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工作时长、初始化数据

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cbs 2025-07-02 09:11:14 +08:00
parent fe186d3117
commit f428509644
24 changed files with 335 additions and 72 deletions
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55
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
View File

@ -150,7 +150,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
if (ObjectUtil.isNotEmpty(robotCompleteTaskDTO.getCommandStatus())
&& RobotExecutionStateConstant.UN_DO.equals(robotCompleteTaskDTO.getCommandStatus().getExecutionState())) {
log.info("任务未开始 :{}", robotCompleteTaskDTO.getOrderId());
}else if (RobotExecutionStateConstant.UN_DO.equals(robotCompleteTaskDTO.getExecutionState())
} else if (RobotExecutionStateConstant.UN_DO.equals(robotCompleteTaskDTO.getExecutionState())
|| RobotExecutionStateConstant.STOP.equals(robotCompleteTaskDTO.getExecutionState())
|| RobotExecutionStateConstant.CLOSE.equals(robotCompleteTaskDTO.getExecutionState())) {
log.info("任务未开始/暂停/取消 :{}", robotCompleteTaskDTO.getOrderId());
@ -247,6 +247,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
redisUtil.del(RobotTaskChcheConstant.ROBOT_TASK_SKU_INFO + robotCompleteTaskDTO.getMac());
}
//todo 后面考虑下充电，车机目前对充电的逻辑未定义
RobotTaskDetailDO robotTaskDetail = null;
if (PathTaskTypeEnum.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(robotCompleteTaskDTO.getOrderType())
@ -254,7 +255,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
|| PathTaskTypeEnum.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
taskDone(robotCompleteTaskDTO);
robotTaskDetail = taskDone(robotCompleteTaskDTO);
} else if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
@ -266,7 +267,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
robotTaskDetailMapper.updateById(robotTaskDetailDO);
return;
} else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType())) {
taskDone(robotCompleteTaskDTO);
robotTaskDetail = taskDone(robotCompleteTaskDTO);
}
}
@ -276,6 +277,29 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
}
taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType(), LocalDateTime.now());
addTaskDetailActionDoneLog(robotCompleteTaskDTO, robotTaskDetail);
}
private void addTaskDetailActionDoneLog(RobotCompleteTaskDTO robotCompleteTaskDTO, RobotTaskDetailDO robotTaskDetail) {
RobotTaskDetailActionLogSaveReqVO logOne = new RobotTaskDetailActionLogSaveReqVO();
String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
logOne.setActionMsg("车辆 " + robotNo + " 完成任务");
logOne.setRobotNo(robotNo);
logOne.setOriginalRobotNo(robotNo);
logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
if (ObjectUtil.isNotEmpty(robotTaskDetail)) {
logOne.setTaskStage(robotTaskDetail.getTaskStage());
logOne.setCommandType(PathTaskTypeEnum.getTaskType(robotTaskDetail.getTaskType()));
}
// logOne.setTaskNo(robotTask.getTaskNo());
logOne.setActionStatus(ActionStatusEnum.DONE.getType());
logOne.setStartTime(LocalDateTime.now());
logOne.setEndTime(LocalDateTime.now());
Long mapId = robotInformationService.getRobotMapIdByRobotNo(robotNo);
if (ObjectUtil.isNotEmpty(mapId)) {
logOne.setPositionMapId(mapId);
}
taskDetailActionLogService.createTaskDetailActionLog(logOne);
}
/**
@ -416,16 +440,18 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotTaskDetailDO detailDO = new RobotTaskDetailDO();
if (RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetailDO.getTaskStage())
|| RobotTaskStageEnum.UN_START.getType().equals(robotTaskDetailDO.getTaskStage())) {
robotTaskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.NEW.getType());
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.UN_START.getType());
detailDO.setTaskStatus(RobotTaskDetailStatusEnum.NEW.getType());
detailDO.setTaskStage(RobotTaskStageEnum.UN_START.getType());
if (!znConfigConstant.getIsSimulation()) {
// robotTaskDetailDO.setRobotNo("");
}
robotTaskDetailDO.setOccurError(ZeroOneEnum.ZERO.getType());
robotTaskDetailMapper.updateById(robotTaskDetailDO);
detailDO.setOccurError(ZeroOneEnum.ZERO.getType());
// robotTaskDetailMapper.updateById(robotTaskDetailDO);
robotTaskDetailMapper.updateRobotDetailById(detailDO);
String taskNo = taskDetailService.getTaskNoByDetailId(robotCompleteTaskDTO.getOrderId());
msg = robotNo + "_" + "车辆发生异常,重新分配其他车辆执行此任务" + taskNo + " - " + robotCompleteTaskDTO.getOrderId();
}
@ -540,7 +566,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
*
* @param robotCompleteTaskDTO
*/
private void taskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
private RobotTaskDetailDO taskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
RobotTaskDetailDO robotTaskDetailDO = setTaskDone(robotCompleteTaskDTO);
@ -561,6 +587,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
String plantingKey = PathPlanningChcheConstant.PATH_PLANNING_TASK + robotCompleteTaskDTO.getOrderId();
redisUtil.del(plantingKey);
}
return robotTaskDetailDO;
}
@ -574,7 +601,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
Long taskStage = robotTaskDetailDO.getTaskStage();
log.info("任务 :{} , 当前阶段 :{}",robotCompleteTaskDTO.getOrderId(),taskStage);
log.info("任务 :{} , 当前阶段 :{}", robotCompleteTaskDTO.getOrderId(), taskStage);
RobotTaskDO robotTask = robotTaskMapper.selectById(robotTaskDetailDO.getRobotTaskId());
@ -583,7 +610,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
RobotTaskDetailActionLogSaveReqVO logOne = new RobotTaskDetailActionLogSaveReqVO();
if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType) && (RobotTaskStageEnum.UN_START.getType().equals(taskStage)
if (CommandTypeEnum.WORK_PICK_UP_GOODS_MOVE_TO_CHECK.getType().equals(commandType)) {
logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getFromLocationNo() + "取货");
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_TAKE.getType());
} else if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType) && (RobotTaskStageEnum.UN_START.getType().equals(taskStage)
|| RobotTaskStageEnum.GO_TAKE.getType().equals(taskStage)
|| RobotTaskStageEnum.TAKEING.getType().equals(taskStage))) {
logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getFromLocationNo() + "取货");
@ -596,7 +626,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
} else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(commandType)) {
logOne.setActionMsg("车辆正在放货" + robotTaskDetailDO.getToLocationNo());
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING.getType());
} else if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) {
} else if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)
|| CommandTypeEnum.WORK_DROP_OFF_GOODS_MOVE_TO_CHECK.getType().equals(commandType)) {
logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo() + "放货");
if (!RobotTaskStageEnum.DONE.getType().equals(taskStage)) {
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
@ -642,7 +673,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo() + "放货");
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
} else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(commandType)) {
logOne.setActionMsg("车辆正在放货"+ robotTaskDetailDO.getToLocationNo());
logOne.setActionMsg("车辆正在放货" + robotTaskDetailDO.getToLocationNo());
if (!RobotTaskStageEnum.DONE.getType().equals(taskStage)) {
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING.getType());
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java
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@ -61,4 +61,6 @@ public interface RobotTaskDetailActionLogMapper extends BaseMapperX<RobotTaskDet
* @return
*/
List<RobotTaskDetailActionLogDO> getLastTwoTask(@Param("robotNo") String robotNo);
void alreadyCounted(@Param("ids") List<Long> ids);
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotInformationMapper.java
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@ -92,4 +92,6 @@ public interface RobotInformationMapper extends BaseMapperX<RobotInformationDO>
RobotInformationDO selectByRobotNoAndIdNotIn(@Param("robotNo") String robotNo, @Param("id") Long id);
RobotInformationDO selectByMacAndIdNotIn(@Param("macAddress") String macAddress,@Param("id") Long id);
void initRobotInformation();
}

9
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskDetailMapper.java
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@ -167,4 +167,13 @@ public interface RobotTaskDetailMapper extends BaseMapperX<RobotTaskDetailDO> {
* @return
*/
RobotTaskManualInterventionDTO getRobotTaskAutomaticArtificial(@Param("type") String type);
/**
* 清除所有数据
*/
void truncate();
List<RobotTaskDetailDO> selectAutoCreateCycleTaskForever();
void setTaskUnDo(@Param("ids") List<Long> ids);
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskMapper.java
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@ -86,4 +86,11 @@ public interface RobotTaskMapper extends BaseMapperX<RobotTaskDO> {
* @return
*/
List<RobotTaskDO> selectDoingTaskByRobotNo(@Param("robotNo") String robotNo);
/**
* 清除所有数据
*/
void truncate();
void setTaskUnDo(@Param("ids") Set<Long> ids);
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/statistics/DurationTypeEnum.java
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@ -28,6 +28,6 @@ public enum DurationTypeEnum {
|| PathTaskTypeEnum.AUTO_CHARGE.getType().equals(commonType)) {
return CHARGE_TIME.type;
}
return CHARGE_TIME.type;
return TASK_TIME.type;
}
}

52
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java
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@ -7,6 +7,7 @@ import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
import cn.iocoder.yudao.module.system.service.robot.job.AutoChargeService;
import cn.iocoder.yudao.module.system.service.robot.job.CycleService;
import cn.iocoder.yudao.module.system.service.robot.job.DistributeTasksService;
import cn.iocoder.yudao.module.system.service.robot.job.InitTaskService;
import cn.iocoder.yudao.module.system.service.robot.job.RobotTaskAutoMoveService;
import cn.iocoder.yudao.module.system.service.robot.pathplanning.RobotPathPlanningService;
import cn.iocoder.yudao.module.system.service.statistics.RobotWorkingHoursStatisticsService;
@ -51,6 +52,9 @@ public class RobotJob {
@Resource
private RobotInformationService informationService;
@Resource
private InitTaskService initTaskService;
@Resource
private RobotWorkingHoursStatisticsService robotWorkingHoursStatisticsService;
@ -64,13 +68,13 @@ public class RobotJob {
locks.add(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
locks.add(RobotCacheLockEnum.ROBOT_TASK_ADD_LOCK.getKey());
RLock lock = redissonUtils.getLocks(locks);
if (lock.tryLock()){
if (lock.tryLock()) {
try {
robotTaskAutoMoveService.distributeAutoMoveJob();
} finally {
} finally {
lock.unlock();
}
}else {
} else {
log.info("下发自动移库任务未获取到锁");
throw exception(REDISSON_NOT_OBTAIN_LOCK);
}
@ -82,16 +86,16 @@ public class RobotJob {
public void AutoChargeJob() {
RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
if (lock.tryLock()){
if (lock.tryLock()) {
try {
log.info("----111111下发自动充电任务----");
autoChargeService.autoChargeJob();
} catch (Exception e) {
log.info("自动充电异常 :{}",e);
log.info("自动充电异常 :{}", e);
} finally {
lock.unlock();
}
}else {
} else {
log.info("下发自动充电任务未获取到锁");
throw exception(REDISSON_NOT_OBTAIN_LOCK);
}
@ -105,23 +109,22 @@ public class RobotJob {
public void DistributeTasksToPathPlanningJob() {
RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
if (lock.tryLock()){
if (lock.tryLock()) {
try {
log.info("----111111下发任务给路径规划----");
robotPathPlanningService.sendTaskToPP();
} catch (Exception e) {
log.info("----分配任务异常---- :{}",e);
log.info("----分配任务异常---- :{}", e);
} finally {
lock.unlock();
}
}else {
} else {
log.info("下发任务给路径规划未获取到锁");
throw exception(REDISSON_NOT_OBTAIN_LOCK);
}
}
/**
* 创建循环任务
*/
@ -130,18 +133,18 @@ public class RobotJob {
public void cycleTaskJob() {
RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_ADD_LOCK.getKey());
if (lock.tryLock()){
if (lock.tryLock()) {
try {
log.info("----111111创建循环任务----");
cycleService.cycleTaskJob();
} catch (Exception e) {
log.error("创建循环任务异常 :{}",e);
log.error("创建循环任务异常 :{}", e);
} finally {
lock.unlock();
}
}else {
} else {
log.info("下发任务给路径规划未获取到锁");
throw exception(REDISSON_NOT_OBTAIN_LOCK);
}
@ -156,15 +159,15 @@ public class RobotJob {
public void rcsHeartBeat() {
RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_RCS_HEART_BEAT_LOCK.getKey());
if (lock.tryLock()){
if (lock.tryLock()) {
try {
log.info("----维护车机心跳----");
TenantContextHolder.setTenantId(1L);
informationService.rcsHeartBeat();
} finally {
} finally {
lock.unlock();
}
}else {
} else {
throw exception(REDISSON_NOT_OBTAIN_LOCK);
}
}
@ -176,18 +179,29 @@ public class RobotJob {
@TenantJob
public void statisticsDuration() {
RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_STATISTICS_DURATION_LOCK.getKey());
if (lock.tryLock()){
if (lock.tryLock()) {
try {
log.info("----统计时长开始----");
TenantContextHolder.setTenantId(1L);
robotWorkingHoursStatisticsService.statisticsRobotDuration();
} catch (Exception e) {
log.info("统计工作时长异常 :{}",e);
log.info("统计工作时长异常 :{}", e);
} finally {
lock.unlock();
}
}else {
} else {
throw exception(REDISSON_NOT_OBTAIN_LOCK);
}
}
/**
* 恢复数据 (只能是测试的时候用，上线禁止使用)
*/
@XxlJob("initTaskJob")
@TenantJob
public void initTaskJob() {
TenantContextHolder.setTenantId(1L);
initTaskService.initTask();
}
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/ThreeDimensionalScheduled.java
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@ -42,7 +42,7 @@ public class ThreeDimensionalScheduled {
private static final ExecutorService FIXED_THREAD_POOL = Executors.newFixedThreadPool(3);
// 这个方法将每200毫秒执行一次
@Scheduled(fixedDelay = 300, timeUnit = TimeUnit.MILLISECONDS)
// @Scheduled(fixedDelay = 300, timeUnit = TimeUnit.MILLISECONDS)
public void executeTask() {
FIXED_THREAD_POOL.execute(this::sendData);
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/housearea/HouseAreaServiceImpl.java
View File

@ -178,7 +178,7 @@ public class HouseAreaServiceImpl extends ServiceImpl<HouseAreaMapper, HouseArea
for (WareHouseLocationDO wareHouseLocationDO : wareHouseLocationDOS) {
wareHouseLocationDO.setAreaId(null);
wareHouseLocationDO.setAreaName(null);
wareHouseLocationDO.setSkuInfo(null);
// wareHouseLocationDO.setSkuInfo(null);
}
item.setDataJson(JSONUtil.toJsonStr(wareHouseLocationDOS));
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskDetailActionLogService.java
View File

@ -90,4 +90,8 @@ public interface RobotTaskDetailActionLogService {
* @return
*/
RobotTaskDetailActionLogDO getOriginalLastTaskByRobotNo(String robotNo);
void alreadyCounted(List<Long> logIds);
RobotTaskDetailActionLogDO getLastActionLogByDetailId(Long taskDetailId);
}

14
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskDetailActionLogServiceImpl.java
View File

@ -141,4 +141,18 @@ public class RobotTaskDetailActionLogServiceImpl implements RobotTaskDetailActio
.last("limit 1"));
}
@Override
public void alreadyCounted(List<Long> logIds) {
taskDetailActionLogMapper.alreadyCounted(logIds);
}
@Override
public RobotTaskDetailActionLogDO getLastActionLogByDetailId(Long taskDetailId) {
return taskDetailActionLogMapper.selectOne(new LambdaQueryWrapperX<RobotTaskDetailActionLogDO>()
.eq(RobotTaskDetailActionLogDO::getTaskDetailId, taskDetailId)
.eq(RobotTaskDetailActionLogDO::getCommandId, CommandIdEnum.TASK.getType())
.orderByDesc(RobotTaskDetailActionLogDO::getCreateTime)
.last("limit 1"));
}
}

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

@ -262,4 +262,7 @@ public interface RobotInformationService extends IService<RobotInformationDO> {
void stopRobot(String robotNo);
void continueRobot(String robotNo);
void initRobotInformation();
}

43
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
View File

@ -362,7 +362,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
.last("limit 1"));
RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO();
robotTask.setOrderId(robotInformationDO.getTaskDetailId()+"");
robotTask.setOrderId(robotInformationDO.getTaskDetailId() + "");
robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + robotInformationDO.getMacAddress());
robotTask.setExecutionType(ExecutionTypeEnum.PAUSE.getType());
mqttUtils.pub(robotTask.getTopic(), JSON.toJSONString(robotTask));
@ -377,13 +377,18 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
.last("limit 1"));
RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO();
robotTask.setOrderId(robotInformationDO.getTaskDetailId()+"");
robotTask.setOrderId(robotInformationDO.getTaskDetailId() + "");
robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + robotInformationDO.getMacAddress());
robotTask.setExecutionType(ExecutionTypeEnum.CONTINUE.getType());
mqttUtils.pub(robotTask.getTopic(), JSON.toJSONString(robotTask));
mapStopService.rcsDeleteStopRobotAddLog(robotNo);
}
@Override
public void initRobotInformation() {
informationMapper.initRobotInformation();
}
/**
* 校验IP地址是否合法
@ -438,8 +443,8 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
if (RobotStatusEnum.STOP_FREE.getType().equals(updateReqVO.getRobotStatus())
|| RobotStatusEnum.STOP_DOING.getType().equals(updateReqVO.getRobotStatus())) {
updateReqVO.setRobotStatus(robotInformationDO.getRobotStatus());
}else if (!updateReqVO.getRobotStatus().equals(robotInformationDO.getRobotStatus())) {
str = str + " 修改车辆状态: " +RobotStatusEnum.getMsg(updateReqVO.getRobotStatus());
} else if (!updateReqVO.getRobotStatus().equals(robotInformationDO.getRobotStatus())) {
str = str + " 修改车辆状态: " + RobotStatusEnum.getMsg(updateReqVO.getRobotStatus());
}
if (!updateReqVO.getRobotNo().equals(robotInformationDO.getRobotNo())) {
@ -744,7 +749,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
}
for (RobotInformationPageRespVO v : targetList) {
setMsgAndRobotStatus(v,stopRobotNos);
setMsgAndRobotStatus(v, stopRobotNos);
}
if (ObjectUtil.isNotEmpty(pageReqVO.getRobotStatisticsType())) {
@ -807,7 +812,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
*
* @param v
*/
private void setMsgAndRobotStatus(RobotInformationPageRespVO v,List<String> stopRobotNos) {
private void setMsgAndRobotStatus(RobotInformationPageRespVO v, List<String> stopRobotNos) {
if (ObjectUtil.isNotEmpty(stopRobotNos) && stopRobotNos.contains(v.getRobotNo())) {
v.setIsStop(ZeroOneEnum.ONE.getType());
@ -1238,7 +1243,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
@Transactional(rollbackFor = Exception.class)
public void doTaskContinue(String robotNo, Boolean isRobot) {
RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getOriginalLastTaskByRobotNo(robotNo);
RobotInformationDO robotInformationDO = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
.eq(RobotInformationDO::getRobotNo, robotNo)
.last("limit 1"));
if (ObjectUtil.isEmpty(robotInformationDO.getTaskDetailId())) {
throw exception(ROBOT_LAST_TASK_NO_EXISTS);
}
RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getLastActionLogByDetailId(robotInformationDO.getTaskDetailId());
if (ObjectUtil.isEmpty(actionLog)) {
throw exception(ROBOT_LAST_TASK_NO_EXISTS);
}
@ -1248,10 +1260,6 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
TASK_ASSIGN_OTHER_ROBOT.getMsg() + actionLog.getRobotNo());
}
RobotInformationDO robotInformationDO = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
.eq(RobotInformationDO::getRobotNo, robotNo)
.last("limit 1"));
if (RobotTaskModelEnum.REJECTION.getType().equals(robotInformationDO.getRobotTaskModel())) {
throw exception(ROBOT_REJECTION);
}
@ -1259,11 +1267,9 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
String mac = getMacByRobotNo(robotNo);
robotCloseTaskDetail(actionLog.getTaskDetailId() + "", mac, actionLog.getCommandType());
if (!znConfigConstant.getIsSimulation()) {
checkTaskDone(actionLog.getTaskDetailId() + "");
}
checkTaskDone(actionLog.getTaskDetailId() + "");
CleanAgvDTO build = CleanAgvDTO.builder().robotNo(robotNo).build();
// CleanAgvDTO build = CleanAgvDTO.builder().robotNo(robotNo).build();
// commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
// mqttUtils.pub(PathPlanningTopicConstant.CLEAN_AGV, JSON.toJSONString(build));
@ -1343,15 +1349,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
String plantingKey = PathPlanningChcheConstant.PATH_PLANNING_TASK + pathPlanning.getOrderId();
redisUtil.set(plantingKey, JSON.toJSONString(pathPlanning), znConfigConstant.getTask().getTaskCacheTime());
log.info("任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
// commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
log.info("111111恢复任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
mqttUtils.pub(PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST, JSON.toJSONString(pathPlanningList));
}
private void resendToPPData(TaskToPathPlanningDTO pathPlanning, RobotTaskDetailActionLogDO actionLog, RobotInformationDO robotInformationDO, Boolean isRemote) {
if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(actionLog.getCommandType())
|| PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(actionLog.getCommandType())) {
moveToWaitTask(pathPlanning, actionLog.getRobotNo());
moveToWaitTask(pathPlanning, robotInformationDO.getRobotNo());
} else if (PathTaskTypeEnum.CHARGE.getType().equals(actionLog.getCommandType())
|| PathTaskTypeEnum.AUTO_CHARGE.getType().equals(actionLog.getCommandType())) {
chargeTask(pathPlanning, robotInformationDO);
@ -1660,7 +1665,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
List<RobotInformationDO> robotInformationDOS = informationMapper.selectList(new LambdaQueryWrapperX<RobotInformationDO>()
.in(RobotInformationDO::getRobotNo, robotNos));
for (RobotInformationDO robotInformationDO : robotInformationDOS) {
robotSimulationPose.setOrderId(robotInformationDO.getTaskDetailId()+"");
robotSimulationPose.setOrderId(robotInformationDO.getTaskDetailId() + "");
mqttUtils.pub(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + robotInformationDO.getMacAddress(), JSON.toJSONString(robotSimulationPose));
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction(str + robotInformationDO.getRobotNo())

22
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskDetailServiceImpl.java
View File

@ -230,7 +230,7 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
.id(robotTaskDetailDO.getId().toString())
.build();
// commonApi.commonMethod(closePathPlanting, PathPlanningTopicConstant.KILL_TASK);
mqttUtils.pub(PathPlanningTopicConstant.KILL_TASK,JSON.toJSONString(closePathPlanting));
mqttUtils.pub(PathPlanningTopicConstant.KILL_TASK, JSON.toJSONString(closePathPlanting));
}
@Override
@ -258,18 +258,28 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
|| RobotTaskStageEnum.GO_TAKE.getType().equals(detailDO.getTaskStage())
|| RobotTaskStageEnum.TAKEING.getType().equals(detailDO.getTaskStage())) {
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING_EXCEPTION.getType());
}else {
} else {
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING_EXCEPTION.getType());
}
} else if(RobotTaskTypeEnum.TAKE.getType().equals(detailDO.getTaskType())) {
} else if (RobotTaskTypeEnum.TAKE.getType().equals(detailDO.getTaskType())) {
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING_EXCEPTION.getType());
}else if(RobotTaskTypeEnum.RELEASE.getType().equals(detailDO.getTaskType())) {
} else if (RobotTaskTypeEnum.RELEASE.getType().equals(detailDO.getTaskType())) {
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING_EXCEPTION.getType());
}else {
} else {
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.EXCEPTION.getType());
}
robotTaskDetailDO.setOccurError(ZeroOneEnum.ONE.getType());
taskDetailMapper.updateById(robotTaskDetailDO);
taskDetailMapper.updateRobotDetailById(robotTaskDetailDO);
List<RobotTaskDetailDO> taskDetailDOS = taskDetailMapper.selectList(new LambdaQueryWrapperX<RobotTaskDetailDO>()
.eq(RobotTaskDetailDO::getRobotTaskId, detailDO.getRobotTaskId()));
if (taskDetailDOS.size() > 1) {
return;
}
RobotTaskDO robotTaskDO = new RobotTaskDO();
robotTaskDO.setId(detailDO.getRobotTaskId());
robotTaskDO.setTaskStatus(RobotTaskDetailStatusEnum.ABNORMAL.getType());
robotTaskMapper.updateRobot(robotTaskDO);
}
/**

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

@ -533,9 +533,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
if (ObjectUtil.isEmpty(cargoDetected) || RobotStatusCodeConstant.CARGO_DETECTED.equals(cargoDetected)) {
robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType());
}*/
//因为机器人如果正在抬叉取货，这时把任务取消，如果货叉刚好伸到托盘底下，还是需要人为控制
// robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType());
robotInformationDO.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
// robotInformationDO.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
}
informationMapper.updateById(robotInformationDOS);

21
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java
View File

@ -30,6 +30,7 @@ import javax.annotation.Resource;
import java.time.LocalDateTime;
import java.util.ArrayList;
import java.util.Collections;
import java.util.HashSet;
import java.util.LinkedList;
import java.util.List;
import java.util.Map;
@ -94,7 +95,7 @@ public class CycleServiceImpl implements CycleService {
List<RobotTaskDO> taskDOList = new ArrayList<>();
List<RobotTaskDetailDO> taskDetailList = new LinkedList<>();
for (RobotTaskDO v : taskList) {
String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey());
String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.MOVE_TASK_NO.getKey());
RobotTaskDO taskData = getTaskData(incrementByKey, v);
List<RobotTaskDetailDO> taskDetailDOS = getTaskDetailData(taskData,taskIdMap,v.getId());
taskDOList.add(taskData);
@ -136,6 +137,22 @@ public class CycleServiceImpl implements CycleService {
robotTaskService.addCycle(k,v);
});
taskCycleMapper.deletByRobotTaskIds(taskIds);
setTaskUnDo();
}
public void setTaskUnDo() {
List<RobotTaskDetailDO> detailDOS = taskDetailMapper.selectAutoCreateCycleTaskForever();
if (ObjectUtil.isEmpty(detailDOS)) {
return;
}
List<Long> detailIds = new ArrayList<>();
Set<Long> taskIds = new HashSet<>();
for (RobotTaskDetailDO detail : detailDOS) {
detailIds.add(detail.getId());
taskIds.add(detail.getRobotTaskId());
}
taskDetailMapper.setTaskUnDo(detailIds);
taskMapper.setTaskUnDo(taskIds);
}
private List<RobotTaskDetailDO> getTaskDetailData(RobotTaskDO taskData, Map<Long,
@ -194,7 +211,7 @@ public class CycleServiceImpl implements CycleService {
* @return
*/
public RobotTaskDO getTaskData(String incrementByKey, RobotTaskDO v ) {
String taskNoStr = znConfigConstant.getTaskNo() + DateUtils.getYearMonthDay() + incrementByKey;
String taskNoStr = znConfigConstant.getMoveNo() + DateUtils.getYearMonthDay() + incrementByKey;
RobotTaskDO task = new RobotTaskDO();
BeanUtils.copyProperties(v, task);
task.setRemainingCycleNumber(v.getRemainingCycleNumber() - 1);

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/InitTaskService.java Normal file
View File

@ -0,0 +1,6 @@
package cn.iocoder.yudao.module.system.service.robot.job;
public interface InitTaskService {
void initTask();
}

45
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/InitTaskServiceImpl.java Normal file
View File

@ -0,0 +1,45 @@
package cn.iocoder.yudao.module.system.service.robot.job;
import cn.hutool.core.util.ObjectUtil;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
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.enums.robot.RobotTaskStatusEnum;
import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
import java.util.List;
@Slf4j
@Service
public class InitTaskServiceImpl implements InitTaskService{
@Resource
private RobotTaskDetailMapper taskDetailMapper;
@Resource
private RobotTaskMapper robotTaskMapper;
@Resource
private RobotInformationService informationService;
@Override
public void initTask() {
log.info("将任务清除,上线时候，禁止使用");
List<RobotTaskDetailDO> taskDetailDOS = taskDetailMapper.selectList(new LambdaQueryWrapperX<RobotTaskDetailDO>()
.eq(RobotTaskDetailDO::getTaskStatus, RobotTaskStatusEnum.DOING.getType()));
if (ObjectUtil.isNotEmpty(taskDetailDOS)) {
for (RobotTaskDetailDO taskDetail : taskDetailDOS) {
String mac = informationService.getMacByRobotNo(taskDetail.getRobotNo());
informationService.robotCloseTaskDetail(String.valueOf(taskDetail.getId()), mac, "");
}
}
taskDetailMapper.truncate();
robotTaskMapper.truncate();
informationService.initRobotInformation();
}
}

31
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/statistics/RobotWorkingHoursStatisticsServiceImpl.java
View File

@ -83,6 +83,9 @@ public class RobotWorkingHoursStatisticsServiceImpl extends ServiceImpl<RobotWor
&& RobotStatusEnum.STAND_BY.getType().equals(robot.getRobotStatus())) {
RobotWorkingHoursStatisticsDO statisticsDO = new RobotWorkingHoursStatisticsDO();
statisticsDO.setDuration(getMinutes(freeTimeObject));
if (statisticsDO.getDuration() == 0) {
continue;
}
statisticsDO.setRobotNo(robot.getRobotNo());
Long mapId = informationService.getRobotMapIdByRobotNo(robot.getRobotNo());
if (ObjectUtil.isNotEmpty(mapId)) {
@ -112,11 +115,14 @@ public class RobotWorkingHoursStatisticsServiceImpl extends ServiceImpl<RobotWor
if (ObjectUtil.isNotEmpty(statisticsDOS)) {
robotWorkingHoursStatisticsMapper.insertBatch(statisticsDOS);
}
}
/**
* 创建这台车的空闲时间
* 别改事务传播
*
* @param robotNo
*/
@Override
@ -164,15 +170,15 @@ public class RobotWorkingHoursStatisticsServiceImpl extends ServiceImpl<RobotWor
List<RobotWorkHourStatisticsDTO> list = new ArrayList<>();
robotMap.forEach((k,v) ->{
robotMap.forEach((k, v) -> {
RobotWorkHourStatisticsDTO statisticsDTO = new RobotWorkHourStatisticsDTO();
statisticsDTO.setRobotNo(k);
Long freeTime = v.get(DurationTypeEnum.FREE_TIME.getType());
String freeTimeStr = ObjectUtil.isNotEmpty(freeTime) ? String.format("%.1f",(freeTime.doubleValue() / 60)) : "0";
String freeTimeStr = ObjectUtil.isNotEmpty(freeTime) ? String.format("%.1f", (freeTime.doubleValue() / 60)) : "0";
Long taskTime = v.get(DurationTypeEnum.TASK_TIME.getType());
String taskTimeStr = ObjectUtil.isNotEmpty(taskTime) ? String.format("%.1f",(taskTime.doubleValue() / 60)) : "0";
String taskTimeStr = ObjectUtil.isNotEmpty(taskTime) ? String.format("%.1f", (taskTime.doubleValue() / 60)) : "0";
Long chargeTime = v.get(DurationTypeEnum.CHARGE_TIME.getType());
String chargeTimeStr = ObjectUtil.isNotEmpty(chargeTime) ? String.format("%.1f",(chargeTime.doubleValue() / 60)) : "0";
String chargeTimeStr = ObjectUtil.isNotEmpty(chargeTime) ? String.format("%.1f", (chargeTime.doubleValue() / 60)) : "0";
statisticsDTO.setFreeTimeNum(freeTimeStr);
statisticsDTO.setTaskTimeNum(taskTimeStr);
@ -201,6 +207,9 @@ public class RobotWorkingHoursStatisticsServiceImpl extends ServiceImpl<RobotWor
private List<RobotWorkingHoursStatisticsDO> getWorkingHoursStatisticsByActionLog(List<RobotTaskDetailActionLogDO> actionLogList) {
List<RobotWorkingHoursStatisticsDO> statisticsDOList = new ArrayList<>();
List<Long> logIds = new ArrayList<>();
Map<String, RobotWorkingHoursStatisticsDO> map = new HashMap<>();
for (RobotTaskDetailActionLogDO v : actionLogList) {
RobotWorkingHoursStatisticsDO statisticsDO = new RobotWorkingHoursStatisticsDO();
if (ObjectUtil.isNotEmpty(v.getDuration())) {
@ -215,9 +224,21 @@ public class RobotWorkingHoursStatisticsServiceImpl extends ServiceImpl<RobotWor
statisticsDO.setPositionMapId(v.getPositionMapId());
Integer durationTypeByTaskType = DurationTypeEnum.getDurationTypeByTaskType(v.getCommandType());
statisticsDO.setDurationType(durationTypeByTaskType);
statisticsDOList.add(statisticsDO);
logIds.add(v.getId());
String key = statisticsDO.getRobotNo() + "-" + statisticsDO.getPositionMapId() + "-" + statisticsDO.getDurationType();
RobotWorkingHoursStatisticsDO statistics = map.get(key);
if (ObjectUtil.isNotEmpty(statistics)) {
statistics.setDuration(statistics.getDuration()+statisticsDO.getDuration());
} else {
statisticsDOList.add(statisticsDO);
}
}
if (ObjectUtil.isEmpty(logIds)) {
return statisticsDOList;
}
taskDetailActionLogService.alreadyCounted(logIds);
return statisticsDOList;
}

4
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationMapper.xml
View File

@ -537,8 +537,8 @@
ware_house_location
set
area_name = null,
area_id = null,
sku_info = null
area_id = null
-- sku_info = null
where
area_id = #{areaId}
</update>

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

@ -147,6 +147,15 @@
robot_no = #{robotNo}
</update>
<update id="initRobotInformation">
update
robot_information
set
robot_status = '3',
robot_task_model = '1'
where deleted = '0'
</update>
<!--通过主键删除-->
<delete id="deleteById">
delete

16
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailActionLogMapper.xml
View File

@ -19,6 +19,19 @@
task_detail_id = #{taskDetailId}
and command_id = '-1'
</update>
<update id="alreadyCounted">
update
robot_task_detail_action_log
set already_counted = '1'
where
id in
<foreach collection="ids" item="id" index="index" open="(" close=")"
separator=",">
#{id}
</foreach>
</update>
<select id="getMistakeTaskByCommandType"
resultType="cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO">
select
@ -45,7 +58,7 @@
from
robot_task_detail_action_log
where
command_id != '-1'
command_id is null
and deleted = '0'
and already_counted = '0'
and create_time >= DATE_SUB(NOW(), INTERVAL 48 HOUR)
@ -61,5 +74,6 @@
and deleted = '0'
and robot_no = #{robotNo}
order by create_time desc
limit 2
</select>
</mapper>

36
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailMapper.xml
View File

@ -227,7 +227,8 @@
robot_task_detail t1, robot_task t2
where
t2.id = t1.robot_task_id
and t2.remaining_cycle_number > 1
and t2.remaining_cycle_number > 0
and t2.remaining_cycle_number != 1000000
and t2.task_status = '2'
and t1.task_status = '2'
and t1.deleted = '0'
@ -381,6 +382,20 @@
</choose>
</where>
</select>
<select id="selectAutoCreateCycleTaskForever"
resultType="cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO">
select
t1.*
from
robot_task_detail t1, robot_task t2
where
t2.id = t1.robot_task_id
and t2.remaining_cycle_number = 1000000
and t2.task_status = '2'
and t1.task_status = '2'
and t1.deleted = '0'
and t2.deleted = '0'
</select>
<!--通过主键修改数据-->
@ -447,6 +462,9 @@
<if test="updateTime != null">
update_time = #{updateTime},
</if>
<if test="occurError != null">
occur_error = #{occurError},
</if>
<if test="deleted != null">
deleted = #{deleted},
</if>
@ -466,6 +484,19 @@
#{id}
</foreach>
</update>
<update id="setTaskUnDo">
update
robot_task_detail
set
task_status = '0',
task_stage = '0'
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">
@ -473,6 +504,9 @@
from robot_task_detail
where id = #{id}
</delete>
<delete id="truncate">
TRUNCATE TABLE robot_task_detail
</delete>
</mapper>

17
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskMapper.xml
View File

@ -496,11 +496,28 @@
</foreach>
</update>
<update id="setTaskUnDo">
update
robot_task
set
task_status = '0',
task_stage = '0'
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">
delete
from robot_task
where id = #{id}
</delete>
<delete id="truncate">
TRUNCATE TABLE robot_task
</delete>
</mapper>