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充电任务优化

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cbs 2025-05-22 16:23:33 +08:00
parent d081728bb3
commit dc4a221b20
9 changed files with 133 additions and 104 deletions
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3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java
View File

@ -43,6 +43,9 @@ public class RobotGenericsStatusApiImpl implements RobotGenericsStatusApi {
if (ObjectUtil.isNotEmpty(batSoc)) {
String[] split = batSoc.split("\\.");
batSoc = split[1].substring(0,2);
if (batSoc.startsWith("0")) {
batSoc = batSoc.substring(1);
}
redisUtil.set(socKey,batSoc);
}
}

64
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
View File

@ -157,30 +157,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
* @param robotCompleteTaskDTO
*/
private void robotTaskDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey) {
String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
RobotTaskDetailActionLogDO lastLog = setLastLogDone(robotCompleteTaskDTO.getOrderId());
if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
chargeDoing(robotCompleteTaskDTO, robotDoingActionKey, lastLog);
} else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotTaskDetailActionLogSaveReqVO logOne = new RobotTaskDetailActionLogSaveReqVO();
logOne.setActionMsg("车辆正在前往等待点");
logOne.setRobotNo(robotNo);
logOne.setStartTime(LocalDateTime.now());
logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
if (ObjectUtil.isNotEmpty(lastLog)) {
logOne.setCommandType(lastLog.getCommandType());
logOne.setTaskNo(lastLog.getTaskNo());
}
Long mapId = robotInformationService.getRobotMapIdByRobotNo(robotNo);
if (ObjectUtil.isNotEmpty(mapId)) {
logOne.setPositionMapId(mapId);
}
taskDetailActionLogService.createTaskDetailActionLog(logOne);
redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
} else {
taskDoing(robotCompleteTaskDTO, robotDoingActionKey);
}
if ((PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()))
@ -197,6 +175,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DOING.getType()
, null);
if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
chargeDoing(robotCompleteTaskDTO);
}
}
/**
@ -243,7 +225,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
} else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType())) {
taskDone(robotCompleteTaskDTO);
}
} else if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
}
if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotChargeLogDO build = RobotChargeLogDO
.builder()
.id(robotCompleteTaskDTO.getOrderId())
@ -355,19 +340,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
*
* @param robotCompleteTaskDTO
*/
private void chargeDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey, RobotTaskDetailActionLogDO lastLog) {
RobotTaskDetailActionLogSaveReqVO logOne = new RobotTaskDetailActionLogSaveReqVO();
private void chargeDoing(RobotCompleteTaskDTO robotCompleteTaskDTO) {
RobotCommandStateDTO commandStatus = robotCompleteTaskDTO.getCommandStatus();
Integer taskStatus = ChargeTaskStatusEnum.CHARGEING.getType();
if (ObjectUtil.isNotEmpty(commandStatus) && CommandTypeEnum.MOVE_POSES.getType().equals(commandStatus.getCommandType())) {
RobotChargeLogDO robotChargeLogDO = chargeLogMapper.selectById(robotCompleteTaskDTO.getOrderId());
logOne.setActionMsg("车辆正在前往充电点" + robotChargeLogDO.getDeviceNo());
logOne.setTaskStage(RobotTaskStageEnum.MOVE.getType());
taskStatus = ChargeTaskStatusEnum.DOING.getType();
} else if (ObjectUtil.isNotEmpty(commandStatus)) {
logOne.setActionMsg("车辆正在充电");
logOne.setTaskStage(RobotTaskStageEnum.CHARGEING.getType());
}
//编辑地图会判断这表的状态,所以自动充电任务，移动到充电点就改为完成
if (ObjectUtil.isNotEmpty(commandStatus) && CommandTypeEnum.MOVE_POSES.getType().equals(commandStatus.getCommandType())
@ -375,19 +351,6 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType(), LocalDateTime.now());
}
String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
logOne.setRobotNo(robotNo);
logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
logOne.setCommandType(lastLog.getCommandType());
logOne.setTaskNo(lastLog.getTaskNo());
logOne.setStartTime(LocalDateTime.now());
Long mapId = robotInformationService.getRobotMapIdByRobotNo(robotNo);
if (ObjectUtil.isNotEmpty(mapId)) {
logOne.setPositionMapId(mapId);
}
taskDetailActionLogService.createTaskDetailActionLog(logOne);
redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
RobotChargeLogDO build = RobotChargeLogDO
.builder()
.id(robotCompleteTaskDTO.getOrderId())
@ -470,7 +433,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
}
} else if (PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotChargeLogDO robotChargeLogDO = chargeLogMapper.selectById(robotCompleteTaskDTO.getOrderId());
if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) {
logOne.setActionMsg("车辆正在前往" + robotChargeLogDO.getDeviceNo() + "充电");
@ -480,7 +444,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.CHARGEING.getType());
}
} else if (PathTaskTypeEnum.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(robotCompleteTaskDTO.getOrderType())) {
if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) {
logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo());
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.MOVE.getType());

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/redis/RobotCacheLockEnum.java
View File

@ -12,6 +12,7 @@ public enum RobotCacheLockEnum {
TASK_NO("task:robot:no", "任务号"),
MOVE_TASK_NO("task:robot:no:move", "移动任务号"),
CHARGE_TASK_NO("task:robot:no:charge", "自动充电任务号"),
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"),

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemService.java
View File

@ -114,10 +114,10 @@ public interface PositionMapItemService extends IService<PositionMapItemDO> {
/**
* 批量查询
* @param pointList
* @param ids
* @return
*/
List<PositionMapItemDO> getPositionMapItemByIds(List<Long> pointList);
List<PositionMapItemDO> getPositionMapItemByIds(List<Long> ids);
/**
* 获取随机数id

50
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
View File

@ -548,15 +548,13 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_QUERY_DOING_ACTION + mac;
redisUtil.del(robotDoingActionKey);
Long detailId = null;
Map<Long, String> deviceNoMap = new HashMap<>();
Integer robotStatus = RobotStatusEnum.DOING.getType();
//释放ware_position_map_item的使用状态，并且将ActionLog设置为完成
releaseMapItemUseStatus(taskAssignDTO.getRobotNo());
RobotChargeLogDO robotChargeLogs = null;
String taskNo = "";
if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getOrderType())
|| PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getOrderType())) {
robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getOrderId());
@ -568,24 +566,14 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
if (ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId())) {
deviceNoMap.put(robotChargeLogs.getTaskDetailId(), robotChargeLogs.getDeviceNo());
} else {
String signDate = DateUtil.date().setTimeZone(TimeZone.getTimeZone("UTC")).toString("yyyyMMdd'T'HHmmss'Z'");
taskNo = "AUTO_CHARGE_" + signDate;
}
detailId = ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId()) ? robotChargeLogs.getTaskDetailId() : null;
} else {
detailId = taskAssignDTO.getOrderId();
}
chargeDone(taskAssignDTO.getRobotNo());
robotInformationMapper.updateRobotListStatus(taskAssignDTO.getRobotNo(), robotStatus, taskAssignDTO.getOrderId());
if (ObjectUtil.isNotEmpty(detailId)) {
RobotTaskDO robotTaskDO = setTaskDoing(detailId, taskAssignDTO.getRobotNo(), deviceNoMap, taskAssignDTO.getWaitId());
taskNo = robotTaskDO.getTaskNo();
}
RobotTaskDO robotTaskDO = setTaskDoing(taskAssignDTO.getOrderId(), taskAssignDTO.getRobotNo(), deviceNoMap, taskAssignDTO.getWaitId());
if (ObjectUtil.isNotEmpty(robotChargeLogs) && ObjectUtil.isNotEmpty(robotChargeLogs.getDeviceNo())) {
setDeviceUseing(robotChargeLogs.getDeviceNo(), taskAssignDTO.getRobotNo());
@ -593,11 +581,11 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
RobotTaskDetailActionLogSaveReqVO logOne = new RobotTaskDetailActionLogSaveReqVO();
logOne.setCommandType(taskAssignDTO.getOrderType());
String actionMsg = ObjectUtil.isEmpty(taskNo) ? taskAssignDTO.getRobotActionMsg() : taskAssignDTO.getRobotActionMsg() + taskNo;
String actionMsg = taskAssignDTO.getRobotActionMsg() + robotTaskDO.getTaskNo();
logOne.setActionMsg(actionMsg);
logOne.setRobotNo(taskAssignDTO.getRobotNo());
logOne.setStartTime(LocalDateTime.now());
logOne.setTaskNo(taskNo);
logOne.setTaskNo(robotTaskDO.getTaskNo());
logOne.setCommandId(-1L);
logOne.setTaskDetailId(taskAssignDTO.getOrderId());
Long mapId = robotInformationService.getRobotMapIdByRobotNo(taskAssignDTO.getRobotNo());
@ -736,13 +724,16 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
if (ObjectUtil.isEmpty(taskDetailDO.getRobotNo())) {
taskDetailDO.setRobotNo(robotNo);
}
if (RobotTaskTypeEnum.PARK.getType().equals(taskDetailDO.getTaskType())
&& ObjectUtil.isNotEmpty(deviceNoMap.get(taskDetailDO.getId()))) {
if (ObjectUtil.isNotEmpty(deviceNoMap) && ObjectUtil.isNotEmpty(deviceNoMap.get(taskDetailDO.getId()))) {
taskDetailDO.setToLocationNo(deviceNoMap.get(taskDetailDO.getId()));
}
if (RobotTaskTypeEnum.PARK.getType().equals(taskDetailDO.getTaskType())
&& ObjectUtil.isNotEmpty(waitId)) {
PositionMapItemDO positionMapItem = positionMapItemService.getPositionMapItem(Long.valueOf(waitId));
if (ObjectUtil.isNotEmpty(positionMapItem)) {
taskDetailDO.setToLocationNo(positionMapItem.getSortNum() + "");
}
taskDetailDO.setToLocationId(Long.valueOf(waitId));
}
@ -1477,6 +1468,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
if (!RobotStatusEnum.CHARGE.getType().equals(robotInformationDO.getRobotStatus())) {
return;
}
RobotChargeLogDO robotChargeLogDO = chargeLogMapper.selectOne(new LambdaQueryWrapperX<RobotChargeLogDO>()
.eq(RobotChargeLogDO::getRobotNo, robotNo)
.orderByDesc(RobotChargeLogDO::getCreateTime)
@ -1484,11 +1476,22 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
if (ObjectUtil.isEmpty(robotChargeLogDO) || !ChargeTaskStatusEnum.CHARGEING.getType().equals(robotChargeLogDO.getTaskStatus())) {
return;
}
DeviceInformationDO deviceInformationDO = deviceInformationMapper.selectOne(new LambdaQueryWrapperX<DeviceInformationDO>()
.eq(DeviceInformationDO::getLastUser, robotNo)
.eq(DeviceInformationDO::getDeviceNo, robotChargeLogDO.getDeviceNo()));
log.info("结束充电任务 :{}", robotNo);
robotChargeLogDO.setEndTime(LocalDateTime.now());
if (ObjectUtil.isNotEmpty(deviceInformationDO)) {
log.info("充电桩设置为空闲 :{}", deviceInformationDO.getDeviceNo());
deviceInformationService.chargeDeviceShrink(robotChargeLogDO.getDeviceNo());
deviceInformationDO.setDeviceUseStatus(DeviceUseStatusEnum.IDLE.getType());
deviceInformationDO.setLastUser(null);
deviceInformationMapper.updateById(deviceInformationDO);
}
String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC +robotInformationDO.getMacAddress();
String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC + robotInformationDO.getMacAddress();
Object socObject = redisUtil.get(socKey);
if (ObjectUtil.isNotEmpty(socObject)) {
@ -1497,18 +1500,11 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
robotChargeLogDO.setTaskStatus(ChargeTaskStatusEnum.DONE.getType());
chargeLogMapper.updateById(robotChargeLogDO);
DeviceInformationDO deviceInformationDO = deviceInformationMapper.selectOne(new LambdaQueryWrapperX<DeviceInformationDO>()
.eq(DeviceInformationDO::getDeviceNo, robotChargeLogDO.getDeviceNo()));
deviceInformationDO.setDeviceUseStatus(DeviceUseStatusEnum.IDLE.getType());
deviceInformationDO.setLastUser(null);
deviceInformationMapper.updateById(deviceInformationDO);
log.info("充电桩设置为空闲 :{}", deviceInformationDO.getDeviceNo());
if (ObjectUtil.isEmpty(robotChargeLogDO.getTaskDetailId())) {
return;
}
RobotTaskDetailDO taskDetail = taskDetailMapper.selectById(robotChargeLogDO.getTaskDetailId());
if (ObjectUtil.isNotEmpty(taskDetail)) {
if (ObjectUtil.isNotEmpty(taskDetail) && RobotTaskTypeEnum.CHARGE.getType().equals(taskDetail.getTaskType())) {
taskDetail.setTaskStatus(RobotTaskDetailStatusEnum.DONE.getType());
taskDetailMapper.updateById(taskDetail);
RobotTaskDO robotTask = taskMapper.selectById(taskDetail.getRobotTaskId());

102
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java
View File

@ -1,16 +1,21 @@
package cn.iocoder.yudao.module.system.service.robot.job;
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.system.api.robot.dto.RobotStatusDataPoseDTO;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.controller.admin.config.vo.CommonConfigVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO;
import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
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.mysql.config.CommonConfigMapper;
import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
@ -22,8 +27,10 @@ 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;
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.service.positionmap.PositionMapItemService;
import cn.iocoder.yudao.module.system.service.robot.pathplanning.RobotPathPlanningService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import com.alibaba.fastjson.JSON;
@ -37,10 +44,10 @@ import org.springframework.transaction.annotation.Transactional;
import javax.annotation.Resource;
import java.math.BigDecimal;
import java.time.LocalDateTime;
import java.util.*;
import java.util.stream.Collectors;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
@Service
@Slf4j
@ -70,6 +77,9 @@ public class AutoChargeServiceImpl implements AutoChargeService {
@Value("${zn.full_electricity:100}")
private String fullElectricity;
@Value("${zn.charge-no:CHARGE}")
private String chargeNo;
@Autowired
private RobotPathPlanningService robotPathPlanningService;
@ -89,7 +99,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
return;
}
CommonConfigVO chargeConfig= JSONUtil.toBean(commonConfigDO.getConfigStr(),CommonConfigVO.class);
CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfigDO.getConfigStr(), CommonConfigVO.class);
List<RobotInformationDO> robots = robotInformationMapper.selectList(new LambdaQueryWrapperX<RobotInformationDO>()
.eq(RobotInformationDO::getRobotStatus, RobotStatusEnum.STAND_BY.getType())
@ -116,7 +126,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
List<String> chargeFullNos = new ArrayList<>();
if (ObjectUtil.isNotEmpty(chargeConfig.getChanceCycle())) {
//查询充满电
chargeFullNos = chargeLogMapper.getChargeFullRobotNos(chargeConfig.getChanceCycle(),robotNos);
chargeFullNos = chargeLogMapper.getChargeFullRobotNos(chargeConfig.getChanceCycle(), robotNos);
}
List<RobotTaskDetailDO> taskDetailDOS = robotTaskDetailMapper.getChargeTaskDetail();
@ -126,28 +136,37 @@ public class AutoChargeServiceImpl implements AutoChargeService {
}
List<RobotChargeLogDO> logs = new ArrayList<>();
List<RobotTaskDO> tasks = new ArrayList<>();
List<RobotTaskDetailAddVO> taskDetails = new ArrayList<>();
//组装充电任务
assembleChargeTask(robots,deviceInformationDOS,chargeConfig,chargeFullNos,logs,detailMap);
assembleChargeTask(robots, deviceInformationDOS, chargeConfig, chargeFullNos, logs, detailMap, tasks, taskDetails);
if (ObjectUtil.isEmpty(logs)) {
log.info("没有需要执行的充电任务");
return;
}
if (ObjectUtil.isNotEmpty(tasks)) {
robotTaskMapper.insertBatch(tasks);
List<RobotTaskDetailDO> bean = BeanUtils.toBean(taskDetails, RobotTaskDetailDO.class);
robotTaskDetailMapper.insertBatch(bean);
}
chargeLogMapper.insertBatch(logs);
robotPathPlanningService.sendChargeTaskToPP(logs,taskDetailDOS,robots);
robotPathPlanningService.sendChargeTaskToPP(logs, taskDetailDOS, robots);
//改成异步
logs.stream().forEach(v -> {
String chargeModelKey = RobotTaskChcheConstant.ROBOT_CHARGE_MODEL +v.getRobotNo();
redisUtil.set(chargeModelKey,v.getChargeModel());
String chargeModelKey = RobotTaskChcheConstant.ROBOT_CHARGE_MODEL + v.getRobotNo();
redisUtil.set(chargeModelKey, v.getChargeModel());
});
}
/**
* 组装充电任务
*
* @param robots
* @param deviceInformationDOS
* @param chargeConfig
@ -157,23 +176,24 @@ public class AutoChargeServiceImpl implements AutoChargeService {
*/
public void assembleChargeTask(List<RobotInformationDO> robots, List<DeviceInformationDO> deviceInformationDOS,
CommonConfigVO chargeConfig, List<String> chargeFullNos,
List<RobotChargeLogDO> logs, Map<String, List<RobotTaskDetailDO>> detailMap) {
List<RobotChargeLogDO> logs, Map<String, List<RobotTaskDetailDO>> detailMap,
List<RobotTaskDO> tasks, List<RobotTaskDetailAddVO> taskDetails) {
//判断机器人身上的电量少于设定的电量
for (RobotInformationDO robot : robots) {
String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT +robot.getMacAddress();
String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + robot.getMacAddress();
Object poseCache = redisUtil.get(pose2dKey);
RobotStatusDataPoseDTO dataPoseDTO= JSON.parseObject((String)poseCache, RobotStatusDataPoseDTO.class);
RobotStatusDataPoseDTO dataPoseDTO = JSON.parseObject((String) poseCache, RobotStatusDataPoseDTO.class);
String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC +robot.getMacAddress();
String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC + robot.getMacAddress();
Object socObject = redisUtil.get(socKey);
if (ObjectUtil.isEmpty(dataPoseDTO) || ObjectUtil.isEmpty(socObject)) {
log.info("当前机器人查不到电量信息,所以不执行充电 :{}",robot.getRobotNo());
log.info("当前机器人查不到电量信息,所以不执行充电 :{}", robot.getRobotNo());
continue;
}
if (ObjectUtil.isEmpty(deviceInformationDOS)) {
log.info("充电桩分配完成 :{}",robot.getRobotNo());
log.info("充电桩分配完成 :{}", robot.getRobotNo());
break;
}
@ -183,7 +203,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
.findFirst()
.orElse(new DeviceInformationDO());
if (ObjectUtil.isEmpty(deviceInformationDO.getDeviceNo())) {
log.info("当前机器人查不到对应的充电桩类型、或者机器人不能在此区域充电 :{}",robot.getRobotNo());
log.info("当前机器人查不到对应的充电桩类型、或者机器人不能在此区域充电 :{}", robot.getRobotNo());
continue;
}
@ -202,9 +222,12 @@ public class AutoChargeServiceImpl implements AutoChargeService {
&& robotRemainingElectricity.compareTo(robotFullElectricity) < 0) {
//充满电
logDo.setChargeModel(ChargeModelEnum.FULL.getType());
Long taskDetailId = createChargeTask(robot.getRobotNo(), tasks, taskDetails, deviceInformationDO.getPositionMapItemId(), deviceInformationDO.getDeviceNo());
logDo.setTaskDetailId(taskDetailId);
logDo.setId(logDo.getTaskDetailId());
logs.add(logDo);
deviceInformationDOS.removeIf(v -> logDo.getDeviceNo().equals(v.getDeviceNo()));
log.info("分配到充满电充电任务 :{} ,充电设备编号是 :{}, 任务id :{}",logDo.getRobotNo(),logDo.getDeviceNo(),logDo.getTaskDetailId());
log.info("分配到充满电充电任务 :{} ,充电设备编号是 :{}, 任务id :{}", logDo.getRobotNo(), logDo.getDeviceNo(), logDo.getTaskDetailId());
continue;
}
@ -217,8 +240,9 @@ public class AutoChargeServiceImpl implements AutoChargeService {
deviceInformationDOS.removeIf(v -> logDo.getDeviceNo().equals(v.getDeviceNo()));
logDo.setChargeModel(ChargeModelEnum.TASK.getType());
logDo.setTaskDetailId(robotTaskDetailDO.getId());
logDo.setId(logDo.getTaskDetailId());
logs.add(logDo);
log.info("分配到任务充电任务 :{} ,充电设备编号是 :{}, 任务id :{}",logDo.getRobotNo(),logDo.getDeviceNo(),logDo.getTaskDetailId());
log.info("分配到任务充电任务 :{} ,充电设备编号是 :{}, 任务id :{}", logDo.getRobotNo(), logDo.getDeviceNo(), logDo.getTaskDetailId());
continue;
}
}
@ -232,8 +256,9 @@ public class AutoChargeServiceImpl implements AutoChargeService {
deviceInformationDOS.removeIf(v -> logDo.getDeviceNo().equals(v.getDeviceNo()));
logDo.setChargeModel(ChargeModelEnum.TASK.getType());
logDo.setTaskDetailId(robotTaskDetailDO.getId());
logDo.setId(logDo.getTaskDetailId());
logs.add(logDo);
log.info("分配到任务充电任务 :{} ,充电设备编号是 :{}, 任务id :{}",logDo.getRobotNo(),logDo.getDeviceNo(),logDo.getTaskDetailId());
log.info("分配到任务充电任务 :{} ,充电设备编号是 :{}, 任务id :{}", logDo.getRobotNo(), logDo.getDeviceNo(), logDo.getTaskDetailId());
continue;
}
}
@ -247,8 +272,9 @@ public class AutoChargeServiceImpl implements AutoChargeService {
deviceInformationDOS.removeIf(v -> logDo.getDeviceNo().equals(v.getDeviceNo()));
logDo.setChargeModel(ChargeModelEnum.TASK.getType());
logDo.setTaskDetailId(robotTaskDetailDO.getId());
logDo.setId(logDo.getTaskDetailId());
logs.add(logDo);
log.info("分配到任务充电任务 :{} ,充电设备编号是 :{}, 任务id :{}",logDo.getRobotNo(),logDo.getDeviceNo(),logDo.getTaskDetailId());
log.info("分配到任务充电任务 :{} ,充电设备编号是 :{}, 任务id :{}", logDo.getRobotNo(), logDo.getDeviceNo(), logDo.getTaskDetailId());
continue;
}
}
@ -258,9 +284,12 @@ public class AutoChargeServiceImpl implements AutoChargeService {
BigDecimal robotConfigElectricity = new BigDecimal(String.valueOf(robot.getAutoCharge()));
if (robotRemainingElectricity.compareTo(robotConfigElectricity) < 0) {
logDo.setChargeModel(ChargeModelEnum.AUTO.getType());
Long taskDetailId = createChargeTask(robot.getRobotNo(), tasks, taskDetails, deviceInformationDO.getPositionMapItemId(), deviceInformationDO.getDeviceNo());
logDo.setTaskDetailId(taskDetailId);
logDo.setId(logDo.getTaskDetailId());
logs.add(logDo);
deviceInformationDOS.removeIf(v -> logDo.getDeviceNo().equals(v.getDeviceNo()));
log.info("分配到自动充电任务 :{} ,充电设备编号是 :{}",logDo.getRobotNo(),logDo.getDeviceNo());
log.info("分配到自动充电任务 :{} ,充电设备编号是 :{}", logDo.getRobotNo(), logDo.getDeviceNo());
continue;
}
}
@ -270,9 +299,12 @@ public class AutoChargeServiceImpl implements AutoChargeService {
BigDecimal robotConfigElectricity = new BigDecimal(String.valueOf(chargeConfig.getStartAutoCharge()));
if (robotRemainingElectricity.compareTo(robotConfigElectricity) < 0) {
logDo.setChargeModel(ChargeModelEnum.AUTO.getType());
Long taskDetailId = createChargeTask(robot.getRobotNo(), tasks, taskDetails, deviceInformationDO.getPositionMapItemId(), deviceInformationDO.getDeviceNo());
logDo.setTaskDetailId(taskDetailId);
logDo.setId(logDo.getTaskDetailId());
logs.add(logDo);
deviceInformationDOS.removeIf(v -> logDo.getDeviceNo().equals(v.getDeviceNo()));
log.info("分配到自动充电任务 :{} ,充电设备编号是 :{}",logDo.getRobotNo(),logDo.getDeviceNo());
log.info("分配到自动充电任务 :{} ,充电设备编号是 :{}", logDo.getRobotNo(), logDo.getDeviceNo());
continue;
}
}
@ -282,12 +314,40 @@ public class AutoChargeServiceImpl implements AutoChargeService {
BigDecimal robotConfigElectricity = new BigDecimal(String.valueOf(chargeConfig.getChanceChargeStart()));
if (robotRemainingElectricity.compareTo(robotConfigElectricity) < 0) {
logDo.setChargeModel(ChargeModelEnum.CHANCE.getType());
Long taskDetailId = createChargeTask(robot.getRobotNo(), tasks, taskDetails, deviceInformationDO.getPositionMapItemId(), deviceInformationDO.getDeviceNo());
logDo.setTaskDetailId(taskDetailId);
logDo.setId(logDo.getTaskDetailId());
logs.add(logDo);
deviceInformationDOS.removeIf(v -> logDo.getDeviceNo().equals(v.getDeviceNo()));
log.info("分配到机会充电任务 :{} ,充电设备编号是 :{}",logDo.getRobotNo(),logDo.getDeviceNo());
log.info("分配到机会充电任务 :{} ,充电设备编号是 :{}", logDo.getRobotNo(), logDo.getDeviceNo());
}
}
}
}
/**
* 自动充电
*/
public Long createChargeTask(String robotNo, List<RobotTaskDO> tasks, List<RobotTaskDetailAddVO> taskDetails, Long positionMapItemId, String deviceNo) {
RobotTaskDO task = new RobotTaskDO();
String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.CHARGE_TASK_NO.getKey());
task.setTaskNo(chargeNo + DateUtils.getYearMonthDay() + incrementByKey);
task.setId(IdUtil.getSnowflakeNextId());
task.setCycleNumber(0L);
task.setRemainingCycleNumber(0L);
task.setStartTime(LocalDateTime.now());
RobotTaskDetailAddVO detailAddVO = new RobotTaskDetailAddVO();
detailAddVO.setId(IdUtil.getSnowflakeNextId());
detailAddVO.setRobotTaskId(task.getId());
detailAddVO.setTaskType(RobotTaskTypeEnum.CHARGE.getType());
detailAddVO.setReleaseType(ReleaseTakeEnum.TO_LOCATION.getType());
detailAddVO.setReleaseId(positionMapItemId);
detailAddVO.setToLocationNo(deviceNo);
detailAddVO.setRobotNo(robotNo);
tasks.add(task);
taskDetails.add(detailAddVO);
return detailAddVO.getId();
}
}

1
yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml
View File

@ -187,6 +187,7 @@ justauth:
zn:
task-no: TASK #任务号开头
move-no: MOVE #自动移动任务号开头
charge-no: CHARGE #自动充电任务号开头
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

1
yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
View File

@ -222,6 +222,7 @@ map:
zn:
task-no: TASK #任务号开头
move-no: MOVE #自动移动任务号开头
charge-no: CHARGE #自动充电任务号开头
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

1
yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml
View File

@ -215,6 +215,7 @@ map:
zn:
task-no: TASK #任务号开头
move-no: MOVE #自动移动任务号开头
charge-no: CHARGE #自动充电任务号开头
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