From d29261e7b83740f4f84c3fab23e27c71f722c11c Mon Sep 17 00:00:00 2001 From: cbs <18617195505@163.com> Date: Wed, 5 Feb 2025 14:53:46 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9C=BA=E5=99=A8=E4=BA=BA=E7=8A=B6=E6=80=81?= =?UTF-8?q?=E4=B8=8A=E6=8A=A5=E3=80=81=E4=B8=8B=E5=8F=91=E4=BB=BB=E5=8A=A1?= =?UTF-8?q?=E8=BF=87=E6=BB=A4=E6=9C=BA=E5=99=A8=E4=BA=BA=E4=B8=8A=E6=8A=A5?= =?UTF-8?q?=E7=9A=84=E4=BF=A1=E6=81=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../module/mqtt/config/MqttCallBack.java | 9 +- .../api/robot/dto/RobotStatusDataPoseDTO.java | 2 + .../system/enums/ErrorCodeConstants.java | 3 + .../system/api/robot/RobotStatusApiImpl.java | 78 +++++++++++++-- .../robot/RobotTaskChcheConstant.java | 4 +- .../robot/RobotWarnCodeMappingController.java | 97 +++++++++++++++++++ .../vo/RobotWarnCodeMappingPageReqVO.java | 37 +++++++ .../robot/vo/RobotWarnCodeMappingRespVO.java | 43 ++++++++ .../vo/RobotWarnCodeMappingSaveReqVO.java | 30 ++++++ .../admin/robot/vo/RobotWarnMsgPageReqVO.java | 3 + .../admin/robot/vo/RobotWarnMsgRespVO.java | 4 + .../admin/robot/vo/RobotWarnMsgSaveReqVO.java | 3 + .../robot/RobotWarnCodeMappingDO.java | 51 ++++++++++ .../dal/dataobject/robot/RobotWarnMsgDO.java | 6 +- .../robot/RobotWarnCodeMappingMapper.java | 31 ++++++ .../system/enums/robot/RobotWarnType.java | 20 ++++ .../robot/RobotInformationServiceImpl.java | 1 + .../robot/RobotWarnCodeMappingService.java | 56 +++++++++++ .../RobotWarnCodeMappingServiceImpl.java | 75 ++++++++++++++ .../robot/job/DistributeTasksServiceImpl.java | 36 ++++++- .../src/main/resources/application-local.yaml | 3 +- .../robot/RobotWarnCodeMappingMapper.xml | 12 +++ .../mapper/robot/RobotWarnMsgMapper.xml | 12 +++ 23 files changed, 601 insertions(+), 15 deletions(-) create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotWarnCodeMappingController.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnCodeMappingPageReqVO.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnCodeMappingRespVO.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnCodeMappingSaveReqVO.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotWarnCodeMappingDO.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotWarnCodeMappingMapper.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotWarnType.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingService.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingServiceImpl.java create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnCodeMappingMapper.xml create mode 100644 yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnMsgMapper.xml diff --git a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttCallBack.java b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttCallBack.java index 01ad94da6..cf0a7cc20 100644 --- a/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttCallBack.java +++ b/yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttCallBack.java @@ -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()); + } } /** diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java index 719b6a24f..ca27b5e36 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java @@ -10,4 +10,6 @@ public class RobotStatusDataPoseDTO { public String y; public String x; public String yaw; + public String floor; + public String area; } diff --git a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java index e2a5ee87f..4263e0934 100644 --- a/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java +++ b/yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java @@ -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"); + } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java index 11dde6259..8387c06f0 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java @@ -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 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 warnCodes = + errCode.stream().map(RobotStatusDataErrorDTO::getError_code).collect(Collectors.toList()); + List robotWarnCodeMappingDOS = + warnCodeMappingMapper.selectList(new LambdaQueryWrapper() + .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> warnCodeMapping = + robotWarnCodeMappingDOS.stream().collect(Collectors.groupingBy(RobotWarnCodeMappingDO::getWarnCode)); + + List warnMsgDOS = new ArrayList<>(); + + for (RobotStatusDataErrorDTO robotStatusData : errCode) { + List 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); } - - } diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java index e12b5ca79..ce06d75f6 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java @@ -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"; diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotWarnCodeMappingController.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotWarnCodeMappingController.java new file mode 100644 index 000000000..9cdf50a94 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotWarnCodeMappingController.java @@ -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 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 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 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 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> getWarnCodeMappingPage(@Valid RobotWarnCodeMappingPageReqVO pageReqVO) { + PageResult 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 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)); + } + +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnCodeMappingPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnCodeMappingPageReqVO.java new file mode 100644 index 000000000..4463a149b --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnCodeMappingPageReqVO.java @@ -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; + +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnCodeMappingRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnCodeMappingRespVO.java new file mode 100644 index 000000000..f813545d5 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnCodeMappingRespVO.java @@ -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; + +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnCodeMappingSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnCodeMappingSaveReqVO.java new file mode 100644 index 000000000..d2cf62793 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnCodeMappingSaveReqVO.java @@ -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; + +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgPageReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgPageReqVO.java index 760e3aff4..0ca96b134 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgPageReqVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgPageReqVO.java @@ -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; diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgRespVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgRespVO.java index 366e326d7..8dbdf4367 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgRespVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgRespVO.java @@ -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; diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgSaveReqVO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgSaveReqVO.java index 7eb9c5aa9..aea3a1c21 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgSaveReqVO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgSaveReqVO.java @@ -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; diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotWarnCodeMappingDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotWarnCodeMappingDO.java new file mode 100644 index 000000000..dadac4bb2 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotWarnCodeMappingDO.java @@ -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; + +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotWarnMsgDO.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotWarnMsgDO.java index 42e1f0a29..119aff088 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotWarnMsgDO.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotWarnMsgDO.java @@ -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 */ diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotWarnCodeMappingMapper.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotWarnCodeMappingMapper.java new file mode 100644 index 000000000..ba4c668c7 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotWarnCodeMappingMapper.java @@ -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 { + + default PageResult selectPage(RobotWarnCodeMappingPageReqVO reqVO) { + return selectPage(reqVO, new LambdaQueryWrapperX() + .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)); + } + +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotWarnType.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotWarnType.java new file mode 100644 index 000000000..c6e5605c7 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotWarnType.java @@ -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; + +} diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java index 920cde5a8..8e4f4ca8d 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java @@ -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 ""; diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingService.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingService.java new file mode 100644 index 000000000..c7c6ab382 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingService.java @@ -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 getWarnCodeMappingPage(RobotWarnCodeMappingPageReqVO pageReqVO); + +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingServiceImpl.java new file mode 100644 index 000000000..a433c57a9 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingServiceImpl.java @@ -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 getWarnCodeMappingPage(RobotWarnCodeMappingPageReqVO pageReqVO) { + return warnCodeMappingMapper.selectPage(pageReqVO); + } + +} \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java index e2f2c66d0..c3030f23c 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java +++ b/yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java @@ -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 detailDongIds = robotTaskDetailMapper.getDoingTaskIds(); diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml index fdf19167c..e3b95b8cd 100644 --- a/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml @@ -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 \ No newline at end of file + 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 \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnCodeMappingMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnCodeMappingMapper.xml new file mode 100644 index 000000000..dd8c7e0da --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnCodeMappingMapper.xml @@ -0,0 +1,12 @@ + + + + + + + \ No newline at end of file diff --git a/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnMsgMapper.xml b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnMsgMapper.xml new file mode 100644 index 000000000..d62c3cef1 --- /dev/null +++ b/yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnMsgMapper.xml @@ -0,0 +1,12 @@ + + + + + + + \ No newline at end of file