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机器人状态上报、下发任务过滤机器人上报的信息

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This commit is contained in:
cbs 2025-02-05 14:53:46 +08:00
parent 64f0f0a32d
commit d29261e7b8
23 changed files with 601 additions and 15 deletions
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9
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttCallBack.java
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@ -38,8 +38,13 @@ public class MqttCallBack implements MqttCallback {
String msg = new String(mqttMessage.getPayload());
// log.info("[MQTT]接收当前消息为 :{}", msg);
MqttService mqttService = MqttFactory.getMqttFactory(topic);
mqttService.analysisMessage(msg);
try {
MqttService mqttService = MqttFactory.getMqttFactory(topic);
mqttService.analysisMessage(msg);
} catch (Exception e) {
log.info("消费失败的消息主题 :{},消息内容 :{}", topic, msg);
log.info("消费消息异常 :{}", e.getMessage());
}
}
/**

2
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java
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@ -10,4 +10,6 @@ public class RobotStatusDataPoseDTO {
public String y;
public String x;
public String yaw;
public String floor;
public String area;
}

3
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
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@ -220,4 +220,7 @@ public interface ErrorCodeConstants {
// ========== 机器人告警信息 1_002_040_001==========
ErrorCode WARN_MSG_NOT_EXISTS = new ErrorCode(1_002_040_001, "机器人告警信息不存在");
// ========== 机器人告警码值映射 1_002_041_001 ==========
ErrorCode WARN_CODE_MAPPING_NOT_EXISTS = new ErrorCode(1_002_041_001, "机器人告警码值映射不存在");
}

78
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
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@ -1,15 +1,31 @@
package cn.iocoder.yudao.module.system.api.robot;
import cn.hutool.core.util.ObjectUtil;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataErrorDTO;
import cn.iocoder.yudao.module.system.constant.robot.RobotStatusCodeConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnMsgDO;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnCodeMappingMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnMsgMapper;
import cn.iocoder.yudao.module.system.enums.robot.RobotWarnType;
import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.RestController;
import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
@Slf4j
@RestController // 提供 RESTful API 接口，给 Feign 调用
@ -19,6 +35,18 @@ public class RobotStatusApiImpl implements RobotStatusApi {
@Resource
private RedisUtil redisUtil;
@Autowired
private RobotInformationService robotInformationService;
@Resource
private RobotWarnCodeMappingMapper warnCodeMappingMapper;
@Resource
private RobotWarnMsgMapper warnMsgMapper;
@Value("${zn.robot_position_cache_time:600}")
private Long robotPositionCacheTime;
/**
* 更新机器人点位/异常/能否做任务
* @param robotStatusDataDTO
@ -26,23 +54,59 @@ public class RobotStatusApiImpl implements RobotStatusApi {
*/
@Override
public void robotStatusUpdate(RobotStatusDTO robotStatusDataDTO) {
TenantContextHolder.setTenantId(1L);
if (ObjectUtil.isNotNull(robotStatusDataDTO) || RobotStatusCodeConstant.OK.equals(robotStatusDataDTO.getStatus_code())
|| ObjectUtil.isEmpty(robotStatusDataDTO.getMac())) {
}
String doTaskKey = RobotTaskChcheConstant.ROBOT_DO_TASK+robotStatusDataDTO.getMac();
String haveTrayKey = RobotTaskChcheConstant.ROBOT_HAVE_TRAY+robotStatusDataDTO.getMac();
String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS +robotStatusDataDTO.getMac();
String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED +robotStatusDataDTO.getMac();
String pose2dKey = RobotTaskChcheConstant.ROBOT_POSE2D+robotStatusDataDTO.getMac();
redisUtil.set(doTaskKey, robotStatusDataDTO.getData().getTask_status(),10*60);
redisUtil.set(haveTrayKey,robotStatusDataDTO.getData().getCargo_detected(),10*60);
redisUtil.set(pose2dKey,String.valueOf(robotStatusDataDTO.getData().getCargo_detected()),10*60);
redisUtil.set(taskStatusKey, robotStatusDataDTO.getData().getTask_status(),robotPositionCacheTime);
redisUtil.set(cargoDetectedKey,robotStatusDataDTO.getData().getCargo_detected(),robotPositionCacheTime);
redisUtil.set(pose2dKey,String.valueOf(robotStatusDataDTO.getData().getPose2d()),robotPositionCacheTime);
if (ObjectUtil.isNotNull(robotStatusDataDTO.getData().getErr_code())) {
List<RobotStatusDataErrorDTO> errCode = robotStatusDataDTO.getData().getErr_code();
String robotNo = robotInformationService.getRobotNoByMac(robotStatusDataDTO.getMac());
if (ObjectUtil.isNull(robotNo)) {
log.info("查不到机器人编号 :{}",robotStatusDataDTO.getMac());
return;
}
List<String> warnCodes =
errCode.stream().map(RobotStatusDataErrorDTO::getError_code).collect(Collectors.toList());
List<RobotWarnCodeMappingDO> robotWarnCodeMappingDOS =
warnCodeMappingMapper.selectList(new LambdaQueryWrapper<RobotWarnCodeMappingDO>()
.in(RobotWarnCodeMappingDO::getWarnCode, warnCodes));
if (ObjectUtil.isEmpty(robotWarnCodeMappingDOS)) {
log.info("查不对应编号的告警信息 :{}", JSON.toJSONString(warnCodes));
return;
}
Map<String, List<RobotWarnCodeMappingDO>> warnCodeMapping =
robotWarnCodeMappingDOS.stream().collect(Collectors.groupingBy(RobotWarnCodeMappingDO::getWarnCode));
List<RobotWarnMsgDO> warnMsgDOS = new ArrayList<>();
for (RobotStatusDataErrorDTO robotStatusData : errCode) {
List<RobotWarnCodeMappingDO> mappingDOS = warnCodeMapping.get(robotStatusData.getError_code());
if (ObjectUtil.isEmpty(mappingDOS)) {
log.info("当前告警类型查不到对应的告警信息 :{}",robotStatusData.getError_code());
continue;
}
RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(Integer.valueOf(robotStatusData.getCode_level()))
.warnCode(robotStatusData.getError_code())
.robotNo(robotNo)
.warnType(RobotWarnType.ROBOT_WARN.getType())
.warnMsg(mappingDOS.get(0).getWarnMsg())
.warnSolve(mappingDOS.get(0).getWarnSolve())
.build();
warnMsgDOS.add(warnMsg);
}
warnMsgMapper.insertBatch(warnMsgDOS);
}
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java
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@ -5,10 +5,10 @@ public class RobotTaskChcheConstant {
public static String ROBOT_ELECTRICITY = "robot:information:electricity";
//机器人能否做任务
public static String ROBOT_DO_TASK = "robot:information:do:task";
public static String ROBOT_TASK_STATUS = "robot:information:task:status";
//机器人身上是否有货
public static String ROBOT_HAVE_TRAY = "robot:information:have:tray";
public static String ROBOT_CARGO_DETECTED = "robot:information:cargo:detected";
//机器人点位
public static String ROBOT_POSE2D = "robot:information:pose2d";

97
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotWarnCodeMappingController.java Normal file
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@ -0,0 +1,97 @@
package cn.iocoder.yudao.module.system.controller.admin.robot;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingRespVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
import cn.iocoder.yudao.module.system.service.robot.RobotWarnCodeMappingService;
import org.springframework.web.bind.annotation.*;
import javax.annotation.Resource;
import org.springframework.validation.annotation.Validated;
import org.springframework.security.access.prepost.PreAuthorize;
import io.swagger.v3.oas.annotations.tags.Tag;
import io.swagger.v3.oas.annotations.Parameter;
import io.swagger.v3.oas.annotations.Operation;
import javax.validation.constraints.*;
import javax.validation.*;
import javax.servlet.http.*;
import java.util.*;
import java.io.IOException;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.CommonResult;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils;
import cn.iocoder.yudao.framework.apilog.core.annotation.ApiAccessLog;
import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.*;
@Tag(name = "管理后台 - 机器人告警码值映射")
@RestController
@RequestMapping("/robot/warn-code-mapping")
@Validated
public class RobotWarnCodeMappingController {
@Resource
private RobotWarnCodeMappingService warnCodeMappingService;
@PostMapping("/create")
@Operation(summary = "创建机器人告警码值映射")
@PreAuthorize("@ss.hasPermission('robot:warn-code-mapping:create')")
public CommonResult<Long> createWarnCodeMapping(@Valid @RequestBody RobotWarnCodeMappingSaveReqVO createReqVO) {
return success(warnCodeMappingService.createWarnCodeMapping(createReqVO));
}
@PutMapping("/update")
@Operation(summary = "更新机器人告警码值映射")
@PreAuthorize("@ss.hasPermission('robot:warn-code-mapping:update')")
public CommonResult<Boolean> updateWarnCodeMapping(@Valid @RequestBody RobotWarnCodeMappingSaveReqVO updateReqVO) {
warnCodeMappingService.updateWarnCodeMapping(updateReqVO);
return success(true);
}
@DeleteMapping("/delete")
@Operation(summary = "删除机器人告警码值映射")
@Parameter(name = "id", description = "编号", required = true)
@PreAuthorize("@ss.hasPermission('robot:warn-code-mapping:delete')")
public CommonResult<Boolean> deleteWarnCodeMapping(@RequestParam("id") Long id) {
warnCodeMappingService.deleteWarnCodeMapping(id);
return success(true);
}
@GetMapping("/get")
@Operation(summary = "获得机器人告警码值映射")
@Parameter(name = "id", description = "编号", required = true, example = "1024")
@PreAuthorize("@ss.hasPermission('robot:warn-code-mapping:query')")
public CommonResult<RobotWarnCodeMappingRespVO> getWarnCodeMapping(@RequestParam("id") Long id) {
RobotWarnCodeMappingDO warnCodeMapping = warnCodeMappingService.getWarnCodeMapping(id);
return success(BeanUtils.toBean(warnCodeMapping, RobotWarnCodeMappingRespVO.class));
}
@GetMapping("/page")
@Operation(summary = "获得机器人告警码值映射分页")
@PreAuthorize("@ss.hasPermission('robot:warn-code-mapping:query')")
public CommonResult<PageResult<RobotWarnCodeMappingRespVO>> getWarnCodeMappingPage(@Valid RobotWarnCodeMappingPageReqVO pageReqVO) {
PageResult<RobotWarnCodeMappingDO> pageResult = warnCodeMappingService.getWarnCodeMappingPage(pageReqVO);
return success(BeanUtils.toBean(pageResult, RobotWarnCodeMappingRespVO.class));
}
@GetMapping("/export-excel")
@Operation(summary = "导出机器人告警码值映射 Excel")
@PreAuthorize("@ss.hasPermission('robot:warn-code-mapping:export')")
@ApiAccessLog(operateType = EXPORT)
public void exportWarnCodeMappingExcel(@Valid RobotWarnCodeMappingPageReqVO pageReqVO,
HttpServletResponse response) throws IOException {
pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
List<RobotWarnCodeMappingDO> list = warnCodeMappingService.getWarnCodeMappingPage(pageReqVO).getList();
// 导出 Excel
ExcelUtils.write(response, "机器人告警码值映射.xls", "数据", RobotWarnCodeMappingRespVO.class,
BeanUtils.toBean(list, RobotWarnCodeMappingRespVO.class));
}
}

37
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnCodeMappingPageReqVO.java Normal file
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@ -0,0 +1,37 @@
package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
import lombok.*;
import java.util.*;
import io.swagger.v3.oas.annotations.media.Schema;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
import org.springframework.format.annotation.DateTimeFormat;
import java.time.LocalDateTime;
import static cn.iocoder.yudao.framework.common.util.date.DateUtils.FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND;
@Schema(description = "管理后台 - 机器人告警码值映射分页 Request VO")
@Data
@EqualsAndHashCode(callSuper = true)
@ToString(callSuper = true)
public class RobotWarnCodeMappingPageReqVO extends PageParam {
@Schema(description = "告警等级 (1,2,3,4)")
private Integer warnLevel;
@Schema(description = "能不能继续做任务 (0:不能， 1:能)")
private Integer doTask;
@Schema(description = "告警编号")
private String warnCode;
@Schema(description = "告警信息")
private String warnMsg;
@Schema(description = "告警解决方法")
private String warnSolve;
@Schema(description = "创建时间")
@DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
private LocalDateTime[] createTime;
}

43
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnCodeMappingRespVO.java Normal file
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@ -0,0 +1,43 @@
package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.*;
import java.util.*;
import org.springframework.format.annotation.DateTimeFormat;
import java.time.LocalDateTime;
import com.alibaba.excel.annotation.*;
@Schema(description = "管理后台 - 机器人告警码值映射 Response VO")
@Data
@ExcelIgnoreUnannotated
public class RobotWarnCodeMappingRespVO {
@Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "15754")
@ExcelProperty("主键ID")
private Long id;
@Schema(description = "告警等级 (1,2,3,4)")
@ExcelProperty("告警等级 (1,2,3,4)")
private Integer warnLevel;
@Schema(description = "能不能继续做任务 (0:不能， 1:能)")
@ExcelProperty("能不能继续做任务 (0:不能， 1:能)")
private Integer doTask;
@Schema(description = "告警编号")
@ExcelProperty("告警编号")
private String warnCode;
@Schema(description = "告警信息")
@ExcelProperty("告警信息")
private String warnMsg;
@Schema(description = "告警解决方法")
@ExcelProperty("告警解决方法")
private String warnSolve;
@Schema(description = "创建时间", requiredMode = Schema.RequiredMode.REQUIRED)
@ExcelProperty("创建时间")
private LocalDateTime createTime;
}

30
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnCodeMappingSaveReqVO.java Normal file
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@ -0,0 +1,30 @@
package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.*;
import java.util.*;
import javax.validation.constraints.*;
@Schema(description = "管理后台 - 机器人告警码值映射新增/修改 Request VO")
@Data
public class RobotWarnCodeMappingSaveReqVO {
@Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "15754")
private Long id;
@Schema(description = "告警等级 (1,2,3,4)")
private Integer warnLevel;
@Schema(description = "能不能继续做任务 (0:不能， 1:能)")
private Integer doTask;
@Schema(description = "告警编号")
private String warnCode;
@Schema(description = "告警信息")
private String warnMsg;
@Schema(description = "告警解决方法")
private String warnSolve;
}

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgPageReqVO.java
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@ -21,6 +21,9 @@ public class RobotWarnMsgPageReqVO extends PageParam {
@Schema(description = "告警等级 (1,2,3,4)")
private Integer warnLevel;
@Schema(description = "告警类型 (1:告警, 2:用户操作)")
private Integer warnType;
@Schema(description = "告警编号")
private String warnCode;

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgRespVO.java
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@ -24,6 +24,10 @@ public class RobotWarnMsgRespVO {
@ExcelProperty("告警等级 (1,2,3,4)")
private Integer warnLevel;
@Schema(description = "告警类型 (1:告警, 2:用户操作)")
@ExcelProperty("告警类型 (1:告警, 2:用户操作)")
private Integer warnType;
@Schema(description = "告警编号")
@ExcelProperty("告警编号")
private String warnCode;

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgSaveReqVO.java
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@ -20,6 +20,9 @@ public class RobotWarnMsgSaveReqVO {
@Schema(description = "告警等级 (1,2,3,4)")
private Integer warnLevel;
@Schema(description = "告警类型 (1:告警, 2:用户操作)")
private Integer warnType;
@Schema(description = "告警编号")
private String warnCode;

51
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotWarnCodeMappingDO.java Normal file
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@ -0,0 +1,51 @@
package cn.iocoder.yudao.module.system.dal.dataobject.robot;
import lombok.*;
import java.util.*;
import java.time.LocalDateTime;
import java.time.LocalDateTime;
import com.baomidou.mybatisplus.annotation.*;
import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
/**
* 机器人告警码值映射 DO
*
* @author 陈宾顺
*/
@TableName("robot_warn_code_mapping")
@KeySequence("robot_warn_code_mapping_seq") // 用于 Oracle、PostgreSQL、Kingbase、DB2、H2 数据库的主键自增。如果是 MySQL 等数据库，可不写。
@Data
@EqualsAndHashCode(callSuper = true)
@ToString(callSuper = true)
@Builder
@NoArgsConstructor
@AllArgsConstructor
public class RobotWarnCodeMappingDO extends BaseDO {
/**
* 主键ID
*/
@TableId(type = IdType.ASSIGN_ID)
private Long id;
/**
* 告警等级 (1,2,3,4)
*/
private Integer warnLevel;
/**
* 能不能继续做任务 (0:不能， 1:能)
*/
private Integer doTask;
/**
* 告警编号
*/
private String warnCode;
/**
* 告警信息
*/
private String warnMsg;
/**
* 告警解决方法
*/
private String warnSolve;
}

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotWarnMsgDO.java
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@ -26,7 +26,7 @@ public class RobotWarnMsgDO extends BaseDO {
/**
* 主键ID
*/
@TableId
@TableId(type = IdType.ASSIGN_ID)
private Long id;
/**
* AGV编号
@ -36,6 +36,10 @@ public class RobotWarnMsgDO extends BaseDO {
* 告警等级 (1,2,3,4)
*/
private Integer warnLevel;
/**
* 告警类型 (1:告警, 2:用户操作)
*/
private Integer warnType;
/**
* 告警编号
*/

31
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotWarnCodeMappingMapper.java Normal file
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@ -0,0 +1,31 @@
package cn.iocoder.yudao.module.system.dal.mysql.robot;
import java.util.*;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingPageReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
import org.apache.ibatis.annotations.Mapper;
/**
* 机器人告警码值映射 Mapper
*
* @author 陈宾顺
*/
@Mapper
public interface RobotWarnCodeMappingMapper extends BaseMapperX<RobotWarnCodeMappingDO> {
default PageResult<RobotWarnCodeMappingDO> selectPage(RobotWarnCodeMappingPageReqVO reqVO) {
return selectPage(reqVO, new LambdaQueryWrapperX<RobotWarnCodeMappingDO>()
.eqIfPresent(RobotWarnCodeMappingDO::getWarnLevel, reqVO.getWarnLevel())
.eqIfPresent(RobotWarnCodeMappingDO::getDoTask, reqVO.getDoTask())
.eqIfPresent(RobotWarnCodeMappingDO::getWarnCode, reqVO.getWarnCode())
.eqIfPresent(RobotWarnCodeMappingDO::getWarnMsg, reqVO.getWarnMsg())
.eqIfPresent(RobotWarnCodeMappingDO::getWarnSolve, reqVO.getWarnSolve())
.betweenIfPresent(RobotWarnCodeMappingDO::getCreateTime, reqVO.getCreateTime())
.orderByDesc(RobotWarnCodeMappingDO::getId));
}
}

20
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotWarnType.java Normal file
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@ -0,0 +1,20 @@
package cn.iocoder.yudao.module.system.enums.robot;
import lombok.AllArgsConstructor;
import lombok.Getter;
/**
* robot_warn_msg的告警类型 (1:告警, 2:用户操作)
*/
@Getter
@AllArgsConstructor
public enum RobotWarnType {
ROBOT_WARN(1),//告警
USER_OPERATE(2);//用户操作
/**
* 类型
*/
private final Integer type;
}

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
View File

@ -200,6 +200,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
.eq(RobotInformationDO::getMacAddress, mac)
.last("limit 1"));
if (ObjectUtil.isNotEmpty(robotInformationDO)) {
redisUtil.set(RobotTaskChcheConstant.ROBOT_NO_MAPPING_MAC + mac,robotInformationDO.getRobotNo());
return robotInformationDO.getRobotNo();
}
return "";

56
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingService.java Normal file
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@ -0,0 +1,56 @@
package cn.iocoder.yudao.module.system.service.robot;
import java.util.*;
import javax.validation.*;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
/**
* 机器人告警码值映射 Service 接口
*
* @author 陈宾顺
*/
public interface RobotWarnCodeMappingService {
/**
* 创建机器人告警码值映射
*
* @param createReqVO 创建信息
* @return 编号
*/
Long createWarnCodeMapping(@Valid RobotWarnCodeMappingSaveReqVO createReqVO);
/**
* 更新机器人告警码值映射
*
* @param updateReqVO 更新信息
*/
void updateWarnCodeMapping(@Valid RobotWarnCodeMappingSaveReqVO updateReqVO);
/**
* 删除机器人告警码值映射
*
* @param id 编号
*/
void deleteWarnCodeMapping(Long id);
/**
* 获得机器人告警码值映射
*
* @param id 编号
* @return 机器人告警码值映射
*/
RobotWarnCodeMappingDO getWarnCodeMapping(Long id);
/**
* 获得机器人告警码值映射分页
*
* @param pageReqVO 分页查询
* @return 机器人告警码值映射分页
*/
PageResult<RobotWarnCodeMappingDO> getWarnCodeMappingPage(RobotWarnCodeMappingPageReqVO pageReqVO);
}

75
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingServiceImpl.java Normal file
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@ -0,0 +1,75 @@
package cn.iocoder.yudao.module.system.service.robot;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnCodeMappingMapper;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
import org.springframework.validation.annotation.Validated;
import org.springframework.transaction.annotation.Transactional;
import java.util.*;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.WARN_CODE_MAPPING_NOT_EXISTS;
/**
* 机器人告警码值映射 Service 实现类
*
* @author 陈宾顺
*/
@Service
@Validated
public class RobotWarnCodeMappingServiceImpl implements RobotWarnCodeMappingService {
@Resource
private RobotWarnCodeMappingMapper warnCodeMappingMapper;
@Override
public Long createWarnCodeMapping(RobotWarnCodeMappingSaveReqVO createReqVO) {
// 插入
RobotWarnCodeMappingDO warnCodeMapping = BeanUtils.toBean(createReqVO, RobotWarnCodeMappingDO.class);
warnCodeMappingMapper.insert(warnCodeMapping);
// 返回
return warnCodeMapping.getId();
}
@Override
public void updateWarnCodeMapping(RobotWarnCodeMappingSaveReqVO updateReqVO) {
// 校验存在
validateWarnCodeMappingExists(updateReqVO.getId());
// 更新
RobotWarnCodeMappingDO updateObj = BeanUtils.toBean(updateReqVO, RobotWarnCodeMappingDO.class);
warnCodeMappingMapper.updateById(updateObj);
}
@Override
public void deleteWarnCodeMapping(Long id) {
// 校验存在
validateWarnCodeMappingExists(id);
// 删除
warnCodeMappingMapper.deleteById(id);
}
private void validateWarnCodeMappingExists(Long id) {
if (warnCodeMappingMapper.selectById(id) == null) {
throw exception(WARN_CODE_MAPPING_NOT_EXISTS);
}
}
@Override
public RobotWarnCodeMappingDO getWarnCodeMapping(Long id) {
return warnCodeMappingMapper.selectById(id);
}
@Override
public PageResult<RobotWarnCodeMappingDO> getWarnCodeMappingPage(RobotWarnCodeMappingPageReqVO pageReqVO) {
return warnCodeMappingMapper.selectPage(pageReqVO);
}
}

36
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
View File

@ -7,6 +7,7 @@ import cn.iocoder.yudao.module.mqtt.api.task.RobotTaskApi;
import cn.iocoder.yudao.module.mqtt.api.task.dto.Pose2ds;
import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO;
import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskData;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
@ -17,9 +18,9 @@ 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.robot.*;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import com.alibaba.fastjson.JSON;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang3.tuple.ImmutableTriple;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
@ -72,6 +73,14 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
@Resource
private WareHouseLocationMapper locationMapper;
//货物到位传感器触发状态：被按下则 true，否则 false
private static Boolean CARGO_DETECTED = true;
//IDLE 和 RUNNING
private static String TASK_STATUS = "RUNNING";
@Resource
private RedisUtil redisUtil;
/**
* 下发搬运任务
*/
@ -112,7 +121,30 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
return pair;
}
//todo 还需要根据车机上报的信息，过滤掉不能用的机器人
for (RobotInformationDO robot : robots) {
String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS +robot.getMacAddress();
String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED +robot.getMacAddress();
Object taskStatus = redisUtil.get(taskStatusKey);
if (ObjectUtil.isEmpty(taskStatus) || TASK_STATUS.equals(taskStatus.toString())) {
robot.setRobotStatus(RobotStatusEnum.DOING.getType());
continue;
}
Object cargoDetected = redisUtil.get(cargoDetectedKey);
if (ObjectUtil.isEmpty(cargoDetected) || CARGO_DETECTED.equals(cargoDetected)) {
robot.setRobotStatus(RobotStatusEnum.DOING.getType());
}
}
robots = robots.stream()
.filter(v -> RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus()))
.collect(Collectors.toList());
if (robots.isEmpty()) {
log.info("暂无可用的机器人");
return pair;
}
//拼接任务id
List<Long> detailDongIds = robotTaskDetailMapper.getDoingTaskIds();

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

@ -226,4 +226,5 @@ zn:
parm: 5000 #等待时间
lift_height: 0.1 #抬高托盘高度
move_height: 0.1 #行走高度
lane_auto_move: true #线库是否自动移库 true:线库执行自动移库 、false：线库关闭执行自动移库
lane_auto_move: true #线库是否自动移库 true:线库执行自动移库 、false：线库关闭执行自动移库
robot_position_cache_time: 600 #机器人上报点位存储时间

12
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnCodeMappingMapper.xml Normal file
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@ -0,0 +1,12 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnCodeMappingMapper">
<!--
一般情况下，尽可能使用 Mapper 进行 CRUD 增删改查即可。
无法满足的场景，例如说多表关联查询，才使用 XML 编写 SQL。
代码生成器暂时只生成 Mapper XML 文件本身，更多推荐 MybatisX 快速开发插件来生成查询。
文档可见：https://www.iocoder.cn/MyBatis/x-plugins/
-->
</mapper>

12
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnMsgMapper.xml Normal file
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@ -0,0 +1,12 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnMsgMapper">
<!--
一般情况下，尽可能使用 Mapper 进行 CRUD 增删改查即可。
无法满足的场景，例如说多表关联查询，才使用 XML 编写 SQL。
代码生成器暂时只生成 Mapper XML 文件本身，更多推荐 MybatisX 快速开发插件来生成查询。
文档可见：https://www.iocoder.cn/MyBatis/x-plugins/
-->
</mapper>