Merge branch 'dev' of http://git.znkjfw.com/ak/zn-cloud-wcs into aikai

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathPosedsDTO.java

@@ -12,8 +12,8 @@ import java.util.List;
 @NoArgsConstructor
 @AllArgsConstructor
 public class PathPosedsDTO {
-    private String order_id;
+    private String orderId;
-    private String order_type;
+    private String orderType;
     private String robotNo;
     private List<PathPosedsDataDTO> data;
 }

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathPosedsDataArgPosedDTO.java

@@ -12,7 +12,7 @@ import lombok.NoArgsConstructor;
 @AllArgsConstructor
 public class PathPosedsDataArgPosedDTO {
     @Schema(description = "唯一key，导航下发给RCS应用", example = "20863")
-    private Integer poseId;
+    private String poseId;
 
     private Double x;
 

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathPosedsDataDTO.java

@@ -11,5 +11,6 @@ import lombok.NoArgsConstructor;
 @AllArgsConstructor
 public class PathPosedsDataDTO {
     private PathPosedsDataArgDTO arg;
-    private Integer is_work;
+    private String commandType;
+    private Integer isCommandEnd;
 }

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

@@ -10,11 +10,11 @@ public class RobotAcceptTaskDTO {
     /**
      * 订单id
      */
-    private String order_id;
+    private String orderId;
-    private String order_type = "";
+    private String orderType = "";
     private String topic;
     //PAUSE(停止)、CONTINUE（继续）、DEFAULT（执行）、CANCEL（取消）
-    private String execution_type = ExecutionTypeEnum.DEFAULT.getType();
+    private String executionType = ExecutionTypeEnum.DEFAULT.getType();
 
     private List<RobotAcceptTaskData> data;
 }

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/path/PathPlanningApiImpl.java

@@ -53,7 +53,6 @@ public class PathPlanningApiImpl implements PathPlanningApi {
 
     @Override
     public void synchronousLineObject(Object obj, String topic) {
-        log.info("收到请求 :{}", JSON.toJSONString(obj));
         try {
             mqttUtils.pub(topic, JSON.toJSONString(obj));
             log.info("同步信息给PP--完成 :{}", JSON.toJSONString(obj));

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

@@ -145,14 +145,16 @@ public class MqttFactory {
                 return BeanUtils.getBean(RobotWorkStatusServiceImpl.class);
             case ROBOT_UPDATE_PALLET_HEIGHT:
                 return BeanUtils.getBean(RobotUpdatePalletHeightServiceImpl.class);
-            case SYNCHRONOUS_ALL_MAP_REQUEST:
+            case PLANNING_INIT_DATA:
                 return BeanUtils.getBean(PathPlanningInitDataServiceImpl.class);
-            case TASK_ASSIGNMENT_FEEDBACK:
+            case PLANNING_DISTRIBUTION_TASK:
                 return BeanUtils.getBean(PathPlanningDistributionTaskServiceImpl.class);
-            case TASK_ASSIGNMENT_FAIL:
+            case PLANNING_DISTRIBUTION_FAIL:
                 return BeanUtils.getBean(PathPlanningDistributionFailServiceImpl.class);
-            case ROBOT_TASK_MOVE:
+            case PLANNING_MOVE:
                 return BeanUtils.getBean(PathPlanningMoveServiceImpl.class);
+            case PLANNING_ROUTE_DISPLAY:
+                return BeanUtils.getBean(PathRouteDisplayPlanningServiceImpl.class);
             default :
                 return BeanUtils.getBean(RobotTaskStatusServiceImpl.class);
         }

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java

@@ -1,7 +1,6 @@
 package cn.iododer.yudao.module.mqtt.enums;
 
 import lombok.AllArgsConstructor;
-import lombok.Data;
 import lombok.Getter;
 
 import java.util.ArrayList;
@@ -22,10 +21,11 @@ public enum DefineSubTopicEnum {
     ROBOT_PATH_STATUS("ROBOT_PATH_STATUS", 2,"导航实时行为上报"),
     ROBOT_WORK_STATUS("ROBOT_WORK_STATUS", 2,"作业实时行为上报"),
     ROBOT_UPDATE_PALLET_HEIGHT("UPDATE_PALLET_HEIGHT", 2,"放货后货物高度反馈和取货后货物高度反馈"),
-    SYNCHRONOUS_ALL_MAP_REQUEST("SYNCHRONOUS_ALL_MAP_REQUEST", 2,"路径规划需要初始数据上报"),
+    PLANNING_INIT_DATA("SYNCHRONOUS_ALL_MAP_REQUEST", 2,"路径规划需要初始数据上报"),
-    TASK_ASSIGNMENT_FEEDBACK("TASK_ASSIGNMENT_FEEDBACK", 2,"路径规划任务分配上报"),
+    PLANNING_DISTRIBUTION_TASK("TASK_ASSIGNMENT_FEEDBACK", 2,"路径规划任务分配上报"),
-    TASK_ASSIGNMENT_FAIL("TASK_ASSIGNMENT_FAIL", 2,"路径规划失败上报"),
+    PLANNING_DISTRIBUTION_FAIL("TASK_ASSIGNMENT_FAIL", 2,"路径规划失败上报"),
-    ROBOT_TASK_MOVE ("ROBOT_TASK_MOVE", 2,"路径规划上报实时路径");
+    PLANNING_MOVE("UPDATE_ROUTE_DISPLAY_PLANNING", 2,"车辆即将走的点位"),
+    PLANNING_ROUTE_DISPLAY("ROBOT_MOVE_POSE_PLANNING", 2,"路径规划上报实时路径");
 
 
     private final String topic;

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/PathPlanningMoveServiceImpl.java

@@ -15,7 +15,7 @@ public class PathPlanningMoveServiceImpl implements MqttService{
 
     @Override
     public void analysisMessage(String message) {
-        log.info("收到路径规划的消息");
+        log.info("收到路径规划规划即将要走的点位的消息 :{}",message);
-        pathApi.pathPlanningMove(message);
+        pathApi.pathPlanningMovePose(message);
     }
 }

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/PathRouteDisplayPlanningServiceImpl.java

@@ -0,0 +1,21 @@
+package cn.iododer.yudao.module.mqtt.service;
+
+import cn.iocoder.yudao.module.system.api.path.PathApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+@Slf4j
+@Service
+public class PathRouteDisplayPlanningServiceImpl implements MqttService{
+
+    @Resource
+    private PathApi pathApi;
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("收到路径规划的消息 :{}",message);
+        pathApi.pathPlanningMove(message);
+    }
+}

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApi.java

@@ -28,4 +28,8 @@ public interface PathApi {
     @PostMapping(PREFIX + "/pathPlanningMove")
     @Operation(summary = "路径规划需要初始化信息")
     void pathPlanningMove(@RequestParam("message") String message);
+
+    @PostMapping(PREFIX + "/pathPlanningMovePose")
+    @Operation(summary = "路径规划要走的点位信息")
+    void pathPlanningMovePose(@RequestParam("message") String message);
 }

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

@@ -0,0 +1,11 @@
+package cn.iocoder.yudao.module.system.api.robot.vo;
+
+import lombok.Data;
+
+import java.util.List;
+
+@Data
+public class PathPlanningMovePoseVO {
+    private String robotNo;
+    private List<String> data;
+}

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

@@ -3,6 +3,8 @@ package cn.iocoder.yudao.module.system.api.robot.vo;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import lombok.Data;
 
+import java.util.List;
+
 /**
  * 车机响应信息
  */
@@ -24,4 +26,9 @@ public class RobotInformationVO {
      * 点位信息
      */
     public RobotStatusDataPoseDTO pose2d;
+
+    /**
+     * 车辆即将走的点位
+     */
+    private List<String> data;
 }

yudao-module-system/yudao-module-system-biz/pom.xml

@@ -156,6 +156,22 @@
             <version>2.0</version>
         </dependency>
 
+        <dependency>
+            <groupId>com.infiniteautomation</groupId>
+            <artifactId>modbus4j</artifactId>
+            <version>3.0.3</version>
+        </dependency>
+        <dependency>
+            <groupId>org.rxtx</groupId>
+            <artifactId>rxtx</artifactId>
+            <version>2.1.7</version>
+        </dependency>
+        <dependency>
+            <groupId>org.scream3r</groupId>
+            <artifactId>jssc</artifactId>
+            <version>2.8.0</version>
+        </dependency>
+
     </dependencies>
 
     <build>

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java

@@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.api.path;
 
 import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
+import cn.iocoder.yudao.module.system.config.ratelimiter.SystemRateLimiter;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapSaveReqVO;
 import cn.iocoder.yudao.module.system.service.path.PathPlanningService;
 import cn.iocoder.yudao.module.system.service.robot.RobotTaskService;
@@ -43,6 +44,7 @@ public class PathApiImpl implements PathApi {
      * 发送初始化信息给PP
      */
     @Override
+    @SystemRateLimiter(time = 10, count = 1, keyArg = "pathInitData",message = "路径规划初始化数据频繁")
     public void pathInitData() {
         taskExecutor.execute(() -> {
             TenantContextHolder.setTenantId(1L);
@@ -69,9 +71,6 @@ public class PathApiImpl implements PathApi {
         taskExecutor.execute(() -> {
             TenantContextHolder.setTenantId(1L);
             taskService.assignTasks(message);
-            if (ObjectUtil.isEmpty(message)) {
-                return;
-            }
 //            taskService.ppDistributionTask(message);  废弃了
         });
     }
@@ -82,6 +81,7 @@ public class PathApiImpl implements PathApi {
      */
     @Override
     public void ppDistributionTaskFail(String message) {
+        TenantContextHolder.setTenantId(1L);
         warnMsgService.addWarnMsg(message);
     }
 
@@ -89,9 +89,20 @@ public class PathApiImpl implements PathApi {
     public void pathPlanningMove(String message) {
         log.info("收到路径规划路径的消息 :{}", message);
         taskExecutor.execute(() -> {
+            TenantContextHolder.setTenantId(1L);
             pathPlanningService.sendPosedsToRobot(message);
         });
     }
 
+    /**
+     * 车辆即将走的点位
+     * @param message
+     */
+    @Override
+    public void pathPlanningMovePose(String message) {
+        TenantContextHolder.setTenantId(1L);
+        pathPlanningService.pathPlanningMovePose(message);
+    }
+
 
 }

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

@@ -4,6 +4,7 @@ import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.json.JSONUtil;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotGenericsDataDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
+import cn.iocoder.yudao.module.system.config.ratelimiter.SystemRateLimiter;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;
@@ -25,10 +26,11 @@ public class RobotGenericsStatusApiImpl implements RobotGenericsStatusApi {
     @Resource
     private RedisUtil redisUtil;
 
-    @Resource@Value("${zn.robot_position_cache_time:600}")
+    @Resource@Value("${zn.robot_position_cache_time:10}")
     private Long robotPositionCacheTime;
 
     @Override
+    @SystemRateLimiter(time = 1, count = 20, keyArg = "updateRobotCommonStatus",message = "机器人上报车辆其他信息")
     public void updateRobotCommonStatus(RobotGenericsDataDTO robotStatusData) {
         doUpdateRobotCommonStatus(robotStatusData);
     }

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

@@ -37,12 +37,6 @@ public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi {
     @Resource
     private RedisUtil redisUtil;
 
-    @Value("${zn.robot_position_cache_time:600}")
-    private Long robotPositionCacheTime;
-
-    @Value("${zn.robot_error_level_time:30}")
-    private Long robotErrorLevelTime;
-
     @Resource
     private RobotWarnMsgService warnMsgService;
 
@@ -59,15 +53,8 @@ public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi {
     public void robotReactiveStatus(String message) {
         TenantContextHolder.setTenantId(1L);
         RobotReactiveStatusDTO data = JSON.parseObject(message, RobotReactiveStatusDTO.class);
-        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + data.getMac();
+        String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + data.getMac();
-        Object object = redisUtil.get(pose2dKey);
+        redisUtil.set(floorAreaKey, JSON.toJSONString(data.getFloorZone()));
-        RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
-
-        if (ObjectUtil.isNotEmpty(data.getFloorZone())) {
-            robotStatusDataPoseDTO.setFloor(data.getFloorZone().getFloor());
-            robotStatusDataPoseDTO.setArea(data.getFloorZone().getArea());
-        }
-        redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime);
 
         //机器人异常等级
         if (ObjectUtil.isEmpty(data.getErrCode())) {
@@ -137,8 +124,8 @@ public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi {
                 msg = warnMsg.getWarnMsg();
             }
         }
-        redisUtil.set(errorLevelKey, level, robotErrorLevelTime);
+        redisUtil.set(errorLevelKey, level);
-        redisUtil.set(errorMsgKey, errorMsg, robotErrorLevelTime);
+        redisUtil.set(errorMsgKey, errorMsg);
 
         warnMsgService.sendWarnMsgToWebsocket(msg);
 

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

@@ -4,11 +4,9 @@ import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.json.JSONUtil;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
-import cn.iocoder.yudao.module.system.api.robot.dto.RobotPoseStatusDTO;
+import cn.iocoder.yudao.module.system.api.robot.dto.*;
-import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
-import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataErrorDTO;
-import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
+import cn.iocoder.yudao.module.system.config.ratelimiter.SystemRateLimiter;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
@@ -45,7 +43,7 @@ public class RobotStatusApiImpl implements RobotStatusApi {
     @Autowired
     private RobotInformationService robotInformationService;
 
-    @Value("${zn.robot_position_cache_time:600}")
+    @Value("${zn.robot_position_cache_time:10}")
     private Long robotPositionCacheTime;
 
     @Resource
@@ -64,10 +62,9 @@ public class RobotStatusApiImpl implements RobotStatusApi {
      * @return
      */
     @Override
+    @SystemRateLimiter(time = 1, count = 150, keyArg = "robotStatusUpdate",message = "机器人上报点位超过限流")
     public void robotStatusUpdate(RobotPoseStatusDTO robotStatusDataDTO) {
-        taskExecutor.execute(()->{
+        updateRobotPosed(robotStatusDataDTO);
-            updateRobotPosed(robotStatusDataDTO);
-        });
     }
 
     /**
@@ -80,6 +77,9 @@ public class RobotStatusApiImpl implements RobotStatusApi {
             log.info("机器人上报的信息不全 :{}", JSON.toJSONString(robotStatusDataDTO));
             return;
         }
+        String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + robotStatusDataDTO.getMac();
+        Object floorAreaObject = redisUtil.get(floorAreaKey);
+        FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
         String robotNo = robotInformationService.getRobotNoByMac(robotStatusDataDTO.getMac());
         String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robotStatusDataDTO.getMac();
         Object object = redisUtil.get(pose2dKey);
@@ -91,8 +91,9 @@ public class RobotStatusApiImpl implements RobotStatusApi {
             robotStatusDataPoseDTO.setYaw(robotStatusDataDTO.getPose2d().getYaw());
         }
         robotStatusDataPoseDTO.setRobotNo(robotNo);
+        robotStatusDataPoseDTO.setFloor(floorZoneDTO.getFloor());
+        robotStatusDataPoseDTO.setArea(floorZoneDTO.getArea());
         redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime);
-        pathPlanningApi.synchronousLineObject(robotStatusDataPoseDTO, PathPlanningTopicConstant.AGV_POSE);
 
         //机器人身上是否有货
         String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robotStatusDataDTO.getMac();
@@ -107,8 +108,16 @@ public class RobotStatusApiImpl implements RobotStatusApi {
             robotInformationVO = robotInformationService.getRobotByRedis(robotStatusDataDTO.getMac());
         }
         robotInformationVO.setPose2d(robotStatusDataPoseDTO);
+
         // 合并请求 - 这里接受到的数据都丢给 RequestProcessor - 再整合数据通过WebSocket丢给前端
-        processor.handleRequest(robotStatusDataPoseDTO.getFloor() + "_" + robotStatusDataPoseDTO.getArea(),
+        processor.handleRequest(floorZoneDTO.getFloor() + "_" + floorZoneDTO.getArea(),
                 robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(robotInformationVO));
+        sendToPP(robotStatusDataPoseDTO);
+    }
+
+    private void sendToPP(RobotStatusDataPoseDTO robotStatusDataPoseDTO) {
+        taskExecutor.execute(()->{
+            pathPlanningApi.synchronousLineObject(robotStatusDataPoseDTO, PathPlanningTopicConstant.AGV_POSE);
+        });
     }
 }

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

@@ -23,13 +23,16 @@ import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.path.PathIsReachEnum;
 import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum;
 import cn.iocoder.yudao.module.system.enums.robot.*;
+import cn.iocoder.yudao.module.system.enums.robot.actionlog.ActionStatusEnum;
 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.RobotTaskStageEnum;
 import cn.iocoder.yudao.module.system.enums.wait.WaitStatusEnum;
+import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
 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.RobotTaskService;
 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;
@@ -46,8 +49,6 @@ import javax.annotation.Resource;
 import java.time.LocalDateTime;
 import java.util.List;
 
-import static com.baomidou.mybatisplus.core.toolkit.IdWorker.getId;
-
 @Slf4j
 @RestController // 提供 RESTful API 接口，给 Feign 调用
 @Validated
@@ -87,9 +88,6 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
     @Resource
     private CommonApi commonApi;
 
-    @Resource
-    public WebSocketSenderApi webSocketSenderApi;
-
     @Resource
     private RobotTaskDetailService taskDetailService;
 
@@ -99,15 +97,15 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
     @Resource
     private RobotWarnMsgService warnMsgService;
 
-    @Resource
-    private DeviceInformationMapper deviceInformationMapper;
-
     @Resource
     private MoveToWaitService moveToWaitService;
 
     @Resource
     private PathPlanningService pathPlanningService;
 
+    @Resource
+    private DeviceInformationService deviceInformationService;
+
     @Value("${zn.robot_doing_action.doing_action_cache_time:2*24*60*60}")
     private Long doingActionCacheTime;
 
@@ -155,8 +153,20 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
             taskDoing(robotCompleteTaskDTO, robotDoingActionKey);
         }
 
+        if ((PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
+                || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()))
+            && ObjectUtil.isNotEmpty(robotCompleteTaskDTO.getCommandStatus())
+            && CommandTypeEnum.MOVE_POSES.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType())
+            && RobotExecutionStateConstant.DONE.equals(robotCompleteTaskDTO.getCommandStatus().getExecutionState())) {
+            log.info("充电任务准备让充电设备自动伸出 :{}",robotCompleteTaskDTO.getOrderId());
+            RobotChargeLogDO robotChargeLog = chargeLogMapper.selectById(robotCompleteTaskDTO.getOrderId());
+            deviceInformationService.chargeDeviceExtend(robotChargeLog.getDeviceNo());
+        }
+
         sendStartDoActionToPP(robotCompleteTaskDTO.getCommandStatus(), robotCompleteTaskDTO.getMac(),
                 String.valueOf(robotCompleteTaskDTO.getOrderId()));
+
+        taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DOING.getType());
     }
 
     /**
@@ -207,6 +217,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                     .build();
             chargeLogMapper.updateById(build);
         }
+        taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType());
     }
 
 
@@ -232,7 +243,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      */
     @Transactional(rollbackFor = Exception.class)
     public void closeTask(RobotCompleteTaskDTO robotCompleteTaskDTO) {
-        PPCloseOrder(robotCompleteTaskDTO);
+        /*PPCloseOrder(robotCompleteTaskDTO);
+        taskService.closeTaskDetail(robotCompleteTaskDTO.getOrderId().toString(),robotCompleteTaskDTO.getMac());*/
         String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
 
         //先不释放库位状态
@@ -268,7 +280,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 .warnCode(robotCompleteTaskDTO.getStatusCode())
                 .robotNo(robotNo)
                 .warnType(RobotWarnType.ROBOT_WARN.getType())
-                .warnMsg(robotNo +"_"+robotCompleteTaskDTO.getMessage())
+                .warnMsg(robotNo + "_" + robotCompleteTaskDTO.getMessage())
                 .warnSolve(robotCompleteTaskDTO.getSolution())
                 .build();
         warnMsgMapper.insert(warnMsg);
@@ -325,6 +337,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         RobotTaskDetailDO detailDO = new RobotTaskDetailDO();
         detailDO.setId(robotCompleteTaskDTO.getOrderId());
         detailDO.setEndTime(LocalDateTime.now());
+        detailDO.setTaskStage(RobotTaskStageEnum.DONE.getType());
         detailDO.setTaskStatus(RobotTaskDetailStatusEnum.DONE.getType());
         robotTaskDetailMapper.updateRobotDetailById(detailDO);
         //更新任务状态
@@ -349,7 +362,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 && ZeroOneEnum.ONE.getType().equals(robotTaskDetailDO.getNeedLock()))) {
             robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType());
         }
-        robotInformationMapper.updateBatch(robotInformationDO);
+        robotInformationMapper.updateById(robotInformationDO);
         //同步任务完成给PP
         pathPlanningService.updateBehavior(String.valueOf(robotCompleteTaskDTO.getOrderId()), robotTaskDetailDO.getRobotNo()
                 , "", PathIsReachEnum.END_WORK.getType());
@@ -430,7 +443,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
         taskDetailActionLogMapper.insert(logOne);
         redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
-        robotTaskDetailMapper.updateBatch(robotTaskDetailDO);
+        robotTaskDetailMapper.updateById(robotTaskDetailDO);
     }
 
     public void freeLocation(Boolean isTake, Long taskDetailId) {

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/aop/SystemRateLimiterAspect.java

@@ -0,0 +1,85 @@
+package cn.iocoder.yudao.module.system.config.aop;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.module.system.config.ratelimiter.SystemRateLimiter;
+import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
+import lombok.extern.slf4j.Slf4j;
+import org.aspectj.lang.JoinPoint;
+import org.aspectj.lang.ProceedingJoinPoint;
+import org.aspectj.lang.annotation.Around;
+import org.aspectj.lang.annotation.Aspect;
+import org.aspectj.lang.annotation.Before;
+import org.aspectj.lang.annotation.Pointcut;
+import org.aspectj.lang.reflect.MethodSignature;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Component;
+import org.springframework.web.context.request.RequestContextHolder;
+import org.springframework.web.context.request.ServletRequestAttributes;
+
+import javax.annotation.Resource;
+import javax.servlet.http.HttpServletRequest;
+import java.lang.reflect.Method;
+
+/**
+ * 拦截声明了 {@link SystemRateLimiter} 注解的方法，实现限流操作
+ *
+ * @author 芋道源码
+ */
+@Aspect
+@Component
+@Slf4j
+public class SystemRateLimiterAspect {
+    private static final Logger logger = LoggerFactory.getLogger(SystemRateLimiterAspect.class);
+
+    @Resource
+    private RedisUtil redisUtil;
+
+    @Value("${zn.open_rate_limiter:false}")
+    private Boolean openRateLimiter;
+
+    @Pointcut("@annotation(cn.iocoder.yudao.module.system.config.ratelimiter.SystemRateLimiter)")
+    public void serviceLimit() {
+
+    }
+
+    @Around("serviceLimit()")
+    public Object around(ProceedingJoinPoint joinPoint) throws Throwable {
+        if (!openRateLimiter) {
+            return joinPoint.proceed();
+        }
+        MethodSignature signature = (MethodSignature) joinPoint.getSignature();
+        Method method = signature.getMethod();
+        SystemRateLimiter systemRateLimiter = method.getAnnotation(SystemRateLimiter.class);
+        String key = systemRateLimiter.keyArg();
+        int time = systemRateLimiter.time();
+        // 获取redis的value
+        Integer maxTimes = null;
+        Object value = redisUtil.get(key);
+        if (value != null) {
+            maxTimes = (Integer) value;
+        }
+
+        Object obj = null;
+
+        if (maxTimes == null) {
+            // 如果redis中没有该ip对应的时间则表示第一次调用，保存key到redis
+            redisUtil.set(key, 1, time);
+            //这个方法用于执行原来的方法或继续原来的控制流程。
+            obj = joinPoint.proceed();
+        } else if (maxTimes < systemRateLimiter.count()) {
+            // 如果redis中的时间比注解上的时间小则表示可以允许访问,这是修改redis的value时间
+            redisUtil.set(key, maxTimes + 1, time);
+            //这个方法用于执行原来的方法或继续原来的控制流程。
+            obj = joinPoint.proceed();
+        } else {
+            // 请求过于频繁
+            logger.info("请求过于频繁 ：{}", key);
+        }
+        return obj;
+    }
+
+
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/ratelimiter/SystemRateLimiter.java

@@ -0,0 +1,39 @@
+package cn.iocoder.yudao.module.system.config.ratelimiter;
+
+import cn.iocoder.yudao.framework.common.exception.enums.GlobalErrorCodeConstants;
+
+import java.lang.annotation.ElementType;
+import java.lang.annotation.Retention;
+import java.lang.annotation.RetentionPolicy;
+import java.lang.annotation.Target;
+
+/**
+ * 限流注解
+ *
+ * @author 芋道源码
+ */
+@Target({ElementType.METHOD})
+@Retention(RetentionPolicy.RUNTIME)
+public @interface SystemRateLimiter {
+    /**
+     * 限流的时间，默认为 1 秒
+     */
+    int time() default 1;
+
+    /**
+     * 限流次数
+     */
+    int count() default 100;
+
+    /**
+     * 提示信息，请求过快的提示
+     *
+     * @see GlobalErrorCodeConstants#TOO_MANY_REQUESTS
+     */
+    String message() default ""; // 为空时，使用 TOO_MANY_REQUESTS 错误提示
+
+    /**
+     * 使用的 Key 参数
+     */
+    String keyArg() default "";
+}

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

@@ -11,6 +11,9 @@ public class RobotTaskChcheConstant {
     //机器人点位和电量 (拼接的是mac地址)
     public static String ROBOT_INFORMATION_POSE_BAT_SOC = "robot:information:pose:bat:soc";
 
+    //机器人楼层和区域 (拼接的是mac地址)
+    public static String ROBOT_FLOOR_AREA = "robot:floor:area";
+
     //机器人mac地址和机器人编号映射(通过mac地址。查询机器人编号)   (拼接的是mac地址)
     public static String ROBOT_GET_ROBOTNO_BY_MAC = "robot:information:getRobotNo:ByMac";
 

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

@@ -11,7 +11,7 @@ public class RobotTopicConstant {
     /**
      * 下发让车子移动
      */
-    public static String ROBOT_TASK_MOVE_TOPIC = "ROBOT_TASK_MOVE";
+    public static String ROBOT_TASK_MOVE_TOPIC = "ROBOT_TASK_MOVE_";
     /**
      *RCS发送心跳给车机
      */
@@ -19,5 +19,5 @@ public class RobotTopicConstant {
     /**
      * 让机器人同步告警码值映射的topic （拼接mac地址）
      */
-    public static String UPDATE_ERROR_TOPIC = "UPDATE_ERROR";
+    public static String UPDATE_ERROR_TOPIC = "UPDATE_ERROR_";
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/webSocket/WebSocketConstant.java

@@ -4,7 +4,7 @@ public class WebSocketConstant {
     //webSocket推送给前端的告警信息key
     public static String AGV_WARN = "agv_warn";
     /**
-     * webSocket推送给站内信息key
+     * webSocket推送车机要走的点位id
      */
-    public static String STATION_WARN = "station_warn";
+    public static String PLANNING_MOVE_POSE = "planning_move_pose";
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java

@@ -80,4 +80,13 @@ public class DeviceInformationPageReqVO extends PageParam {
     @Schema(description = "设备专有属性（1：自动充电类型充电桩、2：手动充电类型充电桩）")
     private Integer deviceAttribute;
 
+    @Schema(description = "设备IP")
+    private String deviceIp;
+
+    @Schema(description = "端口")
+    private String devicePort;
+
+    @Schema(description = "最后使用者")
+    private String lastUser;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java

@@ -108,4 +108,16 @@ public class DeviceInformationRespVO {
     @ExcelProperty("地图所在区域")
     public String area;
 
+    @Schema(description = "设备IP")
+    @ExcelProperty("设备IP")
+    private String deviceIp;
+
+    @Schema(description = "端口")
+    @ExcelProperty("端口")
+    private String devicePort;
+
+    @Schema(description = "最后使用者")
+    @ExcelProperty("最后使用者")
+    private String lastUser;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java

@@ -76,6 +76,13 @@ public class DeviceInformationSaveReqVO {
     @Schema(description = "设备专有属性（1：自动充电类型充电桩、2：手动充电类型充电桩）")
     private Integer deviceAttribute;
 
+    @Schema(description = "设备IP")
+    private String deviceIp;
 
+    @Schema(description = "端口")
+    private String devicePort;
+
+    @Schema(description = "最后使用者")
+    private String lastUser;
 
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/task/TaskAssignDTO.java

@@ -1,5 +1,6 @@
 package cn.iocoder.yudao.module.system.controller.admin.robot.task;
 
+import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.AllArgsConstructor;
 import lombok.Builder;
@@ -18,8 +19,33 @@ public class TaskAssignDTO {
     private Long orderId;
 
     @Schema(description = "任务类型(TAKE_RELEASE、CHARGE、MOVE、TAKE、RELEASE、AUTO_CHARGE)")
-    private String type;
+    private String orderType;
 
     @Schema(description = "AGV编号")
     private String robotNo;
+
+    /**
+     * 获取机器人要做的任务描述
+     * @return
+     */
+    public String getRobotActionMsg() {
+        if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(orderType)) {
+            return "机器人分配到取放货任务";
+        }if (PathTaskTypeEnum.CHARGE.getType().equals(orderType)) {
+            return "机器人分配到充电任务";
+        }if (PathTaskTypeEnum.MOVE.getType().equals(orderType)) {
+            return "机器人分配到移动任务";
+        }if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(orderType)) {
+            return "机器人分配移动到等待点的任务";
+        }if (PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(orderType)) {
+            return "机器人分配停车任务";
+        }if (PathTaskTypeEnum.TAKE.getType().equals(orderType)) {
+            return "机器人分配到仅取货任务";
+        }if (PathTaskTypeEnum.RELEASE.getType().equals(orderType)) {
+            return "机器人分配到仅放货任务";
+        }if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(orderType)) {
+            return "机器人分配到自动充电任务";
+        }
+        return "未知任务";
+    }
 }

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

@@ -22,6 +22,7 @@ public class RobotTaskSaveReqVO {
     private List<RobotTaskDetailAddVO> taskDetailList;
 
     @Schema(description = "物料信息")
+    @Size(min = 0, max = 100, message = "物料信息输入的数据长度超过限制")
     private String skuInfo;
 
     @Schema(description = "物料批次号")
@@ -34,6 +35,7 @@ public class RobotTaskSaveReqVO {
     private Long priority;
 
     @Schema(description = "其他信息")
+    @Size(min = 0, max = 100, message = "其他信息输入的数据长度超过限制")
     private String otherMsg;
 
     @Schema(description = "循环(0:不循环、1：循环)")

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java

@@ -120,4 +120,19 @@ public class DeviceInformationDO extends BaseDO {
      */
     private Integer deviceAttribute;
 
+    /**
+     * 设备IP
+     */
+    private String deviceIp;
+
+    /**
+     * 端口
+     */
+    private String devicePort;
+
+    /**
+     * 最后使用者
+     */
+    private String lastUser;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java

@@ -6,6 +6,7 @@ import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.RobotTaskDetailActionLogPageReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
 
 /**
  * 车辆动作记录 Mapper
@@ -27,4 +28,11 @@ public interface RobotTaskDetailActionLogMapper extends BaseMapperX<RobotTaskDet
                 .orderByDesc(RobotTaskDetailActionLogDO::getId));
     }
 
+    /**
+     * 更新任务状态
+     * @param taskDetailId
+     * @param actionStatus
+     */
+    void updateActionStatus(@Param("taskDetailId") Long taskDetailId,
+                            @Param("actionStatus") int actionStatus);
 }

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

@@ -109,4 +109,10 @@ public interface RobotTaskDetailMapper extends BaseMapperX<RobotTaskDetailDO> {
      * @return
      */
     List<RobotTaskDetailDO> getLastTaskGroupByRobotNo();
+
+    /**
+     * 设置状态为完成
+     * @param ids
+     */
+    void updateDoneByIds(@Param("ids") List<Long> ids);
 }

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

@@ -73,4 +73,10 @@ public interface RobotTaskMapper extends BaseMapperX<RobotTaskDO> {
      */
     IPage<RobotTaskDetailLogResoVO> selectLogPageList(@Param("mpPage") IPage mpPage,
                                                       @Param("pageReqVO") RobotTaskDetailLogVO pageReqVO);
+
+    /**
+     * 更新任务完成
+     * @param ids
+     */
+    void updateDoneByIds(@Param("ids") List<Long> ids);
 }

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

@@ -0,0 +1,21 @@
+package cn.iocoder.yudao.module.system.enums.robot.actionlog;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum ActionStatusEnum {
+
+    UN_DO(0,"未开始"),
+    DOING(1,"正在进行"),
+    DONE(2,"完成");
+    /**
+     * 类型
+     */
+    private final Integer type;
+    /**
+     * 说明
+     */
+    private final String msg;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationService.java

@@ -118,4 +118,16 @@ public interface DeviceInformationService extends IService<DeviceInformationDO>
      * @return
      */
     List<DeviceInformationDO> getDeviceInfoBindByMapId(Long positionMapId);
+
+    /**
+     * 充电任务，让设备伸出
+     * @param deviceNo
+     */
+    void chargeDeviceExtend(String deviceNo);
+
+    /**
+     * 充电设备， 缩
+     * @param deviceNo
+     */
+    void chargeDeviceShrink(String deviceNo);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java

@@ -18,14 +18,22 @@ import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformati
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
+import cn.iocoder.yudao.module.system.enums.device.DeviceAttributeEnum;
 import cn.iocoder.yudao.module.system.enums.device.DeviceStatusEnum;
+import cn.iocoder.yudao.module.system.enums.device.DeviceTypeEnum;
 import cn.iocoder.yudao.module.system.enums.device.PictureConfigEnum;
 import cn.iocoder.yudao.module.system.service.dict.DictDataService;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
+import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
+import cn.iocoder.yudao.module.system.util.modbus3.ModbusUtils;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import com.serotonin.modbus4j.ModbusMaster;
+import com.serotonin.modbus4j.exception.ModbusInitException;
+import com.serotonin.modbus4j.exception.ModbusTransportException;
 import lombok.extern.slf4j.Slf4j;
+import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
@@ -67,6 +75,9 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
     @Resource
     private UserOperationLogService userOperationLogService;
 
+    @Resource
+    private RobotWarnMsgService warnMsgService;
+
     @Override
     public Long createInformation(DeviceInformationSaveReqVO createReqVO) {
         // -- 先判断库里是否有相通的mac地址数据
@@ -317,6 +328,108 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
                 .isNotNull(DeviceInformationDO::getPositionMapItemId));
     }
 
+    /**
+     * 充电任务，让设备伸出
+     *
+     * @param deviceNo
+     */
+    @Override
+    @Async
+    public void chargeDeviceExtend(String deviceNo) {
+        DeviceInformationDO deviceInformationDO = informationMapper.selectOne(new LambdaQueryWrapperX<DeviceInformationDO>()
+                .eq(DeviceInformationDO::getDeviceNo, deviceNo));
+        if (ObjectUtil.isEmpty(deviceInformationDO)) {
+            log.info("查不到此充电设备 :{}", deviceNo);
+            return;
+        }
+        if (DeviceAttributeEnum.HAND_MOVEMENT.getType().equals(deviceInformationDO.getDeviceAttribute())) {
+            log.info("手动充电设备,不需要伸出 :{}", deviceNo);
+            return;
+        }
+        if (!DeviceTypeEnum.CHARGING_STATION.getType().equals(deviceInformationDO.getDeviceType())) {
+            log.info("非充电设备,不能伸出 :{}", deviceNo);
+            return;
+        }
+        if (ObjectUtil.isEmpty(deviceInformationDO.getDeviceIp()) || ObjectUtil.isEmpty(deviceInformationDO.getDevicePort())) {
+            log.info("没有设备IP、端口不能伸出 :{}", deviceNo);
+            warnMsgService.addWarnMsg(deviceNo + " 没有设备IP和端口");
+            return;
+        }
+        log.info("设备伸出 :{}",deviceNo);
+        extend(deviceInformationDO.getDeviceIp(), Integer.parseInt(deviceInformationDO.getDevicePort()), deviceNo);
+    }
+
+    /**
+     * 充电任务，缩
+     * @param deviceNo
+     */
+    @Override
+    @Async
+    public void chargeDeviceShrink(String deviceNo) {
+        DeviceInformationDO deviceInformationDO = informationMapper.selectOne(new LambdaQueryWrapperX<DeviceInformationDO>()
+                .eq(DeviceInformationDO::getDeviceNo, deviceNo));
+        if (DeviceAttributeEnum.HAND_MOVEMENT.getType().equals(deviceInformationDO.getDeviceAttribute())) {
+            log.info("手动充电设备,不需要缩 :{}", deviceNo);
+            return;
+        }
+        if (!DeviceTypeEnum.CHARGING_STATION.getType().equals(deviceInformationDO.getDeviceType())) {
+            log.info("非充电设备,不能缩回 :{}", deviceNo);
+            return;
+        }
+        if (ObjectUtil.isEmpty(deviceInformationDO.getDeviceIp()) || ObjectUtil.isEmpty(deviceInformationDO.getDevicePort())) {
+            log.info("没有设备IP、端口不能缩回 :{}", deviceNo);
+            return;
+        }
+        log.info("设备缩回 :{}",deviceNo);
+        shrink(deviceInformationDO.getDeviceIp(), Integer.parseInt(deviceInformationDO.getDevicePort()), deviceNo);
+    }
+
+    public void shrink(String ip, int port, String deviceNo) {
+        boolean success = true;
+        short[] shrinkArr = {0};
+        for (int i = 0; i < 3; i++) {
+            try {
+                ModbusMaster asciiMaster = ModbusUtils.getMaster(ip, port);
+                ModbusUtils.writeHoldingRegisters(asciiMaster, 1, 0, shrinkArr);
+            } catch (ModbusInitException | ModbusTransportException e) {
+                log.info("充电设备缩回时,出现异常 :{}", ip);
+                warnMsgService.addWarnMsg(deviceNo + " 充电设备缩回失败");
+                success = false;
+            }
+
+            if (success) {
+                return;
+            }
+        }
+    }
+
+    /**
+     * 控制设备伸缩
+     * @param ip
+     * @param port
+     */
+    public void extend(String ip, int port, String deviceNo) {
+        boolean success = true;
+        short[] extendArr = {1};
+        short[] shrinkArr = {0};
+        for (int i = 0; i < 3; i++) {
+            try {
+                ModbusMaster asciiMaster = ModbusUtils.getMaster(ip, port);
+                ModbusUtils.writeHoldingRegisters(asciiMaster, 1, 0, shrinkArr);
+                Thread.sleep(2500);
+                ModbusUtils.writeHoldingRegisters(asciiMaster, 1, 0, extendArr);
+            } catch (ModbusInitException | ModbusTransportException | InterruptedException e) {
+                log.info("充电设备伸出时,出现异常 :{}", ip);
+                warnMsgService.addWarnMsg(deviceNo + " 充电设备伸出失败");
+                success = false;
+            }
+
+            if (success) {
+                return;
+            }
+        }
+    }
+
     @Override
     public void mapBindDeviceInfo(MapBindDeviceInfoDTO dto) {
         DeviceInformationDO deviceInformationDO = informationMapper.selectById(dto.getDeviceInfoId());

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/UserOperationLogServiceImpl.java

@@ -33,6 +33,9 @@ public class UserOperationLogServiceImpl implements UserOperationLogService {
     @Override
     public Long createUserOperationLog(UserOperationLogSaveReqVO createReqVO) {
         // 插入
+        if (createReqVO.getOperateAction().length() > 95) {
+            createReqVO.setOperateAction(createReqVO.getOperateAction().substring(0,95));
+        }
         UserOperationLogDO userOperationLog = BeanUtils.toBean(createReqVO, UserOperationLogDO.class);
         userOperationLogMapper.insert(userOperationLog);
         // 返回

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

@@ -38,4 +38,10 @@ public interface PathPlanningService {
      * @param type
      */
     void updateBehavior(String orderId, String robotNo, String s, String type);
+
+    /**
+     * 车辆即将走的点位
+     * @param message
+     */
+    void pathPlanningMovePose(String message);
 }

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

@@ -1,13 +1,23 @@
 package cn.iocoder.yudao.module.system.service.path;
 
 import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.json.JSONUtil;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
 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.api.robot.RequestProcessor;
+import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotPoseStatusDTO;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
+import cn.iocoder.yudao.module.system.api.robot.vo.PathPlanningMovePoseVO;
+import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
 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.constant.webSocket.WebSocketConstant;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLineSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapSaveReqVO;
@@ -22,6 +32,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
 import cn.iocoder.yudao.module.system.enums.line.DirectionEnum;
 import cn.iocoder.yudao.module.system.enums.path.PathTypeEnum;
 import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
+import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -69,6 +80,15 @@ public class PathPlanningServiceImpl implements PathPlanningService {
     @Resource
     private CommonApi commonApi;
 
+    @Resource
+    private RequestProcessor processor;
+
+    @Resource
+    private RedisUtil redisUtil;
+
+    @Resource
+    public WebSocketSenderApi webSocketSenderApi;
+
     /**
      * 同步ware_position_map_line的点位信息
      */
@@ -409,6 +429,21 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         commonApi.commonMethod(build, PathPlanningTopicConstant.UPDATE_BEHAVIOR);
     }
 
+    /**
+     * 车辆即将走的点位
+     * @param message
+     */
+    @Override
+    public void pathPlanningMovePose(String message) {
+        PathPlanningMovePoseVO robotStatusData = JSON.parseObject(message, PathPlanningMovePoseVO.class);
+        String mac = robotInformationService.getMacByRobotNo(robotStatusData.getRobotNo());
+        String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + mac;
+        Object floorAreaObject = redisUtil.get(floorAreaKey);
+        FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
+        webSocketSenderApi.sendObject(floorZoneDTO.getFloor() + "_" + floorZoneDTO.getArea(),
+                WebSocketConstant.PLANNING_MOVE_POSE, message);
+    }
+
     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/RobotInformationServiceImpl.java

@@ -12,6 +12,7 @@ import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotRcsHeartBeatDTO;
 import cn.iocoder.yudao.module.system.api.robot.RequestProcessor;
+import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
@@ -205,10 +206,13 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         Object object = redisUtil.get(pose2dKey);
         RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
 
+        String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + robotInformationDO.getMacAddress();
+        Object floorAreaObject = redisUtil.get(floorAreaKey);
+        FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
         if (ObjectUtil.isNotEmpty(object) && ObjectUtil.isNotEmpty(robotStatusDataPoseDTO)) {
             bean.setElectricity(robotStatusDataPoseDTO.getBatSoc());
-            bean.setFloor(robotStatusDataPoseDTO.getFloor());
+            bean.setFloor(floorZoneDTO.getFloor());
-            bean.setArea(robotStatusDataPoseDTO.getArea());
+            bean.setArea(floorZoneDTO.getArea());
         }
         return bean;
     }
@@ -294,10 +298,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_QUERY_DOING_ACTION + v.getMacAddress();
         Object action = redisUtil.get(robotDoingActionKey);
 
+        String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + v.getMacAddress();
+        Object floorAreaObject = redisUtil.get(floorAreaKey);
+        FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
+
         if (ObjectUtil.isNotEmpty(object) && ObjectUtil.isNotEmpty(robotStatusDataPoseDTO)) {
             v.setElectricity(robotStatusDataPoseDTO.getBatSoc());
-            v.setFloor(robotStatusDataPoseDTO.getFloor());
+            v.setFloor(floorZoneDTO.getFloor());
-            v.setArea(robotStatusDataPoseDTO.getArea());
+            v.setArea(floorZoneDTO.getArea());
             v.setOnlineStatus(1);
         }
 
@@ -385,7 +393,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             } else if (RobotStatusEnum.CHARGE.getType().equals(v.getRobotStatus())) {
                 //充电中
                 charge++;
-            } else {
+            } else if (RobotStatusEnum.DOING.getType().equals(v.getRobotStatus())) {
                 //任务中
                 inTask++;
             }

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

@@ -91,4 +91,11 @@ public interface RobotTaskService extends IService<RobotTaskDO> {
      * @param message
      */
     void assignTasks(String message);
+
+    /**
+     * 发送关闭任务
+     * @param id
+     * @param mac
+     */
+    void closeTaskDetail(String id, String mac);
 }

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

@@ -27,6 +27,7 @@ import cn.iocoder.yudao.module.system.dal.dataobject.housearea.HouseAreaDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselane.WareHouseLaneDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotChargeLogDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
@@ -36,6 +37,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.housearea.HouseAreaMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.houselane.WareHouseLaneMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.log.RobotTaskDetailActionLogMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotChargeLogMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
@@ -49,6 +51,7 @@ 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.service.robot.job.RobotCommonTaskService;
 import cn.iocoder.yudao.module.system.enums.wait.WaitStatusEnum;
+import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 import cn.iocoder.yudao.module.system.service.wait.MoveToWaitService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
@@ -154,6 +157,12 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     @Resource
     private UserOperationLogService userOperationLogService;
 
+    @Resource
+    private DeviceInformationService deviceInformationService;
+
+    @Resource
+    private RobotTaskDetailActionLogMapper taskDetailActionLogMapper;
+
     @Override
     @Transactional(rollbackFor = Exception.class)
     public Long createTask(RobotTaskSaveReqVO createReqVO) throws InterruptedException {
@@ -398,12 +407,9 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                 locationIds.add(taskDetailDO.getToLocationId());
             }
 
-            RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO();
-            robotTask.setOrder_id(taskDetailDO.getId().toString());
             String mac = robotInformationService.getMacByRobotNo(taskDetailDO.getRobotNo());
-            robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC + mac);
+
-            robotTask.setExecution_type(ExecutionTypeEnum.CANCEL.getType());
+            closeTaskDetail(taskDetailDO.getId().toString(),mac);
-            commonApi.commonMethod(robotTask, robotTask.getTopic());
 
             RobotClosePathPlantingDTO closePathPlanting = RobotClosePathPlantingDTO.builder()
                     .robotNo(taskDetailDO.getRobotNo())
@@ -415,7 +421,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         RobotTaskDO updateObj = BeanUtils.toBean(updateReqVO, RobotTaskDO.class);
         taskMapper.updateById(updateObj);
 
-        taskDetailMapper.updateBatch(taskDetailDOS);
+        taskDetailMapper.updateById(taskDetailDOS);
 
         if (ObjectUtil.isNotEmpty(locationIds)) {
             locationMapper.releaseLocationLockList(locationIds, robotTaskDO.getId()
@@ -445,10 +451,19 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             robotInformationDO.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
         }
 
-        informationMapper.updateBatch(robotInformationDOS);
+        informationMapper.updateById(robotInformationDOS);
 
     }
 
+    @Override
+    public void closeTaskDetail(String id, String mac) {
+        RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO();
+        robotTask.setOrderId(id);
+        robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + mac);
+        robotTask.setExecutionType(ExecutionTypeEnum.CANCEL.getType());
+        commonApi.commonMethod(robotTask, robotTask.getTopic());
+    }
+
     /**
      * PP分配任务
      *
@@ -466,15 +481,13 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         Long detailId = null;
 
         Map<Long, String> deviceNoMap = new HashMap<>();
-        RobotChargeLogDO robotChargeLogs = null;
-
         Integer robotStatus = RobotStatusEnum.DOING.getType();
 
-        if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getType())) {
+        if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getOrderType())) {
-            robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getOrderId());
+            RobotChargeLogDO robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getOrderId());
 
             robotChargeLogs.setTaskStatus(ChargeTaskStatusEnum.DOING.getType());
-            chargeLogMapper.updateBatch(robotChargeLogs);
+            chargeLogMapper.updateById(robotChargeLogs);
 
             robotStatus = RobotStatusEnum.CHARGE.getType();
             if (ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId())) {
@@ -482,10 +495,10 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                 detailId = robotChargeLogs.getTaskDetailId();
             }
 
-        } else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(taskAssignDTO.getType())) {
+        } else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(taskAssignDTO.getOrderType())) {
             chargeDone(taskAssignDTO.getRobotNo());
             moveToWaitService.updateWaitStatus(taskAssignDTO.getOrderId(), WaitStatusEnum.GO_TO_WAIT.getType());
-        } else if (PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getType())) {
+        } else if (PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getOrderType())) {
             robotStatus = RobotStatusEnum.CHARGE.getType();
             detailId = taskAssignDTO.getOrderId();
         } else {
@@ -499,6 +512,15 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             setTaskDoing(detailId, taskAssignDTO.getRobotNo(), deviceNoMap);
         }
 
+
+        RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
+        logOne.setCommandType(taskAssignDTO.getOrderType());
+        logOne.setActionMsg(taskAssignDTO.getRobotActionMsg());
+        logOne.setRobotNo(taskAssignDTO.getRobotNo());
+        logOne.setCommandId(-1L);
+        logOne.setTaskDetailId(taskAssignDTO.getOrderId());
+        taskDetailActionLogMapper.insert(logOne);
+
 //        sendTaskToRobot(robotTaskDetailDO, taskAssignDTO);
 
     }
@@ -513,19 +535,19 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         RobotAssignTaskDataDTO robotAssignTask = getEmptyRobotAssignTaskData();
         RobotAssignTaskDTO build = RobotAssignTaskDTO.builder()
                 .topic(RobotTopicConstant.ROBOT_TASK_TOPIC + mac)
-                .orderType(taskAssignDTO.getType())
+                .orderType(taskAssignDTO.getOrderType())
                 .executionType(ExecutionTypeEnum.DEFAULT.getType())
                 .orderId(taskAssignDTO.getOrderId().toString())
                 .data(Lists.newArrayList(robotAssignTask))
                 .build();
-        if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(taskAssignDTO.getType())
+        if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(taskAssignDTO.getOrderType())
-                || PathTaskTypeEnum.TAKE.getType().equals(taskAssignDTO.getType())
+                || PathTaskTypeEnum.TAKE.getType().equals(taskAssignDTO.getOrderType())
-                || PathTaskTypeEnum.RELEASE.getType().equals(taskAssignDTO.getType())) {
+                || PathTaskTypeEnum.RELEASE.getType().equals(taskAssignDTO.getOrderType())) {
             RobotAssignTaskDataDTO robotAssignTaskData = getRobotAssignTaskData(v, taskAssignDTO);
             List<RobotAssignTaskDataDTO> data = build.getData();
             data.add(robotAssignTaskData);
-        } else if (PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getType())
+        } else if (PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getOrderType())
-                || PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getType())) {
+                || PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getOrderType())) {
             RobotAssignTaskDataDTO robotAssignTaskData = new RobotAssignTaskDataDTO();
             robotAssignTaskData.setCommandType(RobotCommandTypeEnum.WORK_START_CHARGE.getType());
             List<RobotAssignTaskDataDTO> data = build.getData();
@@ -549,8 +571,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         RobotAssignTaskDataDTO take = new RobotAssignTaskDataDTO();
         RobotAssignTaskArgDTO build = null;
         WareHouseLocationDO location = null;
-        if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(taskAssignDTO.getType()) ||
+        if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(taskAssignDTO.getOrderType()) ||
-                PathTaskTypeEnum.TAKE.getType().equals(taskAssignDTO.getType())) {
+                PathTaskTypeEnum.TAKE.getType().equals(taskAssignDTO.getOrderType())) {
             take.setCommandType(RobotCommandTypeEnum.WORD_PICK_UP_GOODS.getType());
             location = locationMapper.selectById(v.getFromLocationId());
             build = RobotAssignTaskArgDTO.builder()
@@ -558,7 +580,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                     .offsetHeight(offsetHeight)
                     .build();
             take.setArg(Arrays.asList(build));
-        } else if (PathTaskTypeEnum.RELEASE.getType().equals(taskAssignDTO.getType())) {
+        } else if (PathTaskTypeEnum.RELEASE.getType().equals(taskAssignDTO.getOrderType())) {
             take.setCommandType(RobotCommandTypeEnum.WORD_DROP_OFF_GOODS.getType());
             location = locationMapper.selectById(v.getToLocationId());
             build = RobotAssignTaskArgDTO.builder()
@@ -596,10 +618,10 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             taskDetailDO.setToLocationNo(deviceNoMap.get(taskDetailDO.getId()));
         }
 
-        taskDetailMapper.updateBatch(taskDetailDO);
+        taskDetailMapper.updateById(taskDetailDO);
         RobotTaskDO task = taskMapper.selectById(taskDetailDO.getRobotTaskId());
         task.setTaskStatus(RobotTaskStatusEnum.DOING.getType());
-        taskMapper.updateBatch(task);
+        taskMapper.updateById(task);
         return taskDetailDO;
     }
 
@@ -1030,6 +1052,10 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                 log.error("此取货库位存在放货任务 :{}", locationDO.getLocationNo());
                 throw new RuntimeException("此取货库位存在放货任务 " + locationDO.getLocationNo());
             }
+            if (LocationUseStatusEnum.NO.getType().equals(locationDO.getLocationUseStatus())) {
+                log.error("此取货库位没库存 :{}", locationDO.getLocationNo());
+                throw new RuntimeException("此取货库位没库存 " + locationDO.getLocationNo());
+            }
             takeMapItemIds.add(locationDO.getMapItemId());
         } else {
             WareHouseLocationDO wareHouseLocationDO =
@@ -1109,7 +1135,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         RobotTaskDO updateObj = BeanUtils.toBean(updateReqVO, RobotTaskDO.class);
         taskMapper.updateById(updateObj);
 
-        taskDetailMapper.updateBatch(taskDetailDOS);
+        taskDetailMapper.updateById(taskDetailDOS);
 
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
                 .operateAction("修改" + robotTaskDO.getTaskNo() + "优先级" + updateReqVO.getPriority())
@@ -1142,7 +1168,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         PageResult<RobotTaskDO> pageResult = null;
         PageResult<RobotTaskRespVO> dataPage = new PageResult<>();
         List<RobotTaskDO> list = new ArrayList<>();
-        if (ObjectUtil.isEmpty(pageReqVO.getRobotNo())) {
+        if (ObjectUtil.isEmpty(pageReqVO.getRobotNo()) && ObjectUtil.isEmpty(pageReqVO.getTaskStage())) {
             pageResult = taskMapper.selectPage(pageReqVO);
             dataPage.setTotal(pageResult.getTotal());
             list = pageResult.getList();
@@ -1154,8 +1180,24 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         }
 
         List<RobotTaskRespVO> targetList = BeanUtil.copyToList(list, RobotTaskRespVO.class);
-        for (RobotTaskRespVO robotTaskRespVO : targetList) {
+        if (ObjectUtil.isEmpty(targetList)) {
-            robotTaskRespVO.setDetails(taskDetailMapper.queryByTaskId(robotTaskRespVO.getId()));
+            return dataPage;
+        }
+
+        List<Long> takeIds = targetList.stream().map(RobotTaskRespVO::getId).collect(Collectors.toList());
+        List<RobotTaskDetailDO> taskDetailDOS = taskDetailMapper.selectList(new LambdaQueryWrapperX<RobotTaskDetailDO>()
+                .in(RobotTaskDetailDO::getRobotTaskId, takeIds));
+
+        Map<Long, List<RobotTaskDetailDO>> detailMap = taskDetailDOS.stream().collect(Collectors.groupingBy(RobotTaskDetailDO::getRobotTaskId));
+
+        for (RobotTaskRespVO v : targetList) {
+            List<RobotTaskDetailDO> details = detailMap.get(v.getId());
+            if (ObjectUtil.isNotEmpty(pageReqVO.getTaskStage())) {
+                details = details.stream()
+                        .filter(s -> s.getTaskStage().equals(pageReqVO.getTaskStage()))
+                        .collect(Collectors.toList());
+            }
+            v.setDetails(details);
         }
         dataPage.setList(targetList);
         return dataPage;
@@ -1195,7 +1237,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             robotChargeLogs = chargeLogMapper.selectById(distribution.getId());
 
             robotChargeLogs.setTaskStatus(ChargeTaskStatusEnum.DOING.getType());
-            chargeLogMapper.updateBatch(robotChargeLogs);
+            chargeLogMapper.updateById(robotChargeLogs);
 
             robotInformationMapper.updateRobotListStatus(distribution.getRobotNo(), RobotStatusEnum.CHARGE.getType(), distribution.getId());
             if (ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId())) {
@@ -1227,7 +1269,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                 }
             });
 
-            taskDetailMapper.updateBatch(taskDetailDOS);
+            taskDetailMapper.updateById(taskDetailDOS);
             List<Long> robotTaskIds = taskDetailDOS.stream()
                     .map(RobotTaskDetailDO::getRobotTaskId)
                     .collect(Collectors.toList());
@@ -1235,7 +1277,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             tasks.stream().forEach(task -> {
                 task.setTaskStatus(RobotTaskStatusEnum.DOING.getType());
             });
-            taskMapper.updateBatch(tasks);
+            taskMapper.updateById(tasks);
         }
 
         if (TaskTypeEnum.TASK.getType().equals(distribution.getType())) {
@@ -1264,8 +1306,9 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         if (ObjectUtil.isEmpty(robotChargeLogDO) || !ChargeTaskStatusEnum.CHARGEING.getType().equals(robotChargeLogDO.getTaskStatus())) {
             return;
         }
-        log.info("开始结束充电，并接任务 :{}", robotNo);
+        log.info("结束充电任务 :{}", robotNo);
         robotChargeLogDO.setEndTime(LocalDateTime.now());
+        deviceInformationService.chargeDeviceShrink(robotChargeLogDO.getDeviceNo());
 
         String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robotInformationDO.getMacAddress();
         Object object = redisUtil.get(pose2dKey);
@@ -1275,12 +1318,12 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             robotChargeLogDO.setEndElectricity(Integer.valueOf(robotStatusDataPoseDTO.getBatSoc()));
         }
         robotChargeLogDO.setTaskStatus(ChargeTaskStatusEnum.DONE.getType());
-        chargeLogMapper.updateBatch(robotChargeLogDO);
+        chargeLogMapper.updateById(robotChargeLogDO);
 
         DeviceInformationDO deviceInformationDO = deviceInformationMapper.selectOne(new LambdaQueryWrapperX<DeviceInformationDO>()
                 .eq(DeviceInformationDO::getDeviceNo, robotChargeLogDO.getDeviceNo()));
         deviceInformationDO.setDeviceUseStatus(DeviceUseStatusEnum.IDLE.getType());
-        deviceInformationMapper.updateBatch(deviceInformationDO);
+        deviceInformationMapper.updateById(deviceInformationDO);
         log.info("充电桩设置为空闲 :{}", deviceInformationDO.getDeviceNo());
 
         if (ObjectUtil.isEmpty(robotChargeLogDO.getTaskDetailId())) {
@@ -1288,10 +1331,10 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         }
         RobotTaskDetailDO taskDetail = taskDetailMapper.selectById(robotChargeLogDO.getTaskDetailId());
         taskDetail.setTaskStatus(RobotTaskDetailStatusEnum.DONE.getType());
-        taskDetailMapper.updateBatch(taskDetail);
+        taskDetailMapper.updateById(taskDetail);
         RobotTaskDO robotTask = taskMapper.selectById(taskDetail.getRobotTaskId());
         robotTask.setTaskStatus(RobotTaskStatusEnum.DONE.getType());
-        taskMapper.updateBatch(robotTask);
+        taskMapper.updateById(robotTask);
     }
 
     /**

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

@@ -137,6 +137,9 @@ public class RobotWarnMsgServiceImpl extends ServiceImpl<RobotWarnMsgMapper, Rob
     @Override
     public String allRead() {
         warnMsgMapper.updateAllRead();
+        UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder().operateAction("更新所有告警信息为已读")
+                .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
+        userOperationLogService.createUserOperationLog(operationLog);
         return "更新成功";
     }
 

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

@@ -219,7 +219,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
             }
 
             if (ObjectUtil.isNotEmpty(detailMap) && detailMap.containsKey(robot.getRobotNo())
-                    && ObjectUtil.isEmpty(robot.getAutoCharge()) && ObjectUtil.isNotEmpty(chargeConfig.getStartAutoCharge())) {
+                    && ObjectUtil.isNotEmpty(chargeConfig.getStartAutoCharge())) {
                 //任务充电
                 BigDecimal robotConfigElectricity = new BigDecimal(String.valueOf(chargeConfig.getStartAutoCharge()));
                 if (robotRemainingElectricity.compareTo(robotConfigElectricity) < 0) {
@@ -234,7 +234,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
             }
 
             if (ObjectUtil.isNotEmpty(detailMap) && detailMap.containsKey(robot.getRobotNo())
-                    && ObjectUtil.isEmpty(robot.getAutoCharge()) && ObjectUtil.isNotEmpty(chargeConfig.getChanceChargeStart())) {
+                    && ObjectUtil.isNotEmpty(chargeConfig.getChanceChargeStart())) {
                 //任务充电
                 BigDecimal robotConfigElectricity = new BigDecimal(String.valueOf(chargeConfig.getChanceChargeStart()));
                 if (robotRemainingElectricity.compareTo(robotConfigElectricity) < 0) {

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

@@ -97,9 +97,11 @@ public class CycleServiceImpl implements CycleService {
             List<RobotTaskDetailDO> taskDetailDOS = getTaskDetailData(taskData,taskIdMap,v.getId());
             taskDOList.add(taskData);
             taskDetailList.addAll(taskDetailDOS);
+            v.setRemainingCycleNumber(0l);
         }
 
         taskMapper.insertBatch(taskDOList);
+        taskMapper.updateById(taskList);
         taskDetailMapper.insertBatch(taskDetailList);
 
         List<Long> fromLocationIds = taskDetailList.stream().map(RobotTaskDetailDO::getFromLocationId).collect(Collectors.toList());

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

@@ -98,6 +98,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             lastTaskDetailMap = lastTaskDetails.stream().collect(Collectors.toMap(v -> v.getRobotNo(), Function.identity()));
         }
 
+        CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfigDO.getConfigStr(), CommonConfigVO.class);
+
         for (RobotInformationDO robot : robots) {
             String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robot.getMacAddress();
             String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robot.getMacAddress();
@@ -114,6 +116,24 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                 continue;
             }
 
+            if (ObjectUtil.isNotEmpty(chargeConfig) && ObjectUtil.isNotEmpty(chargeConfig.getStartAutoCharge())) {
+                String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robot.getMacAddress();
+                Object poseCache = redisUtil.get(pose2dKey);
+                RobotStatusDataPoseDTO dataPoseDTO = JSON.parseObject((String) poseCache, RobotStatusDataPoseDTO.class);
+                if (ObjectUtil.isEmpty(dataPoseDTO.getBatSoc())) {
+                    robot.setRobotStatus(RobotStatusEnum.DOING.getType());
+                    log.info("车机没有电量信息 :{}",robot.getRobotNo());
+                    continue;
+                }
+                BigDecimal robotRemainingElectricity = new BigDecimal(dataPoseDTO.getBatSoc());
+                BigDecimal robotEndElectricity = new BigDecimal(chargeConfig.getStartAutoCharge()+"");
+                if (robotRemainingElectricity.compareTo(robotEndElectricity) < 0) {
+                    robot.setRobotStatus(RobotStatusEnum.DOING.getType());
+                    log.info("机器人的电量少于自动充电电量，不能接任务 :{}",robot.getRobotNo());
+                    continue;
+                }
+            }
+
             if (ObjectUtil.isEmpty(cargoDetected) || RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))) {
                 robot.setRobotStatus(RobotStatusEnum.DOING.getType());
                 log.info("车机上报传感器被按下--不允许接任务 :{}",robot.getRobotNo());

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

@@ -182,7 +182,7 @@ public class RobotTaskAutoMoveServiceImpl implements RobotTaskAutoMoveService {
         robotInformationDOS.stream().forEach(robotInformationDO -> {
             robotInformationDO.setRobotStatus(RobotStatusEnum.DOING.getType());
         });
-        robotInformationMapper.updateBatch(robotInformationDOS);
+        robotInformationMapper.updateById(robotInformationDOS);
 
         List<Long> locationIds = new ArrayList<>();
         robotTaskAutoMoveDOS.forEach(robotTaskAutoMoveDO -> {

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

@@ -8,6 +8,7 @@ import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
 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.system.api.robot.dto.FloorZoneDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
@@ -23,6 +24,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationM
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
 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.dal.mysql.wait.MoveToWaitMapper;
 import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum;
@@ -93,6 +95,9 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     @Resource
     private MoveToWaitMapper moveToWaitMapper;
 
+    @Autowired
+    private RobotTaskMapper robotTaskMapper;
+
     /**
      * 下发任务给PP
      */
@@ -117,11 +122,46 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             return;
         }
 
+        //停车不锁车
+        taskDetailDOS = doPark(taskDetailDOS);
+        if (ObjectUtil.isEmpty(taskDetailDOS)) {
+            log.info("--不存在需要执行的任务---");
+            return;
+        }
+
         log.info("-------查找到车子和任务------");
         distributeTasksToPP(robots, taskDetailDOS);
 
     }
 
+    /**
+     * 处理停车不锁车的任务
+     * @param taskDetailDOS
+     * @return
+     */
+    private List<RobotTaskDetailDO> doPark(List<RobotTaskDetailDO> taskDetailDOS) {
+        List<RobotTaskDetailDO> parkList = new ArrayList<>();
+        List<RobotTaskDetailDO> detailList = new ArrayList<>();
+        for (RobotTaskDetailDO v : taskDetailDOS) {
+            if (RobotTaskTypeEnum.PARK.getType().equals(v.getTaskType())
+                && ZeroOneEnum.ZERO.getType().equals(v.getNeedLock())) {
+                parkList.add(v);
+            }else if (!RobotTaskTypeEnum.CHARGE.getType().equals(v.getTaskType())){
+                detailList.add(v);
+            }
+        }
+
+        if (ObjectUtil.isNotEmpty(parkList)) {
+            List<Long> detailIds = parkList.stream().map(RobotTaskDetailDO::getId).collect(Collectors.toList());
+            List<RobotTaskDetailDO> taskDetails = robotTaskDetailMapper.selectBatchIds(detailIds);
+            List<Long> taskIds = taskDetails.stream().map(RobotTaskDetailDO::getRobotTaskId).collect(Collectors.toList());
+            robotTaskDetailMapper.updateDoneByIds(detailIds);
+            robotTaskMapper.updateDoneByIds(taskIds);
+        }
+
+        return detailList;
+    }
+
     /**
      * 派车辆去等待点
      *
@@ -159,7 +199,11 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                 continue;
             }
 
-            String mapKey = robotStatusDataPoseDTO.getFloor() + "_" + robotStatusDataPoseDTO.getArea();
+            String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + robot.getMacAddress();
+            Object floorAreaObject = redisUtil.get(floorAreaKey);
+            FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
+
+            String mapKey = floorZoneDTO.getFloor() + "_" + floorZoneDTO.getArea();
             PositionMapDO positionMapDO = positionMap.get(mapKey);
             if (ObjectUtil.isEmpty(positionMapDO)) {
                 log.info("------此机器人没有匹配到楼层和区域------ :{}", robot.getRobotNo());
@@ -252,6 +296,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                     .priority(1l)
                     .createTime(LocalDateTime.now())
                     .taskType(PathTaskTypeToRobotEnum.MOVE.getType())
+                    .waitIds(waitIds)
                     .build();
             pathPlanningList.add(pathPlanning);
         }
@@ -348,6 +393,18 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         //前一个任务是仅取货
         List<String> robotDoTake = getRobotDoTake(robots);
 
+        List<PositionMapItemDO> positionMapItems = positionMapItemMapper.selectList(new LambdaQueryWrapperX<PositionMapItemDO>()
+                .eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType())
+                .eq(PositionMapItemDO::getUseStatus, ZeroOneEnum.ZERO.getType()));
+        List<String> waitIds = null;
+        if (ObjectUtil.isNotEmpty(positionMapItems)) {
+            waitIds = positionMapItems
+                    .stream()
+                    .map(u -> u.getId() + "")
+                    .collect(Collectors.toList());
+        }
+        Integer i = 0;
+
         log.info("开始组装需要下发给PP的任务");
         for (RobotTaskDetailDO taskDetailDO : taskDetailDOS) {
 
@@ -360,6 +417,15 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                     .createTime(taskDetailDO.getCreateTime())
                     .build();
 
+            if (RobotTaskTypeEnum.PARK.getType().equals(taskDetailDO.getTaskType())
+                && (ObjectUtil.isEmpty(waitIds) || waitIds.size() < i)) {
+                log.info("停车任务,没有多余的空闲点位 ：{}",taskDetailDO.getId());
+                return;
+            }else if (RobotTaskTypeEnum.PARK.getType().equals(taskDetailDO.getTaskType())) {
+                pathPlanning.setWaitIds(waitIds);
+                i++;
+            }
+
             if (ObjectUtil.isNotEmpty(robotDoTake) && ObjectUtil.isNotEmpty(taskDetailDO.getRobotNo())
                     && robotDoTake.contains(taskDetailDO.getRobotNo())
                     && !RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType())) {
@@ -383,51 +449,36 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
             WareHouseLocationDO fromLocation = locationDOMap.get(taskDetailDO.getFromLocationId());
             WareHouseLocationDO toLocation = locationDOMap.get(taskDetailDO.getToLocationId());
-            //取是线库
-            if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())
-                    && ObjectUtil.isNotEmpty(taskDetailDO.getFromLaneId())) {
 
-                pathPlanning.setTakeGroupId("LINE_" + taskDetailDO.getFromLaneId());
+            if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())) {
                 pathPlanning.setTakeLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getFromLocationNumber()));
                 pathPlanning.setTakePointId(fromLocation.getMapItemId());
-                pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTrayHeight() + ""));
+                if (ObjectUtil.isNotEmpty(fromLocation.getLocationTrayHeight())) {
-                pathPlanning.setTakeLevel(fromLocation.getLocationStorey());
+                    pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTrayHeight() + ""));
-                pathPlanning.setTakeOffsetHeight(offsetHeight);
+                }
-
-            } else if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())
-                    && ObjectUtil.isEmpty(taskDetailDO.getFromLaneId())) {
-                //取的是普通点位
-                pathPlanning.setTakeGroupId("POINT_" + taskDetailDO.getFromMapItemId());
-                pathPlanning.setTakeLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getFromLocationNumber()));
-                pathPlanning.setTakePointId(fromLocation.getMapItemId());
-                pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTrayHeight() + ""));
                 pathPlanning.setTakeLevel(fromLocation.getLocationStorey());
                 pathPlanning.setTakeOffsetHeight(offsetHeight);
+                if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLaneId())) {
+                    pathPlanning.setTakeGroupId("LINE_" + taskDetailDO.getFromLaneId());
+                }else {
+                    pathPlanning.setTakeGroupId("POINT_" + taskDetailDO.getFromMapItemId());
+                }
             }
 
-            //放是线库
+            if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())){
-            if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())
-                    && ObjectUtil.isNotEmpty(taskDetailDO.getToLaneId())) {
-
-                pathPlanning.setReleaseGroupId("LINE_" + taskDetailDO.getToLaneId());
                 pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
                 pathPlanning.setReleasePointId(toLocation.getMapItemId());
-                pathPlanning.setReleaseHeight(Double.valueOf(toLocation.getLocationTrayHeight() + ""));
+                if (ObjectUtil.isNotEmpty(toLocation.getLocationTrayHeight())) {
+                    pathPlanning.setReleaseHeight(Double.valueOf(toLocation.getLocationTrayHeight() + ""));
+                }
                 pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
                 pathPlanning.setReleaseOffsetHeight(offsetHeight);
-
+                if (ObjectUtil.isNotEmpty(taskDetailDO.getToLaneId())){
-            } else if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())
+                    pathPlanning.setReleaseGroupId("LINE_" + taskDetailDO.getToLaneId());
-                    && ObjectUtil.isEmpty(taskDetailDO.getToLaneId())) {
+                }else {
-                //放的是普通点位
+                    pathPlanning.setReleaseGroupId("POINT_" + taskDetailDO.getToMapItemId());
-                pathPlanning.setReleaseGroupId("POINT_" + taskDetailDO.getToMapItemId());
+                }
-                pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
-                pathPlanning.setReleasePointId(toLocation.getMapItemId());
-                pathPlanning.setReleaseHeight(Double.valueOf(toLocation.getLocationTrayHeight() + ""));
-                pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
-                pathPlanning.setReleaseOffsetHeight(offsetHeight);
-
             }
-
             pathPlanningList.add(pathPlanning);
         }
 
@@ -554,8 +605,6 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         List<RobotTaskDetailDO> detailDOS = taskDetailDOS.stream()
                 .filter(v -> !laneIds.contains(v.getFromLaneId())
                         && !laneIds.contains(v.getToLaneId())
-                        && !RobotTaskTypeEnum.PARK.getType().equals(v.getTaskType()) //停车在充电的任务做
-                        && !RobotTaskTypeEnum.CHARGE.getType().equals(v.getTaskType()) //停车在充电的任务做
                         && !mapIds.contains(v.getFromMapItemId())
                         && !mapIds.contains(v.getToMapItemId()))
                 .collect(Collectors.toList());
@@ -615,6 +664,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             } else if (RobotTaskTypeEnum.TAKE.getType().equals(v.getTaskType())) {
                 //仅取货
                 takeSetTask(list, v, fromLane, toLane, fromLocation, toLocation, toHaveFrom, fromHaveTo);
+            }else if (RobotTaskTypeEnum.PARK.getType().equals(v.getTaskType())) {
+                list.add(v);
             }
         }
 

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

@@ -3,7 +3,6 @@ package cn.iocoder.yudao.module.system.service.tool;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.json.JSONUtil;
 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.task.dto.RobotAcceptTaskDTO;
 import cn.iocoder.yudao.module.mqtt.enums.task.ExecutionTypeEnum;
 import cn.iocoder.yudao.module.system.api.path.vo.RobotClosePathPlantingDTO;
@@ -21,7 +20,6 @@ import cn.iocoder.yudao.module.system.enums.config.CommandConfigTypeEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotWarnType;
 import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
 import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
-import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
@@ -29,7 +27,6 @@ import org.springframework.stereotype.Service;
 import org.springframework.validation.annotation.Validated;
 
 import javax.annotation.Resource;
-import javax.servlet.http.HttpServletResponse;
 import java.util.Arrays;
 import java.util.List;
 
@@ -120,10 +117,10 @@ public class ToolsServiceImpl implements ToolsService {
         commonApi.commonMethod(closePathPlanting, PathPlanningTopicConstant.KILL_TASK);
 
         RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO();
-        robotTask.setOrder_id(taskDetailId);
+        robotTask.setOrderId(taskDetailId);
         String mac = robotInformationService.getMacByRobotNo(informationDO.getRobotNo());
         robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC + mac);
-        robotTask.setExecution_type(ExecutionTypeEnum.CANCEL.getType());
+        robotTask.setExecutionType(ExecutionTypeEnum.CANCEL.getType());
         commonApi.commonMethod(robotTask, robotTask.getTopic());
 
         return "关闭任务成功";

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/modbus3/ModbusUtils.java

@@ -0,0 +1,195 @@
+package cn.iocoder.yudao.module.system.util.modbus3;
+
+import com.serotonin.modbus4j.ModbusFactory;
+import com.serotonin.modbus4j.ModbusMaster;
+import com.serotonin.modbus4j.code.DataType;
+import com.serotonin.modbus4j.exception.ErrorResponseException;
+import com.serotonin.modbus4j.exception.ModbusInitException;
+import com.serotonin.modbus4j.exception.ModbusTransportException;
+import com.serotonin.modbus4j.ip.IpParameters;
+import com.serotonin.modbus4j.locator.BaseLocator;
+import com.serotonin.modbus4j.msg.ModbusResponse;
+import com.serotonin.modbus4j.msg.WriteRegistersRequest;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+public class ModbusUtils {
+    private static Logger log = LoggerFactory.getLogger(ModbusUtils.class);
+    /**
+     * 工厂。
+     */
+    static ModbusFactory modbusFactory;
+
+    static {
+        if (modbusFactory == null) {
+            modbusFactory = new ModbusFactory();
+        }
+    }
+
+    /**
+     * 获取master
+     *
+     * @return
+     * @throws ModbusInitException
+     */
+    public static ModbusMaster getMaster(String host, int port) throws ModbusInitException {
+        IpParameters params = new IpParameters();
+        params.setHost(host);
+        params.setPort(port);
+        //
+//         modbusFactory.createRtuMaster(wapper); //RTU 协议
+        // modbusFactory.createUdpMaster(params);//UDP 协议
+        // modbusFactory.createAsciiMaster(wrapper);//ASCII 协议
+        ModbusMaster master = modbusFactory.createTcpMaster(params, false);// TCP 协议
+        master.init();
+
+        return master;
+    }
+
+    public static ModbusMaster getRtuIpMaster(String host, int port) throws ModbusInitException {
+        IpParameters params = new IpParameters();
+        params.setHost(host);
+        params.setPort(port);
+        params.setEncapsulated(true);
+        ModbusMaster master = modbusFactory.createTcpMaster(params, false);
+        try {
+            //设置超时时间
+            master.setTimeout(1000);
+            //设置重连次数
+            master.setRetries(3);
+            //初始化
+            master.init();
+        } catch (ModbusInitException e) {
+            e.printStackTrace();
+        }
+        return master;
+    }
+
+    /**
+     *
+     * @param portName 串口名
+     * @param baudRate 波特率
+     * @param dataBits 数据位
+     * @param stopBits 中止位
+     * @param parity   校验位
+     * @return
+     * @throws ModbusInitException
+     */
+    public static ModbusMaster getSerialPortRtuMaster(String portName, Integer baudRate, Integer dataBits,
+                                                      Integer stopBits, Integer parity){
+        // 设置串口参数，串口是COM1，波特率是9600
+        // SerialPortWrapperImpl wrapper = new SerialPortWrapperImpl("COM2", 9600,SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE, 0, 0);
+        SerialPortWrapperImpl wrapper = new SerialPortWrapperImpl(portName, baudRate,
+                dataBits, stopBits, parity, 0, 0);
+        ModbusMaster master = modbusFactory.createRtuMaster(wrapper);
+        try {
+            //设置超时时间
+            master.setTimeout(1000);
+            //设置重连次数
+            master.setRetries(3);
+            //初始化
+            master.init();
+        } catch (ModbusInitException e) {
+            log.error("串口连接异常~");
+            e.printStackTrace();
+        }
+        return master;
+    }
+    /**
+     *
+     * @param portName 串口名
+     * @param baudRate 波特率
+     * @param dataBits 数据位
+     * @param stopBits 中止位
+     * @param parity   校验位
+     * @return
+     * @throws ModbusInitException
+     */
+    public static ModbusMaster getSerialPortAsciiMaster(String portName, Integer baudRate, Integer dataBits,
+                                                        Integer stopBits, Integer parity){
+        // 设置串口参数，串口是COM1，波特率是9600
+        // SerialPortWrapperImpl wrapper = new SerialPortWrapperImpl("COM2", 9600,SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE, 0, 0);
+        SerialPortWrapperImpl wrapper = new SerialPortWrapperImpl(portName, baudRate,
+                dataBits, stopBits, parity, 0, 0);
+        ModbusMaster master = modbusFactory.createAsciiMaster(wrapper);
+        try {
+            //设置超时时间
+            master.setTimeout(1000);
+            //设置重连次数
+            master.setRetries(3);
+            //初始化
+            master.init();
+        } catch (ModbusInitException e) {
+            log.error("串口连接异常~");
+            e.printStackTrace();
+        }
+        return master;
+    }
+
+
+    /**
+     * 读取[01 Coil Status 0x]类型 开关数据
+     *
+     * @param slaveId slaveId
+     * @param offset  位置
+     * @return 读取值
+     * @throws ModbusTransportException 异常
+     * @throws ErrorResponseException   异常
+     * @throws ModbusInitException      异常
+     */
+    public static Boolean readCoilStatus(ModbusMaster master, int slaveId, int offset)
+            throws ModbusTransportException, ErrorResponseException, ModbusInitException {
+        // 01 Coil Status
+        BaseLocator<Boolean> loc = BaseLocator.coilStatus(slaveId, offset);
+        Boolean value = master.getValue(loc);
+        return value;
+    }
+    /**
+     * 读取[03 Holding Register类型 2x]模拟量数据
+     *
+     * @param slaveId  slave Id
+     * @param offset   位置
+     * @param dataType 数据类型,来自com.serotonin.modbus4j.code.DataType
+     * @return
+     * @throws ModbusTransportException 异常
+     * @throws ErrorResponseException   异常
+     * @throws ModbusInitException      异常
+     */
+    public static Number readHoldingRegister(ModbusMaster master, int slaveId, int offset, int dataType)
+            throws ModbusTransportException, ErrorResponseException, ModbusInitException {
+        // 03 Holding Register类型数据读取
+        BaseLocator<Number> loc = BaseLocator.holdingRegister(slaveId, offset, dataType);
+        Number value = master.getValue(loc);
+        return value;
+    }
+
+    /**
+     * 读取[04 Input Registers 3x]类型 模拟量数据
+     *
+     * @param slaveId  slaveId
+     * @param offset   位置
+     * @param dataType 数据类型,来自com.serotonin.modbus4j.code.DataType
+     * @return 返回结果
+     * @throws ModbusTransportException 异常
+     * @throws ErrorResponseException   异常
+     * @throws ModbusInitException      异常
+     */
+    public static Number readInputRegisters(ModbusMaster master, int slaveId, int offset, int dataType)
+            throws ModbusTransportException, ErrorResponseException, ModbusInitException {
+        // 04 Input Registers类型数据读取
+        BaseLocator<Number> loc = BaseLocator.inputRegister(slaveId, offset, dataType);
+        Number value = master.getValue(loc);
+        return value;
+    }
+
+    /**
+     * 向Modbus设备的保持寄存器写入值
+     * slaveId 设备序列号
+     * startOffset 写入寄存器开始的地址
+     * values 写入寄存器里的值
+     */
+    public static void writeHoldingRegisters(ModbusMaster master, int slaveId, int startOffset, short[] values) throws ModbusTransportException {
+            WriteRegistersRequest request = new WriteRegistersRequest(slaveId, startOffset, values);
+            master.send(request);
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/modbus3/SerialInputStream.java

@@ -0,0 +1,221 @@
+package cn.iocoder.yudao.module.system.util.modbus3;
+
+
+/*
+ * To change this template, choose Tools | Templates
+ * and open the template in the editor.
+ */
+
+import jssc.SerialPort;
+
+import java.io.IOException;
+import java.io.InputStream;
+
+/**
+ * Class that wraps a {@link SerialPort} to provide {@link InputStream}
+ * functionality. This stream also provides support for performing blocking
+ * reads with timeouts.
+ * <br>
+ * It is instantiated by passing the constructor a {@link SerialPort} instance.
+ * Do not create multiple streams for the same serial port unless you implement
+ * your own synchronization.
+ *
+ * @author Charles Hache <chalz@member.fsf.org>
+ *
+ * Attribution: https://github.com/therealchalz/java-simple-serial-connector
+ *
+ */
+public class SerialInputStream extends InputStream {
+
+    private SerialPort serialPort;
+    private int defaultTimeout = 0;
+
+    /**
+     * Instantiates a SerialInputStream for the given {@link SerialPort} Do not
+     * create multiple streams for the same serial port unless you implement
+     * your own synchronization.
+     *
+     * @param sp The serial port to stream.
+     */
+    public SerialInputStream(SerialPort sp) {
+        serialPort = sp;
+    }
+
+    /**
+     * Set the default timeout (ms) of this SerialInputStream. This affects
+     * subsequent calls to {@link #read()}, {@link #(int[])}, and
+     * {@link #(int[], int, int)} The default timeout can be 'unset'
+     * by setting it to 0.
+     *
+     * @param time The timeout in milliseconds.
+     */
+    public void setTimeout(int time) {
+        defaultTimeout = time;
+    }
+
+    /**
+     * Reads the next byte from the port. If the timeout of this stream has been
+     * set, then this method blocks until data is available or until the timeout
+     * has been hit. If the timeout is not set or has been set to 0, then this
+     * method blocks indefinitely.
+     */
+    @Override
+    public int read() throws IOException {
+        return read(defaultTimeout);
+    }
+
+    /**
+     * The same contract as {@link #read()}, except overrides this stream's
+     * default timeout with the given timeout in milliseconds.
+     *
+     * @param timeout The timeout in milliseconds.
+     * @return The read byte.
+     * @throws IOException On serial port error or timeout
+     */
+    public int read(int timeout) throws IOException {
+        byte[] buf = new byte[1];
+        try {
+            if (timeout > 0) {
+                buf = serialPort.readBytes(1, timeout);
+            } else {
+                buf = serialPort.readBytes(1);
+            }
+            return buf[0];
+        } catch (Exception e) {
+            throw new IOException(e);
+        }
+    }
+
+    /**
+     * Non-blocking read of up to buf.length bytes from the stream. This call
+     * behaves as read(buf, 0, buf.length) would.
+     *
+     * @param buf The buffer to fill.
+     * @return The number of bytes read, which can be 0.
+     * @throws IOException on error.
+     */
+    @Override
+    public int read(byte[] buf) throws IOException {
+        return read(buf, 0, buf.length);
+    }
+
+    /**
+     * Non-blocking read of up to length bytes from the stream. This method
+     * returns what is immediately available in the input buffer.
+     *
+     * @param buf The buffer to fill.
+     * @param offset The offset into the buffer to start copying data.
+     * @param length The maximum number of bytes to read.
+     * @return The actual number of bytes read, which can be 0.
+     * @throws IOException on error.
+     */
+    @Override
+    public int read(byte[] buf, int offset, int length) throws IOException {
+
+        if (buf.length < offset + length) {
+            length = buf.length - offset;
+        }
+
+        int available = this.available();
+
+        if (available > length) {
+            available = length;
+        }
+
+        try {
+            byte[] readBuf = serialPort.readBytes(available);
+//            System.arraycopy(readBuf, 0, buf, offset, length);
+            System.arraycopy(readBuf, 0, buf, offset, readBuf.length);
+            return readBuf.length;
+        } catch (Exception e) {
+            throw new IOException(e);
+        }
+    }
+
+    /**
+     * Blocks until buf.length bytes are read, an error occurs, or the default
+     * timeout is hit (if specified). This behaves as blockingRead(buf, 0,
+     * buf.length) would.
+     *
+     * @param buf The buffer to fill with data.
+     * @return The number of bytes read.
+     * @throws IOException On error or timeout.
+     */
+    public int blockingRead(byte[] buf) throws IOException {
+        return blockingRead(buf, 0, buf.length, defaultTimeout);
+    }
+
+    /**
+     * The same contract as {@link #blockingRead(byte[])} except overrides this
+     * stream's default timeout with the given one.
+     *
+     * @param buf The buffer to fill.
+     * @param timeout The timeout in milliseconds.
+     * @return The number of bytes read.
+     * @throws IOException On error or timeout.
+     */
+    public int blockingRead(byte[] buf, int timeout) throws IOException {
+        return blockingRead(buf, 0, buf.length, timeout);
+    }
+
+    /**
+     * Blocks until length bytes are read, an error occurs, or the default
+     * timeout is hit (if specified). Saves the data into the given buffer at
+     * the specified offset. If the stream's timeout is not set, behaves as
+     * {@link #read(byte[], int, int)} would.
+     *
+     * @param buf The buffer to fill.
+     * @param offset The offset in buffer to save the data.
+     * @param length The number of bytes to read.
+     * @return the number of bytes read.
+     * @throws IOException on error or timeout.
+     */
+    public int blockingRead(byte[] buf, int offset, int length) throws IOException {
+        return blockingRead(buf, offset, length, defaultTimeout);
+    }
+
+    /**
+     * The same contract as {@link #blockingRead(byte[], int, int)} except
+     * overrides this stream's default timeout with the given one.
+     *
+     * @param buf The buffer to fill.
+     * @param offset Offset in the buffer to start saving data.
+     * @param length The number of bytes to read.
+     * @param timeout The timeout in milliseconds.
+     * @return The number of bytes read.
+     * @throws IOException On error or timeout.
+     */
+    public int blockingRead(byte[] buf, int offset, int length, int timeout) throws IOException {
+        if (buf.length < offset + length) {
+            throw new IOException("Not enough buffer space for serial data");
+        }
+
+        if (timeout < 1) {
+            return read(buf, offset, length);
+        }
+
+        try {
+            byte[] readBuf = serialPort.readBytes(length, timeout);
+            System.arraycopy(readBuf, 0, buf, offset, length);
+            return readBuf.length;
+        } catch (Exception e) {
+            throw new IOException(e);
+        }
+    }
+
+    @Override
+    public int available() throws IOException {
+        int ret;
+        try {
+            ret = serialPort.getInputBufferBytesCount();
+            if (ret >= 0) {
+                return ret;
+            }
+            throw new IOException("Error checking available bytes from the serial port.");
+        } catch (Exception e) {
+            throw new IOException("Error checking available bytes from the serial port.");
+        }
+    }
+
+}
+

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/modbus3/SerialOutputStream.java

@@ -0,0 +1,84 @@
+package cn.iocoder.yudao.module.system.util.modbus3;
+
+
+/**
+ *
+ * Copyright (c) 2009-2020 Freedomotic Team http://www.freedomotic-iot.com
+ *
+ * This file is part of Freedomotic
+ *
+ * This Program is free software; you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation; either version 2, or (at your option) any later version.
+ *
+ * This Program is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * Freedomotic; see the file COPYING. If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+import jssc.SerialPort;
+import jssc.SerialPortException;
+
+import java.io.IOException;
+import java.io.OutputStream;
+
+/**
+ * Class that wraps a {@link SerialPort} to provide {@link OutputStream}
+ * functionality.
+ * <br>
+ * It is instantiated by passing the constructor a {@link SerialPort} instance.
+ * Do not create multiple streams for the same serial port unless you implement
+ * your own synchronization.
+ *
+ * @author Charles Hache <chalz@member.fsf.org>
+ *
+ * Attribution: https://github.com/therealchalz/java-simple-serial-connector
+ *
+ */
+public class SerialOutputStream extends OutputStream {
+
+    SerialPort serialPort;
+
+    /**
+     * Instantiates a SerialOutputStream for the given {@link SerialPort} Do not
+     * create multiple streams for the same serial port unless you implement
+     * your own synchronization.
+     *
+     * @param sp The serial port to stream.
+     */
+    public SerialOutputStream(SerialPort sp) {
+        serialPort = sp;
+    }
+
+    @Override
+    public void write(int b) throws IOException {
+        try {
+            serialPort.writeInt(b);
+        } catch (SerialPortException e) {
+            throw new IOException(e);
+        }
+    }
+
+    @Override
+    public void write(byte[] b) throws IOException {
+        write(b, 0, b.length);
+
+    }
+
+    @Override
+    public void write(byte[] b, int off, int len) throws IOException {
+        byte[] buffer = new byte[len];
+        System.arraycopy(b, off, buffer, 0, len);
+        try {
+            serialPort.writeBytes(buffer);
+        } catch (SerialPortException e) {
+            throw new IOException(e);
+        }
+    }
+}
+

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/modbus3/SerialPortMasterTest.java

@@ -0,0 +1,43 @@
+package cn.iocoder.yudao.module.system.util.modbus3;
+
+
+import com.serotonin.modbus4j.ModbusMaster;
+import com.serotonin.modbus4j.code.DataType;
+import com.serotonin.modbus4j.exception.ErrorResponseException;
+import com.serotonin.modbus4j.exception.ModbusInitException;
+import com.serotonin.modbus4j.exception.ModbusTransportException;
+import com.serotonin.modbus4j.locator.BaseLocator;
+
+public class SerialPortMasterTest {
+    public static void main(String[] args) throws ModbusTransportException, ErrorResponseException, ModbusInitException {
+        //ModbusMaster master = ModbusUtils.getSerialPortRtuMaster("COM2", 9600, 8, 1, 0);
+        //float v = ModbusUtils.readHoldingRegister(master, 1, 2, DataType.FOUR_BYTE_FLOAT).floatValue();
+        //System.out.println(v);
+
+//        ModbusMaster asciiMaster = ModbusUtils.getSerialPortAsciiMaster("COM2", 38400, 8, 1, 0);
+        ModbusMaster asciiMaster = ModbusUtils.getMaster("192.168.10.234", 8899);
+        /*float f = ModbusUtils.readHoldingRegister(asciiMaster, 1, 0, DataType.FOUR_BYTE_FLOAT).floatValue();
+        System.out.println(f);*/
+
+        //缩回去
+        short[] arr = {1};
+
+        //伸出来
+//        short[] arr = {1};
+        ModbusUtils.writeHoldingRegisters(asciiMaster,1,0,arr);
+        asciiMaster.destroy();
+    }
+
+    public void query() {
+        try {
+            ModbusMaster master = ModbusUtils.getMaster("192.168.10.234", 8899);
+            BaseLocator<Number> loc = BaseLocator.holdingRegister(1, 9, DataType.TWO_BYTE_INT_UNSIGNED);
+            Number value = master.getValue(loc);
+            byte b = value.byteValue();
+            System.out.println("----------"+b);
+            System.out.println("结果 "+ value.longValue());
+        } catch (Exception e) {
+            throw new RuntimeException(e);
+        }
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/modbus3/SerialPortWrapperImpl.java

@@ -0,0 +1,129 @@
+package cn.iocoder.yudao.module.system.util.modbus3;
+
+/**
+ *
+ * Copyright (c) 2009-2020 Freedomotic Team http://www.freedomotic-iot.com
+ *
+ * This file is part of Freedomotic
+ *
+ * This Program is free software; you can redistribute it and/or modify it under
+ * the terms of the GNU General Public License as published by the Free Software
+ * Foundation; either version 2, or (at your option) any later version.
+ *
+ * This Program is distributed in the hope that it will be useful, but WITHOUT
+ * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
+ * FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
+ * details.
+ *
+ * You should have received a copy of the GNU General Public License along with
+ * Freedomotic; see the file COPYING. If not, see
+ * <http://www.gnu.org/licenses/>.
+ */
+
+import com.serotonin.modbus4j.serial.SerialPortWrapper;
+import jssc.SerialPort;
+import jssc.SerialPortException;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+import java.io.InputStream;
+import java.io.OutputStream;
+
+/**
+ *
+ */
+public class SerialPortWrapperImpl implements SerialPortWrapper {
+
+    private static final Logger LOG = LoggerFactory.getLogger(SerialPortWrapperImpl.class);
+    private SerialPort port;
+    private String commPortId;
+    private int baudRate;
+    private int dataBits;
+    private int stopBits;
+    private int parity;
+    private int flowControlIn;
+    private int flowControlOut;
+
+    public SerialPortWrapperImpl(String commPortId, int baudRate, int dataBits, int stopBits, int parity, int flowControlIn,
+                                 int flowControlOut) {
+
+        this.commPortId = commPortId;
+        this.baudRate = baudRate;
+        this.dataBits = dataBits;
+        this.stopBits = stopBits;
+        this.parity = parity;
+        this.flowControlIn = flowControlIn;
+        this.flowControlOut = flowControlOut;
+
+        port = new SerialPort(this.commPortId);
+
+    }
+
+    @Override
+    public void close() throws Exception {
+        port.closePort();
+        //listeners.forEach(PortConnectionListener::closed);
+        LOG.debug("Serial port {} closed", port.getPortName());
+    }
+
+    @Override
+    public void open() {
+        try {
+            port.openPort();
+            port.setParams(this.getBaudRate(), this.getDataBits(), this.getStopBits(), this.getParity());
+            port.setFlowControlMode(this.getFlowControlIn() | this.getFlowControlOut());
+
+            //listeners.forEach(PortConnectionListener::opened);
+            LOG.debug("Serial port {} opened", port.getPortName());
+        } catch (SerialPortException ex) {
+            LOG.error("Error opening port : {} for {} ", port.getPortName(), ex);
+        }
+    }
+
+    @Override
+    public InputStream getInputStream() {
+        return new SerialInputStream(port);
+    }
+
+    @Override
+    public OutputStream getOutputStream() {
+        return new SerialOutputStream(port);
+    }
+
+    @Override
+    public int getBaudRate() {
+        return baudRate;
+        //return SerialPort.BAUDRATE_9600;
+    }
+
+    @Override
+    public int getFlowControlIn() {
+        return flowControlIn;
+        //return SerialPort.FLOWCONTROL_NONE;
+    }
+
+    @Override
+    public int getFlowControlOut() {
+        return flowControlOut;
+        //return SerialPort.FLOWCONTROL_NONE;
+    }
+
+    @Override
+    public int getDataBits() {
+        return dataBits;
+        //return SerialPort.DATABITS_8;
+    }
+
+    @Override
+    public int getStopBits() {
+        return stopBits;
+        //return SerialPort.STOPBITS_1;
+    }
+
+    @Override
+    public int getParity() {
+        return parity;
+        //return SerialPort.PARITY_NONE;
+    }
+}
+

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

@@ -226,7 +226,6 @@ zn:
   robot_position_cache_time: 10 #机器人上报点位存储时间(秒)
   cycle_do_auto_move: true #存在循环的任务，是否开启自动移库. true:存在循环任务，开启自动移库; false：有循环任务不自动移库
   full_electricity: 100 #机器人充满电的电量
-  robot_error_level_time: 30 #机器人异常存储时间(秒)
   task_need_single: true #机器人对同一线库/点位是不是只能有一台机器人做任务 (true:一个点位/线库，只有一台机器人)
   location_number_reduce: 100000000 #库位排序的差值(下发取货任务，将库位排序减去此值，然后取绝对值)
   robot_doing_action: # 机器人正在做的动作
@@ -240,4 +239,5 @@ zn:
   robot_config: #机器人取放货默认配置
     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
+  open_rate_limiter: true #是否开启限流
 

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

@@ -9,4 +9,13 @@
         文档可见：https://www.iocoder.cn/MyBatis/x-plugins/
      -->
 
+    <update id="updateActionStatus">
+        update
+            robot_task_detail_action_log
+        set
+            action_status = #{actionStatus}
+        where
+            task_detail_id = #{taskDetailId}
+        and command_id = '-1'
+    </update>
 </mapper>

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

@@ -28,6 +28,7 @@
         <result property="robotAction" column="robot_action" jdbcType="VARCHAR"/>
         <result property="taskStatus" column="task_status" jdbcType="INTEGER"/>
         <result property="taskStage" column="task_stage" jdbcType="INTEGER"/>
+        <result property="needLock" column="need_lock" jdbcType="INTEGER"/>
         <result property="startTime" column="start_time" jdbcType="TIMESTAMP"/>
         <result property="endTime" column="end_time" jdbcType="TIMESTAMP"/>
         <result property="creator" column="creator" jdbcType="VARCHAR"/>
@@ -70,6 +71,7 @@
                from_location_number,
                to_location_number,
                from_map_item_id,
+               need_lock,
                to_map_item_id
     </sql>
 
@@ -317,6 +319,19 @@
         </set>
         where id = #{id}
     </update>
+    <update id="updateDoneByIds">
+        update
+            robot_task_detail
+        set
+            task_status = '2',
+            task_stage = '5'
+        where
+            id in
+        <foreach collection="ids" item="id" index="index" open="(" close=")"
+                 separator=",">
+            #{id}
+        </foreach>
+    </update>
 
     <!--通过主键删除-->
     <delete id="deleteById">

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

@@ -278,7 +278,7 @@
                 and t1.task_status = #{pageReqVO.taskStatus}
             </if>
             <if test="pageReqVO.taskStage != null">
-                and t1.task_stage = #{pageReqVO.taskStage}
+                and t2.task_stage = #{pageReqVO.taskStage}
             </if>
             <if test="pageReqVO.robotNo != null">
                 and t2.robot_no like concat('%', #{pageReqVO.robotNo}, '%')
@@ -461,6 +461,19 @@
         </set>
         where id = #{id}
     </update>
+    <update id="updateDoneByIds">
+        update
+            robot_task
+        set
+            task_status = '2',
+            task_stage = '5'
+        where
+            id in
+        <foreach collection="ids" item="id" index="index" open="(" close=")"
+                 separator=",">
+            #{id}
+        </foreach>
+    </update>
 
     <!--通过主键删除-->
     <delete id="deleteById">

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

@@ -13,8 +13,10 @@
         update
             robot_warn_msg
         set
-            read_status = '1'
+            read_status = '1',
+            read_time = now()
         where
             read_status = '0'
+        LIMIT 1000
     </update>
 </mapper>