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车辆信息状态

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cbs 2025-02-13 15:57:19 +08:00
parent 12eb16047c
commit c381315892
6 changed files with 80 additions and 34 deletions
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19
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
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@ -19,6 +19,7 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.scheduling.annotation.Async;
import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.RestController;
@ -28,6 +29,8 @@ import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
import static cn.iocoder.yudao.module.system.config.SystemJobConfiguration.NOTIFY_THREAD_POOL_TASK_EXECUTOR;
@Slf4j
@RestController // 提供 RESTful API 接口，给 Feign 调用
@Validated
@ -48,12 +51,16 @@ public class RobotStatusApiImpl implements RobotStatusApi {
@Value("${zn.robot_position_cache_time:600}")
private Long robotPositionCacheTime;
@Value("${zn.robot_error_level_time:30}")
private Long robotErrorLevelTime;
/**
* 更新机器人点位/异常/能否做任务
* @param robotStatusDataDTO
* @return
*/
@Override
@Async(NOTIFY_THREAD_POOL_TASK_EXECUTOR)
public void robotStatusUpdate(RobotStatusDTO robotStatusDataDTO) {
TenantContextHolder.setTenantId(1L);
if (ObjectUtil.isEmpty(robotStatusDataDTO) || ObjectUtil.isEmpty(robotStatusDataDTO.getMac())) {
@ -99,7 +106,17 @@ public class RobotStatusApiImpl implements RobotStatusApi {
List<RobotWarnMsgDO> warnMsgDOS = new ArrayList<>();
//机器人异常等级
String errorLevelKey = RobotTaskChcheConstant.ROBOT_ERROR_LEVEL +robotStatusDataDTO.getMac();
Object errorLevel = redisUtil.get(errorLevelKey);
Integer level = ObjectUtil.isEmpty(errorLevel) ? 0 : Integer.valueOf(errorLevel.toString());
for (RobotStatusDataErrorDTO robotStatusData : errCode) {
if (level.intValue() < Integer.valueOf(robotStatusData.getCode_level()).intValue()) {
level = Integer.valueOf(robotStatusData.getCode_level());
}
List<RobotWarnCodeMappingDO> mappingDOS = warnCodeMapping.get(robotStatusData.getError_code());
if (ObjectUtil.isEmpty(mappingDOS)) {
log.info("当前告警类型查不到对应的告警信息 :{}",robotStatusData.getError_code());
@ -114,6 +131,8 @@ public class RobotStatusApiImpl implements RobotStatusApi {
.build();
warnMsgDOS.add(warnMsg);
}
redisUtil.set(errorLevelKey,level,robotErrorLevelTime);
warnMsgMapper.insertBatch(warnMsgDOS);
}
}

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java
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@ -22,4 +22,7 @@ public class RobotTaskChcheConstant {
//机器人充电模式 1:自动充电、2:机会充电、3:充满电 (拼接的是机器人编号)
public static String ROBOT_CHARGE_MODEL = "robot:information:charge:model";
//机器人异常等级 (拼接的是mac地址)
public static String ROBOT_ERROR_LEVEL = "robot:information:error:level";
}

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotInformationController.java
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@ -114,4 +114,12 @@ public class RobotInformationController {
return success(BeanUtils.toBean(result, RobotInformationRespVO.class));
}
@GetMapping("/list")
@Operation(summary = "获得车辆信息分页")
@PreAuthorize("@ss.hasPermission('robot:information:list')")
public CommonResult<PageResult<RobotInformationPageRespVO>> getRobotList(@Valid RobotInformationPageReqVO pageReqVO) {
pageReqVO.setPageSize(300);
PageResult<RobotInformationPageRespVO> pageResult = informationService.getInformationPage(pageReqVO);
return success(BeanUtils.toBean(pageResult, RobotInformationPageRespVO.class));
}
}

22
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationPageRespVO.java
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@ -36,8 +36,24 @@ public class RobotInformationPageRespVO {
@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）")
@Schema(description = "在线状态/离线状态（0：离线、1：在线）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@ExcelProperty("在线状态/离线状态（0：离线、1：在线）")
private Integer onlineStatus = 0;
@Schema(description = "车机状态（0：空闲、1：锁定、2:异常）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@ExcelProperty("车机状态（0：空闲、1：锁定、2:异常）")
private Integer robotEssenceStatus = 0;
@Schema(description = "任务状态（0：待命中、1：处理中、2:充电中）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@ExcelProperty("任务状态（0：待命中、1：处理中、2:充电中）")
private Integer robotTaskStatus = 0;
@Schema(description = "异常等级(0,1,2,3,4)", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@ExcelProperty("异常等级(0,1,2,3,4)")
private Integer robotCodeLevel = 0;
@Schema(description = "AGV状态（0：暂停且无任务、1：暂停(有处理中的任务)、2：任务中、3：待命）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@ExcelProperty("AGV状态（0：暂停且无任务、1：暂停(有处理中的任务)、2：任务中、3：待命）")
private Integer robotStatus;
@Schema(description = "自动充电电量")
@ -58,7 +74,7 @@ public class RobotInformationPageRespVO {
@Schema(description = "mac地址")
private String macAddress;
@Schema(description = "任务模式（0：拒收任务、1：正常）")
@Schema(description = "任务模式（0：拒收任务(锁定)、1：正常）")
private Integer robotTaskModel;
@Schema(description = "楼层/区域(json)")

57
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
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@ -171,38 +171,37 @@ public class RobotInformationServiceImpl implements RobotInformationService {
v.setElectricity(robotStatusDataPoseDTO.getBat_soc());
v.setFloor(robotStatusDataPoseDTO.getFloor());
v.setArea(robotStatusDataPoseDTO.getArea());
}else if (ObjectUtil.isEmpty(object)) {
//离线
v.setOnlineStatus(1);
}
if (RobotTaskModelEnum.REJECTION.getType().equals(v.getRobotTaskModel())) {
v.setRobotStatus(RobotInformationPageStatusEnum.DOLOCK.getType());
v.setMsg("车辆已经锁定");
}else if (ObjectUtil.isEmpty(object)) {
v.setRobotStatus(RobotInformationPageStatusEnum.OFFLINE.getType());
v.setMsg("车辆已经离线");
}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<RobotTaskDetailDO>()
.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(RobotInformationPageStatusEnum.CHARGE.getType());
v.setMsg("车辆正在充电");
}else {
v.setRobotStatus(RobotInformationPageStatusEnum.STANDBY.getType());
v.setMsg("车辆正在待命");
v.setRobotEssenceStatus(v.getRobotTaskModel());
//设置异常
String errorLevelKey = RobotTaskChcheConstant.ROBOT_ERROR_LEVEL +v.getMacAddress();
Object errorLevel = redisUtil.get(errorLevelKey);
if (ObjectUtil.isNotEmpty(errorLevel) && Integer.valueOf(errorLevel.toString()).intValue() >= 3) {
v.setRobotEssenceStatus(2);
}
if (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())) {
//待命中
v.setRobotTaskStatus(0);
v.setMsg("车辆正在待命中");
}else if (RobotStatusEnum.CHARGE.getType().equals(v.getRobotStatus())) {
//充电中
v.setRobotTaskStatus(2);
v.setMsg("车辆正在充电");
}else {
//任务中
v.setRobotTaskStatus(1);
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 if (RobotStatusEnum.DOING.getType().equals(v.getRobotStatus()) && ObjectUtil.isNotEmpty(action)) {
v.setRobotStatus(RobotInformationPageStatusEnum.INTASK.getType());
CommandTypeEnum commandType = CommandTypeEnum.getCommandType(String.valueOf(action));
if (ObjectUtil.isNotEmpty(commandType)) {
v.setMsg("车辆正在"+commandType.getMsg());
}
} else {
v.setRobotStatus(RobotInformationPageStatusEnum.FAULT.getType());
v.setMsg("车辆发生异常");
}
}

5
yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
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@ -227,6 +227,7 @@ zn:
lift_height: 0.1 #抬高托盘高度
move_height: 0.1 #行走高度
lane_auto_move: true #线库是否自动移库 true:线库执行自动移库 、false：线库关闭执行自动移库
robot_position_cache_time: 10 #机器人上报点位存储时间
robot_position_cache_time: 10 #机器人上报点位存储时间(秒)
cycle_do_auto_move: true #存在循环的任务，是否开启自动移库. true:存在循环任务，开启自动移库; false：有循环任务不自动移库
full_electricity: 100 #机器人充满电的电量
full_electricity: 100 #机器人充满电的电量
robot_error_level_time: 30 #机器人异常存储时间(秒)