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cbs 2025-05-22 09:05:06 +08:00
parent 49ac409b44
commit c7dc602b7f
19 changed files with 190 additions and 197 deletions
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12
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
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@ -28,14 +28,12 @@ import cn.iocoder.yudao.module.system.enums.robot.actionlog.ActionStatusEnum;
import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeTaskStatusEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotStatusCodeEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
import cn.iocoder.yudao.module.system.enums.wait.WaitStatusEnum;
import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogService;
import cn.iocoder.yudao.module.system.service.path.PathPlanningService;
import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
import cn.iocoder.yudao.module.system.service.robot.RobotTaskDetailService;
import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
import cn.iocoder.yudao.module.system.service.wait.MoveToWaitService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import com.alibaba.fastjson.JSON;
import lombok.extern.slf4j.Slf4j;
@ -103,9 +101,6 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
@Resource
private RobotWarnMsgService warnMsgService;
@Resource
private MoveToWaitService moveToWaitService;
@Resource
private PathPlanningService pathPlanningService;
@ -183,7 +178,6 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
}
taskDetailActionLogService.createTaskDetailActionLog(logOne);
redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
moveToWaitService.updateWaitStatus(robotCompleteTaskDTO.getOrderId(), WaitStatusEnum.GO_TO_WAIT.getType());
} else {
taskDoing(robotCompleteTaskDTO, robotDoingActionKey);
}
@ -231,6 +225,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
//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())
|| PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
@ -248,8 +243,6 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
} else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType())) {
taskDone(robotCompleteTaskDTO);
}
} else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())) {
moveToWaitService.updateWaitStatus(robotCompleteTaskDTO.getOrderId(), WaitStatusEnum.REACH_WAIT.getType());
} else if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotChargeLogDO build = RobotChargeLogDO
.builder()
@ -334,8 +327,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
String solve = "";
String taskNo = "";
if (!PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())
&& !PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
if (!PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
&& ObjectUtil.isEmpty(msg)) {
taskNo = taskDetailService.getTaskNoByDetailId(robotCompleteTaskDTO.getOrderId());
solve = " 并且到任务列表关闭任务 " + taskNo;

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemPageReqVO.java
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@ -8,6 +8,7 @@ import lombok.EqualsAndHashCode;
import lombok.ToString;
import org.springframework.format.annotation.DateTimeFormat;
import javax.validation.constraints.NotEmpty;
import java.time.LocalDateTime;
import static cn.iocoder.yudao.framework.common.util.date.DateUtils.FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND;
@ -52,7 +53,9 @@ public class PositionMapItemPageReqVO extends PageParam {
@Schema(description = "排序的位置,越大越优先堆放")
private Long locationNumber;
@Schema(description = "等待点使用状态(0.空闲 1.使用中)")
@Schema(description = "等待点使用状态, 0:空闲 ,1:前往停车点(预占用停车点) ,2.使用中(已经在停车位上)")
private Integer useStatus;
@Schema(description = "AGV编号")
private String robotNo;
}

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemRespVO.java
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@ -70,8 +70,12 @@ public class PositionMapItemRespVO {
@ExcelProperty("排序的位置,越大越优先堆放")
private Long locationNumber;
@Schema(description = "等待点使用状态(0.空闲 1.使用中)")
@ExcelProperty("等待点使用状态(0.空闲 1.使用中)")
@Schema(description = "等待点使用状态, 0:空闲 ,1:前往停车点(预占用停车点) ,2.使用中(已经在停车位上)")
@ExcelProperty("等待点使用状态, 0:空闲 ,1:前往停车点(预占用停车点) ,2.使用中(已经在停车位上)")
private Integer useStatus;
@Schema(description = "AGV编号")
@ExcelProperty("等待点使用状态(0.空闲 1.使用中)")
private String robotNo;
}

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemSaveReqVO.java
View File

@ -43,6 +43,9 @@ public class PositionMapItemSaveReqVO {
@Schema(description = "排序的位置,越大越优先堆放")
private Long locationNumber;
@Schema(description = "等待点使用状态(0.空闲 1.使用中)")
@Schema(description = "等待点使用状态, 0:空闲 ,1:前往停车点(预占用停车点) ,2.使用中(已经在停车位上)")
private Integer useStatus;
@Schema(description = "AGV编号")
private String robotNo;
}

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailAddVO.java
View File

@ -9,6 +9,7 @@ import javax.validation.constraints.NotNull;
@Data
@Schema(description = "子列表")
public class RobotTaskDetailAddVO {
private Long id;
@Schema(description = "任务类型（1：取放货、2：停车、 3：充电、4：移动、5：仅取货、6：仅放货、7：扫描码、8：检测托盘类型、9:移动到点位）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@NotNull(message = "任务类型（1：取放货、2：停车、 3：充电、4：移动、5：仅取货、6：仅放货、7：扫描码、8：检测托盘类型、9:移动到点位）不能为空")
private Integer taskType;

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapItemDO.java
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@ -78,8 +78,12 @@ public class PositionMapItemDO extends BaseDO {
*/
private Long locationNumber;
/**
* 等待点使用状态(0.空闲 1.使用中)
* 等待点使用状态, 0:空闲 ,1:前往停车点(预占用停车点) ,2.使用中(已经在停车位上)
*/
private Integer useStatus;
/**
* AGV编号
*/
private String robotNo;
}

21
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/item/UseStatusEnum.java Normal file
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@ -0,0 +1,21 @@
package cn.iocoder.yudao.module.system.enums.item;
import lombok.AllArgsConstructor;
import lombok.Getter;
@Getter
@AllArgsConstructor
public enum UseStatusEnum {
FREE(0,"空闲"),
PRE_OCCUPANCY(1,"前往停车点(预占用停车点)"),
USEING(2,"使用中(已经在停车位上)");
/**
* 类型
*/
private final Integer type;
private final String msg;
}

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/redis/RobotCacheLockEnum.java
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@ -11,6 +11,7 @@ import lombok.Getter;
public enum RobotCacheLockEnum {
TASK_NO("task:robot:no", "任务号"),
MOVE_TASK_NO("task:robot:no:move", "移动任务号"),
ROBOT_TASK_ADD_LOCK("robot:task:add:lock", "所有创建机器人任务的锁"),
ROBOT_RCS_HEART_BEAT_LOCK("robot:rcs:heart:beat:lock", "RCS维持与车机心跳的锁"),
ROBOT_STATISTICS_DURATION_LOCK("robot:statistics:duration:lock", "统计车辆工作时长的锁"),

10
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java
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@ -6,6 +6,7 @@ import cn.iocoder.yudao.framework.common.pojo.PageResult;
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.mqtt.api.task.dto.Pose2ds;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionMapConditionDTO;
@ -15,6 +16,7 @@ import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItem
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum;
import cn.iocoder.yudao.module.system.enums.item.UseStatusEnum;
import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
@ -139,7 +141,13 @@ public class PositionMapItemServiceImpl extends ServiceImpl<PositionMapItemMappe
@Override
public void setMapItemIdle(Long id) {
PositionMapItemDO item = PositionMapItemDO.builder().id(id).useStatus(ZeroOneEnum.ZERO.getType()).build();
PositionMapItemDO positionMapItem = positionMapItemMapper.selectById(id);
//预占，说明是车子在前往这个点位的路上出故障了，需要把这个点位设置为未使用
if (!UseStatusEnum.PRE_OCCUPANCY.getType().equals(positionMapItem.getUseStatus())) {
return;
}
PositionMapItemDO item = PositionMapItemDO.builder().id(id).useStatus(UseStatusEnum.FREE.getType()).build();
positionMapItemMapper.updateById(item);
}

29
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
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@ -43,7 +43,6 @@ import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
import cn.iocoder.yudao.module.system.dal.dataobject.remote.RemoteControllerInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.*;
import cn.iocoder.yudao.module.system.dal.dataobject.wait.MoveToWaitDO;
import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
@ -54,6 +53,7 @@ import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import cn.iocoder.yudao.module.system.enums.device.DeviceTypeEnum;
import cn.iocoder.yudao.module.system.enums.device.DeviceUseStatusEnum;
import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum;
import cn.iocoder.yudao.module.system.enums.item.UseStatusEnum;
import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum;
import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeToRobotEnum;
import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
@ -72,7 +72,6 @@ import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
import cn.iocoder.yudao.module.system.service.robot.camera.RobotCameraService;
import cn.iocoder.yudao.module.system.service.robot.pathplanning.RobotPathPlanningService;
import cn.iocoder.yudao.module.system.service.wait.MoveToWaitService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import cn.iocoder.yudao.module.system.util.redis.RedissonUtils;
import com.alibaba.fastjson.JSON;
@ -131,9 +130,6 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
@Resource
private PositionMapItemService positionMapItemService;
@Resource
private MoveToWaitService moveToWaitService;
@Resource
private RobotTaskMapper taskMapper;
@ -1038,9 +1034,8 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
positionMapItemService.setMapItemIdle(robotTaskDetail.getToLocationId());
}
} else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(log.getCommandType())) {
MoveToWaitDO moveToWait = moveToWaitService.getMoveToWait(log.getTaskDetailId());
if (ObjectUtil.isNotEmpty(moveToWait)) {
positionMapItemService.setMapItemIdle(moveToWait.getPositionMapItemId());
if (ObjectUtil.isNotEmpty(robotTaskDetail.getReleaseId())) {
positionMapItemService.setMapItemIdle(robotTaskDetail.getReleaseId());
}
} else if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(log.getCommandType())
|| PathTaskTypeEnum.TAKE.getType().equals(log.getCommandType())
@ -1335,20 +1330,24 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
*/
private void moveToWaitTask(TaskToPathPlanningDTO pathPlanning, String robotNo) {
List<PositionMapItemDO> positionMapItems = positionMapItemMapper.selectList(new LambdaQueryWrapperX<PositionMapItemDO>()
PositionMapItemDO positionMapItems = positionMapItemMapper.selectOne(new LambdaQueryWrapperX<PositionMapItemDO>()
.eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType())
.eq(PositionMapItemDO::getUseStatus, ZeroOneEnum.ZERO.getType()));
.eq(PositionMapItemDO::getRobotNo, robotNo)
.last("limit 1"));
if (ObjectUtil.isEmpty(positionMapItems)) {
positionMapItems = positionMapItemMapper.selectOne(new LambdaQueryWrapperX<PositionMapItemDO>()
.eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType())
.eq(PositionMapItemDO::getUseStatus, UseStatusEnum.FREE.getType())
.last("limit 1"));
}
if (ObjectUtil.isEmpty(positionMapItems)) {
log.info("------没有空闲的停车点----- :{}", robotNo);
throw exception(ROBOT_NOT_FOUND_WAIT_ITEM);
}
List<String> waitIds = positionMapItems
.stream()
.map(u -> u.getId() + "")
.collect(Collectors.toList());
pathPlanning.setWaitIds(waitIds);
pathPlanning.setWaitIds(Collections.singletonList(positionMapItems.getId() + ""));
}

18
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
View File

@ -48,6 +48,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import cn.iocoder.yudao.module.system.enums.device.DeviceUseStatusEnum;
import cn.iocoder.yudao.module.system.enums.item.UseStatusEnum;
import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum;
import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
import cn.iocoder.yudao.module.system.enums.robot.*;
@ -158,9 +159,6 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
@Resource
private DeviceInformationMapper deviceInformationMapper;
@Resource
private MoveToWaitService moveToWaitService;
@Resource
private CommonApi commonApi;
@ -277,7 +275,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
if (ObjectUtil.isNotEmpty(pointList)) {
List<PositionMapItemDO> positionMapItemList = positionMapItemService.getPositionMapItemByIds(pointList);
List<Long> list = positionMapItemList.stream()
.filter(v -> ZeroOneEnum.ONE.getType().equals(v.getUseStatus()))
.filter(v -> !UseStatusEnum.FREE.getType().equals(v.getUseStatus()))
.map(PositionMapItemDO::getSortNum)
.collect(Collectors.toList());
if (ObjectUtil.isNotEmpty(list)) {
@ -576,10 +574,6 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
}
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();
}
@ -612,8 +606,6 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
}
taskDetailActionLogService.createTaskDetailActionLog(logOne);
// sendTaskToRobot(robotTaskDetailDO, taskAssignDTO);
robotWorkingHoursStatisticsService.createFreeTime(taskAssignDTO.getRobotNo());
}
@ -629,7 +621,9 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
actionLog.setEndTime(LocalDateTime.now());
taskDetailActionLogService.updateTaskDetailActionLogs(Collections.singletonList(actionLog));
}
if (ObjectUtil.isEmpty(actionLog) || !PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(actionLog.getCommandType())) {
//前一个任务是移动到点位或者移动到等待点，需要把点位状态改为空闲
if (ObjectUtil.isEmpty(actionLog) || (!PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(actionLog.getCommandType()))
&& !PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(actionLog.getCommandType())) {
return;
}
@ -639,7 +633,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
}
PositionMapItemSaveReqVO positionMapItemSaveReq = new PositionMapItemSaveReqVO();
positionMapItemSaveReq.setId(robotTaskDetail.getReleaseId());
positionMapItemSaveReq.setUseStatus(ZeroOneEnum.ZERO.getType());
positionMapItemSaveReq.setUseStatus(UseStatusEnum.FREE.getType());
positionMapItemService.updatePositionMapItem(positionMapItemSaveReq);
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
View File

@ -190,14 +190,14 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
if (ObjectUtil.isEmpty(montageTaskIds) && ObjectUtil.isEmpty(singleTaskIds)) {
log.info("暂无需要处理的主任务");
return pair;
return ImmutablePair.of(robots, null);
}
List<RobotTaskDetailDO> taskDetails = getTaskDetail(montageTaskIds, singleTaskIds);
if (taskDetails.isEmpty()) {
log.info("暂无需要处理的明细任务");
return pair;
return ImmutablePair.of(robots, null);
}
return ImmutablePair.of(robots, taskDetails);
}

220
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
View File

@ -1,36 +1,36 @@
package cn.iocoder.yudao.module.system.service.robot.pathplanning;
import cn.hutool.core.util.IdUtil;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.json.JSONUtil;
import cn.iocoder.yudao.framework.common.util.date.DateUtils;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
import cn.iocoder.yudao.module.mqtt.api.path.task.TaskLimitationAreaDTO;
import cn.iocoder.yudao.module.mqtt.api.path.task.TaskRobotNoLimittationAreaDTO;
import cn.iocoder.yudao.module.mqtt.api.path.task.TaskToPathPlanningDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
import cn.iocoder.yudao.module.system.constant.path.PathPlanningChcheConstant;
import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.RobotPositionMapDTO;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotChargeLogDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
import cn.iocoder.yudao.module.system.dal.dataobject.wait.MoveToWaitDO;
import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
import cn.iocoder.yudao.module.system.dal.mysql.wait.MoveToWaitMapper;
import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum;
import cn.iocoder.yudao.module.system.enums.item.UseStatusEnum;
import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum;
import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeToRobotEnum;
import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
import cn.iocoder.yudao.module.system.enums.robot.*;
import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeModelEnum;
import cn.iocoder.yudao.module.system.enums.robot.information.ChargeTypeEnum;
@ -93,8 +93,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
@Value("${zn.path_planning.task_chche_time:604800}")
private Long taskChcheTime;
@Resource
private MoveToWaitMapper moveToWaitMapper;
@Value("${zn.move-no:MOVE}")
private String moveTaskNo;
@Autowired
private RobotTaskMapper robotTaskMapper;
@ -175,7 +175,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
private void moveRobotToWait(List<RobotInformationDO> robots) {
robots = robots.stream()
.filter(v -> !v.getRobotStatus().equals(RobotStatusEnum.STAND_BY.getType()))
.filter(v -> v.getRobotStatus().equals(RobotStatusEnum.STAND_BY.getType()))
.collect(Collectors.toList());
if (ObjectUtil.isEmpty(robots)) {
log.info("------没有空闲的机器人可以去等待点-----");
@ -183,135 +183,123 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
}
List<PositionMapItemDO> positionMapItems = positionMapItemMapper.selectList(new LambdaQueryWrapperX<PositionMapItemDO>()
.eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType())
.eq(PositionMapItemDO::getUseStatus, ZeroOneEnum.ZERO.getType()));
.eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType()));
if (ObjectUtil.isEmpty(positionMapItems)) {
log.info("------没有空闲的停车点-----");
log.info("------没有设置停车点，无法派发空闲的车辆去停车-----");
return;
}
List<PositionMapDO> positionMaps = positionMapMapper.selectList(new LambdaQueryWrapperX<PositionMapDO>());
Map<String, PositionMapDO> positionMap =
positionMaps.stream().collect(Collectors.toMap(v -> v.getFloor() + "_" + v.getArea(), Function.identity()));
List<String> robotNos = robots.stream().map(RobotInformationDO::getRobotNo).collect(Collectors.toList());
List<RobotPositionMapDTO> list = new ArrayList<>();
for (RobotInformationDO robot : robots) {
String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + robot.getMacAddress();
Object object = redisUtil.get(pose2dKey);
RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
if (ObjectUtil.isEmpty(object) || ObjectUtil.isEmpty(robotStatusDataPoseDTO)) {
log.info("------此机器人没有点位信息------ :{}", robot.getRobotNo());
continue;
}
String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + robot.getMacAddress();
Object floorAreaObject = redisUtil.get(floorAreaKey);
FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
String mapKey = floorZoneDTO.getFloor() + "_" + floorZoneDTO.getArea();
PositionMapDO positionMapDO = positionMap.get(mapKey);
if (ObjectUtil.isEmpty(positionMapDO)) {
log.info("------此机器人没有匹配到楼层和区域------ :{}", robot.getRobotNo());
}
RobotPositionMapDTO build = RobotPositionMapDTO.builder()
.actualLocationX(robotStatusDataPoseDTO.getX())
.actualLocationY(robotStatusDataPoseDTO.getY())
.robotNo(robot.getRobotNo())
.positionMapId(positionMapDO.getId())
.type(PositionMapItemEnum.STOP.getType())
.build();
list.add(build);
}
if (ObjectUtil.isEmpty(list)) {
log.info("------没有需要移动到等待点的机器人------");
return;
}
//在等待点的车
List<PositionMapItemDO> existItems = positionMapItemMapper.selectInWaitList(list);
if (ObjectUtil.isEmpty(existItems)) {
robotToWait(list, positionMapItems);
} else {
robotToWaitFilterWait(list, positionMapItems, existItems);
}
}
/**
* 派部分车去停车点
*
* @param list 车辆
* @param freePositionMapItems 空闲点位
* @param existItems 已经有车的点位
*/
private void robotToWaitFilterWait(List<RobotPositionMapDTO> list, List<PositionMapItemDO> freePositionMapItems,
List<PositionMapItemDO> existItems) {
Map<String, RobotPositionMapDTO> robotNoPositionMap =
list.stream().collect(Collectors.toMap(v -> v.getActualLocationX() + "_"
+ v.getActualLocationY() + "_" + v.getPositionMapId(), Function.identity()));
Map<String, PositionMapItemDO> existItemsMap =
existItems.stream().collect(Collectors.toMap(v -> v.getActualLocationX() + "_"
+ v.getActualLocationY() + "_" + v.getPositionMapId(), Function.identity()));
List<RobotPositionMapDTO> needMoveToWaitList = new ArrayList<>();
robotNoPositionMap.forEach((key, value) -> {
PositionMapItemDO positionMapItemDO = existItemsMap.get(key);
if (ObjectUtil.isEmpty(positionMapItemDO)) {
needMoveToWaitList.add(value);
}
});
if (ObjectUtil.isEmpty(needMoveToWaitList)) {
log.info("没有需要移动到等待点的车辆");
return;
}
robotToWait(needMoveToWaitList, freePositionMapItems);
}
/**
* 派车去停车点
*
* @param list
* @param positionMapItems
*/
private void robotToWait(List<RobotPositionMapDTO> list, List<PositionMapItemDO> positionMapItems) {
if (positionMapItems.size() < list.size()) {
log.info("空闲停车点少于车辆数量");
list = list.subList(0, positionMapItems.size());
}
List<String> waitIds = positionMapItems
.stream()
.map(u -> u.getId() + "")
List<PositionMapItemDO> existMapItems = positionMapItems.stream()
.filter(v -> ObjectUtil.isNotEmpty(v.getRobotNo()) && robotNos.contains(v.getRobotNo()))
.collect(Collectors.toList());
List<MoveToWaitDO> waits = list.stream()
.map(v -> {
MoveToWaitDO build = MoveToWaitDO.builder().robotNo(v.getRobotNo()).build();
return build;
})
.collect(Collectors.toList());
moveToWaitMapper.insertBatch(waits);
//车辆直接分配的停车点集合
List<PositionMapItemDO> robotMapItems = new ArrayList<>();
if (ObjectUtil.isNotEmpty(existMapItems)) {
for (PositionMapItemDO positionMapItem : positionMapItems) {
robotNos.removeIf(v -> v.equals(positionMapItem.getRobotNo()));
if (UseStatusEnum.USEING.getType().equals(positionMapItem.getUseStatus())) {
continue;
}
positionMapItem.setUseStatus(UseStatusEnum.PRE_OCCUPANCY.getType());
robotMapItems.add(positionMapItem);
}
}
if (ObjectUtil.isNotEmpty(robotNos)) {
List<PositionMapItemDO> emptyMapItems = positionMapItems.stream()
.filter(v -> ObjectUtil.isEmpty(v.getRobotNo()))
.collect(Collectors.toList());
if (ObjectUtil.isNotEmpty(emptyMapItems)) {
for (PositionMapItemDO positionMapItem : emptyMapItems) {
if (ObjectUtil.isEmpty(robotNos)) {
break;
}
positionMapItem.setRobotNo(robotNos.get(0));
robotNos.removeIf(v -> v.equals(positionMapItem.getRobotNo()));
positionMapItem.setUseStatus(UseStatusEnum.PRE_OCCUPANCY.getType());
robotMapItems.add(positionMapItem);
}
}
}
if (ObjectUtil.isEmpty(robotMapItems)) {
log.info("车辆找不到合适的停车点,或者车辆都在停车点了,或者停车点不够用");
return;
}
Map<String, PositionMapItemDO> positionMap =
robotMapItems.stream().collect(Collectors.toMap(PositionMapItemDO::getRobotNo, Function.identity()));
Map<Long, Long> sortMap = positionMapItems.stream().collect(Collectors.toMap(PositionMapItemDO::getId, PositionMapItemDO::getSortNum));
//机器人不能行走的区域
List<TaskRobotNoLimittationAreaDTO> robotNoLimitationArea = getRobotNoLimitationArea(robots);
Map<String, TaskRobotNoLimittationAreaDTO> robotNoLimittationAreaDTOMap =
robotNoLimitationArea.stream().collect(Collectors.toMap(v -> v.getRobotNo(), Function.identity()));
List<TaskToPathPlanningDTO> pathPlanningList = new ArrayList<>();
for (MoveToWaitDO wait : waits) {
List<RobotTaskDetailAddVO> taskDetails = new ArrayList<>();
List<RobotTaskDO> tasks = new ArrayList<>();
for (PositionMapItemDO v : robotMapItems) {
RobotTaskDO task = new RobotTaskDO();
String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.MOVE_TASK_NO.getKey());
task.setTaskNo(moveTaskNo + DateUtils.getYearMonthDay() + incrementByKey);
task.setId(IdUtil.getSnowflakeNextId());
task.setCycleNumber(0L);
task.setRemainingCycleNumber(0L);
task.setStartTime(LocalDateTime.now());
tasks.add(task);
RobotTaskDetailAddVO detailAddVO = new RobotTaskDetailAddVO();
detailAddVO.setId(IdUtil.getSnowflakeNextId());
detailAddVO.setRobotTaskId(task.getId());
detailAddVO.setTaskType(RobotTaskTypeEnum.MOVE_TO_POINT.getType());
detailAddVO.setReleaseType(ReleaseTakeEnum.TO_LOCATION.getType());
detailAddVO.setReleaseId(v.getId());
detailAddVO.setToLocationNo(sortMap.get(v.getId())+"");
detailAddVO.setRobotNo(v.getRobotNo());
taskDetails.add(detailAddVO);
TaskToPathPlanningDTO pathPlanning = TaskToPathPlanningDTO.builder()
.orderId(String.valueOf(wait.getId()))
.orderId(detailAddVO.getId()+"")
.orderType(PathTaskTypeEnum.MOVE_TO_WAIT.getType())
.priority(1l)
.createTime(LocalDateTime.now())
.taskType(PathTaskTypeToRobotEnum.MOVE.getType())
.waitIds(waitIds)
.waitIds(Collections.singletonList(v.getId() + ""))
.build();
TaskRobotNoLimittationAreaDTO taskRobotNoLimittationAreaDTO = robotNoLimittationAreaDTOMap.get(v.getRobotNo());
List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = Arrays.asList(taskRobotNoLimittationAreaDTO);
pathPlanning.setRobotNoLimitationAreaDTOS(robotNoLimitions);
String key = PathPlanningChcheConstant.PATH_PLANNING_TASK + pathPlanning.getOrderId();
redisUtil.set(key, JSON.toJSONString(pathPlanning), taskChcheTime);
pathPlanningList.add(pathPlanning);
}
robotTaskMapper.insertBatch(tasks);
List<RobotTaskDetailDO> bean = BeanUtils.toBean(taskDetails, RobotTaskDetailDO.class);
robotTaskDetailMapper.insertBatch(bean);
positionMapItemMapper.updateById(robotMapItems);
log.info("派车去停车点--任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
}
@Override
public void sendChargeTaskToPP(List<RobotChargeLogDO> logs, List<RobotTaskDetailDO> taskDetailDOS,
List<RobotInformationDO> robots) {
@ -406,7 +394,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
List<PositionMapItemDO> positionMapItems = positionMapItemMapper.selectList(new LambdaQueryWrapperX<PositionMapItemDO>()
.eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType())
.eq(PositionMapItemDO::getUseStatus, ZeroOneEnum.ZERO.getType()));
.eq(PositionMapItemDO::getUseStatus, UseStatusEnum.FREE.getType()));
List<String> waitIds = null;
if (ObjectUtil.isNotEmpty(positionMapItems)) {
waitIds = positionMapItems

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/wait/MoveToWaitService.java
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@ -50,7 +50,6 @@ public interface MoveToWaitService {
*/
PageResult<MoveToWaitDO> getMoveToWaitPage(MoveToWaitPageReqVO pageReqVO);
void updateWaitStatus(Long orderId, Integer status);
void updateWaitStatusAndItrmId(Long orderId, Integer type, String waitId);
}

15
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/wait/MoveToWaitServiceImpl.java
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@ -71,21 +71,6 @@ public class MoveToWaitServiceImpl implements MoveToWaitService {
return moveToWaitMapper.selectPage(pageReqVO);
}
@Override
public void updateWaitStatus(Long orderId, Integer status) {
MoveToWaitDO updateObj = new MoveToWaitDO();
updateObj.setId(orderId);
updateObj.setWaitStatus(status);
moveToWaitMapper.updateById(updateObj);
}
@Override
public void updateWaitStatusAndItrmId(Long orderId, Integer status, String waitId) {
MoveToWaitDO updateObj = new MoveToWaitDO();
updateObj.setId(orderId);
updateObj.setPositionMapItemId(Long.valueOf(waitId));
updateObj.setWaitStatus(status);
moveToWaitMapper.updateById(updateObj);
}
}

3
yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml
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@ -185,7 +185,8 @@ justauth:
timeout: 24h # 超时时长，目前只对 Redis 缓存生效，默认 3 分钟
zn:
task-no: ZN #任务号开头
task-no: TASK #任务号开头
move-no: MOVE #自动移动任务号开头
camera_secret_key: A2C4rv7DY012c9ef #摄像头秘钥
do_cycle: true #是否开启循环
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

5
yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
View File

@ -220,7 +220,8 @@ map:
warn-path: /Users/aikai/Documents/json/ # 告警码值上传路径
zn:
task-no: ZN #任务号开头
task-no: TASK #任务号开头
move-no: MOVE #自动移动任务号开头
camera_secret_key: A2C4rv7DY012c9ef #摄像头秘钥
do_cycle: true #是否开启循环
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
@ -244,7 +245,7 @@ zn:
task_chche_time: 1209600 #任务缓存的时间， 默认一星期
is_simulation: true # 是否为仿真环境
send_robot_init_pose: true # 是否为发送默认的车辆所在地图和点位
restore_task_restart: false # 恢复任务是否全部重新执行 true:全部重新开始
restore_task_restart: true # 恢复任务是否全部重新执行 true:全部重新开始
logging:
file:

3
yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml
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@ -213,7 +213,8 @@ map:
warn-path: D:\project\rcs\json\ # 告警码值上传路径
zn:
task-no: ZN #任务号开头
task-no: TASK #任务号开头
move-no: MOVE #自动移动任务号开头
camera_secret_key: A2C4rv7DY012c9ef #摄像头秘钥
do_cycle: true #是否开启循环
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

18
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml
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@ -81,21 +81,9 @@
<include refid="base_sql"></include>
from
ware_position_map_item
where deleted = '0'
<foreach collection="list" item="item" index="index" open="(" close=")"
separator=",">
<if test="positionMapId != null">
and position_map_id = #{positionMapId}
</if>
<if test="actualLocationX != null and actualLocationX != ''">
and actual_location_x = #{actualLocationX}
</if>
<if test="actualLocationY != null and actualLocationY != ''">
and actual_location_y = #{actualLocationY},
</if>
<if test="type != null">
and type = #{type},
</if>
where (position_map_id, actual_location_x,actual_location_y,type) IN
<foreach collection="list" item="item" open="(" separator=")," close=")">
(#{item.positionMapId}, #{item.actualLocationX}, #{item.actualLocationY}, #{item.type})
</foreach>
</select>