机器人充电任务优化

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

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

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

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

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

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

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

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

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

@@ -98,6 +98,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             lastTaskDetailMap = lastTaskDetails.stream().collect(Collectors.toMap(v -> v.getRobotNo(), Function.identity()));
         }
 
+        CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfigDO.getConfigStr(), CommonConfigVO.class);
+
         for (RobotInformationDO robot : robots) {
             String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robot.getMacAddress();
             String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robot.getMacAddress();
@@ -114,6 +116,19 @@ 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);
+                BigDecimal robotRemainingElectricity = new BigDecimal(dataPoseDTO.getBatSoc());
+                BigDecimal robotEndElectricity = new BigDecimal(chargeConfig.getStartAutoCharge()+"");
+                if (robotRemainingElectricity.compareTo(robotEndElectricity) < 0) {
+                    robot.setRobotStatus(RobotStatusEnum.DOING.getType());
+                    log.info("机器人的电量少于自动充电电量，不能接任务 :{}",robot.getRobotNo());
+                    continue;
+                }
+            }
+
             if (ObjectUtil.isEmpty(cargoDetected) || RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))) {
                 robot.setRobotStatus(RobotStatusEnum.DOING.getType());
                 log.info("车机上报传感器被按下--不允许接任务 :{}",robot.getRobotNo());

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

@@ -23,6 +23,7 @@ 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 +94,9 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     @Resource
     private MoveToWaitMapper moveToWaitMapper;
 
+    @Autowired
+    private RobotTaskMapper robotTaskMapper;
+
     /**
      * 下发任务给PP
      */
@@ -117,11 +121,46 @@ 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
      *
@@ -252,6 +291,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                     .priority(1l)
                     .createTime(LocalDateTime.now())
                     .taskType(PathTaskTypeToRobotEnum.MOVE.getType())
+                    .waitIds(waitIds)
                     .build();
             pathPlanningList.add(pathPlanning);
         }
@@ -348,6 +388,18 @@ 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 +412,15 @@ 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 +444,36 @@ 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()));
+                }else {
-                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
                     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())){
-            if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())
+                pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
-                    && ObjectUtil.isNotEmpty(taskDetailDO.getToLaneId())) {
+                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());
+                }else {
-                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
                     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 +600,6 @@ 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 +659,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             } else if (RobotTaskTypeEnum.TAKE.getType().equals(v.getTaskType())) {
                 //仅取货
                 takeSetTask(list, v, fromLane, toLane, fromLocation, toLocation, toHaveFrom, fromHaveTo);
+            }else if (RobotTaskTypeEnum.PARK.getType().equals(v.getTaskType())) {
+                list.add(v);
             }
         }
 

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

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

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

@@ -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">