromLocation(robotTaskDetailDO); + if (ObjectUtil.isNotEmpty(fromWareHouseLocation)) { + toWareHouseLocation.setSkuNumber(fromWareHouseLocation.getSkuNumber()); + toWareHouseLocation.setSkuInfo(fromWareHouseLocation.getSkuInfo()); + } + toWareHouseLocation.setLocationLock(LocationLockEnum.YES.getType()); + toWareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.YES.getType()); + locationMapper.updateById(toWareHouseLocation); + } + + /** + * 查询最近一次取货任务 + * + * @param robotTaskDetailDO + * @return + */ + private WareHouseLocationDO getFromLocation(RobotTaskDetailDO robotTaskDetailDO) { + if (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(robotTaskDetailDO.getTaskType()) + && ObjectUtil.isNotEmpty(robotTaskDetailDO.getFromLocationId())) { + return locationMapper.selectById(robotTaskDetailDO.getFromLocationId()); + } + List actionLogs = taskDetailActionLogMapper.getLastTwoTask(robotTaskDetailDO.getRobotNo()); + if (ObjectUtil.isEmpty(actionLogs)) { + return null; + } + for (RobotTaskDetailActionLogDO actionLog : actionLogs) { + if (!robotTaskDetailDO.getId().equals(actionLog.getTaskDetailId())) { + RobotTaskDetailDO taskDetail = robotTaskDetailMapper.selectById(actionLog.getTaskDetailId()); + if (ObjectUtil.isEmpty(taskDetail) || !RobotTaskTypeEnum.TAKE.getType().equals(taskDetail.getTaskType()) + || ObjectUtil.isEmpty(taskDetail.getFromLocationId())) { + continue; + } + locationMapper.selectById(taskDetail.getFromLocationId()); + } + } + return null; + } + + /** + * 设置车辆上的物料信息，释放取货库位 + * + * @param robotCompleteTaskDTO + */ + private void releaseFromLocationAndSetRobotSkuInfo(RobotCompleteTaskDTO robotCompleteTaskDTO) { + RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId()); + if (ObjectUtil.isEmpty(robotTaskDetailDO) || ObjectUtil.isEmpty(robotTaskDetailDO.getFromLocationId())) { + return; + } + WareHouseLocationDO wareHouseLocationDO = locationMapper.selectById(robotTaskDetailDO.getFromLocationId()); + if (ObjectUtil.isEmpty(wareHouseLocationDO)) { + return; + } + RobotSkuInfoDTO robotSkuInfo = new RobotSkuInfoDTO(); + robotSkuInfo.setSkuNumber(wareHouseLocationDO.getSkuNumber()); + robotSkuInfo.setSkuInfo(wareHouseLocationDO.getSkuInfo()); + redisUtil.set(RobotTaskChcheConstant.ROBOT_TASK_SKU_INFO + robotCompleteTaskDTO.getMac(), JSON.toJSONString(robotSkuInfo)); + wareHouseLocationDO.setSkuInfo(null); + wareHouseLocationDO.setSkuNumber(0L); + wareHouseLocationDO.setLocationLock(LocationLockEnum.YES.getType()); + wareHouseLocationDO.setLocationUseStatus(LocationUseStatusEnum.NO.getType()); + locationMapper.updateById(wareHouseLocationDO); } @@ -445,8 +538,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { } } else if (PathTaskTypeEnum.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType()) - || PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType()) - || PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(robotCompleteTaskDTO.getOrderType())) { + || PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType()) + || PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(robotCompleteTaskDTO.getOrderType())) { if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) { logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo()); robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.MOVE.getType()); @@ -479,7 +572,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi { if (ObjectUtil.isNotEmpty(commandStatus) && CommandTypeEnum.MOVE_POSES.getType().equals(commandStatus.getCommandType()) && RobotExecutionStateConstant.DONE.equals(commandStatus.getExecutionState()) && (PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()) - || PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()))) { + || PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()))) { taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType(), LocalDateTime.now()); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/processor/RequestProcessor.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/processor/RequestProcessor.java index de23284ae..23b901fa1 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/processor/RequestProcessor.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/processor/RequestProcessor.java @@ -2,6 +2,7 @@ package cn.iocoder.yudao.module.system.api.robot.processor; import cn.hutool.core.map.MapUtil; import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi; +import com.alibaba.fastjson.JSON; import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Component; @@ -45,7 +46,7 @@ public class RequestProcessor { private void sendData(String map, Map 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, "map_push", data); } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/processor/ThreeDRequestProcessor.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/processor/ThreeDRequestProcessor.java deleted file mode 100644 index 13cbbdaf1..000000000 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/processor/ThreeDRequestProcessor.java +++ /dev/null @@ -1,59 +0,0 @@ -/* -package cn.iocoder.yudao.module.system.api.robot.processor; - -import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi; -import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant; -import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO; -import cn.iocoder.yudao.module.system.service.positionmap.PositionMapService; -import cn.iocoder.yudao.module.system.util.redis.RedisUtil; -import com.alibaba.fastjson.JSON; -import lombok.extern.slf4j.Slf4j; -import org.springframework.stereotype.Component; - -import javax.annotation.Resource; -import java.util.List; -import java.util.Map; -import java.util.concurrent.ConcurrentHashMap; -import java.util.concurrent.Executors; -import java.util.concurrent.ScheduledExecutorService; -import java.util.concurrent.TimeUnit; - -*/ -/** - * 3D推送车辆信息 - *//* - -@Component -@Slf4j -public class ThreeDRequestProcessor { - - private final ConcurrentHashMap> cache = new ConcurrentHashMap<>(); - private final ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(1); - - @Resource - private PositionMapService positionMapService; - - @Resource - private RedisUtil redisUtil; - - @Resource - public WebSocketSenderApi webSocketSenderApi; - - public ThreeDRequestProcessor() { - // 每秒执行一次 - 处理并发送数据 - 避免数据丢失 - scheduler.scheduleAtFixedRate(this::processAndSend, 300, 300, TimeUnit.MILLISECONDS); - } - - private void processAndSend() { - List allMap = positionMapService.getAllMap(); - for (PositionMapDO map : allMap) { - String key = FloorAreaConstant.FLOOR_AREA_ROBOT + map.getFloor() + "-" + map.getArea(); - Map data = redisUtil.hmget(key); - System.out.println("3D发送数据 "+ JSON.toJSONString(data)); - webSocketSenderApi.sendObject(key, "3d_map_robot", data); - } - } - - -} -*/ diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/schedul/ScheduledTasks.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/schedul/ScheduledTasks.java new file mode 100644 index 000000000..24eaa187b --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/schedul/ScheduledTasks.java @@ -0,0 +1,118 @@ +package cn.iocoder.yudao.module.system.api.robot.schedul; + +import cn.hutool.core.util.ObjectUtil; +import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder; +import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi; +import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO; +import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant; +import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant; +import cn.iocoder.yudao.module.system.controller.admin.robot.task.TaskAssignDTO; +import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO; +import cn.iocoder.yudao.module.system.service.positionmap.PositionMapService; +import cn.iocoder.yudao.module.system.util.redis.RedisUtil; +import com.alibaba.fastjson.JSON; +import lombok.extern.slf4j.Slf4j; +import org.springframework.scheduling.annotation.EnableScheduling; +import org.springframework.scheduling.annotation.Scheduled; +import org.springframework.stereotype.Component; + +import javax.annotation.Resource; +import java.util.HashMap; +import java.util.List; +import java.util.Map; +import java.util.concurrent.ExecutorService; +import java.util.concurrent.Executors; +import java.util.concurrent.TimeUnit; + +@EnableScheduling +@Component +@Slf4j +public class ScheduledTasks { + + @Resource + private PositionMapService positionMapService; + + @Resource + private RedisUtil redisUtil; + + @Resource + public WebSocketSenderApi webSocketSenderApi; + + private static final ExecutorService fixedThreadPool = Executors.newFixedThreadPool(3); + + // 这个方法将每200毫秒执行一次 + @Scheduled(fixedDelay = 300, timeUnit = TimeUnit.MILLISECONDS) + public void executeTask() { + fixedThreadPool.execute(new Runnable() { + @Override + public void run() { + sendData(); + } + }); + } + + public void sendData() { + TenantContextHolder.setTenantId(1L); + Object o = redisUtil.get(FloorAreaConstant.FLOOR_AREA_ALL); + List allMap = null; + if (ObjectUtil.isEmpty(o)) { + allMap = positionMapService.getAllMap(); + if (ObjectUtil.isEmpty(allMap)) { + return; + } + redisUtil.set(FloorAreaConstant.FLOOR_AREA_ALL,JSON.toJSONString(allMap),60); + }else { + allMap = JSON.parseArray(String.valueOf(o), PositionMapDO.class); + } + + for (PositionMapDO positionMap : allMap) { + String key = FloorAreaConstant.FLOOR_AREA_ROBOT + positionMap.getFloor() + "-" + positionMap.getArea(); + Map data = redisUtil.hmget(key); + if (ObjectUtil.isEmpty(data)) { + continue; + } + + Map map = new HashMap<>(); + data.forEach((k,v) ->{ + Object skuInfo = redisUtil.get(RobotTaskChcheConstant.ROBOT_TASK_SKU_INFO + k); + if (ObjectUtil.isNotEmpty(skuInfo)) { + RobotInformationVO informationVO = JSON.parseObject(v.toString(), RobotInformationVO.class); + informationVO.setSkuInfo(skuInfo); + map.put(k,informationVO); + }else { + map.put(k,v); + } + }); + +// log.info("3D发送数据:{}", JSON.toJSONString(map)); + webSocketSenderApi.sendObject(key, "3d_map_push", map); + } + } + + + + + + + + + + + + + + + + + + + + + + + + + + + +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotSkuInfoDTO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotSkuInfoDTO.java new file mode 100644 index 000000000..14be611e6 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotSkuInfoDTO.java @@ -0,0 +1,17 @@ +package cn.iocoder.yudao.module.system.api.robot.vo; + +import lombok.Data; + +@Data +public class RobotSkuInfoDTO { + + /** + * 物料信息 + */ + private String skuInfo; + + /** + * 物料数量 + */ + private Long skuNumber; +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/area/FloorAreaConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/area/FloorAreaConstant.java index 8ef840fac..f58e4616c 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/area/FloorAreaConstant.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/area/FloorAreaConstant.java @@ -6,7 +6,8 @@ public class FloorAreaConstant { //仅限给WEBSOCKET推送给前端使用，缓存15秒 public static String FLOOR_AREA_ROBOT = "floor:area:robot"; - + //所有的楼层区域 + public static String FLOOR_AREA_ALL = "floor:area:all"; } 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 dfc8480ce..f15b5c986 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 @@ -46,4 +46,7 @@ public class RobotTaskChcheConstant { //机器人开始空闲的时间 (拼接的是车辆编号robotNo) public static String ROBOT_LAST_FREE_TIME = "robot:last:free:time"; + + //机器人物料数量(拼接的是mac地址) + public static String ROBOT_TASK_SKU_INFO = "robot:task:sku:info"; } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java index 136baf389..70a73edb6 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java @@ -54,4 +54,11 @@ public interface RobotTaskDetailActionLogMapper extends BaseMapperX getUnStatisticsDurationLog(); + + /** + * 查询机器人最后两条任务 + * @param robotNo + * @return + */ + List getLastTwoTask(@Param("robotNo") String robotNo); } \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java index dc4460ced..1f585d631 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java @@ -547,6 +547,7 @@ public class RobotTaskServiceImpl extends ServiceImpl deviceNoMap = new HashMap<>(); Integer robotStatus = RobotStatusEnum.DOING.getType(); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailActionLogMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailActionLogMapper.xml index 9d4ad9ca1..ac165b399 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailActionLogMapper.xml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailActionLogMapper.xml @@ -50,4 +50,16 @@ and already_counted = '0' and create_time >= DATE_SUB(NOW(), INTERVAL 48 HOUR) + \ No newline at end of file