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Merge branch 'dev' of http://git.znkjfw.com/ak/zn-cloud-wcs into aikai

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This commit is contained in:
aikai 2025-03-31 10:21:19 +08:00
commit c7b55614bb
26 changed files with 292 additions and 32 deletions
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7
yudao-module-infra/yudao-module-infra-biz/src/main/java/cn/iocoder/yudao/module/infra/controller/admin/file/FileController.java
View File

@ -107,5 +107,10 @@ public class FileController {
return success(fileService.createBusinessReturnFile(file));
}
@PostMapping("/businessUploadFile")
@Operation(summary = "上传文件")
@PermitAll
public CommonResult<BusinessFileVO> businessUploadFile(@RequestParam("uploadFiles") MultipartFile file) throws Exception {
return success(fileService.businessUploadFile(file));
}
}

7
yudao-module-infra/yudao-module-infra-biz/src/main/java/cn/iocoder/yudao/module/infra/service/file/FileService.java
View File

@ -74,4 +74,11 @@ public interface FileService {
* @return
*/
BusinessFileVO createBusinessReturnFile(MultipartFile file) throws IOException;
/**
* 上传文件
* @param file
* @return
*/
BusinessFileVO businessUploadFile(MultipartFile file) throws IOException;
}

29
yudao-module-infra/yudao-module-infra-biz/src/main/java/cn/iocoder/yudao/module/infra/service/file/FileServiceImpl.java
View File

@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.infra.service.file;
import cn.hutool.core.io.IoUtil;
import cn.hutool.core.io.file.FileNameUtil;
import cn.hutool.core.lang.Assert;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.core.util.StrUtil;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.util.io.FileUtils;
@ -18,12 +19,16 @@ import cn.iocoder.yudao.module.infra.framework.file.core.client.FileClient;
import cn.iocoder.yudao.module.infra.framework.file.core.client.s3.FilePresignedUrlRespDTO;
import cn.iocoder.yudao.module.infra.framework.file.core.utils.FileTypeUtils;
import lombok.SneakyThrows;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.web.multipart.MultipartFile;
import javax.annotation.Resource;
import java.io.IOException;
import java.io.*;
import java.nio.file.Files;
import java.util.HashMap;
import java.util.UUID;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
import static cn.iocoder.yudao.module.infra.enums.ErrorCodeConstants.FILE_NOT_EXISTS;
@ -42,6 +47,9 @@ public class FileServiceImpl implements FileService {
@Resource
private FileMapper fileMapper;
@Value("${file.upload-path}")
private String uploadPath;
@Override
public PageResult<FileDO> getFilePage(FilePageReqVO pageReqVO) {
return fileMapper.selectPage(pageReqVO);
@ -190,4 +198,23 @@ public class FileServiceImpl implements FileService {
return fileDo;
}
@Override
public BusinessFileVO businessUploadFile(MultipartFile file) throws IOException {
File files = new File("");
String filePath = files.getCanonicalPath() + uploadPath;
String fileName = file.getOriginalFilename();
fileName = UUID.randomUUID() + "_" + fileName;
File dir = new File(filePath);
if (!dir.exists()) {
dir.mkdirs();
}
File fileObj = new File(filePath, fileName);
file.transferTo(fileObj);
// 把上传上来的文件存储到磁盘上：（指定一个路径）
// file.transferTo(uploadFile);
BusinessFileVO fileDo = new BusinessFileVO();
fileDo.setUrl(filePath+fileName);
return fileDo;
}
}

3
yudao-module-infra/yudao-module-infra-biz/src/main/resources/application-local.yaml
View File

@ -157,3 +157,6 @@ yudao:
mock-enable: true
access-log: # 访问日志的配置项
enable: false
file:
upload-path: /Users/Documents/image/ # 文件上传路径

3
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
View File

@ -178,7 +178,7 @@ public interface ErrorCodeConstants {
// ========== 库位 1-002-032-000 ==========
ErrorCode HOUSE_LOCATION_NOT_EXISTS = new ErrorCode(1-002-032-001, "库位不存在");
ErrorCode HOUSE_LOCATION_NO_EXIST = new ErrorCode(1-002-032-002, "库位编号重复");
ErrorCode HOUSE_LOCATION_HAVE_TASK = new ErrorCode(1-002-032-002, "库位存在处理中的任务");
// ========== 车辆类型 1-002-033-000==========
ErrorCode MODEL_NOT_EXISTS = new ErrorCode(1-002-033-001, "车辆类型不存在");
@ -191,6 +191,7 @@ public interface ErrorCodeConstants {
ErrorCode ROBOT_LAST_TASK_DELETE = new ErrorCode(1-002-034-005, "超过限制的时间,无法继续执行前一个任务");
ErrorCode ROBOT_NOT_FOUND_WAIT_ITEM = new ErrorCode(1-002-034-006, "没有空闲的停车点");
ErrorCode ROBOT_NOT_FOUND_FREE_CHARGING_STATION = new ErrorCode(1-002-034-007, "没有空闲的充电桩");
ErrorCode ROBOT_HAVE_DOING_TASK = new ErrorCode(1-002-034-010, "车辆有处理中的任务");
// ========== 机器人任务主表 1-002-035-000 ==========
ErrorCode TASK_NOT_EXISTS = new ErrorCode(1-002-035-001, "机器人任务主表不存在");

34
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
View File

@ -142,19 +142,13 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
/**
* 上一条明细设置为完成
*
* @param mac
* @return
*/
public RobotTaskDetailActionLogDO setLastLogDone(String mac){
public RobotTaskDetailActionLogDO setLastLogDone(String mac) {
String robotNo = robotInformationService.getRobotNoByMac(mac);
RobotTaskDetailActionLogDO lastLog = taskDetailActionLogService.getLastTaskByRobotNo(robotNo);
if (ObjectUtil.isNotEmpty(lastLog)) {
lastLog.setEndTime(LocalDateTime.now());
lastLog.setActionStatus(ActionStatusEnum.DONE.getType());
RobotTaskDetailActionLogSaveReqVO updateObj = BeanUtils.toBean(lastLog, RobotTaskDetailActionLogSaveReqVO.class);
taskDetailActionLogService.updateTaskDetailActionLog(updateObj);
}
return lastLog;
return taskDetailActionLogService.setPreviousTaskDoneByRobotNo(robotNo);
}
/**
@ -165,13 +159,17 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
RobotTaskDetailActionLogDO lastLog = setLastLogDone(robotCompleteTaskDTO.getMac());
if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
chargeDoing(robotCompleteTaskDTO, robotDoingActionKey,lastLog);
chargeDoing(robotCompleteTaskDTO, robotDoingActionKey, lastLog);
} else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
logOne.setActionMsg("车辆正在前往等待点");
logOne.setRobotNo(robotNo);
logOne.setStartTime(LocalDateTime.now());
logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
if (ObjectUtil.isNotEmpty(lastLog)) {
logOne.setCommandType(lastLog.getCommandType());
logOne.setTaskNo(lastLog.getTaskNo());
}
taskDetailActionLogMapper.insert(logOne);
redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
moveToWaitService.updateWaitStatus(robotCompleteTaskDTO.getOrderId(), WaitStatusEnum.GO_TO_WAIT.getType());
@ -181,10 +179,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
if ((PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()))
&& ObjectUtil.isNotEmpty(robotCompleteTaskDTO.getCommandStatus())
&& CommandTypeEnum.MOVE_POSES.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType())
&& RobotExecutionStateConstant.DONE.equals(robotCompleteTaskDTO.getCommandStatus().getExecutionState())) {
log.info("充电任务准备让充电设备自动伸出 :{}",robotCompleteTaskDTO.getOrderId());
&& ObjectUtil.isNotEmpty(robotCompleteTaskDTO.getCommandStatus())
&& CommandTypeEnum.MOVE_POSES.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType())
&& RobotExecutionStateConstant.DONE.equals(robotCompleteTaskDTO.getCommandStatus().getExecutionState())) {
log.info("充电任务准备让充电设备自动伸出 :{}", robotCompleteTaskDTO.getOrderId());
RobotChargeLogDO robotChargeLog = chargeLogMapper.selectById(robotCompleteTaskDTO.getOrderId());
deviceInformationService.chargeDeviceExtend(robotChargeLog.getDeviceNo());
}
@ -192,7 +190,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
sendStartDoActionToPP(robotCompleteTaskDTO.getCommandStatus(), robotCompleteTaskDTO.getMac(),
String.valueOf(robotCompleteTaskDTO.getOrderId()));
taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DOING.getType());
taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DOING.getType()
, null);
}
/**
@ -244,7 +243,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
.build();
chargeLogMapper.updateById(build);
}
taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType());
taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType(), LocalDateTime.now());
}
@ -329,7 +328,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
*
* @param robotCompleteTaskDTO
*/
private void chargeDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey,RobotTaskDetailActionLogDO lastLog) {
private void chargeDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey, RobotTaskDetailActionLogDO lastLog) {
RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
RobotCommandStateDTO commandStatus = robotCompleteTaskDTO.getCommandStatus();
Integer taskStatus = ChargeTaskStatusEnum.CHARGEING.getType();
@ -479,6 +478,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
logOne.setTaskStage(robotTaskDetailDO.getTaskStage());
logOne.setCommandType(PathTaskTypeEnum.getTaskType(robotTaskDetailDO.getTaskType()));
logOne.setTaskNo(robotTask.getTaskNo());
logOne.setActionStatus(ActionStatusEnum.DOING.getType());
logOne.setStartTime(LocalDateTime.now());
taskDetailActionLogMapper.insert(logOne);
redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapItemController.java
View File

@ -8,6 +8,7 @@ import cn.iocoder.yudao.framework.common.util.collection.CollectionUtils;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
import cn.iocoder.yudao.module.system.api.path.PathApi;
import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.NodeBaseDTO;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemRespVO;
@ -48,6 +49,9 @@ public class PositionMapItemController {
@Resource
private UserOperationLogService userOperationLogService;
@Resource
private PathApi pathApi;
// -- 前端给所有的节点信息 -
@PostMapping("/batchSaveOrEditOrDel")
@Operation(summary = "批量新增编辑删除节点")
@ -71,6 +75,8 @@ public class PositionMapItemController {
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
pathApi.pathInitData();
return success(true);
}

14
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java
View File

@ -122,4 +122,18 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
void releaseLocationLockList(@Param("locationIds") List<Long> locationIds,
@Param("taskId") Long taskId,
@Param("locationLock") Integer locationLock);
/**
* 更新线库名称
* @param laneId
* @param laneName
*/
void updateLocationLaneNameByLaneId(@Param("laneId") Long laneId,
@Param("laneName") String laneName);
/**
* 设置库位的线库id和名称为空
* @param laneId
*/
void updateLocationLaneNameEmptyByLaneId(@Param("laneId") Long laneId);
}

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java
View File

@ -8,6 +8,8 @@ import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLo
import org.apache.ibatis.annotations.Mapper;
import org.apache.ibatis.annotations.Param;
import java.time.LocalDateTime;
/**
* 车辆动作记录 Mapper
*
@ -36,5 +38,6 @@ public interface RobotTaskDetailActionLogMapper extends BaseMapperX<RobotTaskDet
* @param actionStatus
*/
void updateActionStatus(@Param("taskDetailId") Long taskDetailId,
@Param("actionStatus") int actionStatus);
@Param("actionStatus") int actionStatus,
@Param("time") LocalDateTime time);
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskDetailMapper.java
View File

@ -115,4 +115,11 @@ public interface RobotTaskDetailMapper extends BaseMapperX<RobotTaskDetailDO> {
* @param ids
*/
void updateDoneByIds(@Param("ids") List<Long> ids);
/**
* 查询此库位处理中的任务
* @param ids
* @return
*/
List<RobotTaskDetailDO> getDoingTaskDetailByLocationIds(@Param("ids") List<Long> ids);
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskMapper.java
View File

@ -79,4 +79,11 @@ public interface RobotTaskMapper extends BaseMapperX<RobotTaskDO> {
* @param ids
*/
void updateDoneByIds(@Param("ids") List<Long> ids);
/**
* 查询车辆当前在做的任务
* @param robotNo
* @return
*/
List<RobotTaskDO> selectDoingTaskByRobotNo(@Param("robotNo") String robotNo);
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/actionlog/ActionStatusEnum.java
View File

@ -9,7 +9,9 @@ public enum ActionStatusEnum {
UN_DO(0,"未开始"),
DOING(1,"正在进行"),
DONE(2,"完成");
DONE(2,"完成"),
CLOSE(3,"已取消"),
EXCEPTION(4,"异常");
/**
* 类型
*/

42
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/HouseLocationStrategyImpl.java
View File

@ -8,8 +8,11 @@ import cn.iocoder.yudao.framework.common.util.collection.CollectionUtils;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationRespVO;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.NodeBaseDTO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
import cn.iocoder.yudao.module.system.service.houselocation.HouseLocationService;
import cn.iocoder.yudao.module.system.service.robot.RobotTaskDetailService;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang3.StringUtils;
import org.springframework.stereotype.Component;
import javax.annotation.Resource;
@ -18,15 +21,21 @@ import java.util.ArrayList;
import java.util.List;
import java.util.stream.Collectors;
import static cn.hutool.core.collection.CollUtil.isNotEmpty;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.HOUSE_LOCATION_NO_EXIST;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.TASK_DETAIL_CHANGE_ROBOT;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception0;
import static cn.iocoder.yudao.framework.common.util.collection.CollectionUtils.convertList;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
import static com.baomidou.mybatisplus.core.toolkit.IdWorker.getId;
@Slf4j
@Component
public class HouseLocationStrategyImpl implements NodeProcessingStrategy {
@Resource
private HouseLocationService houseLocationService;
@Resource
private RobotTaskDetailService taskDetailService;
//库位编号格式 - 第一个通配符为地图id 第二个通配符为随机数四位最后一个通配符为库位点层数
private static final String KW_NO_FORMAT = "KW-%s-%s-%s";
@ -83,6 +92,35 @@ public class HouseLocationStrategyImpl implements NodeProcessingStrategy {
List<WareHouseLocationDO> oldList = houseLocationService.getByMapId(positionMapId);
List<List<WareHouseLocationDO>> list = CollectionUtils.compareLists(oldList, newList,
(oldVal, newVal) -> ObjectUtil.equal(oldVal.getId(), newVal.getId()));
if (isNotEmpty(list.get(2))) {
checkLocationHaveDoingTask(list);
}
houseLocationService.batchSaveOrEditOrDel(positionMapId, list);
}
/**
* 校验要删除的库位是否有处理中的任务
* @param list
*/
public void checkLocationHaveDoingTask(List<List<WareHouseLocationDO>> list) {
List<Long> ids = convertList(list.get(2), WareHouseLocationDO::getId);
List<RobotTaskDetailDO> details = taskDetailService.getDoingTaskDetailByLocationIds(ids);
if (ObjectUtil.isNotEmpty(details)) {
List<String> locationNos = new ArrayList<>();
for (RobotTaskDetailDO detail : details) {
if (ObjectUtil.isNotEmpty(detail.getFromLocationId()) && ids.contains(detail.getFromLocationId())) {
locationNos.add(detail.getFromLocationNo());
continue;
}
if (ObjectUtil.isNotEmpty(detail.getToLocationId()) && ids.contains(detail.getToLocationId())) {
locationNos.add(detail.getToLocationNo());
}
}
String join = StringUtils.join(locationNos, ",");
throw exception0(HOUSE_LOCATION_HAVE_TASK.getCode(), "以下库位存在处理中的任务:"+join,join);
}
}
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselane/WareHouseLaneServiceImpl.java
View File

@ -166,6 +166,7 @@ public class WareHouseLaneServiceImpl extends ServiceImpl<WareHouseLaneMapper, W
if (CollUtil.isNotEmpty(wareHouseLocationList)) {
houseLocationService.updateBatchById(wareHouseLocationList);
}
houseLocationService.updateLocationLaneNameByLaneId(createReqVO.getId(),createReqVO.getLaneName());
return new HouseLaneVO().setId(houseLane.getId()).setLaneName(houseLane.getLaneName());
}
@ -176,5 +177,6 @@ public class WareHouseLaneServiceImpl extends ServiceImpl<WareHouseLaneMapper, W
this.removeById(id);
// 点位中包含线库id的数据设为null
positionMapItemService.emptyLaneId(wareHouseLaneDO.getPositionMapId(), id);
houseLocationService.updateLocationLaneNameEmptyByLaneId(id);
}
}

14
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/HouseLocationService.java
View File

@ -9,6 +9,7 @@ import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLoca
import com.baomidou.mybatisplus.extension.service.IService;
import javax.validation.Valid;
import javax.validation.constraints.NotNull;
import java.util.List;
/**
@ -93,4 +94,17 @@ public interface HouseLocationService extends IService<WareHouseLocationDO> {
* @return
*/
List<WareHouseLocationDO> getLocationByLocationNumbers(List<Long> locationNumbers);
/**
* 更新线库名称
* @param laneId
* @param laneName
*/
void updateLocationLaneNameByLaneId(Long laneId, String laneName);
/**
* 设置线库名称和id为空
* @param id
*/
void updateLocationLaneNameEmptyByLaneId(Long laneId);
}

10
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/HouseLocationServiceImpl.java
View File

@ -143,6 +143,16 @@ public class HouseLocationServiceImpl extends ServiceImpl<WareHouseLocationMappe
.in(WareHouseLocationDO::getLocationNumber, locationNumbers));
}
@Override
public void updateLocationLaneNameByLaneId(Long laneId, String laneName) {
houseLocationMapper.updateLocationLaneNameByLaneId(laneId,laneName);
}
@Override
public void updateLocationLaneNameEmptyByLaneId(Long laneId) {
houseLocationMapper.updateLocationLaneNameEmptyByLaneId(laneId);
}
@Override
@Transactional(rollbackFor = Exception.class)
public void batchSaveOrEditOrDel(Long positionMapId, List<List<WareHouseLocationDO>> list) {

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskDetailActionLogService.java
View File

@ -58,6 +58,13 @@ public interface RobotTaskDetailActionLogService {
*/
void addLogInCache(List<RobotTaskDetailActionLogDO> logs);
/**
* 设置上一条数据完成（非主任务）
* @param robotNo
* @return
*/
RobotTaskDetailActionLogDO setPreviousTaskDoneByRobotNo(String robotNo);
/**
* 获取车辆的最后一条任务
* @param robotNo

17
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskDetailActionLogServiceImpl.java
View File

@ -1,5 +1,6 @@
package cn.iocoder.yudao.module.system.service.log;
import cn.hutool.core.util.ObjectUtil;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.controller.admin.log.vo.RobotTaskDetailActionLogPageReqVO;
@ -8,6 +9,7 @@ import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLo
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
import cn.iocoder.yudao.module.system.dal.mysql.log.RobotTaskDetailActionLogMapper;
import cn.iocoder.yudao.module.system.enums.robot.RobotTaskStatusEnum;
import cn.iocoder.yudao.module.system.enums.robot.actionlog.ActionStatusEnum;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import com.alibaba.fastjson.JSON;
import org.springframework.beans.factory.annotation.Value;
@ -16,6 +18,7 @@ import org.springframework.stereotype.Service;
import javax.annotation.Resource;
import org.springframework.validation.annotation.Validated;
import java.time.LocalDateTime;
import java.util.*;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
@ -94,6 +97,20 @@ public class RobotTaskDetailActionLogServiceImpl implements RobotTaskDetailActio
}
}
@Override
public RobotTaskDetailActionLogDO setPreviousTaskDoneByRobotNo(String robotNo) {
RobotTaskDetailActionLogDO lastLog = taskDetailActionLogMapper.selectOne(new LambdaQueryWrapperX<RobotTaskDetailActionLogDO>()
.eq(RobotTaskDetailActionLogDO::getRobotNo, robotNo)
.orderByDesc(RobotTaskDetailActionLogDO::getCreateTime)
.last("limit 1"));
if (ObjectUtil.isNotEmpty(lastLog) && ObjectUtil.isEmpty(lastLog.getCommandId())) {
lastLog.setEndTime(LocalDateTime.now());
lastLog.setActionStatus(ActionStatusEnum.DONE.getType());
taskDetailActionLogMapper.updateById(lastLog);
}
return lastLog;
}
@Override
public RobotTaskDetailActionLogDO getLastTaskByRobotNo(String robotNo) {
return taskDetailActionLogMapper.selectOne(new LambdaQueryWrapperX<RobotTaskDetailActionLogDO>()

12
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
View File

@ -258,14 +258,22 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
}
@Override
@Transactional(rollbackFor = Exception.class)
public void deleteInformation(Long id) {
// 校验存在
validateInformationExists(id);
RobotInformationDO robotInformationDO = informationMapper.selectById(id);
List<RobotTaskDO> list = taskMapper.selectDoingTaskByRobotNo(robotInformationDO.getRobotNo());
if (ObjectUtil.isNotEmpty(list)) {
throw exception(ROBOT_HAVE_DOING_TASK);
}
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction("删除车辆 " + robotInformationDO.getRobotNo())
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
// 校验存在
validateInformationExists(id);
// 删除
informationMapper.deleteById(id);
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailService.java
View File

@ -73,4 +73,11 @@ public interface RobotTaskDetailService {
* @return
*/
void manuallyCompleted(Long id);
/**
* 查询此库位处理中的任务
* @param ids 库位id
* @return
*/
List<RobotTaskDetailDO> getDoingTaskDetailByLocationIds(List<Long> ids);
}

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java
View File

@ -26,6 +26,7 @@ import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import java.util.Collections;
import java.util.List;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
@ -152,4 +153,9 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
String mac = informationService.getMacByRobotNo(robotTaskDetailDO.getRobotNo());
informationService.robotCloseTaskDetail(String.valueOf(taskDetailId),mac,"");
}
@Override
public List<RobotTaskDetailDO> getDoingTaskDetailByLocationIds(List<Long> ids) {
return taskDetailMapper.getDoingTaskDetailByLocationIds(ids);
}
}

19
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
View File

@ -1,6 +1,7 @@
package cn.iocoder.yudao.module.system.service.robot;
import cn.hutool.core.bean.BeanUtil;
import cn.hutool.core.date.DateUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.json.JSONUtil;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
@ -239,7 +240,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
.collect(Collectors.joining(" "));
if (ObjectUtil.isNotEmpty(robotNo)) {
throw exception0(TASK_CHECK_EXCEPTION.getCode(), "以下机器人已被禁用 ", robotNo);
throw exception0(TASK_CHECK_EXCEPTION.getCode(), "以下机器人已被禁用 " +robotNo, robotNo);
}
}
//校验任务号是否重复
@ -487,6 +488,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
Integer robotStatus = RobotStatusEnum.DOING.getType();
RobotChargeLogDO robotChargeLogs = null;
String taskNo ="";
if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getOrderType())
|| PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getOrderType())) {
robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getOrderId());
@ -495,13 +497,19 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
chargeLogMapper.updateById(robotChargeLogs);
robotStatus = RobotStatusEnum.CHARGE.getType();
if (ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId())) {
deviceNoMap.put(robotChargeLogs.getTaskDetailId(), robotChargeLogs.getDeviceNo());
}else {
String signDate = DateUtil.date().setTimeZone(TimeZone.getTimeZone("UTC")).toString("yyyyMMdd'T'HHmmss'Z'");
taskNo = "AUTO_CHARGE_"+ signDate;
}
detailId = ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId()) ? robotChargeLogs.getTaskDetailId() : null;
} else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(taskAssignDTO.getOrderType())) {
moveToWaitService.updateWaitStatusAndItrmId(taskAssignDTO.getOrderId(), WaitStatusEnum.GO_TO_WAIT.getType(), taskAssignDTO.getWaitId());
String signDate = DateUtil.date().setTimeZone(TimeZone.getTimeZone("UTC")).toString("yyyyMMdd'T'HHmmss'Z'");
taskNo = "MOVE_TO_WAIT_"+ signDate;
} else {
detailId = taskAssignDTO.getOrderId();
}
@ -511,7 +519,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
robotInformationMapper.updateRobotListStatus(taskAssignDTO.getRobotNo(), robotStatus, taskAssignDTO.getOrderId());
if (ObjectUtil.isNotEmpty(detailId)) {
setTaskDoing(detailId, taskAssignDTO.getRobotNo(), deviceNoMap, taskAssignDTO.getWaitId());
RobotTaskDO robotTaskDO = setTaskDoing(detailId, taskAssignDTO.getRobotNo(), deviceNoMap, taskAssignDTO.getWaitId());
taskNo = robotTaskDO.getTaskNo();
}
if (ObjectUtil.isNotEmpty(robotChargeLogs)) {
@ -522,6 +531,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
logOne.setCommandType(taskAssignDTO.getOrderType());
logOne.setActionMsg(taskAssignDTO.getRobotActionMsg());
logOne.setRobotNo(taskAssignDTO.getRobotNo());
logOne.setStartTime(LocalDateTime.now());
logOne.setTaskNo(taskNo);
logOne.setCommandId(-1L);
logOne.setTaskDetailId(taskAssignDTO.getOrderId());
taskDetailActionLogMapper.insert(logOne);
@ -621,7 +632,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
build.setHeight(height);
}
public RobotTaskDetailDO setTaskDoing(Long detailId, String robotNo, Map<Long, String> deviceNoMap,
public RobotTaskDO setTaskDoing(Long detailId, String robotNo, Map<Long, String> deviceNoMap,
String waitId) {
RobotTaskDetailDO taskDetailDO = taskDetailMapper.selectById(detailId);
taskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
@ -643,7 +654,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
RobotTaskDO task = taskMapper.selectById(taskDetailDO.getRobotTaskId());
task.setTaskStatus(RobotTaskStatusEnum.DOING.getType());
taskMapper.updateById(task);
return taskDetailDO;
return task;
}
/**

18
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationMapper.xml
View File

@ -506,6 +506,24 @@
#{id}
</foreach>
</update>
<update id="updateLocationLaneNameByLaneId">
update
ware_house_location
set
lane_name = #{laneName}
where
lane_id = #{laneId}
</update>
<update id="updateLocationLaneNameEmptyByLaneId">
update
ware_house_location
set
lane_name = null,
lane_id = null
where
lane_id = #{laneId}
</update>
<select id="selectByTypeAndId" resultMap="BaseResultMap">

3
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailActionLogMapper.xml
View File

@ -13,7 +13,8 @@
update
robot_task_detail_action_log
set
action_status = #{actionStatus}
action_status = #{actionStatus},
end_time = #{time}
where
task_detail_id = #{taskDetailId}
and command_id = '-1'

25
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailMapper.xml
View File

@ -246,7 +246,30 @@
t1.task_type = '5'
and t1.task_status = '2'
</select>
<select id="getDoingTaskDetailByLocationIds"
resultType="cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO">
select
t2.*
from
robot_task t1 left join robot_task_detail t2
on t1.id = t2.robot_task_id
where
t1.deleted = '0'
and t2.deleted = '0'
and t2.task_status in('0','1')
and t1.task_status in('0','1')
and (t2.to_location_id in
<foreach collection="ids" item="locationId" index="index" open="(" close=")"
separator=",">
#{locationId}
</foreach> or
t2.from_location_id in
<foreach collection="ids" item="locationId" index="index" open="(" close=")"
separator=",">
#{locationId}
</foreach>
)
</select>
<!--通过主键修改数据-->

16
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskMapper.xml
View File

@ -328,6 +328,22 @@
order by t1.create_time desc
</select>
<select id="selectDoingTaskByRobotNo"
resultType="cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO">
select
DISTINCT
t1.*
from
robot_task t1 left join robot_task_detail t2
on t1.id = t2.robot_task_id
where
t1.deleted = '0'
and t2.deleted = '0'
and t2.robot_no = #{robotNo}
and t1.task_status in ('0','1')
and t2.task_status in ('0','1')
</select>
<!--新增所有列-->
<insert id="insertEntity" keyProperty="id" useGeneratedKeys="true">