任务状态

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskPathPlanningDTO.java

@@ -0,0 +1,17 @@
+package cn.iocoder.yudao.module.mqtt.api.path.task;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class TaskPathPlanningDTO {
+    private String orderId;
+    private String robotNo;
+    private String behaviorId;
+    private String isReach;
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java

@@ -19,10 +19,10 @@ import java.util.List;
 public class TaskToPathPlanningDTO {
 
     @Schema(description = "robot_task_detail/robot_charge_log 的 id")
-    private String id;
+    private String orderId;
 
     @Schema(description = "任务类型(TASK:robot_task的任务、CHARGE:充电任务)")
-    private String type;
+    private String orderType;
 
     //线库: LINE + 线库号
     //普通库位: POINT + 点位号

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/dto/RobotAssignTaskArgDTO.java

@@ -3,15 +3,19 @@ package cn.iocoder.yudao.module.mqtt.api.task.dto;
 import lombok.Builder;
 import lombok.Data;
 
+import java.util.List;
+
 @Data
 @Builder
 public class RobotAssignTaskArgDTO {
     //检测托盘时需要抬叉的高度，现在是需要，以后不用了
-    private Double check_pallet_height;
+//    private Double check_pallet_height;
     //取货高度
     private Double height;
     //整型 取第几层货
     private Double level;
     //叉起货需要在原来高度基础上偏移的高度
-    private Double offset_height;
+    private Double offsetHeight;
+
+    private List<Pose2ds> pose2ds;
 }

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/dto/RobotAssignTaskDTO.java

@@ -12,7 +12,8 @@ import java.util.List;
 @Builder
 public class RobotAssignTaskDTO {
     private String topic;
-    private String order_id;
+    private String orderId;
-    private String order_type;
+    private String orderType;
+    private String executionType;
     private List<RobotAssignTaskDataDTO> data;
 }

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/dto/RobotAssignTaskDataDTO.java

@@ -6,6 +6,6 @@ import java.util.List;
 
 @Data
 public class RobotAssignTaskDataDTO {
-    private String command_type;
+    private String commandType;
     private List<RobotAssignTaskArgDTO> arg;
 }

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/enums/path/TaskTypeEnum.java

@@ -1,11 +1,14 @@
+/*
 package cn.iocoder.yudao.module.mqtt.enums.path;
 
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+*/
 /**
  *TaskToPathPlanningDTO的type
- */
+ *//*
+
 @Getter
 @AllArgsConstructor
 public enum TaskTypeEnum {
@@ -15,3 +18,4 @@ public enum TaskTypeEnum {
 
     private final String type;
 }
+*/

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

@@ -18,5 +18,5 @@ public interface RobotTaskStatusApi {
 
     @PostMapping(PREFIX + "/updateStatus")
     @Operation(summary = "机器人完成任务上报")
-    CommonResult<Boolean> robotDoneTask(@RequestBody RobotCompleteTaskDTO robotCompleteTaskDTO);
+    void robotDoneTask(@RequestBody RobotCompleteTaskDTO robotCompleteTaskDTO);
 }

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotCommandStateDTO.java

@@ -7,19 +7,19 @@ public class RobotCommandStateDTO {
     /**
      * 命令id
      */
-    private String command_id;
+//    private String command_id;
     /**
      * 命令类型
      */
-    private String command_type;
+    private String commandType;
     /**
      * 执行状态
      */
-    private String execution_state;
+    private Integer executionState;
     /**
      * 响应的状态码
      */
-    private String status_code;
+    private String statusCode;
     /**
      * 失败时的错误原因
      */

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotCompleteTaskDTO.java

@@ -13,19 +13,19 @@ public class RobotCompleteTaskDTO {
     /**
      * robot_task_detail 表id
      */
-    private Long order_id;
+    private Long orderId;
     /**
      * 任务类型，暂时未定义
      */
-    private String order_type;
+    private String orderType;
     /**
      * 执行状态
      */
-    private Integer execution_state;
+    private Integer executionState;
     /**
      * 响应的状态码
      */
-    private String status_code;
+    private String statusCode;
     /**
      * 失败时的错误原因
      */
@@ -37,5 +37,5 @@ public class RobotCompleteTaskDTO {
     /**
      * 子任务
      */
-    private List<RobotCommandStateDTO> command_state;
+    private RobotCommandStateDTO commandStatus;
 }

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java

@@ -241,5 +241,7 @@ public interface ErrorCodeConstants {
     ErrorCode TASK_CYCLE_NOT_EXISTS = new ErrorCode(1_002_046_001, "循环任务点位不存在");
     // ========== 用户操作记录 1_002_047_001 ==========
     ErrorCode OPERATE_LOG_NOT_EXISTS = new ErrorCode(1_002_047_001, "用户操作记录不存在");
+    // ========== 车辆前往等待点记录 1_002_048_001 ==========
+    ErrorCode MOVE_TO_WAIT_NOT_EXISTS = new ErrorCode(1_002_048_001, "车辆前往等待点记录不存在");
 
 }

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

@@ -21,10 +21,8 @@ import cn.iocoder.yudao.module.system.constant.webSocket.WebSocketConstant;
 import cn.iocoder.yudao.module.system.dal.dataobject.actionlog.RobotTaskDetailActionLogDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotChargeLogDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.*;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnMsgDO;
 import cn.iocoder.yudao.module.system.dal.mysql.actionlog.RobotTaskDetailActionLogMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.cycle.TaskCycleMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
@@ -32,13 +30,18 @@ import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMap
 import cn.iocoder.yudao.module.system.dal.mysql.robot.*;
 import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.device.DeviceUseStatusEnum;
+import cn.iocoder.yudao.module.system.enums.path.PathIsReachEnum;
+import cn.iocoder.yudao.module.system.enums.path.PathTaskType;
 import cn.iocoder.yudao.module.system.enums.robot.*;
 import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeTaskStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotStatusCodeEnum;
-import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaksOrderTypeEnum;
+import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
+import cn.iocoder.yudao.module.system.enums.wait.WaitStatusEnum;
+import cn.iocoder.yudao.module.system.service.path.PathPlanningService;
 import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
 import cn.iocoder.yudao.module.system.service.robot.RobotTaskDetailService;
 import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
+import cn.iocoder.yudao.module.system.service.wait.MoveToWaitService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
@@ -112,7 +115,13 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
     @Resource
     private DeviceInformationMapper deviceInformationMapper;
 
-    @Value("${zn.robot_doing_action.doing_action_cache_time:3*60*60}")
+    @Resource
+    private MoveToWaitService moveToWaitService;
+
+    @Resource
+    private PathPlanningService pathPlanningService;
+
+    @Value("${zn.robot_doing_action.doing_action_cache_time:2*24*60*60}")
     private Long doingActionCacheTime;
 
     @Transactional(rollbackFor = Exception.class)
@@ -121,33 +130,103 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         TenantContextHolder.setTenantId(1L);
         String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_QUERY_DOING_ACTION + robotCompleteTaskDTO.getMac();
 
-        if (!RobotStatusCodeEnum.SUCCESS.getType().equals(robotCompleteTaskDTO.getStatus_code())) {
+        if (!RobotStatusCodeEnum.SUCCESS.getType().equals(robotCompleteTaskDTO.getStatusCode())) {
             log.info("车机上报异常 :{}", JSON.toJSONString(robotCompleteTaskDTO));
-            closeTask(robotCompleteTaskDTO);
+            closeTask(robotCompleteTaskDTO);//todo 取不了和放不了的异常
             redisUtil.del(robotDoingActionKey);
             return;
         }
 
-        if (RobotExecutionStateConstant.UN_DO.equals(robotCompleteTaskDTO.getExecution_state())) {
+        if (RobotExecutionStateConstant.UN_DO.equals(robotCompleteTaskDTO.getExecutionState())
+                || RobotExecutionStateConstant.STOP.equals(robotCompleteTaskDTO.getExecutionState())
+                || RobotExecutionStateConstant.CLOSE.equals(robotCompleteTaskDTO.getExecutionState())) {
+            log.info("任务未开始/暂停/取消 :{}", robotCompleteTaskDTO.getOrderId());
             return;
-        }
+        } else if (RobotExecutionStateConstant.DONE.equals(robotCompleteTaskDTO.getExecutionState())) {
-
+            robotTaskDone(robotCompleteTaskDTO);
-        if (RobotExecutionStateConstant.DOING.equals(robotCompleteTaskDTO.getExecution_state())
-                && RobotTaksOrderTypeEnum.TASK.getType().equals(robotCompleteTaskDTO.getOrder_type())) {
-            taskDoing(robotCompleteTaskDTO, robotDoingActionKey);
-
-        } else if (RobotExecutionStateConstant.DONE.equals(robotCompleteTaskDTO.getExecution_state())
-                && RobotTaksOrderTypeEnum.TASK.getType().equals(robotCompleteTaskDTO.getOrder_type())) {
-            taskDone(robotCompleteTaskDTO);
             redisUtil.del(robotDoingActionKey);
-        } else if (RobotExecutionStateConstant.DOING.equals(robotCompleteTaskDTO.getExecution_state())
+        } else if (RobotExecutionStateConstant.DOING.equals(robotCompleteTaskDTO.getExecutionState())) {
-                && RobotTaksOrderTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrder_type())) {
+            robotTaskDoing(robotCompleteTaskDTO, robotDoingActionKey);
+        }
+    }
+
+    /**
+     * @param robotCompleteTaskDTO
+     */
+    private void robotTaskDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey) {
+        if (PathTaskType.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
             chargeDoing(robotCompleteTaskDTO, robotDoingActionKey);
-
+        } else if (PathTaskType.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())) {
-        } else if (RobotExecutionStateConstant.DONE.equals(robotCompleteTaskDTO.getExecution_state())
+            RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
-                && RobotTaksOrderTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrder_type())) {
+            logOne.setActionMsg("车辆正在前往等待点");
-            chargeDone(robotCompleteTaskDTO, robotDoingActionKey);
+            String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
+            logOne.setRobotNo(robotNo);
+            logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
+            taskDetailActionLogMapper.insert(logOne);
+            redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
+            moveToWaitService.setMoveToWaitDoing(robotCompleteTaskDTO.getOrderId(), WaitStatusEnum.GO_TO_WAIT.getType());
+        } else {
+            taskDoing(robotCompleteTaskDTO, robotDoingActionKey);
         }
+
+        sendStartDoActionToPP(robotCompleteTaskDTO.getCommandStatus(), robotCompleteTaskDTO.getMac(),
+                String.valueOf(robotCompleteTaskDTO.getOrderId()));
+    }
+
+    /**
+     * 告诉PP开始作业
+     *
+     * @param commandStatus
+     * @param mac
+     * @param orderId
+     */
+    public void sendStartDoActionToPP(RobotCommandStateDTO commandStatus, String mac, String orderId) {
+        if (ObjectUtil.isNotEmpty(commandStatus) && RobotExecutionStateConstant.DOING.equals(commandStatus.getExecutionState())
+                && !CommandTypeEnum.MOVE_POSES.getType().equals(commandStatus.getCommandType())) {
+            String robotNo = robotInformationService.getRobotNoByMac(mac);
+            pathPlanningService.updateBehavior(orderId, robotNo
+                    , "", PathIsReachEnum.START_WORK.getType());
+        }
+    }
+
+    /**
+     * 机器人完成任务
+     *
+     * @param robotCompleteTaskDTO
+     */
+    private void robotTaskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
+        //todo 后面考虑下充电，车机目前对充电的逻辑未定义
+        if (PathTaskType.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())
+                || PathTaskType.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())
+                || PathTaskType.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())
+                || PathTaskType.RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
+            taskDone(robotCompleteTaskDTO);
+
+        } else if (PathTaskType.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
+            RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
+            if (RobotTaskStageEnum.TAKEING.getType().equals(robotTaskDetailDO.getTaskStage())) {
+                pathPlanningService.updateBehavior(String.valueOf(robotCompleteTaskDTO.getOrderId()), robotTaskDetailDO.getRobotNo()
+                        , "", PathIsReachEnum.END_WORK.getType());
+            } else if (RobotTaskStageEnum.RELEASEING.getType().equals(robotTaskDetailDO.getTaskStage())) {
+                taskDone(robotCompleteTaskDTO);
+            }
+        }
+    }
+
+
+    /**
+     * 通知PP关闭任务
+     *
+     * @param robotCompleteTaskDTO
+     */
+    public void PPCloseOrder(RobotCompleteTaskDTO robotCompleteTaskDTO) {
+        String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
+        RobotClosePathPlantingDTO closePathPlanting = RobotClosePathPlantingDTO.builder()
+                .robotNo(robotNo)
+                .id(robotCompleteTaskDTO.getOrderId().toString())
+                .build();
+        commonApi.commonMethod(closePathPlanting, PathPlanningTopicConstant.KILL_TASK);
+        log.info("车机上报异常， 通知PP把任务取消 :{}", robotCompleteTaskDTO.getOrderId());
     }
 
     /**
@@ -157,16 +236,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      */
     @Transactional(rollbackFor = Exception.class)
     public void closeTask(RobotCompleteTaskDTO robotCompleteTaskDTO) {
-        String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
+        PPCloseOrder(robotCompleteTaskDTO);
-        RobotClosePathPlantingDTO closePathPlanting = RobotClosePathPlantingDTO.builder()
-                .robotNo(robotNo)
-                .id(robotCompleteTaskDTO.getOrder_id().toString())
-                .build();
-        commonApi.commonMethod(closePathPlanting, PathPlanningTopicConstant.KILL_TASK);
-        log.info("车机上报异常， 通知PP把任务取消 :{}", robotCompleteTaskDTO.getOrder_id());
 
-        if (RobotTaksOrderTypeEnum.TASK.getType().equals(robotCompleteTaskDTO.getOrder_type())) {
+        /*if (RobotTaksOrderTypeEnum.TASK.getType().equals(robotCompleteTaskDTO.getOrderType())) {
-            RobotTaskDetailDO robotTaskDetailDO = closeTaskDetail(robotCompleteTaskDTO.getOrder_id());
+            RobotTaskDetailDO robotTaskDetailDO = closeTaskDetail(robotCompleteTaskDTO.getOrderId());
             List<Long> locationIds = new ArrayList<>();
             if (ObjectUtil.isNotEmpty(robotTaskDetailDO.getFromLocationId())) {
                 locationIds.add(robotTaskDetailDO.getFromLocationId());
@@ -179,22 +252,22 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                         , LocationLockEnum.YES.getType());
             }
 
-        } else if (RobotTaksOrderTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrder_type())) {
+        } else if (RobotTaksOrderTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
 
             RobotChargeLogDO robotChargeLogDO = chargeLogMapper.selectOne(new LambdaQueryWrapper<RobotChargeLogDO>()
-                    .eq(RobotChargeLogDO::getId, robotCompleteTaskDTO.getOrder_id()));
+                    .eq(RobotChargeLogDO::getId, robotCompleteTaskDTO.getOrderId()));
             robotChargeLogDO.setTaskStatus(ChargeTaskStatusEnum.ABNORMAL.getType());
             chargeLogMapper.updateById(robotChargeLogDO);
 
             if (ObjectUtil.isNotEmpty(robotChargeLogDO.getTaskDetailId())) {
-                closeTaskDetail(robotCompleteTaskDTO.getOrder_id());
+                closeTaskDetail(robotCompleteTaskDTO.getOrderId());
             }
             deviceInformationMapper.updateDeviceUseStatus(robotChargeLogDO.getDeviceNo(),
                     DeviceUseStatusEnum.IDLE.getType(), ZeroOneEnum.ZERO.getType());
-        }
+        }*/
 
-        RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(4)
+       /* RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(4)
-                .warnCode(robotCompleteTaskDTO.getStatus_code())
+                .warnCode(robotCompleteTaskDTO.getStatusCode())
                 .robotNo(robotNo)
                 .warnType(RobotWarnType.ROBOT_WARN.getType())
                 .warnMsg(robotNo +"_"+robotCompleteTaskDTO.getMessage())
@@ -202,11 +275,12 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 .build();
         warnMsgMapper.insert(warnMsg);
 
-        warnMsgService.sendWarnMsgToWebsocket(warnMsg.getWarnMsg());
+        warnMsgService.sendWarnMsgToWebsocket(warnMsg.getWarnMsg());*/
     }
 
     /**
      * 关闭订单
+     *
      * @param taskDetailId
      */
     public RobotTaskDetailDO closeTaskDetail(Long taskDetailId) {
@@ -224,7 +298,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         logOne.setActionMsg("车辆正在充电");
         String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
         logOne.setRobotNo(robotNo);
-        logOne.setTaskDetailId(robotCompleteTaskDTO.getOrder_id());
+        logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
         taskDetailActionLogMapper.insert(logOne);
         redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
     }
@@ -236,11 +310,20 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      * @param robotCompleteTaskDTO
      */
     private void chargeDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey) {
-        List<RobotCommandStateDTO> commandState = robotCompleteTaskDTO.getCommand_state();
+        RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
-        if (ObjectUtil.isEmpty(commandState)) {
+        RobotCommandStateDTO commandStatus = robotCompleteTaskDTO.getCommandStatus();
-            return;
+        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());
+        } else if (ObjectUtil.isNotEmpty(commandStatus)) {
+            logOne.setActionMsg("车辆正在充电");
         }
-        addActionLog(commandState, robotDoingActionKey);
+
+        String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
+        logOne.setRobotNo(robotNo);
+        logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
+        taskDetailActionLogMapper.insert(logOne);
+        redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
     }
 
     /**
@@ -251,12 +334,12 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
     private void taskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
         //更新任务状态
         RobotTaskDetailDO detailDO = new RobotTaskDetailDO();
-        detailDO.setId(robotCompleteTaskDTO.getOrder_id());
+        detailDO.setId(robotCompleteTaskDTO.getOrderId());
         detailDO.setEndTime(LocalDateTime.now());
-        detailDO.setTaskStatus(robotCompleteTaskDTO.getExecution_state());
+        detailDO.setTaskStatus(RobotTaskDetailStatusEnum.DONE.getType());
         robotTaskDetailMapper.updateRobotDetailById(detailDO);
         //更新任务状态
-        RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrder_id());
+        RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
         List<RobotTaskDetailDO> taskDetails = robotTaskDetailMapper.queryByTaskId(robotTaskDetailDO.getRobotTaskId());
         boolean done =
                 taskDetails.stream().noneMatch(v -> (v.getTaskStatus().equals(RobotTaskDetailStatusEnum.NEW.getType())));
@@ -269,31 +352,20 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
             taskCycleMapper.deletByRobotTaskId(taskDetails.get(0).getRobotTaskId());
         }
 
-        if (RobotTaskTypeEnum.MOVE.getType().equals(robotTaskDetailDO.getTaskType())) {
+        RobotInformationDO robotInformationDO = robotInformationMapper.selectOne(new LambdaQueryWrapperX<RobotInformationDO>()
-            robotInformationMapper.updateRobotTaskModel(robotTaskDetailDO.getRobotNo(), RobotTaskModelEnum.REJECTION.getType());
+                .eq(RobotInformationDO::getRobotNo, robotTaskDetailDO.getRobotNo()));
+        robotInformationDO.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
+        if (RobotTaskTypeEnum.MOVE.getType().equals(robotTaskDetailDO.getTaskType())
+                || (RobotTaskTypeEnum.PARK.getType().equals(robotTaskDetailDO.getTaskType())
+                && ZeroOneEnum.ONE.getType().equals(robotTaskDetailDO.getNeedLock()))) {
+            robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType());
         }
+        robotInformationMapper.updateBatch(robotInformationDO);
+        //同步任务完成给PP
+        pathPlanningService.updateBehavior(String.valueOf(robotCompleteTaskDTO.getOrderId()), robotTaskDetailDO.getRobotNo()
+                , "", PathIsReachEnum.END_WORK.getType());
     }
 
-    /**
-     * 添加操作日志
-     *
-     * @param commandState
-     */
-    public void addActionLog(List<RobotCommandStateDTO> commandState, String robotDoingActionKey) {
-        RobotCommandStateDTO robotCommandStateDTO = commandState.stream()
-                .filter(v -> RobotExecutionStateConstant.DOING.equals(Integer.valueOf(v.getExecution_state())))
-                .findFirst()
-                .orElse(null);
-        if (ObjectUtil.isNotEmpty(robotCommandStateDTO)) {
-            String robotDoingActionLogKey = RobotTaskChcheConstant.ROBOT_ACTION_LOG_ENTITY + robotCommandStateDTO.getCommand_id();
-            Object o = redisUtil.get(robotDoingActionLogKey);
-            if (ObjectUtil.isNotEmpty(o)) {
-                RobotTaskDetailActionLogDO actionLog = JSON.parseObject(JSON.toJSONString(o), RobotTaskDetailActionLogDO.class);
-                taskDetailActionLogMapper.insert(actionLog);
-                redisUtil.set(robotDoingActionKey, actionLog.getActionMsg(), doingActionCacheTime);
-            }
-        }
-    }
 
     /**
      * 任务处理中
@@ -302,51 +374,74 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      */
     @Transactional(rollbackFor = Exception.class)
     public void taskDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey) {
-        List<RobotCommandStateDTO> commandState = robotCompleteTaskDTO.getCommand_state();
-        if (ObjectUtil.isEmpty(commandState)) {
-            return;
-        }
-        addActionLog(commandState, robotDoingActionKey);
 
-        String robotActionTakeGoodsKey = RobotTaskChcheConstant.ROBOT_ACTION_TAKE_GOODS + robotCompleteTaskDTO.getOrder_id();
+        RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
-        Object o1 = redisUtil.get(robotActionTakeGoodsKey);
+        Long taskStage = robotTaskDetailDO.getTaskStage();
 
-        String robotActionReleaseGoodsKey = RobotTaskChcheConstant.ROBOT_ACTION_RELEASE_GOODS + robotCompleteTaskDTO.getOrder_id();
+        RobotCommandStateDTO commandStatus = robotCompleteTaskDTO.getCommandStatus();
-        Object o2 = redisUtil.get(robotActionReleaseGoodsKey);
+        String commandType = commandStatus.getCommandType();
 
-        if (ObjectUtil.isEmpty(o1) && ObjectUtil.isEmpty(o2)) {
+        RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
-            return;
+        if (PathTaskType.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
-        }
+            if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType) && RobotTaskStageEnum.UN_START.getType().equals(taskStage)) {
-
+                logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getFromLocationNo() + "取货");
-        String takeCommonId = ObjectUtil.isNotEmpty(o1) ? String.valueOf(o1) : null;
+                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_TAKE.getType());
-        String releaseCommonId = ObjectUtil.isNotEmpty(o2) ? String.valueOf(o2) : null;
+            } else if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(commandType)) {
-
+                logOne.setActionMsg("车辆正在取货");
-        for (RobotCommandStateDTO commandStateDTO : commandState) {
+                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING.getType());
-            //释放取的库位
+            } else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(commandType)) {
-            if (RobotExecutionStateConstant.DONE.equals(Integer.valueOf(commandStateDTO.getExecution_state()))
+                logOne.setActionMsg("车辆正在放货");
-                    && ObjectUtil.isNotEmpty(takeCommonId) && takeCommonId.equals(commandStateDTO.getCommand_id())) {
+                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING.getType());
-                RobotTaskDetailActionLogDO actionLogDO =
+            } else if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) {
-                        taskDetailActionLogMapper.selectOne(new LambdaQueryWrapperX<RobotTaskDetailActionLogDO>()
+                logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo() + "放货");
-                                .eq(RobotTaskDetailActionLogDO::getCommandId, commandStateDTO.getCommand_id()));
+                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
-                if (ObjectUtil.isNotEmpty(actionLogDO) && ObjectUtil.isNotEmpty(actionLogDO.getTaskDetailId())) {
-                    freeLocation(true, actionLogDO.getTaskDetailId());
-                    redisUtil.del(robotActionTakeGoodsKey);
-                }
             }
 
-            //释放放的库位
+        } else if (PathTaskType.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
-            if (RobotExecutionStateConstant.DONE.equals(Integer.valueOf(commandStateDTO.getExecution_state()))
+            RobotChargeLogDO robotChargeLogDO = chargeLogMapper.selectById(robotCompleteTaskDTO.getOrderId());
-                    && ObjectUtil.isNotEmpty(releaseCommonId) && releaseCommonId.equals(commandStateDTO.getCommand_id())) {
+            if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) {
-                RobotTaskDetailActionLogDO actionLogDO =
+                logOne.setActionMsg("车辆正在前往" + robotChargeLogDO.getDeviceNo() + "充电");
-                        taskDetailActionLogMapper.selectOne(new LambdaQueryWrapperX<RobotTaskDetailActionLogDO>()
+                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.MOVE.getType());
-                                .eq(RobotTaskDetailActionLogDO::getCommandId, commandStateDTO.getCommand_id()));
+            } else {
-                if (ObjectUtil.isNotEmpty(actionLogDO) && ObjectUtil.isNotEmpty(actionLogDO.getTaskDetailId())) {
+                logOne.setActionMsg("车辆正在充电");
-                    freeLocation(false, actionLogDO.getTaskDetailId());
+                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.CHARGEING.getType());
-                    redisUtil.del(robotActionReleaseGoodsKey);
+            }
-                }
+
+        } else if (PathTaskType.MOVE.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());
+            }
+        } else if (PathTaskType.MOVE_TO_WAIT_STOP.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());
+            }
+        } else if (PathTaskType.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
+            if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType) && RobotTaskStageEnum.UN_START.getType().equals(taskStage)) {
+                logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getFromLocationNo() + "取货");
+                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_TAKE.getType());
+            } else if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(commandType)) {
+                logOne.setActionMsg("车辆正在取货");
+                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING.getType());
+            }
+
+        } else if (PathTaskType.RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
+            if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType) && RobotTaskStageEnum.UN_START.getType().equals(taskStage)) {
+                logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo() + "放货");
+                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
+            } else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(commandType)) {
+                logOne.setActionMsg("车辆正在放货");
+                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING.getType());
             }
         }
 
+        String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
+        logOne.setRobotNo(robotNo);
+        logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
+        taskDetailActionLogMapper.insert(logOne);
+        redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
+        robotTaskDetailMapper.updateBatch(robotTaskDetailDO);
     }
 
     public void freeLocation(Boolean isTake, Long taskDetailId) {
@@ -385,11 +480,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      */
     @Override
     @Transactional(rollbackFor = Exception.class)
-    public CommonResult<Boolean> robotDoneTask(RobotCompleteTaskDTO robotCompleteTaskDTO) {
+    public void robotDoneTask(RobotCompleteTaskDTO robotCompleteTaskDTO) {
         taskExecutor.execute(() -> {
             doRobotDoneTask(robotCompleteTaskDTO);
         });
-
-        return CommonResult.success(true);
     }
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java

@@ -83,7 +83,7 @@ public class PathPlanningTopicConstant {
     /**
      * 实时行为上报
      */
-    public static String UPDATE_ACTION = "UPDATE_ACTION";
+    public static String UPDATE_BEHAVIOR = "UPDATE_BEHAVIOR";
 
 
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java

@@ -36,8 +36,8 @@ public class RobotTaskChcheConstant {
     public static String ROBOT_ACTION_LOG_ENTITY = "robot:action:log:entity";
 
     //机器人取货完成(拼接robot_task_detail的id)
-    public static String ROBOT_ACTION_TAKE_GOODS = "robot:take:";
+//    public static String ROBOT_ACTION_TAKE_GOODS = "robot:take:";
 
     //机器人放货完成(拼接robot_task_detail的id)
-    public static String ROBOT_ACTION_RELEASE_GOODS = "robot:release:";
+//    public static String ROBOT_ACTION_RELEASE_GOODS = "robot:release:";
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/config/dto/TaskOrderConfigDTO.java

@@ -5,8 +5,8 @@ import lombok.Data;
 @Data
 public class TaskOrderConfigDTO {
 
-    private String task_assignment_strategy;
+    private String taskAssignmentStrategy;
-    private String priority_factor;
+    private String priorityFactor;
-    private String time_factor;
+    private String timeFactor;
-    private String time_difference_threshold_second;
+    private String timeDifferenceThresholdSecond;
 }

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

@@ -52,4 +52,7 @@ public class PositionMapItemPageReqVO extends PageParam {
     @Schema(description = "排序的位置,越大越优先堆放")
     private Long locationNumber;
 
+    @Schema(description = "等待点使用状态(0.空闲 1.使用中)")
+    private Integer useStatus;
+
 }

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

@@ -70,4 +70,8 @@ public class PositionMapItemRespVO {
     @ExcelProperty("排序的位置,越大越优先堆放")
     private Long locationNumber;
 
+    @Schema(description = "等待点使用状态(0.空闲 1.使用中)")
+    @ExcelProperty("等待点使用状态(0.空闲 1.使用中)")
+    private Integer useStatus;
+
 }

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

@@ -42,4 +42,7 @@ public class PositionMapItemSaveReqVO {
 
     @Schema(description = "排序的位置,越大越优先堆放")
     private Long locationNumber;
+
+    @Schema(description = "等待点使用状态(0.空闲 1.使用中)")
+    private Integer useStatus;
 }

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

@@ -56,7 +56,7 @@ public class RobotTaskDetailPageReqVO extends PageParam {
     @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)", example = "1")
     private Integer taskStatus;
 
-    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)")
+    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电)")
     private Long taskStage;
 
     @Schema(description = "开始时间")

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

@@ -62,8 +62,8 @@ public class RobotTaskDetailRespVO {
     @ExcelProperty("任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)")
     private Integer taskStatus;
 
-    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)")
+    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电)")
-    @ExcelProperty("任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)")
+    @ExcelProperty("任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电)")
     private Long taskStage;
 
     @Schema(description = "开始时间")

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

@@ -62,7 +62,7 @@ public class RobotTaskDetailSaveReqVO {
     @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4:异常)", example = "1")
     private Integer taskStatus;
 
-    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)")
+    @Schema(description = "任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电)")
     private Long taskStage;
 
     @Schema(description = "开始时间")

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/wait/MoveToWaitController.java

@@ -0,0 +1,97 @@
+package cn.iocoder.yudao.module.system.controller.admin.wait;
+
+import cn.iocoder.yudao.module.system.controller.admin.wait.vo.MoveToWaitPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.wait.vo.MoveToWaitRespVO;
+import cn.iocoder.yudao.module.system.controller.admin.wait.vo.MoveToWaitSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.wait.MoveToWaitDO;
+import cn.iocoder.yudao.module.system.service.wait.MoveToWaitService;
+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 - 车辆前往等待点记录")
+@RestController
+@RequestMapping("/wait/move-to-wait")
+@Validated
+public class MoveToWaitController {
+
+    @Resource
+    private MoveToWaitService moveToWaitService;
+
+    @PostMapping("/create")
+    @Operation(summary = "创建车辆前往等待点记录")
+    @PreAuthorize("@ss.hasPermission('wait:move-to-wait:create')")
+    public CommonResult<Long> createMoveToWait(@Valid @RequestBody MoveToWaitSaveReqVO createReqVO) {
+        return success(moveToWaitService.createMoveToWait(createReqVO));
+    }
+
+    @PutMapping("/update")
+    @Operation(summary = "更新车辆前往等待点记录")
+    @PreAuthorize("@ss.hasPermission('wait:move-to-wait:update')")
+    public CommonResult<Boolean> updateMoveToWait(@Valid @RequestBody MoveToWaitSaveReqVO updateReqVO) {
+        moveToWaitService.updateMoveToWait(updateReqVO);
+        return success(true);
+    }
+
+    @DeleteMapping("/delete")
+    @Operation(summary = "删除车辆前往等待点记录")
+    @Parameter(name = "id", description = "编号", required = true)
+    @PreAuthorize("@ss.hasPermission('wait:move-to-wait:delete')")
+    public CommonResult<Boolean> deleteMoveToWait(@RequestParam("id") Long id) {
+        moveToWaitService.deleteMoveToWait(id);
+        return success(true);
+    }
+
+    @GetMapping("/get")
+    @Operation(summary = "获得车辆前往等待点记录")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('wait:move-to-wait:query')")
+    public CommonResult<MoveToWaitRespVO> getMoveToWait(@RequestParam("id") Long id) {
+        MoveToWaitDO moveToWait = moveToWaitService.getMoveToWait(id);
+        return success(BeanUtils.toBean(moveToWait, MoveToWaitRespVO.class));
+    }
+
+    @GetMapping("/page")
+    @Operation(summary = "获得车辆前往等待点记录分页")
+    @PreAuthorize("@ss.hasPermission('wait:move-to-wait:query')")
+    public CommonResult<PageResult<MoveToWaitRespVO>> getMoveToWaitPage(@Valid MoveToWaitPageReqVO pageReqVO) {
+        PageResult<MoveToWaitDO> pageResult = moveToWaitService.getMoveToWaitPage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, MoveToWaitRespVO.class));
+    }
+
+    @GetMapping("/export-excel")
+    @Operation(summary = "导出车辆前往等待点记录 Excel")
+    @PreAuthorize("@ss.hasPermission('wait:move-to-wait:export')")
+    @ApiAccessLog(operateType = EXPORT)
+    public void exportMoveToWaitExcel(@Valid MoveToWaitPageReqVO pageReqVO,
+              HttpServletResponse response) throws IOException {
+        pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
+        List<MoveToWaitDO> list = moveToWaitService.getMoveToWaitPage(pageReqVO).getList();
+        // 导出 Excel
+        ExcelUtils.write(response, "车辆前往等待点记录.xls", "数据", MoveToWaitRespVO.class,
+                        BeanUtils.toBean(list, MoveToWaitRespVO.class));
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/wait/vo/MoveToWaitPageReqVO.java

@@ -0,0 +1,31 @@
+package cn.iocoder.yudao.module.system.controller.admin.wait.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 - 车辆前往等待点记录分页 Request VO")
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+public class MoveToWaitPageReqVO extends PageParam {
+
+    @Schema(description = "AGV编号")
+    private String robotNo;
+
+    @Schema(description = "地图字表节点id", example = "15970")
+    private Long positionMapItemId;
+
+    @Schema(description = "任务状态(0：未开始、1：前往等待点、2：已到达等待点、3：已离开等待点)", example = "1")
+    private Integer waitStatus;
+
+    @Schema(description = "创建时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
+    private LocalDateTime[] createTime;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/wait/vo/MoveToWaitRespVO.java

@@ -0,0 +1,35 @@
+package cn.iocoder.yudao.module.system.controller.admin.wait.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 - 车辆前往等待点记录 Response VO")
+@Data
+@ExcelIgnoreUnannotated
+public class MoveToWaitRespVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "19107")
+    @ExcelProperty("主键ID")
+    private Long id;
+
+    @Schema(description = "AGV编号")
+    @ExcelProperty("AGV编号")
+    private String robotNo;
+
+    @Schema(description = "地图字表节点id", example = "15970")
+    @ExcelProperty("地图字表节点id")
+    private Long positionMapItemId;
+
+    @Schema(description = "任务状态(0：未开始、1：前往等待点、2：已到达等待点、3：已离开等待点)", example = "1")
+    @ExcelProperty("任务状态(0：未开始、1：前往等待点、2：已到达等待点、3：已离开等待点)")
+    private Integer waitStatus;
+
+    @Schema(description = "创建时间", requiredMode = Schema.RequiredMode.REQUIRED)
+    @ExcelProperty("创建时间")
+    private LocalDateTime createTime;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/wait/vo/MoveToWaitSaveReqVO.java

@@ -0,0 +1,24 @@
+package cn.iocoder.yudao.module.system.controller.admin.wait.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import javax.validation.constraints.*;
+
+@Schema(description = "管理后台 - 车辆前往等待点记录新增/修改 Request VO")
+@Data
+public class MoveToWaitSaveReqVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "19107")
+    private Long id;
+
+    @Schema(description = "AGV编号")
+    private String robotNo;
+
+    @Schema(description = "地图字表节点id", example = "15970")
+    private Long positionMapItemId;
+
+    @Schema(description = "任务状态(0：未开始、1：前往等待点、2：已到达等待点、3：已离开等待点)", example = "1")
+    private Integer waitStatus;
+
+}

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

@@ -77,5 +77,9 @@ public class PositionMapItemDO extends BaseDO {
      * 排序的位置,越大越优先堆放
      */
     private Long locationNumber;
+    /**
+     * 等待点使用状态(0.空闲 1.使用中)
+     */
+    private Integer useStatus;
 
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskDetailDO.java

@@ -96,7 +96,7 @@ public class RobotTaskDetailDO extends BaseDO {
      */
     private Integer taskStatus;
     /**
-     * 任务阶段(0:待执行、1：前往取货、2：取货中、3：运输中、4：放货中、5：结束)
+     * 任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电)
      */
     private Long taskStage;
     /**

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/wait/MoveToWaitDO.java

@@ -0,0 +1,43 @@
+package cn.iocoder.yudao.module.system.dal.dataobject.wait;
+
+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;
+
+/**
+ * 车辆前往等待点记录 DO
+ *
+ * @author 陈宾顺
+ */
+@TableName("robot_move_to_wait")
+@KeySequence("robot_move_to_wait_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 MoveToWaitDO extends BaseDO {
+
+    /**
+     * 主键ID
+     */
+    @TableId
+    private Long id;
+    /**
+     * AGV编号
+     */
+    private String robotNo;
+    /**
+     * 地图字表节点id
+     */
+    private Long positionMapItemId;
+    /**
+     * 任务状态(0：未开始、1：前往等待点、2：已到达等待点、3：已离开等待点)
+     */
+    private Integer waitStatus;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/wait/MoveToWaitMapper.java

@@ -0,0 +1,29 @@
+package cn.iocoder.yudao.module.system.dal.mysql.wait;
+
+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 org.apache.ibatis.annotations.Mapper;
+
+import cn.iocoder.yudao.module.system.controller.admin.wait.vo.*;
+import cn.iocoder.yudao.module.system.dal.dataobject.wait.MoveToWaitDO;
+/**
+ * 车辆前往等待点记录 Mapper
+ *
+ * @author 陈宾顺
+ */
+@Mapper
+public interface MoveToWaitMapper extends BaseMapperX<MoveToWaitDO> {
+
+    default PageResult<MoveToWaitDO> selectPage(MoveToWaitPageReqVO reqVO) {
+        return selectPage(reqVO, new LambdaQueryWrapperX<MoveToWaitDO>()
+                .eqIfPresent(MoveToWaitDO::getRobotNo, reqVO.getRobotNo())
+                .eqIfPresent(MoveToWaitDO::getPositionMapItemId, reqVO.getPositionMapItemId())
+                .eqIfPresent(MoveToWaitDO::getWaitStatus, reqVO.getWaitStatus())
+                .betweenIfPresent(MoveToWaitDO::getCreateTime, reqVO.getCreateTime())
+                .orderByDesc(MoveToWaitDO::getId));
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathIsReachEnum.java

@@ -0,0 +1,18 @@
+package cn.iocoder.yudao.module.system.enums.path;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum PathIsReachEnum {
+    REACH("REACH","到达"),
+    MOVE("MOVE","前进"),
+    START_WORK("START_WORK","开始作业"),
+    END_WORK("END_WORK","完成作业");
+    /**
+     * 类型
+     */
+    private final String type;
+    private final String msg;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskType.java

@@ -13,6 +13,8 @@ public enum PathTaskType {
     TAKE_RELEASE("TAKE_RELEASE","取放货"),
     CHARGE("CHARGE","充电任务"),
     MOVE("MOVE","移动任务"),
+    MOVE_TO_WAIT("MOVE_TO_WAIT","移动到等待点(没任务时去等待点)"),
+    MOVE_TO_WAIT_STOP("MOVE_TO_WAIT_STOP","停车任务"),
     TAKE("TAKE","仅取货"),
     RELEASE("RELEASE","仅放货"),
     AUTO_CHARGE("AUTO_CHARGE","自动充电");
@@ -39,6 +41,8 @@ public enum PathTaskType {
             return TAKE.getType();
         }else if (RobotTaskTypeEnum.RELEASE.getType().equals(taskType)) {
             return RELEASE.getType();
+        }else if (RobotTaskTypeEnum.PARK.getType().equals(taskType)) {
+            return MOVE_TO_WAIT_STOP.getType();
         }else {
             return AUTO_CHARGE.getType();
         }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/CommandTypeEnum.java

@@ -9,19 +9,11 @@ import lombok.Getter;
 @Getter
 @AllArgsConstructor
 public enum CommandTypeEnum {
-    MOVE_POSES_AND_FORK("MOVE_POSES_AND_FORK","移动且降叉"),
+    WORK_PICK_UP_GOODS("WORK_PICK_UP_GOODS","取货控叉"),
+    WORK_DROP_OFF_GOODS("WORK_DROP_OFF_GOODS","放货控叉"),
     MOVE_POSES("MOVE_POSES","移动"),
-    MOVE_POSE("MOVE_POSE","移动"),
+    WORK_AUTO_CHARGE("WORK_AUTO_CHARGE","自动充电"),
-    JOY_AGV("JOY_AGV","遥感AGV移动"),
+    WORK_MANUAL_CHARGEC("WORK_MANUAL_CHARGEC","手动充电");
-    JOY_FORK("JOY_FORK","遥控货叉上下移动"),
-    SHUT_DOWN("SHUT_DOWN","关机"),
-    RESTART("RESTART","重启"),
-    STOP("STOP","停止"),
-    START("START","启动"),
-    WAIT("WAIT","等待"),
-    GET_PALLET_TOPIC("GET_PALLET_TOPIC","获取托盘位置"),
-    MOVE_TO_PALLET_POSE("MOVE_TO_PALLET_POSE","移动到取货终点"),
-    FORK("FORK","控制货叉上下移动");
     /**
      * 类型
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotCommandTypeEnum.java

@@ -6,6 +6,8 @@ import lombok.Getter;
 @Getter
 @AllArgsConstructor
 public enum RobotCommandTypeEnum {
+    MOVE_POSES("MOVE_POSES","移动"),
+    WORK_START_CHARGE("WORK_START_CHARGE","充电"),
     WORD_PICK_UP_GOODS("WORD_PICK_UP_GOODS","取货"),
     WORD_DROP_OFF_GOODS("WORD_DROP_OFF_GOODS","放货");
     /**

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotTaksOrderTypeEnum.java

@@ -1,11 +1,14 @@
+/*
 package cn.iocoder.yudao.module.system.enums.robot.task;
 
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+*/
 /**
  * RobotAcceptTaskDTO的order_type
- */
+ *//*
+
 @Getter
 @AllArgsConstructor
 public enum RobotTaksOrderTypeEnum {
@@ -13,8 +16,11 @@ public enum RobotTaksOrderTypeEnum {
     AUTO_MOVE("AUTO_MOVE"), //自动移库任务
     TASK("TASK"), //客户下发的任务
     AUTO_CHARGE("AUTO_CHARGE"); //自动充电任务
-    /**
+    */
+/**
      * 类型
-     */
+     *//*
+
     private final String type;
 }
+*/

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotTaskStageEnum.java

@@ -0,0 +1,22 @@
+package cn.iocoder.yudao.module.system.enums.robot.task;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum RobotTaskStageEnum {
+    UN_START(0L,"待执行"),
+    GO_TAKE(1L,"前往取货"),
+    TAKEING(2L,"取货中"),
+    GO_RELEASE(3L,"前往放货"),
+    RELEASEING(4L,"放货中"),
+    DONE(5L,"结束"),
+    MOVE(6L,"移动中"),
+    CHARGEING(7L,"待执行正在充电");
+    /**
+     * 类型
+     */
+    private final Long type;
+    private final String msg;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/wait/WaitStatusEnum.java

@@ -0,0 +1,22 @@
+package cn.iocoder.yudao.module.system.enums.wait;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * 任务状态(0：未开始、1：前往等待点、2：已到达等待点、3：已离开等待点)
+ */
+@Getter
+@AllArgsConstructor
+public enum WaitStatusEnum {
+    UN_START(0,"未开始"),
+    GO_TO_WAIT(1,"前往等待点"),
+    REACH_WAIT(2,"已到达等待点"),
+    LEAVE_WAIT(3,"已离开等待点");
+    /**
+     * 类型
+     */
+    private final Integer type;
+
+    private final String msg;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/HouseLocationStrategyImpl.java

@@ -45,11 +45,11 @@ public class HouseLocationStrategyImpl implements NodeProcessingStrategy {
             // -- 筛选出 库位编号不为空 - 并且第最后一组数据 最大的值 - 如果没有则为0
             int max = wareHouseLocationDOS.stream().map(WareHouseLocationDO::getLocationNo).filter(StrUtil::isNotEmpty)
                     .mapToInt(s -> Integer.parseInt(s.substring(s.length() - 1))).max().orElse(1);
-            int locationStorey = wareHouseLocationDOS.size();
             Long locationNumber = null;
             if (ObjectUtil.isNotEmpty(item.getLocationNumber())) {
                 locationNumber = item.getLocationNumber();
             }
+            int locationStorey = 1;
             for (WareHouseLocationDO wareHouseLocationDO : wareHouseLocationDOS) {
                 wareHouseLocationDO.setLocationX(item.getLocationX());
                 wareHouseLocationDO.setLocationY(item.getLocationY());
@@ -58,6 +58,8 @@ public class HouseLocationStrategyImpl implements NodeProcessingStrategy {
                 if (wareHouseLocationDO.getId() == null) {
                     wareHouseLocationDO.setId(getId());
                 }
+                wareHouseLocationDO.setLocationStorey(locationStorey);
+                locationStorey ++;
                 if (StrUtil.isEmpty(wareHouseLocationDO.getLocationNo())) {
                     // -- 生成库位编号 -
                     String locationNo = String.format(KW_NO_FORMAT, positionMapId, RandomUtil.randomNumbers(4), max++);
@@ -69,8 +71,6 @@ public class HouseLocationStrategyImpl implements NodeProcessingStrategy {
                     wareHouseLocationDO.setLocationNumber(locationNumber);
                     locationNumber = locationNumber - 10;
                 }
-                wareHouseLocationDO.setLocationStorey(locationStorey);
-                locationStorey = locationStorey+1;
                 newList.add(wareHouseLocationDO);
             }
             item.setDataJson(JSONUtil.toJsonStr(wareHouseLocationDOS));

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningService.java

@@ -29,4 +29,13 @@ public interface PathPlanningService {
      * @param message
      */
     void sendPosedsToRobot(String message);
+
+    /**
+     * 同步PP任务状态
+     * @param orderId
+     * @param robotNo
+     * @param s
+     * @param type
+     */
+    void updateBehavior(String orderId, String robotNo, String s, String type);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java

@@ -5,6 +5,7 @@ import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
 import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
 import cn.iocoder.yudao.module.mqtt.api.path.dto.*;
+import cn.iocoder.yudao.module.mqtt.api.path.task.TaskPathPlanningDTO;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemSaveReqVO;
@@ -100,7 +101,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
             relatedPathNode.setFloor(positionMapDO.getFloor());
             relatedPathNode.setArea(positionMapDO.getArea());
             relatedPathNode.setType(PathTypeEnum.INIT.getType());
-            List<PositionMapLineDTO> positionMapLineDOS = positionMapLineMap.get(positionMapDO.getId()+"");
+            List<PositionMapLineDTO> positionMapLineDOS = positionMapLineMap.get(positionMapDO.getId() + "");
             if (ObjectUtil.isEmpty(positionMapLineDOS)) {
                 continue;
             }
@@ -386,16 +387,31 @@ public class PathPlanningServiceImpl implements PathPlanningService {
 
     /**
      * 发送路径给车机
+     *
      * @param message
      */
     @Override
     public void sendPosedsToRobot(String message) {
         PathPosedsDTO pathPosedsDTO = JSON.parseObject(message, PathPosedsDTO.class);
         String mac = robotInformationService.getMacByRobotNo(pathPosedsDTO.getRobotNo());
-        String topic = RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC+mac;
+        String topic = RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + mac;
         commonApi.commonMethod(message, topic);
     }
 
+    /**
+     * 实时行为上报
+     * @param orderId
+     * @param robotNo
+     * @param behaviorId
+     * @param isReach
+     */
+    @Override
+    public void updateBehavior(String orderId, String robotNo, String behaviorId, String isReach) {
+        TaskPathPlanningDTO build = TaskPathPlanningDTO.builder().orderId(orderId).robotNo(robotNo)
+                .behaviorId(behaviorId).isReach(isReach).build();
+        commonApi.commonMethod(build, PathPlanningTopicConstant.UPDATE_BEHAVIOR);
+    }
+
     public PositionMapLineDTO setPositionMapLineDTOData(PositionMapLineDTO positionMapLineDO) {
         PositionMapLineDTO build = PositionMapLineDTO.builder()
                 .id(positionMapLineDO.getId())

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

@@ -10,11 +10,7 @@ import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.mybatis.core.util.MyBatisUtils;
 import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
-import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO;
+import cn.iocoder.yudao.module.mqtt.api.task.dto.*;
-import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAssignTaskArgDTO;
-import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAssignTaskDTO;
-import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAssignTaskDataDTO;
-import cn.iocoder.yudao.module.mqtt.enums.path.TaskTypeEnum;
 import cn.iocoder.yudao.module.mqtt.enums.task.ExecutionTypeEnum;
 import cn.iocoder.yudao.module.system.api.path.vo.RobotClosePathPlantingDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
@@ -53,7 +49,6 @@ 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.ChargeTaskStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
-import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaksOrderTypeEnum;
 //import cn.iocoder.yudao.module.system.service.robot.job.RobotCommonTaskService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import cn.iocoder.yudao.module.system.util.redis.RedissonUtils;
@@ -136,12 +131,12 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     @Value("${zn.task.check_sku_info:true}")
     private Boolean checkSkuInfo;
 
-    @Value("${zn.robot_config.check_pallet_height}")
-    private Double checkPalletHeight;
-
     @Value("${zn.robot_config.offset_height}")
     private Double offsetHeight;
 
+    @Value("${zn.robot_config.default_tray_height:1.0}")
+    private Double defaultTrayHeight;
+
     @Resource
     private WareHouseLaneMapper houseLaneMapper;
 
@@ -397,7 +392,6 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             robotTask.setOrder_id(taskDetailDO.getId().toString());
             String mac = robotInformationService.getMacByRobotNo(taskDetailDO.getRobotNo());
             robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC + mac);
-            robotTask.setOrder_type(RobotTaksOrderTypeEnum.TASK.getType());
             robotTask.setExecution_type(ExecutionTypeEnum.CANCEL.getType());
             commonApi.commonMethod(robotTask, robotTask.getTopic());
 
@@ -487,9 +481,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             robotTaskDetailDO = setTaskDoing(detailId, taskAssignDTO.getRobotNo(), deviceNoMap);
         }
 
-        if (ObjectUtil.isNotEmpty(robotTaskDetailDO)) {
+        sendTaskToRobot(robotTaskDetailDO, taskAssignDTO);
-            sendTaskToRobot(robotTaskDetailDO, taskAssignDTO);
+
-        }
     }
 
     /**
@@ -498,62 +491,79 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
      * @param v
      */
     private void sendTaskToRobot(RobotTaskDetailDO v, TaskAssignDTO taskAssignDTO) {
-        String mac = robotInformationService.getMacByRobotNo(v.getRobotNo());
+        String mac = robotInformationService.getMacByRobotNo(taskAssignDTO.getRobotNo());
-        String orderType = PathTaskType.getTaskType(v.getTaskType());
+        RobotAssignTaskDataDTO robotAssignTask = getEmptyRobotAssignTaskData();
         RobotAssignTaskDTO build = RobotAssignTaskDTO.builder()
                 .topic(RobotTopicConstant.ROBOT_TASK_TOPIC + mac)
-                .order_type(orderType)
+                .orderType(taskAssignDTO.getType())
-                .order_id(v.getId().toString())
+                .executionType(ExecutionTypeEnum.DEFAULT.getType())
+                .orderId(taskAssignDTO.getId().toString())
+                .data(Lists.newArrayList(robotAssignTask))
                 .build();
         if (PathTaskType.TAKE_RELEASE.getType().equals(taskAssignDTO.getType())
-            || PathTaskType.TAKE.getType().equals(taskAssignDTO.getType())
+                || PathTaskType.TAKE.getType().equals(taskAssignDTO.getType())
-            || PathTaskType.RELEASE.getType().equals(taskAssignDTO.getType())) {
+                || PathTaskType.RELEASE.getType().equals(taskAssignDTO.getType())) {
-            List<RobotAssignTaskDataDTO> robotAssignTaskData = getRobotAssignTaskData(v,taskAssignDTO);
+            RobotAssignTaskDataDTO robotAssignTaskData = getRobotAssignTaskData(v, taskAssignDTO);
-            build.setData(robotAssignTaskData);
+            List<RobotAssignTaskDataDTO> data = build.getData();
+            data.add(robotAssignTaskData);
+        } else if (PathTaskType.CHARGE.getType().equals(taskAssignDTO.getType())
+                || PathTaskType.AUTO_CHARGE.getType().equals(taskAssignDTO.getType())) {
+            RobotAssignTaskDataDTO robotAssignTaskData = new RobotAssignTaskDataDTO();
+            robotAssignTaskData.setCommandType(RobotCommandTypeEnum.WORK_START_CHARGE.getType());
+            List<RobotAssignTaskDataDTO> data = build.getData();
+            data.add(robotAssignTaskData);
         }
-        log.info("发送任务给车机 :{}",JSON.toJSONString(build));
+        log.info("发送任务给车机 :{}", JSON.toJSONString(build));
         commonApi.commonMethod(build, build.getTopic());
     }
 
-    public List<RobotAssignTaskDataDTO> getRobotAssignTaskData(RobotTaskDetailDO v,TaskAssignDTO taskAssignDTO) {
+    public RobotAssignTaskDataDTO getEmptyRobotAssignTaskData() {
+        RobotAssignTaskDataDTO take = new RobotAssignTaskDataDTO();
+        take.setCommandType(RobotCommandTypeEnum.MOVE_POSES.getType());
+        List<Pose2ds> pose2ds = new ArrayList<>();
+        RobotAssignTaskArgDTO build = RobotAssignTaskArgDTO.builder().pose2ds(pose2ds).build();
+        take.setArg(Arrays.asList(build));
+        return take;
+    }
 
-        RobotAssignTaskDataDTO take = null;
+    public RobotAssignTaskDataDTO getRobotAssignTaskData(RobotTaskDetailDO v, TaskAssignDTO taskAssignDTO) {
-        RobotAssignTaskDataDTO release = null;
+
+        RobotAssignTaskDataDTO take = new RobotAssignTaskDataDTO();
+        RobotAssignTaskArgDTO build = null;
+        WareHouseLocationDO location = null;
         if (PathTaskType.TAKE_RELEASE.getType().equals(taskAssignDTO.getType()) ||
                 PathTaskType.TAKE.getType().equals(taskAssignDTO.getType())) {
-            take = new RobotAssignTaskDataDTO();
+            take.setCommandType(RobotCommandTypeEnum.WORD_PICK_UP_GOODS.getType());
-            take.setCommand_type(RobotCommandTypeEnum.WORD_PICK_UP_GOODS.getType());
+            location = locationMapper.selectById(v.getFromLocationId());
-            WareHouseLocationDO location = locationMapper.selectById(v.getFromLocationId());
+            build = RobotAssignTaskArgDTO.builder()
-            RobotAssignTaskArgDTO build = RobotAssignTaskArgDTO.builder()
                     .level(Double.valueOf(location.getLocationStorey()))
-                    .height(Double.valueOf(location.getLocationTrayHeight() + ""))
+                    .offsetHeight(offsetHeight)
-                    .check_pallet_height(checkPalletHeight)
-                    .offset_height(offsetHeight)
                     .build();
             take.setArg(Arrays.asList(build));
-        }
+        } else if (PathTaskType.RELEASE.getType().equals(taskAssignDTO.getType())) {
-        if (PathTaskType.TAKE_RELEASE.getType().equals(taskAssignDTO.getType()) ||
+            take.setCommandType(RobotCommandTypeEnum.WORD_DROP_OFF_GOODS.getType());
-                PathTaskType.RELEASE.getType().equals(taskAssignDTO.getType())) {
+            location = locationMapper.selectById(v.getToLocationId());
-            release = new RobotAssignTaskDataDTO();
+            build = RobotAssignTaskArgDTO.builder()
-            release.setCommand_type(RobotCommandTypeEnum.WORD_DROP_OFF_GOODS.getType());
-            WareHouseLocationDO location = locationMapper.selectById(v.getToLocationId());
-            RobotAssignTaskArgDTO build = RobotAssignTaskArgDTO.builder()
                     .level(Double.valueOf(location.getLocationStorey()))
-                    .height(Double.valueOf(location.getLocationTrayHeight() + ""))
+                    .offsetHeight(offsetHeight)
-                    .check_pallet_height(checkPalletHeight)
-                    .offset_height(offsetHeight)
                     .build();
-            release.setArg(Arrays.asList(build));
         }
 
-        List<RobotAssignTaskDataDTO> list = new ArrayList<>();
+        if (ObjectUtil.isEmpty(location.getLocationTrayHeight())) {
-        if (ObjectUtil.isNotEmpty(take)) {
+            setRobotAssignTaskArgHeigth(location, build);
-            list.add(take);
+        } else {
+            build.setHeight(Double.valueOf(location.getLocationTrayHeight() + ""));
         }
-        if (ObjectUtil.isNotEmpty(release)) {
+
-            list.add(release);
+        take.setArg(Arrays.asList(build));
-        }
+
-        return list;
+        return take;
+    }
+
+    private void setRobotAssignTaskArgHeigth(WareHouseLocationDO location, RobotAssignTaskArgDTO build) {
+        Integer locationStorey = location.getLocationStorey() - 1;
+        double height = locationStorey * defaultTrayHeight;
+        build.setHeight(height);
     }
 
     public RobotTaskDetailDO setTaskDoing(Long detailId, String robotNo, Map<Long, String> deviceNoMap) {
@@ -1156,8 +1166,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         RobotChargeLogDO robotChargeLogs = null;
 
         *//**
-         * 充电
+     * 充电
-         *//*
+     *//*
         if (TaskTypeEnum.CHARGE.getType().equals(distribution.getType())) {
             robotChargeLogs = chargeLogMapper.selectById(distribution.getId());
 
@@ -1172,8 +1182,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         }
 
         *//**
-         * 任务
+     * 任务
-         *//*
+     *//*
         if (TaskTypeEnum.TASK.getType().equals(distribution.getType())) {
             chargeDone(distribution.getRobotNo());
             robotInformationMapper.updateRobotListStatus(distribution.getRobotNo(), RobotStatusEnum.DOING.getType(), distribution.getId());

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

@@ -8,13 +8,7 @@ import cn.iocoder.yudao.module.mqtt.api.path.task.TaskLimitationAreaDTO;
 import cn.iocoder.yudao.module.mqtt.api.path.task.TaskRobotNoLimittationAreaDTO;
 import cn.iocoder.yudao.module.mqtt.api.path.task.TaskToPathPlanningDTO;
 import cn.iocoder.yudao.module.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.mqtt.enums.path.TaskTypeEnum;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
-import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
-import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotChargeLogDO;
@@ -27,6 +21,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
 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.path.PathTaskType;
 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.robot.job.DistributeTasksService;
@@ -167,9 +162,10 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                 priority = taskDetailMap.get(v.getTaskDetailId()).getPriority();
             }
 
+            String orderType = ObjectUtil.isEmpty(v.getTaskDetailId()) ? PathTaskType.AUTO_CHARGE.getType():PathTaskType.CHARGE.getType();
             TaskToPathPlanningDTO pathPlanning = TaskToPathPlanningDTO.builder()
-                    .id(String.valueOf(v.getId()))
+                    .orderId(String.valueOf(v.getId()))
-                    .type(TaskTypeEnum.CHARGE.getType())
+                    .orderType(orderType)
                     .priority(priority)
                     .createTime(createTime)
                     .build();
@@ -223,8 +219,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         for (RobotTaskDetailDO taskDetailDO : taskDetailDOS) {
 
             TaskToPathPlanningDTO pathPlanning = TaskToPathPlanningDTO.builder()
-                    .id(String.valueOf(taskDetailDO.getId()))
+                    .orderId(String.valueOf(taskDetailDO.getId()))
-                    .type(TaskTypeEnum.TASK.getType())
+                    .orderType(PathTaskType.getTaskType(taskDetailDO.getTaskType()))
                     .priority(taskDetailDO.getPriority())
                     .createTime(taskDetailDO.getCreateTime())
                     .build();

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java

@@ -19,7 +19,6 @@ import cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnMsgMapper;
 import cn.iocoder.yudao.module.system.enums.config.CommandConfigTypeEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotWarnType;
-import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaksOrderTypeEnum;
 import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
 import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
 import com.alibaba.fastjson.JSON;
@@ -95,7 +94,6 @@ public class ToolsServiceImpl implements ToolsService {
     /**
      * 清除交管
      *
-     * @param agvNo
      * @return
      */
     @Override
@@ -123,7 +121,6 @@ public class ToolsServiceImpl implements ToolsService {
         robotTask.setOrder_id(taskDetailId);
         String mac = robotInformationService.getMacByRobotNo(informationDO.getRobotNo());
         robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC + mac);
-        robotTask.setOrder_type(RobotTaksOrderTypeEnum.TASK.getType());
         robotTask.setExecution_type(ExecutionTypeEnum.CANCEL.getType());
         commonApi.commonMethod(robotTask, robotTask.getTopic());
 

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

@@ -0,0 +1,56 @@
+package cn.iocoder.yudao.module.system.service.wait;
+
+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.wait.vo.*;
+import cn.iocoder.yudao.module.system.dal.dataobject.wait.MoveToWaitDO;
+
+/**
+ * 车辆前往等待点记录 Service 接口
+ *
+ * @author 陈宾顺
+ */
+public interface MoveToWaitService {
+
+    /**
+     * 创建车辆前往等待点记录
+     *
+     * @param createReqVO 创建信息
+     * @return 编号
+     */
+    Long createMoveToWait(@Valid MoveToWaitSaveReqVO createReqVO);
+
+    /**
+     * 更新车辆前往等待点记录
+     *
+     * @param updateReqVO 更新信息
+     */
+    void updateMoveToWait(@Valid MoveToWaitSaveReqVO updateReqVO);
+
+    /**
+     * 删除车辆前往等待点记录
+     *
+     * @param id 编号
+     */
+    void deleteMoveToWait(Long id);
+
+    /**
+     * 获得车辆前往等待点记录
+     *
+     * @param id 编号
+     * @return 车辆前往等待点记录
+     */
+    MoveToWaitDO getMoveToWait(Long id);
+
+    /**
+     * 获得车辆前往等待点记录分页
+     *
+     * @param pageReqVO 分页查询
+     * @return 车辆前往等待点记录分页
+     */
+    PageResult<MoveToWaitDO> getMoveToWaitPage(MoveToWaitPageReqVO pageReqVO);
+
+    void setMoveToWaitDoing(Long orderId,Integer status);
+}

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

@@ -0,0 +1,82 @@
+package cn.iocoder.yudao.module.system.service.wait;
+
+import cn.iocoder.yudao.module.system.controller.admin.wait.vo.*;
+import cn.iocoder.yudao.module.system.dal.dataobject.wait.MoveToWaitDO;
+import cn.iocoder.yudao.module.system.dal.mysql.wait.MoveToWaitMapper;
+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.MOVE_TO_WAIT_NOT_EXISTS;
+
+/**
+ * 车辆前往等待点记录 Service 实现类
+ *
+ * @author 陈宾顺
+ */
+@Service
+@Validated
+public class MoveToWaitServiceImpl implements MoveToWaitService {
+
+    @Resource
+    private MoveToWaitMapper moveToWaitMapper;
+
+    @Override
+    public Long createMoveToWait(MoveToWaitSaveReqVO createReqVO) {
+        // 插入
+        MoveToWaitDO moveToWait = BeanUtils.toBean(createReqVO, MoveToWaitDO.class);
+        moveToWaitMapper.insert(moveToWait);
+        // 返回
+        return moveToWait.getId();
+    }
+
+    @Override
+    public void updateMoveToWait(MoveToWaitSaveReqVO updateReqVO) {
+        // 校验存在
+        validateMoveToWaitExists(updateReqVO.getId());
+        // 更新
+        MoveToWaitDO updateObj = BeanUtils.toBean(updateReqVO, MoveToWaitDO.class);
+        moveToWaitMapper.updateById(updateObj);
+    }
+
+    @Override
+    public void deleteMoveToWait(Long id) {
+        // 校验存在
+        validateMoveToWaitExists(id);
+        // 删除
+        moveToWaitMapper.deleteById(id);
+    }
+
+    private void validateMoveToWaitExists(Long id) {
+        if (moveToWaitMapper.selectById(id) == null) {
+            throw exception(MOVE_TO_WAIT_NOT_EXISTS);
+        }
+    }
+
+    @Override
+    public MoveToWaitDO getMoveToWait(Long id) {
+        return moveToWaitMapper.selectById(id);
+    }
+
+    @Override
+    public PageResult<MoveToWaitDO> getMoveToWaitPage(MoveToWaitPageReqVO pageReqVO) {
+        return moveToWaitMapper.selectPage(pageReqVO);
+    }
+
+    @Override
+    public void setMoveToWaitDoing(Long orderId,Integer status) {
+        MoveToWaitDO updateObj = new MoveToWaitDO();
+        updateObj.setId(orderId);
+        updateObj.setWaitStatus(status);
+        moveToWaitMapper.updateById(updateObj);
+    }
+
+}

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

@@ -245,14 +245,14 @@ zn:
     scan: 机器人正在扫描
     parking_space: 机器人正在前往停车位
     charge: 机器人正在前往充电位
-    action_entity_cache_time: 28800 #机器人所有动作缓存时间 8小时
+    action_entity_cache_time: 172800 #机器人所有动作缓存时间 8小时
-    doing_action_cache_time: 28800 #单个动作缓存时间 8小时
+    doing_action_cache_time: 172800 #单个动作缓存时间 8小时
   robot_chearg: #机器人充电的配置
     release_location_number_config: 50 #同一组序号，越大越先执行
     priority_config: 50 #优先级
   task: #任务相关的配置
     check_sku_info: true #校验物料信息
   robot_config: #机器人取放货默认配置
-    check_pallet_height: 0.0 #检测托盘时需要抬叉的高度，现在是需要，以后不用了
     offset_height: 0.1 #叉起货需要在原来高度基础上偏移的高度
+    default_tray_height: 1.1 #默认每层高度
 

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/wait/MoveToWaitMapper.xml

@@ -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.wait.MoveToWaitMapper">
+
+    <!--
+        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>