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

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This commit is contained in:
aikai 2025-03-24 11:41:21 +08:00
commit e5524a54d8
58 changed files with 1489 additions and 156 deletions
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4
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathPosedsDTO.java
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@ -12,8 +12,8 @@ import java.util.List;
@NoArgsConstructor
@AllArgsConstructor
public class PathPosedsDTO {
private String order_id;
private String order_type;
private String orderId;
private String orderType;
private String robotNo;
private List<PathPosedsDataDTO> data;
}

2
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathPosedsDataArgPosedDTO.java
View File

@ -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;

3
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathPosedsDataDTO.java
View File

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

6
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/dto/RobotAcceptTaskDTO.java
View File

@ -10,11 +10,11 @@ public class RobotAcceptTaskDTO {
/**
* 订单id
*/
private String order_id;
private String order_type = "";
private String orderId;
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;
}

1
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/path/PathPlanningApiImpl.java
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@ -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));

10
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttFactory.java
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@ -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);
}

10
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java
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@ -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"),
TASK_ASSIGNMENT_FEEDBACK("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"),
ROBOT_TASK_MOVE ("ROBOT_TASK_MOVE", 2,"路径规划上报实时路径");
PLANNING_INIT_DATA("SYNCHRONOUS_ALL_MAP_REQUEST", 2,"路径规划需要初始数据上报"),
PLANNING_DISTRIBUTION_TASK("TASK_ASSIGNMENT_FEEDBACK", 2,"路径规划任务分配上报"),
PLANNING_DISTRIBUTION_FAIL("TASK_ASSIGNMENT_FAIL", 2,"路径规划失败上报"),
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;

4
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/PathPlanningMoveServiceImpl.java
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@ -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");
pathApi.pathPlanningMove(message);
log.info("收到路径规划规划即将要走的点位的消息 :{}",message);
pathApi.pathPlanningMovePose(message);
}
}

21
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/PathRouteDisplayPlanningServiceImpl.java Normal file
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@ -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);
}
}

4
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApi.java
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@ -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);
}

11
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/PathPlanningMovePoseVO.java Normal file
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@ -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;
}

7
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/vo/RobotInformationVO.java
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@ -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;
}

16
yudao-module-system/yudao-module-system-biz/pom.xml
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@ -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>

17
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java
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@ -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);
}
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java
View File

@ -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);
}

21
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotReactiveStatusApiImpl.java
View File

@ -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();
Object object = redisUtil.get(pose2dKey);
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);
String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + data.getMac();
redisUtil.set(floorAreaKey, JSON.toJSONString(data.getFloorZone()));
//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(errorMsgKey, errorMsg, robotErrorLevelTime);
redisUtil.set(errorLevelKey, level);
redisUtil.set(errorMsgKey, errorMsg);
warnMsgService.sendWarnMsgToWebsocket(msg);

27
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
View File

@ -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.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.dto.*;
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);
});
}
/**
@ -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);
});
}
}

35
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
View File

@ -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
@ -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) {

85
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/aop/SystemRateLimiterAspect.java Normal file
View File

@ -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;
}
}

39
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/ratelimiter/SystemRateLimiter.java Normal file
View File

@ -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 "";
}

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTaskChcheConstant.java
View File

@ -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";

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTopicConstant.java
View File

@ -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_";
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/webSocket/WebSocketConstant.java
View File

@ -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";
}

9
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java
View File

@ -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;
}

12
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java
View File

@ -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;
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java
View File

@ -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;
}

28
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/task/TaskAssignDTO.java
View File

@ -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";
}
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskSaveReqVO.java
View File

@ -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)")

15
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java
View File

@ -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;
}

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java
View File

@ -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);
}

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskDetailMapper.java
View File

@ -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);
}

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskMapper.java
View File

@ -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);
}

21
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/actionlog/ActionStatusEnum.java Normal file
View File

@ -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;
}

12
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationService.java
View File

@ -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);
}

113
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java
View File

@ -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());

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/UserOperationLogServiceImpl.java
View File

@ -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

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningService.java
View File

@ -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);
}

35
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
View File

@ -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())

18
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
View File

@ -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.setArea(robotStatusDataPoseDTO.getArea());
bean.setFloor(floorZoneDTO.getFloor());
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.setArea(robotStatusDataPoseDTO.getArea());
v.setFloor(floorZoneDTO.getFloor());
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++;
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskService.java
View File

@ -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);
}

117
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
View File

@ -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());
commonApi.commonMethod(robotTask, robotTask.getTopic());
closeTaskDetail(taskDetailDO.getId().toString(),mac);
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())) {
robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getOrderId());
if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getOrderType())) {
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())
|| PathTaskTypeEnum.TAKE.getType().equals(taskAssignDTO.getType())
|| PathTaskTypeEnum.RELEASE.getType().equals(taskAssignDTO.getType())) {
if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(taskAssignDTO.getOrderType())
|| PathTaskTypeEnum.TAKE.getType().equals(taskAssignDTO.getOrderType())
|| 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())
|| PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getType())) {
} else if (PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getOrderType())
|| 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()) ||
PathTaskTypeEnum.TAKE.getType().equals(taskAssignDTO.getType())) {
if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(taskAssignDTO.getOrderType()) ||
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) {
robotTaskRespVO.setDetails(taskDetailMapper.queryByTaskId(robotTaskRespVO.getId()));
if (ObjectUtil.isEmpty(targetList)) {
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);
}
/**

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnMsgServiceImpl.java
View File

@ -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";
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java
View File

@ -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) {

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java
View File

@ -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());

20
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
View File

@ -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());

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/RobotTaskAutoMoveServiceImpl.java
View File

@ -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 -> {

131
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
View File

@ -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())) {
if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())) {
pathPlanning.setTakeLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getFromLocationNumber()));
pathPlanning.setTakePointId(fromLocation.getMapItemId());
if (ObjectUtil.isNotEmpty(fromLocation.getLocationTrayHeight())) {
pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTrayHeight() + ""));
}
pathPlanning.setTakeLevel(fromLocation.getLocationStorey());
pathPlanning.setTakeOffsetHeight(offsetHeight);
if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLaneId())) {
pathPlanning.setTakeGroupId("LINE_" + taskDetailDO.getFromLaneId());
pathPlanning.setTakeLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getFromLocationNumber()));
pathPlanning.setTakePointId(fromLocation.getMapItemId());
pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTrayHeight() + ""));
pathPlanning.setTakeLevel(fromLocation.getLocationStorey());
pathPlanning.setTakeOffsetHeight(offsetHeight);
} else if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())
&& ObjectUtil.isEmpty(taskDetailDO.getFromLaneId())) {
//取的是普通点位
}else {
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);
}
}
//放是线库
if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())
&& ObjectUtil.isNotEmpty(taskDetailDO.getToLaneId())) {
if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())){
pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
pathPlanning.setReleasePointId(toLocation.getMapItemId());
if (ObjectUtil.isNotEmpty(toLocation.getLocationTrayHeight())) {
pathPlanning.setReleaseHeight(Double.valueOf(toLocation.getLocationTrayHeight() + ""));
}
pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
pathPlanning.setReleaseOffsetHeight(offsetHeight);
if (ObjectUtil.isNotEmpty(taskDetailDO.getToLaneId())){
pathPlanning.setReleaseGroupId("LINE_" + taskDetailDO.getToLaneId());
pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
pathPlanning.setReleasePointId(toLocation.getMapItemId());
pathPlanning.setReleaseHeight(Double.valueOf(toLocation.getLocationTrayHeight() + ""));
pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
pathPlanning.setReleaseOffsetHeight(offsetHeight);
} else if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())
&& ObjectUtil.isEmpty(taskDetailDO.getToLaneId())) {
//放的是普通点位
}else {
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);
}
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java
View File

@ -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";

195
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/modbus3/ModbusUtils.java Normal file
View File

@ -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);
}
}

221
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/modbus3/SerialInputStream.java Normal file
View File

@ -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.");
}
}
}

84
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/modbus3/SerialOutputStream.java Normal file
View File

@ -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);
}
}
}

43
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/modbus3/SerialPortMasterTest.java Normal file
View File

@ -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);
}
}
}

129
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/modbus3/SerialPortWrapperImpl.java Normal file
View File

@ -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;
}
}

2
yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
View File

@ -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

9
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailActionLogMapper.xml
View File

@ -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>

15
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailMapper.xml
View File

@ -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">

15
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskMapper.xml
View File

@ -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">

4
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnMsgMapper.xml
View File

@ -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>