优化任务下发的更新顺序

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotInformationMapper.java

@@ -32,11 +32,6 @@ public interface RobotInformationMapper extends BaseMapperX<RobotInformationDO>
                 .orderByDesc(RobotInformationDO::getId));
     }
 
-    /**
-     * 查询空闲的机器人
-     * @return
-     */
-    List<RobotInformationDO> selectFreeRobot();
 
     /**
      * 更新机器人状态

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

@@ -169,10 +169,11 @@ public class RobotTaskServiceImpl implements RobotTaskService {
         // todo 更新数据库顺序 后续改为xxl-job一致
 
         //查找库位
+        List<Long> locationIds = new ArrayList<>();
         if (MoveAllEnum.NO.getType().equals(createReqVO.getDoMoveAll())) {
-            setSingleLocationIdNo(createReqVO.getTaskDetailList(),task);
+            locationIds = setSingleLocationIdNo(createReqVO.getTaskDetailList(),task);
         } else {
-            setAllLocationIdNo(createReqVO,task.getId());
+            locationIds = setAllLocationIdNo(createReqVO,task.getId());
         }
 
         // 插入
@@ -182,6 +183,11 @@ public class RobotTaskServiceImpl implements RobotTaskService {
                 });
         robotTaskDetailService.insertRobotDetailList(createReqVO.getTaskDetailList());
 
+        List<List<Long>> fromPartition = Lists.partition(locationIds, 100);
+        fromPartition.forEach(list-> {
+            locationMapper.updateLocationLockList(list,task.getId(),LocationLockEnum.NO.getType());
+        });
+
         return RESULT;
     }
 
@@ -191,7 +197,7 @@ public class RobotTaskServiceImpl implements RobotTaskService {
      * @param taskId
      */
     @Transactional(rollbackFor = Exception.class)
-    public void setAllLocationIdNo(RobotTaskSaveReqVO createReqVO, Long taskId) {
+    public List<Long> setAllLocationIdNo(RobotTaskSaveReqVO createReqVO, Long taskId) {
         List<RobotTaskDetailAddVO> taskDetailList = createReqVO.getTaskDetailList();
 
         List<RobotTaskDetailAddVO> newTaskDetailList = new ArrayList<>();
@@ -268,17 +274,11 @@ public class RobotTaskServiceImpl implements RobotTaskService {
         }
 
         createReqVO.setTaskDetailList(newTaskDetailList);
-        //跟新库位状态为锁定
-        List<List<Long>> toPartition = Lists.partition(toLocationIds, 100);
-        toPartition.forEach(list-> {
-            locationMapper.updateLocationLockList(list,taskId,LocationLockEnum.NO.getType());
-        });
-
-        List<List<Long>> fromPartition = Lists.partition(fromLocationIds, 100);
-        fromPartition.forEach(list-> {
-            locationMapper.updateLocationLockList(list,taskId,LocationLockEnum.NO.getType());
-        });
 
+        if (ObjectUtil.isNotEmpty(fromLocationIds)) {
+            toLocationIds.addAll(fromLocationIds);
+        }
+        return toLocationIds;
     }
 
     /**
@@ -324,7 +324,7 @@ public class RobotTaskServiceImpl implements RobotTaskService {
      * @return
      */
     @Transactional(rollbackFor = Exception.class)
-    public void setSingleLocationIdNo(List<RobotTaskDetailAddVO> taskDetailList, RobotTaskDO task){
+    public List<Long> setSingleLocationIdNo(List<RobotTaskDetailAddVO> taskDetailList, RobotTaskDO task){
         List<Long> locationIds = new ArrayList<>();
         for (RobotTaskDetailAddVO robotTaskVo : taskDetailList) {
             robotTaskVo.setRobotTaskId(task.getId());
@@ -350,16 +350,17 @@ public class RobotTaskServiceImpl implements RobotTaskService {
                     doRelease(robotTaskVo,locationIds);
                     break;
                 case SCAN:
-                    doScan(robotTaskVo);
+                    doScan(robotTaskVo,locationIds);
                     break;
                 case DETECTING_TRAYS:
-                    doDetectingTrays(robotTaskVo);
+                    doDetectingTrays(robotTaskVo,locationIds);
                     break;
                 default :
                     log.error("任务类型不存在 ");
                     throw new RuntimeException("任务类型不存在");
             }
         }
+        return locationIds;
     }
 
     /**
@@ -367,9 +368,9 @@ public class RobotTaskServiceImpl implements RobotTaskService {
      * @param robotTaskVo
      */
     @Transactional(rollbackFor = Exception.class)
-    public void doDetectingTrays(RobotTaskDetailAddVO robotTaskVo) {
+    public void doDetectingTrays(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds) {
         setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),new ArrayList<>());
-        locationMapper.updateLocationLockStatus(robotTaskVo.getToLocationId(),0,robotTaskVo.getRobotTaskId());
+        locationIds.add(robotTaskVo.getToLocationId());
     }
 
     /**
@@ -377,9 +378,9 @@ public class RobotTaskServiceImpl implements RobotTaskService {
      * @param robotTaskVo
      */
     @Transactional(rollbackFor = Exception.class)
-    public void doScan(RobotTaskDetailAddVO robotTaskVo) {
+    public void doScan(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds) {
         setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),new ArrayList<>());
-        locationMapper.updateLocationLockStatus(robotTaskVo.getToLocationId(),0,robotTaskVo.getRobotTaskId());
+        locationIds.add(robotTaskVo.getToLocationId());
     }
 
     /**
@@ -389,7 +390,6 @@ public class RobotTaskServiceImpl implements RobotTaskService {
     @Transactional(rollbackFor = Exception.class)
     public void doRelease(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds) {
         setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),locationIds);
-        locationMapper.updateLocationLockStatus(robotTaskVo.getToLocationId(),0,robotTaskVo.getRobotTaskId());
         locationIds.add(robotTaskVo.getToLocationId());
     }
 
@@ -539,9 +539,6 @@ public class RobotTaskServiceImpl implements RobotTaskService {
             throw new RuntimeException("取货库位,存在未完成的任务 ");
         }
 
-        //设置为锁定
-        locationMapper.updateLocationLockStatus(robotTaskVo.getToLocationId(),0,robotTaskVo.getRobotTaskId());
-        locationMapper.updateLocationLockStatus(robotTaskVo.getFromLocationId(),0,robotTaskVo.getRobotTaskId());
     }
 
     @Override

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

@@ -1,6 +1,7 @@
 package cn.iocoder.yudao.module.system.service.robot.job;
 
 import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.mqtt.api.task.RobotTaskApi;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.Pose2ds;
@@ -75,7 +76,11 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
     @Transactional(rollbackFor = Exception.class)
     public void distributeTasks() {
         TenantContextHolder.setTenantId(1L);
-        List<RobotInformationDO> robots = robotInformationMapper.selectFreeRobot();
+        List<RobotInformationDO> robots = robotInformationMapper.selectList(new LambdaQueryWrapperX<RobotInformationDO>()
+                .eq(RobotInformationDO::getRobotStatus, (RobotStatusEnum.STAND_BY.getType()))
+                .eq(RobotInformationDO::getRobotTaskModel, RobotTaskModelEnum.NORMAL.getType())
+                .orderByDesc(RobotInformationDO::getUpdateTime));
+
         if (robots.isEmpty()) {
             log.info("暂无空闲的机器人");
             return;
@@ -132,6 +137,12 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
     @Transactional(rollbackFor = Exception.class)
     public void distributeTasks(List<RobotInformationDO> robots, List<RobotTaskDetailDO> taskDetailDOS) {
         List<RobotAcceptTaskDTO> robotTaskDOS = new ArrayList<>();
+        //需要更新的任务明细id
+        List<RobotTaskDetailDO> updateTaskDetails = new ArrayList<>();
+        //需要更新的任务id
+        Set<Long> taskIds = new HashSet<>();
+        //需要更新的机器人编号
+        Set<String> robotNos = new HashSet<>();
         for (RobotTaskDetailDO taskDetailDO : taskDetailDOS) {
             if (ObjectUtil.isEmpty(robots)) {
                 break;
@@ -140,7 +151,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             RobotTaskTypeEnum robotTaskType = RobotTaskTypeEnum.getRobotTaskType(taskDetailDO.getTaskType());
             switch (robotTaskType) {
                 case TAKE_RELEASE:
-                    doTakeReleaseDistribute(taskDetailDO, robots,robotTaskDOS);
+                    doTakeReleaseDistribute(taskDetailDO, robots,robotTaskDOS,taskIds,updateTaskDetails,robotNos);
                     break;
                 /*case PARK:
                     doParkDistribute(taskDetailDO, robots,robotTaskDOS);
@@ -172,6 +183,27 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             log.info("任务下发给车机 :{}", JSON.toJSONString(robotTaskDOS));
             robotTaskApi.sendTaskToRobot(robotTaskDOS);
         }
+
+        if (ObjectUtil.isNotEmpty(taskIds)) {
+            List<RobotTaskDO> taskDOS = robotTaskMapper.selectBatchIds(taskIds);
+            for (RobotTaskDO taskDO : taskDOS) {
+                if (RobotTaskStatusEnum.NEW.getType().equals(taskDO.getTaskStatus())) {
+                    taskDO.setTaskStatus(RobotTaskStatusEnum.DOING.getType());
+                    taskDO.setStartTime(LocalDateTime.now());
+                }
+            }
+            robotTaskMapper.updateBatch(taskDOS);
+        }
+        if (ObjectUtil.isNotEmpty(updateTaskDetails)) {
+            robotTaskDetailMapper.updateBatch(updateTaskDetails);
+        }
+        if (ObjectUtil.isNotEmpty(robotNos)) {
+            List<RobotInformationDO> robotInformationDOS = robotInformationMapper.selectByRobotNos(robotNos);
+            robotInformationDOS.stream().forEach(robotInformationDO -> {
+                robotInformationDO.setRobotStatus(RobotStatusEnum.DOING.getType());
+            });
+            robotInformationMapper.updateBatch(robotInformationDOS);
+        }
     }
 
     /**
@@ -346,7 +378,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
      */
     @Transactional(rollbackFor = Exception.class)
     public void doTakeReleaseDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
-                                         List<RobotAcceptTaskDTO> robotTaskDOS) {
+                                         List<RobotAcceptTaskDTO> robotTaskDOS,Set<Long> taskIdSet,
+                                         List<RobotTaskDetailDO> updateTaskDetail, Set<String> robotNos) {
         WareHouseLocationDO query = WareHouseLocationDO.builder().id(taskDetailDO.getFromLocationId()).build();
         WareHouseLocationDO fromLocation = locationMapper.queryAllByLimit(query);
 
@@ -459,26 +492,6 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         }
 
 
-        /*Pose2ds poseOne = new Pose2ds();
-        poseOne.setX(-2.097);
-        poseOne.setY(-0.325);
-        poseOne.setYaw(1.571);
-        Pose2ds poseTwo = new Pose2ds();
-        poseTwo.setX(-0.856);
-        poseTwo.setY(1.622);
-        poseTwo.setYaw(0.034);
-        Pose2ds poseThree = new Pose2ds();
-        poseThree.setX(1.955);
-        poseThree.setY(-0.381);
-        poseThree.setYaw(-1.540);
-        Pose2ds poseFour = new Pose2ds();
-        poseFour.setX(3.046);
-        poseFour.setY(3.219);
-        poseFour.setYaw(-3.141);
-        pose2dsNight.add(poseOne);
-        pose2dsNight.add(poseTwo);
-        pose2dsNight.add(poseThree);
-        pose2dsNight.add(poseFour);*/
         taskNigth.setPose2ds(pose2dsNight);
 
         //10
@@ -561,7 +574,13 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         final String mac = macAddress;
         robots.removeIf(v -> v.getMacAddress().equals(mac));
 
-        updateTaskStatus(robotNo,taskDetailDO);
+        taskDetailDO.setRobotNo(robotNo);
+        taskDetailDO.setStartTime(LocalDateTime.now());
+        taskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
+        updateTaskDetail.add(taskDetailDO);
+
+        robotNos.add(robotNo);
+        taskIdSet.add(taskDetailDO.getRobotTaskId());
     }
 
     private Pair<String, String> getMadAddressRobotNo(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
@@ -576,7 +595,9 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                     .orElse("");
         } else {
             RobotInformationDO robotInformationDO = robots.stream()
-                    .filter(v -> v.getFloorAreaJson().contains(fromLocation.getAreaId())
+                    .filter(v ->
+                            ObjectUtil.isNotEmpty(v.getMacAddress())
+                            && v.getFloorAreaJson().contains(fromLocation.getAreaId())
                             && v.getFloorAreaJson().contains(toLocation.getAreaId()))
                     .findFirst()
                     .orElse(new RobotInformationDO());
@@ -589,18 +610,20 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
 
     @Transactional(rollbackFor = Exception.class)
     public void updateTaskStatus(String robotNo, RobotTaskDetailDO taskDetailDO) {
-        robotInformationMapper.updateRobotStatus(robotNo, RobotStatusEnum.DOING.getType());
-        RobotTaskDetailDO detailDO = new RobotTaskDetailDO();
-        detailDO.setId(taskDetailDO.getId());
-        detailDO.setStartTime(LocalDateTime.now());
-        detailDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
-        robotTaskDetailMapper.updateRobotDetailById(detailDO);
 
         RobotTaskDO robotTaskDO = new RobotTaskDO();
         robotTaskDO.setId(taskDetailDO.getRobotTaskId());
         robotTaskDO.setStartTime(LocalDateTime.now());
         robotTaskDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
         robotTaskMapper.updateRobot(robotTaskDO);
+
+        RobotTaskDetailDO detailDO = new RobotTaskDetailDO();
+        detailDO.setId(taskDetailDO.getId());
+        detailDO.setStartTime(LocalDateTime.now());
+        detailDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
+        robotTaskDetailMapper.updateRobotDetailById(detailDO);
+
+        robotInformationMapper.updateRobotStatus(robotNo, RobotStatusEnum.DOING.getType());
     }
 
 

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotInformationMapper.xml

@@ -271,17 +271,6 @@
         where id = #{id}
     </delete>
 
-    <select id="selectFreeRobot"  resultMap="BaseResultMap">
-        select
-            <include refid="base_sql"></include>
-        from
-            robot_information
-        where
-            robot_task_model = '1'
-            and deleted = '0'
-            and robot_status = '3'
-        order by update_time asc
-    </select>
 
     <select id="statisticsInformation"
             resultType="cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationStatisticsVO">