远遥登录

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttCallBack.java

@@ -1,15 +1,15 @@
 package cn.iododer.yudao.module.mqtt.config;
 
 import cn.iododer.yudao.module.mqtt.service.MqttService;
-import cn.iododer.yudao.module.mqtt.service.RobotTaskStatusServiceImpl;
 import lombok.extern.slf4j.Slf4j;
 import org.eclipse.paho.client.mqttv3.IMqttAsyncClient;
 import org.eclipse.paho.client.mqttv3.IMqttDeliveryToken;
 import org.eclipse.paho.client.mqttv3.MqttCallback;
 import org.eclipse.paho.client.mqttv3.MqttMessage;
-import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.annotation.Configuration;
 
+import java.nio.charset.StandardCharsets;
+
 /**
  * MQTT回调
  */
@@ -35,7 +35,7 @@ public class MqttCallBack implements MqttCallback {
      */
     @Override
     public void messageArrived(String topic, MqttMessage mqttMessage) throws Exception {
-        String msg = new String(mqttMessage.getPayload());
+        String msg = new String(mqttMessage.getPayload(), StandardCharsets.UTF_8);
 //        log.info("[MQTT]接收当前消息为 :{}", msg);
 
         try {

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

@@ -228,7 +228,7 @@ public interface ErrorCodeConstants {
     // ========== 机器人任务明细 1-002-036-000 ==========
     ErrorCode TASK_DETAIL_NOT_EXISTS = new ErrorCode(1-002-036-001, "车辆任务明细不存在");
     ErrorCode TASK_DETAIL_CHANGE_ROBOT = new ErrorCode(1-002-036-002, "非新单据不能修改车辆");
-    ErrorCode TASK_NOT_TAKE_RELEASE = new ErrorCode(1-002-036-003, "非取货任务,不能点击取货完成");
+    ErrorCode TASK_NOT_TAKE_RELEASE = new ErrorCode(1-002-036-003, "已经取完货,不能点击取货完成,只能点击任务完成");
 
     // ========== 机器人任务明细 1-002-037-000 ==========
     ErrorCode REDISSON_NOT_OBTAIN_LOCK = new ErrorCode(1-002-037-001, "有正在下发中的任务请稍后重试!");
@@ -292,7 +292,6 @@ public interface ErrorCodeConstants {
     ErrorCode REMOTE_NOT_HAVE_PATH_MATCH = new ErrorCode(1_002_053_007, "车辆未匹配路网");
     ErrorCode REMOTE_AUTOMATIC_CAN_NOT_CHANGE_TO_FREE = new ErrorCode(1_002_053_008, "手动模式只能切换到自动模式");
     ErrorCode REMOTE_FREE_CAN_NOT_CHANGE_TO_HAND_MOVEMENT = new ErrorCode(1_002_053_009, "自由模式只能切换到自动模式");
-    ErrorCode REMOTE_NOT_HAVE_BINDING_ROBOT = new ErrorCode(1_002_053_010, "远遥设备未选择车辆");
     ErrorCode REMOTE_TASK_HAVE_CHOOSE = new ErrorCode(1_002_053_011, "此任务已经被远遥设备选中");
     ErrorCode REMOTE_TASK_NOT_OCCUR_ERROR = new ErrorCode(1_002_053_012, "此任务未发发生4级异常");
     ErrorCode REMOTE_TASK_NOT_TAKE_RELEASE = new ErrorCode(1_002_053_013, "非取货或者放货任务,不能转移");
@@ -300,6 +299,8 @@ public interface ErrorCodeConstants {
     ErrorCode REMOTE_ROBOT_HAVE_MORE_TASK = new ErrorCode(1_002_053_015, "此车辆有一个以上的处理中任务,请先检查数据");
     ErrorCode REMOTE_ROBOT_HAVE_NOT_TASK = new ErrorCode(1_002_053_016, "此车辆没有处理中的任务");
     ErrorCode REMOTE_ROBOT_CONNECT_FAIL = new ErrorCode(1_002_053_017, "与远遥工控机连接失败");
+    ErrorCode REMOTE_TRANSFER_NOT_SAME_ROBOT = new ErrorCode(1_002_053_018, "任务转移车辆与发生异常的车辆,不能是同一台车");
+    ErrorCode REMOTE_ROBOT_HAVE_TASK = new ErrorCode(1_002_053_019, "此车辆有处理中的任务,不能进行任务转移。请选择其他车辆");
 
     // ========== 车辆摄像头信息 1_002_054_001 ==========
     ErrorCode CAMERA_NOT_EXISTS = new ErrorCode(1_002_054_001, "车辆摄像头信息不存在");

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/oauth2/OAuth2ClientConstants.java

@@ -8,5 +8,6 @@ package cn.iocoder.yudao.module.system.enums.oauth2;
 public interface OAuth2ClientConstants {
 
     String CLIENT_ID_DEFAULT = "default";
+    String CLIENT_ID_REMOTE = "remote";
 
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/auth/vo/AuthLoginReqVO.java

@@ -51,6 +51,9 @@ public class AuthLoginReqVO {
     @Schema(description = "state", requiredMode = Schema.RequiredMode.REQUIRED, example = "9b2ffbc1-7425-4155-9894-9d5c08541d62")
     private String socialState;
 
+    @Schema(description = "登录来源地址, 远遥传: remote")
+    private String clientId;
+
     /**
      * 开启验证码的 Group
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/auth/AdminAuthServiceImpl.java

@@ -105,8 +105,11 @@ public class AdminAuthServiceImpl implements AdminAuthService {
             socialUserService.bindSocialUser(new SocialUserBindReqDTO(user.getId(), getUserType().getValue(),
                     reqVO.getSocialType(), reqVO.getSocialCode(), reqVO.getSocialState()));
         }
+
+        String clientId = ObjectUtil.isNotEmpty(reqVO.getClientId()) ? reqVO.getClientId() : OAuth2ClientConstants.CLIENT_ID_DEFAULT;
+
         // 创建 Token 令牌，记录登录日志
-        return createTokenAfterLoginSuccess(user.getId(), reqVO.getUsername(), LoginLogTypeEnum.LOGIN_USERNAME);
+        return createTokenAfterLoginSuccess(user.getId(), reqVO.getUsername(), LoginLogTypeEnum.LOGIN_USERNAME, clientId);
     }
 
     @Override
@@ -131,7 +134,7 @@ public class AdminAuthServiceImpl implements AdminAuthService {
         }
 
         // 创建 Token 令牌，记录登录日志
-        return createTokenAfterLoginSuccess(user.getId(), reqVO.getMobile(), LoginLogTypeEnum.LOGIN_MOBILE);
+        return createTokenAfterLoginSuccess(user.getId(), reqVO.getMobile(), LoginLogTypeEnum.LOGIN_MOBILE, OAuth2ClientConstants.CLIENT_ID_DEFAULT);
     }
 
     private void createLoginLog(Long userId, String username,
@@ -169,7 +172,7 @@ public class AdminAuthServiceImpl implements AdminAuthService {
         }
 
         // 创建 Token 令牌，记录登录日志
-        return createTokenAfterLoginSuccess(user.getId(), user.getUsername(), LoginLogTypeEnum.LOGIN_SOCIAL);
+        return createTokenAfterLoginSuccess(user.getId(), user.getUsername(), LoginLogTypeEnum.LOGIN_SOCIAL,OAuth2ClientConstants.CLIENT_ID_DEFAULT);
     }
 
     @VisibleForTesting
@@ -191,12 +194,12 @@ public class AdminAuthServiceImpl implements AdminAuthService {
         }
     }
 
-    private AuthLoginRespVO createTokenAfterLoginSuccess(Long userId, String username, LoginLogTypeEnum logType) {
+    private AuthLoginRespVO createTokenAfterLoginSuccess(Long userId, String username, LoginLogTypeEnum logType, String clientId) {
         // 插入登陆日志
         createLoginLog(userId, username, logType, LoginResultEnum.SUCCESS);
         // 创建访问令牌
         OAuth2AccessTokenDO accessTokenDO = oauth2TokenService.createAccessToken(userId, getUserType().getValue(),
-                OAuth2ClientConstants.CLIENT_ID_DEFAULT, null);
+                clientId, null);
         // 构建返回结果
         return AuthConvert.INSTANCE.convert(accessTokenDO);
     }
@@ -256,7 +259,7 @@ public class AdminAuthServiceImpl implements AdminAuthService {
         Long userId = userService.registerUser(registerReqVO);
 
         // 3. 创建 Token 令牌，记录登录日志
-        return createTokenAfterLoginSuccess(userId, registerReqVO.getUsername(), LoginLogTypeEnum.LOGIN_USERNAME);
+        return createTokenAfterLoginSuccess(userId, registerReqVO.getUsername(), LoginLogTypeEnum.LOGIN_USERNAME,OAuth2ClientConstants.CLIENT_ID_DEFAULT);
     }
 
     @VisibleForTesting

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java

@@ -307,6 +307,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
     @Override
     @Transactional(rollbackFor = Exception.class)
     public RemoteRobotTransferDTO robotChangeMode(Integer remoteMode, String remoteIp, String robotNo, int remoteControllerPort, String remoteControllerIp) {
+        log.info("切换的模式 :{}, 远遥IP :{}, 车辆编号 :{}, 驾舱端口:{}, 驾舱IP :{}",remoteMode,remoteIp,robotNo,remoteControllerPort,remoteControllerIp);
         RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
         if (lock.tryLock()) {
             try {
@@ -464,7 +465,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
                 .eq(RemoteControllerInformationDO::getRemoteIp, remoteIp)
                 .last("limit 1"));
         if (ObjectUtil.isEmpty(information) || ObjectUtil.isEmpty(information.getRobotNo())) {
-            throw exception(REMOTE_NOT_HAVE_BINDING_ROBOT);
+            throw exception(REMOTE_DEVICE_NOT_SET_UP);
         }
         return information;
     }
@@ -491,9 +492,16 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
         //任务异常
         RobotTaskDetailDO taskDetail = taskDetailService.getTaskDetail(data.getId());
         String oldRobotNo = taskDetail.getRobotNo();
+        List<RobotDoingTaskDTO> robotDoingTaskNo = taskDetailService.getRobotDoingTaskNo(oldRobotNo);
+        if (ObjectUtil.isNotEmpty(robotDoingTaskNo)) {
+            throw exception(REMOTE_ROBOT_HAVE_TASK);
+        }
         if (ZeroOneEnum.ZERO.getType().equals(taskDetail.getOccurError())) {
             throw exception(REMOTE_TASK_NOT_OCCUR_ERROR);
         }
+        if (information.getRobotNo().equals(oldRobotNo)) {
+            throw exception(REMOTE_TRANSFER_NOT_SAME_ROBOT);
+        }
         taskDetail.setRobotNo(information.getRobotNo());
         if (!RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(taskDetail.getTaskType())
                 && !RobotTaskTypeEnum.TAKE.getType().equals(taskDetail.getTaskType())