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 557cd2bfb..24637987b 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 @@ -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 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 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); } } 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 021d27706..5646a3d48 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 @@ -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"; } 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 056a0893e..ee01f849e 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 @@ -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> getRobotList(@Valid RobotInformationPageReqVO pageReqVO) { + pageReqVO.setPageSize(300); + PageResult pageResult = informationService.getInformationPage(pageReqVO); + return success(BeanUtils.toBean(pageResult, RobotInformationPageRespVO.class)); + } } \ No newline at end of file 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 index 0033ac84c..4328f474a 100644 --- 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 @@ -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)") 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 6ccf44a78..a72e9e56a 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 @@ -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() - .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"); } } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml index bbb91d42c..ac1ff0fc5 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml @@ -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 \ No newline at end of file + 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) \ No newline at end of file