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配置充电时间

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cbs 2025-02-17 14:59:25 +08:00
parent 25082c5784
commit c850f2e315
8 changed files with 238 additions and 5 deletions
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11
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/config/vo/CommonConfigVO.java
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@ -39,4 +39,15 @@ public class CommonConfigVO {
@Schema(description = "遇障告警设置-等待时间")
private Integer warnWaitTime;
@Schema(description = "每天(0:未勾选(1次)、1:勾选)")
private Integer everyDay;
@Schema(description = "未勾选(1次)--开始时间")
@JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
private LocalDateTime onceStartTime;
@Schema(description = "未勾选(1次)--结束时间")
@JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
private LocalDateTime onceEndTime;
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/ZeroOneEnum.java → yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/common/ZeroOneEnum.java
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@ -1,4 +1,4 @@
package cn.iocoder.yudao.module.system.enums.robot;
package cn.iocoder.yudao.module.system.enums.common;
import lombok.AllArgsConstructor;
import lombok.Getter;

34
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java
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@ -2,9 +2,11 @@ package cn.iocoder.yudao.module.system.job.robot;
import cn.iocoder.yudao.framework.tenant.core.job.TenantJob;
import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
import cn.iocoder.yudao.module.system.service.robot.RobotTaskService;
import cn.iocoder.yudao.module.system.service.robot.job.AutoChargeService;
import cn.iocoder.yudao.module.system.service.robot.job.DistributeTasksService;
import cn.iocoder.yudao.module.system.service.robot.job.RobotTaskAutoMoveService;
import cn.iocoder.yudao.module.system.service.robot.pathplanning.RobotPathPlanningService;
import cn.iocoder.yudao.module.system.util.redis.RedissonUtils;
import com.xxl.job.core.handler.annotation.XxlJob;
import lombok.extern.slf4j.Slf4j;
@ -37,8 +39,11 @@ public class RobotJob {
@Autowired
private AutoChargeService autoChargeService;
//下发任务给车机
@XxlJob("DistributeTasksJob")
@Autowired
private RobotPathPlanningService robotPathPlanningService;
//下发任务给车机---废弃---因为这一版没有结合路径规划
// @XxlJob("DistributeTasksJob")
@TenantJob
public void distributeTasksJob() throws InterruptedException {
log.info("----下发任务给车机----");
@ -57,8 +62,8 @@ public class RobotJob {
}
}
//下发自动移库任务
@XxlJob("DistributeAutoMoveJob")
//下发自动移库任务--- 废弃---产品不要自动移库
// @XxlJob("DistributeAutoMoveJob")
@TenantJob
public void distributeAutoMoveJob() throws InterruptedException {
log.info("----下发自动移库任务----");
@ -101,6 +106,27 @@ public class RobotJob {
}
}
/**
* 下发任务给路径规划
*/
@XxlJob("DistributeTasksToPathPlanningJob")
@TenantJob
public void DistributeTasksToPathPlanningJob() {
RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
if (lock.tryLock()){
try {
log.info("----下发任务给路径规划----");
robotPathPlanningService.sendTaskToPP();
} catch (Exception e) {
log.error("下发任务给路径规划现异常 :{}",e);
} finally {
lock.unlock();
}
}else {
log.info("下发任务给路径规划未获取到锁");
throw exception(REDISSON_NOT_OBTAIN_LOCK);
}
}
}

71
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/config/CommonConfigServiceImpl.java
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@ -1,15 +1,23 @@
package cn.iocoder.yudao.module.system.service.config;
import cn.hutool.core.date.DateTime;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.json.JSONObject;
import cn.hutool.json.JSONUtil;
import cn.iocoder.yudao.module.system.controller.admin.config.vo.*;
import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
import cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper;
import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
import org.springframework.validation.annotation.Validated;
import org.springframework.transaction.annotation.Transactional;
import java.time.LocalDateTime;
import java.time.format.DateTimeFormatter;
import java.util.*;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
@ -35,17 +43,80 @@ public class CommonConfigServiceImpl implements CommonConfigService {
public Long createConfig(CommonConfigSaveReqVO createReqVO) {
// 插入
CommonConfigDO config = BeanUtils.toBean(createReqVO, CommonConfigDO.class);
if (ZeroOneEnum.ONE.getType().equals(config.getConfigType())) {
CommonConfigVO chargeConfig= JSONUtil.toBean(config.getConfigStr(),CommonConfigVO.class);
//一次
if (ZeroOneEnum.ZERO.getType().equals(chargeConfig.getEveryDay())
&& ObjectUtil.isNotEmpty(chargeConfig.getScheduleChargeStartTime())) {
setOnceStartTimeConfig(config,chargeConfig);
}
}
configMapper.insert(config);
// 返回
return config.getId();
}
/**
* 设置一次的开始时间和结束时间
* @param config
* @param chargeConfig
*/
private void setOnceStartTimeConfig(CommonConfigDO config, CommonConfigVO chargeConfig) {
LocalDateTime now = LocalDateTime.now();
LocalDateTime nowEnd = LocalDateTime.now();
if (now.isAfter(chargeConfig.getScheduleChargeEndTime())) {
now.plusDays(1);
nowEnd.plusDays(1);
}
LocalDateTime s = LocalDateTime.of(now.getYear(), now.getMonth(), now.getDayOfMonth(),
chargeConfig.getScheduleChargeStartTime().getHour(),
chargeConfig.getScheduleChargeStartTime().getMinute(), 00);
LocalDateTime e = LocalDateTime.of(nowEnd.getYear(), nowEnd.getMonth(), nowEnd.getDayOfMonth(),
chargeConfig.getScheduleChargeEndTime().getHour(),
chargeConfig.getScheduleChargeEndTime().getMinute(), 00);
DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
String onceStartTime = s.format(formatter);
String onceEndTime = e.format(formatter);
JSONObject jsonObject = new JSONObject(config.getConfigStr());
jsonObject.put("onceStartTime", onceStartTime);
jsonObject.put("onceEndTime", onceEndTime);
String str = JSON.toJSONString(jsonObject);
config.setConfigStr(str);
}
@Override
public void updateConfig(CommonConfigSaveReqVO updateReqVO) {
// 校验存在
validateConfigExists(updateReqVO.getId());
// 更新
CommonConfigDO updateObj = BeanUtils.toBean(updateReqVO, CommonConfigDO.class);
if (ZeroOneEnum.ONE.getType().equals(updateReqVO.getConfigType())) {
CommonConfigVO chargeConfig= JSONUtil.toBean(updateReqVO.getConfigStr(),CommonConfigVO.class);
//一次
if (ZeroOneEnum.ZERO.getType().equals(chargeConfig.getEveryDay())
&& ObjectUtil.isNotEmpty(chargeConfig.getScheduleChargeStartTime())) {
setOnceStartTimeConfig(updateObj,chargeConfig);
}else if(ZeroOneEnum.ONE.getType().equals(chargeConfig.getEveryDay()) ) {
JSONObject jsonObject = new JSONObject(updateObj.getConfigStr());
jsonObject.put("onceStartTime", "");
jsonObject.put("onceEndTime", "");
String str = JSON.toJSONString(jsonObject);
updateObj.setConfigStr(str);
}
}
configMapper.updateById(updateObj);
}

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java
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@ -19,6 +19,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotChargeLogMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
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.config.CommandConfigTypeEnum;
import cn.iocoder.yudao.module.system.enums.device.DeviceTypeEnum;
import cn.iocoder.yudao.module.system.enums.device.DeviceUseStatusEnum;
@ -155,6 +156,8 @@ public class AutoChargeServiceImpl implements AutoChargeService {
chargeLogMapper.insertBatch(logs);
//todo 发送给路PP
//改成异步
logs.stream().forEach(v -> {
String chargeModelKey = RobotTaskChcheConstant.ROBOT_CHARGE_MODEL +v.getRobotNo();

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/RobotTaskAutoMoveServiceImpl.java
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@ -17,6 +17,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskAutoMoveMapper;
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.robot.*;
import com.alibaba.fastjson.JSON;
import com.google.common.collect.Lists;

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningService.java Normal file
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@ -0,0 +1,5 @@
package cn.iocoder.yudao.module.system.service.robot.pathplanning;
public interface RobotPathPlanningService {
void sendTaskToPP();
}

116
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java Normal file
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@ -0,0 +1,116 @@
package cn.iocoder.yudao.module.system.service.robot.pathplanning;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.mqtt.api.task.RobotTaskApi;
import cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper;
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.robot.RobotInformationMapper;
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.util.redis.RedisUtil;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.validation.annotation.Validated;
import javax.annotation.Resource;
@Service
@Validated
public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
@Autowired
private RobotInformationMapper robotInformationMapper;
@Autowired
private RobotTaskMapper robotTaskMapper;
@Autowired
private RobotTaskDetailMapper robotTaskDetailMapper;
@Resource
private RobotTaskApi robotTaskApi;
@Resource
private PositionMapItemMapper positionMapItemMapper;
@Value("${zn.init_height:0.0}")
private double initHeight;
@Value("${zn.scan_height:0.4}")
private double scanHeight;
@Value("${zn.parm:5000}")
private Integer parm;
@Value("${zn.lift_height:0.1}")
private double liftHeight;
@Value("${zn.move_height:0.1}")
private double moveHeight;
@Value("${zn.full_electricity:100}")
private String fullElectricity;
@Resource
private CommonConfigMapper configMapper;
@Resource
private WareHouseLocationMapper locationMapper;
@Resource
private RedisUtil redisUtil;
/**
* 下发任务给PP
*/
@Override
@Transactional(rollbackFor = Exception.class)
public void sendTaskToPP() {
TenantContextHolder.setTenantId(1L);
}
}