自动移动

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

@@ -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())
+        if (!PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
-                && !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;

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemPageReqVO.java

@@ -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;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemRespVO.java

@@ -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)")
+    @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.使用中)")
+    @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;
+
 }

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

@@ -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;
 }

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

@@ -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;

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapItemDO.java

@@ -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;
 
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/item/UseStatusEnum.java

@@ -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;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/redis/RobotCacheLockEnum.java

@@ -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"),

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java

@@ -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);
     }
 

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

@@ -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(robotTaskDetail.getReleaseId())) {
-            if (ObjectUtil.isNotEmpty(moveToWait)) {
+                positionMapItemService.setMapItemIdle(robotTaskDetail.getReleaseId());
-                positionMapItemService.setMapItemIdle(moveToWait.getPositionMapItemId());
             }
         } 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
+        pathPlanning.setWaitIds(Collections.singletonList(positionMapItems.getId() + ""));
-                .stream()
-                .map(u -> u.getId() + "")
-                .collect(Collectors.toList());
-        pathPlanning.setWaitIds(waitIds);
     }
 
 

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

@@ -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);
     }
 

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

@@ -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);
     }

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

@@ -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.robot.vo.RobotTaskDetailAddVO;
-import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.RobotPositionMapDTO;
 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
+    @Value("${zn.move-no:MOVE}")
-    private MoveToWaitMapper moveToWaitMapper;
+    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::getType, PositionMapItemEnum.STOP.getType()));
-                .eq(PositionMapItemDO::getUseStatus, ZeroOneEnum.ZERO.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>());
+        List<String> robotNos = robots.stream().map(RobotInformationDO::getRobotNo).collect(Collectors.toList());
-        Map<String, PositionMapDO> positionMap =
-                positionMaps.stream().collect(Collectors.toMap(v -> v.getFloor() + "_" + v.getArea(), Function.identity()));
 
-        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();
+        List<PositionMapItemDO> existMapItems = positionMapItems.stream()
-            Object floorAreaObject = redisUtil.get(floorAreaKey);
+                .filter(v -> ObjectUtil.isNotEmpty(v.getRobotNo()) && robotNos.contains(v.getRobotNo()))
-            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() + "")
                 .collect(Collectors.toList());
-        List<MoveToWaitDO> waits = list.stream()
+
-                .map(v -> {
+        //车辆直接分配的停车点集合
-                    MoveToWaitDO build = MoveToWaitDO.builder().robotNo(v.getRobotNo()).build();
+        List<PositionMapItemDO> robotMapItems = new ArrayList<>();
-                    return build;
+        if (ObjectUtil.isNotEmpty(existMapItems)) {
-                })
+
-                .collect(Collectors.toList());
+            for (PositionMapItemDO positionMapItem : positionMapItems) {
-        moveToWaitMapper.insertBatch(waits);
+                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

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/wait/MoveToWaitService.java

@@ -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);
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/wait/MoveToWaitServiceImpl.java

@@ -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);
-    }
 
 }

yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml

@@ -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

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

@@ -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:

yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml

@@ -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

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml

@@ -81,21 +81,9 @@
             <include refid="base_sql"></include>
         from
             ware_position_map_item
-        where deleted = '0'
+        where (position_map_id, actual_location_x,actual_location_y,type) IN
-        <foreach collection="list" item="item" index="index" open="(" close=")"
+        <foreach collection="list" item="item" open="(" separator=")," close=")">
-                 separator=",">
+            (#{item.positionMapId}, #{item.actualLocationX}, #{item.actualLocationY}, #{item.type})
-            <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>
         </foreach>
     </select>