车辆信息状态

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<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);
         }
     }

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";
 }

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<PageResult<RobotInformationPageRespVO>> getRobotList(@Valid RobotInformationPageReqVO pageReqVO) {
+        pageReqVO.setPageSize(300);
+        PageResult<RobotInformationPageRespVO> pageResult = informationService.getInformationPage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, RobotInformationPageRespVO.class));
+    }
 }

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")
+    @Schema(description = "在线状态/离线状态（0：离线、1：在线）", 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）")
+    @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)")

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.setRobotEssenceStatus(v.getRobotTaskModel());
-            v.setRobotStatus(RobotInformationPageStatusEnum.DOLOCK.getType());
+        //设置异常
-            v.setMsg("车辆已经锁定");
+        String errorLevelKey = RobotTaskChcheConstant.ROBOT_ERROR_LEVEL +v.getMacAddress();
-        }else if (ObjectUtil.isEmpty(object)) {
+        Object errorLevel = redisUtil.get(errorLevelKey);
-            v.setRobotStatus(RobotInformationPageStatusEnum.OFFLINE.getType());
+        if (ObjectUtil.isNotEmpty(errorLevel) && Integer.valueOf(errorLevel.toString()).intValue() >= 3) {
-            v.setMsg("车辆已经离线");
+            v.setRobotEssenceStatus(2);
-        }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>()
+        if (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())) {
-                    .eq(RobotTaskDetailDO::getRobotNo, v.getRobotNo())
+            //待命中
-                    .orderByDesc(RobotTaskDetailDO::getCreateTime)
+            v.setRobotTaskStatus(0);
-                    .last("limit 1"));
+            v.setMsg("车辆正在待命中");
-            if (ObjectUtil.isNotEmpty(robotTaskDetailDO)
+        }else if (RobotStatusEnum.CHARGE.getType().equals(v.getRobotStatus())) {
-                    && RobotTaskTypeEnum.CHARGE.getType().equals(robotTaskDetailDO.getTaskType())
+            //充电中
-                    && RobotTaskStatusEnum.DOING.getType().equals(robotTaskDetailDO.getTaskStatus())) {
+            v.setRobotTaskStatus(2);
-                v.setRobotStatus(RobotInformationPageStatusEnum.CHARGE.getType());
+            v.setMsg("车辆正在充电");
-                v.setMsg("车辆正在充电");
+        }else {
-            }else {
+            //任务中
-                v.setRobotStatus(RobotInformationPageStatusEnum.STANDBY.getType());
+            v.setRobotTaskStatus(1);
-                v.setMsg("车辆正在待命");
+            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");
         }
 
     }

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
+  robot_error_level_time: 30 #机器人异常存储时间(秒)