3D物料信息

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<String, RemoteControllerSocketDTO> cache = new ConcurrentHashMap<>();
+    public final ConcurrentHashMap<String, RemoteControllerSocketDTO> 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;
         }

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();
+            }
+        });
+    }
+
+
+
+}

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<String> data;
+
+    /**
+     * 车辆身上的物料信息和数量
+     */
+    private Object skuInfo;
 }

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;
@@ -75,6 +76,12 @@ public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi {
             floorZone = JSON.parseObject((String) o, FloorZoneDTO.class);
             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());

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<String, Object> 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

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())
@@ -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<RobotTaskDetailActionLogDO> 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);
     }
 
 

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<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, "map_push", data);
     }
 

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

@@ -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<String, ConcurrentHashMap<String, String>> 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<PositionMapDO> allMap = positionMapService.getAllMap();
-        for (PositionMapDO map : allMap) {
-            String key = FloorAreaConstant.FLOOR_AREA_ROBOT + map.getFloor() + "-" + map.getArea();
-            Map<Object, Object> data = redisUtil.hmget(key);
-            System.out.println("3D发送数据 "+ JSON.toJSONString(data));
-            webSocketSenderApi.sendObject(key, "3d_map_robot", data);
-        }
-    }
-
-
-}
-*/

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<PositionMapDO> 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<Object, Object> data = redisUtil.hmget(key);
+            if (ObjectUtil.isEmpty(data)) {
+                continue;
+            }
+
+            Map<Object, Object> 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);
+        }
+    }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+}

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;
+}

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";
 
 
 }

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";
 }

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<RobotTaskDet
      * @return
      */
     List<RobotTaskDetailActionLogDO> getUnStatisticsDurationLog();
+
+    /**
+     * 查询机器人最后两条任务
+     * @param robotNo
+     * @return
+     */
+    List<RobotTaskDetailActionLogDO> getLastTwoTask(@Param("robotNo") String robotNo);
 }

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<RobotTaskMapper, RobotTask
         String mac = robotInformationService.getMacByRobotNo(taskAssignDTO.getRobotNo());
         String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_QUERY_DOING_ACTION + mac;
         redisUtil.del(robotDoingActionKey);
+        redisUtil.del(RobotTaskChcheConstant.ROBOT_TASK_SKU_INFO + mac);
 
         Map<Long, String> deviceNoMap = new HashMap<>();
         Integer robotStatus = RobotStatusEnum.DOING.getType();

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)
     </select>
+    <select id="getLastTwoTask"
+            resultType="cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO">
+        select
+            *
+        from
+            robot_task_detail_action_log
+        where
+            command_id = '-1'
+          and deleted = '0'
+          and robot_no = #{robotNo}
+        order by create_time desc
+    </select>
 </mapper>