仿真环境相关优化

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

@@ -30,7 +30,7 @@ public class PathPlanningApiImpl implements PathPlanningApi {
     public void synchronousPointToPP(PositionMapLinePathDTO relatedPathNode, String topic) {
         try {
             mqttUtils.pub(topic, JSON.toJSONString(relatedPathNode));
-            log.info("同步给路径规划完成 :{}", JSON.toJSONString(relatedPathNode));
+            log.info("同步给路径规划完成 :{}, topic:{}", JSON.toJSONString(relatedPathNode), topic);
         } catch (MqttException e) {
             log.info("同步点位信息给路径规划异常 :{}",e);
         }

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

@@ -213,6 +213,7 @@ public interface ErrorCodeConstants {
     ErrorCode TASK_TAKE_LOCATION_HAVE_OTHER_TASK = new ErrorCode(1-002-035-108, "取货库位已经分配了其他任务");
     ErrorCode TASK_RELEASE_LOCATION_HAVE_OTHER_TASK = new ErrorCode(1-002-035-109, "放货库位已经分配了其他任务");
     ErrorCode TASK_CREATE_FAIL = new ErrorCode(1-002-035-110, "任务创建失败:");
+    ErrorCode ROBOT_DO_TASK_FAIL = new ErrorCode(1-002-035-112, "车机反馈不能接任务");
 
     // ========== 机器人任务明细 1-002-036-000 ==========
     ErrorCode TASK_DETAIL_NOT_EXISTS = new ErrorCode(1-002-036-001, "机器人任务明细不存在");
@@ -231,6 +232,7 @@ public interface ErrorCodeConstants {
     ErrorCode THE_LINE_LIBRARY_POINTS_ARE_NOT_LOCATED_IN_THE_SAME_AREA = new ErrorCode(1_002_038_006, "线库点位不在同一区域内");
     ErrorCode THERE_ARE_ALREADY_STORAGE_LOCATIONS_IN_OTHER_LINE_WAREHOUSES = new ErrorCode(1_002_038_007, "已有库位在其他线库内");
     ErrorCode THERE_ARE_ALREADY_STORAGE_LOCATIONS_IN_OTHER_STORAGE_AREAS = new ErrorCode(1_002_038_008, "已有库位在其它区域内");
+    ErrorCode MAP_DOES_NOT_EXIST_AGV = new ErrorCode(1_002_038_009, "此楼层区域不存在机器人");
 
     // ========== 机器人自动移库 1-002-039-000 ==========
     ErrorCode TASK_AUTO_MOVE_NOT_EXISTS = new ErrorCode(1_002_039_001, "机器人自动移库不存在");

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

@@ -1,10 +1,8 @@
 package cn.iocoder.yudao.module.system.api.robot;
 
 import cn.hutool.core.util.ObjectUtil;
-import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
-import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
 import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
 import cn.iocoder.yudao.module.system.api.path.vo.RobotClosePathPlantingDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotCommandStateDTO;
@@ -12,14 +10,12 @@ import cn.iocoder.yudao.module.system.api.robot.dto.RobotCompleteTaskDTO;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotExecutionStateConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
-import cn.iocoder.yudao.module.system.controller.admin.log.vo.RobotTaskDetailActionLogSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.*;
 import cn.iocoder.yudao.module.system.dal.mysql.log.RobotTaskDetailActionLogMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.cycle.TaskCycleMapper;
 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.robot.*;
 import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.path.PathIsReachEnum;
@@ -35,7 +31,6 @@ import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogServic
 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;
@@ -146,9 +141,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      * @param mac
      * @return
      */
-    public RobotTaskDetailActionLogDO setLastLogDone(String mac) {
+    public RobotTaskDetailActionLogDO setLastLogDone(Long orderId) {
-        String robotNo = robotInformationService.getRobotNoByMac(mac);
+        return taskDetailActionLogService.setPreviousTaskDoneByOrderId(orderId);
-        return taskDetailActionLogService.setPreviousTaskDoneByRobotNo(robotNo);
     }
 
     /**
@@ -156,7 +150,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      */
     private void robotTaskDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey) {
         String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
-        RobotTaskDetailActionLogDO lastLog = setLastLogDone(robotCompleteTaskDTO.getMac());
+        RobotTaskDetailActionLogDO lastLog = setLastLogDone(robotCompleteTaskDTO.getOrderId());
 
         if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
             chargeDoing(robotCompleteTaskDTO, robotDoingActionKey, lastLog);
@@ -216,7 +210,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      * @param robotCompleteTaskDTO
      */
     private void robotTaskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
-        setLastLogDone(robotCompleteTaskDTO.getMac());
+        setLastLogDone(robotCompleteTaskDTO.getOrderId());
         //todo 后面考虑下充电，车机目前对充电的逻辑未定义
         if (PathTaskTypeEnum.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())
                 || PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())
@@ -228,6 +222,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         } else if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
             RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
             if (RobotTaskStageEnum.TAKEING.getType().equals(robotTaskDetailDO.getTaskStage())) {
+                log.info("告诉路径规划任务完成 :{}, 状态: {}",robotCompleteTaskDTO.getOrderId(),PathIsReachEnum.END_WORK.getType());
                 pathPlanningService.updateBehavior(String.valueOf(robotCompleteTaskDTO.getOrderId()), robotTaskDetailDO.getRobotNo()
                         , "", PathIsReachEnum.END_WORK.getType());
             } else if (RobotTaskStageEnum.RELEASEING.getType().equals(robotTaskDetailDO.getTaskStage())) {
@@ -259,7 +254,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 .id(robotCompleteTaskDTO.getOrderId().toString())
                 .build();
         commonApi.commonMethod(closePathPlanting, PathPlanningTopicConstant.KILL_TASK);
-        log.info("车机上报异常， 通知PP把任务取消 :{}", robotCompleteTaskDTO.getOrderId());
+        log.info("通知PP把任务取消 :{}", robotCompleteTaskDTO.getOrderId());
     }
 
     /**

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

@@ -18,6 +18,10 @@ public class SystemApplicationRunner implements ApplicationRunner {
 
     @Override
     public void run(ApplicationArguments args) {
+        try {
             toolsService.simulationPose();
+        } catch (Exception e) {
+            log.error("同步仿真的点位信息失败 :{}",e.getMessage());
+        }
     }
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationVO.java

@@ -8,8 +8,8 @@ import javax.validation.constraints.NotNull;
 
 @Data
 public class WareHouseLocationVO {
-    @Schema(description = "放货类型（1：库位、2：线库、 3：区域）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @Schema(description = "放货类型（1：库位、2：线库、 3：区域、 4:点位）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
-    @NotNull(message = "类型（1：库位、2：线库、 3：区域）不能为空")
+    @NotNull(message = "类型（1：库位、2：线库、 3：区域、4:点位）不能为空")
     private Integer type;
 
     @Schema(description = "位置", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapController.java

@@ -55,8 +55,8 @@ public class PositionMapController {
     @Operation(summary = "一键急停or一键恢复地图上所有AGV")
     @Parameter(name = "id", description = "编号", required = true, example = "1024")
     @PreAuthorize("@ss.hasPermission('system:position-map:emergencyStopOrRecovery')")
-    public CommonResult<Boolean> emergencyStopOrRecovery(@RequestParam("id") Long id) {
+    public CommonResult<Boolean> emergencyStopOrRecovery(@RequestParam("id") Long id, @RequestParam("type") Integer type) {
-        positionMapService.emergencyStopOrRecovery(id);
+        positionMapService.emergencyStopOrRecovery(id,type);
         return success(true);
     }
 

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

@@ -150,7 +150,7 @@ public class RobotInformationController {
     }
 
     @PostMapping("/doTaskContinue")
-    @Operation(summary = "继续做任务")
+    @Operation(summary = "恢复任务")
     @PreAuthorize("@ss.hasPermission('robot:information:doTaskContinue')")
     public CommonResult<Boolean> doTaskContinue(@RequestParam("robotNo") String robotNo) {
         informationService.doTaskContinue(robotNo);

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

@@ -9,12 +9,12 @@ import javax.validation.constraints.NotNull;
 @Data
 @Schema(description = "子列表")
 public class RobotTaskDetailAddVO {
-    @Schema(description = "任务类型（1：取放货、2：停车、 3：充电、4：移动、5：仅取货、6：仅放货、7：扫描码、8：检测托盘类型）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @Schema(description = "任务类型（1：取放货、2：停车、 3：充电、4：移动、5：仅取货、6：仅放货、7：扫描码、8：检测托盘类型、9:移动到点位）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
-    @NotNull(message = "任务类型（1：取放货、2：停车、 3：充电、4：移动、5：仅取货、6：仅放货、7：扫描码、8：检测托盘类型）不能为空")
+    @NotNull(message = "任务类型（1：取放货、2：停车、 3：充电、4：移动、5：仅取货、6：仅放货、7：扫描码、8：检测托盘类型、9:移动到点位）不能为空")
     private Integer taskType;
 
-    @Schema(description = "放货类型（1：库位、2：线库、 3：区域）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @Schema(description = "放货类型（1：库位、2：线库、 3：区域、 4:点位）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
-    @NotNull(message = "放货类型（1：库位、2：线库、 3：区域）不能为空")
+    @NotNull(message = "放货类型（1：库位、2：线库、 3：区域、 4:点位）不能为空")
     private Integer releaseType;
 
     @Schema(description = "取货类型（1：库位、2：线库、 3：区域）", requiredMode = Schema.RequiredMode.REQUIRED, example = "1")

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

@@ -129,4 +129,11 @@ public interface RobotTaskDetailMapper extends BaseMapperX<RobotTaskDetailDO> {
      * @return
      */
     String getTaskNoByDetailId(@Param("taskDetailId") Long taskDetailId);
+
+    /**
+     * 查询以下点位是否存在处理中的任务
+     * @param itemIds
+     * @return
+     */
+    List<Long> getDoIngTaskItemIdsByItemIds(@Param("itemIds") List<Long> itemIds);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskTypeEnum.java

@@ -12,9 +12,10 @@ import lombok.Getter;
 public enum PathTaskTypeEnum {
     TAKE_RELEASE("TAKE_RELEASE","取放货"),
     CHARGE("CHARGE","充电任务"),
-    MOVE("MOVE","移动任务"),
+    MOVE("MOVE","移动任务"),//移动到库位
     MOVE_TO_WAIT("MOVE_TO_WAIT","移动到等待点(没任务时去等待点)"),
     MOVE_TO_WAIT_STOP("MOVE_TO_WAIT_STOP","停车任务"),
+    MOVE_TO_POINT("MOVE_TO_POINT","移动到路径点"),
     TAKE("TAKE","仅取货"),
     RELEASE("RELEASE","仅放货"),
     AUTO_CHARGE("AUTO_CHARGE","自动充电");
@@ -43,6 +44,8 @@ public enum PathTaskTypeEnum {
             return RELEASE.getType();
         }else if (RobotTaskTypeEnum.PARK.getType().equals(taskType)) {
             return MOVE_TO_WAIT_STOP.getType();
+        }else if (RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(taskType)) {
+            return MOVE_TO_POINT.getType();
         }else {
             return AUTO_CHARGE.getType();
         }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskTypeToRobotEnum.java

@@ -31,7 +31,7 @@ public enum PathTaskTypeToRobotEnum {
     public static String taskDetailGetType(Integer taskType) {
         if (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(taskType)) {
             return PICK_UP_GOODS.getType();
-        }else if (RobotTaskTypeEnum.MOVE.getType().equals(taskType)) {
+        }else if (RobotTaskTypeEnum.MOVE.getType().equals(taskType) || RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(taskType) ) {
             return MOVE.getType();
         }else if (RobotTaskTypeEnum.TAKE.getType().equals(taskType)) {
             return PICK_UP_GOODS.getType();

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

@@ -16,7 +16,8 @@ public enum RobotTaskTypeEnum {
     TAKE(5),//仅取货
     RELEASE(6),//仅放货
     SCAN(7),//扫描码
-    DETECTING_TRAYS(8); //检测托盘类型
+    DETECTING_TRAYS(8),//检测托盘类型
+    MOVE_TO_POINT(9); //移动到指定点位
     /**
      * 类型
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotCommandTypeEnum.java

@@ -10,7 +10,9 @@ public enum RobotCommandTypeEnum {
     WORK_START_CHARGE("WORK_START_CHARGE","充电"),
     WORD_PICK_UP_GOODS("WORD_PICK_UP_GOODS","取货"),
     WORD_DROP_OFF_GOODS("WORD_DROP_OFF_GOODS","放货"),
-    MOVE_POSE("MOVE_POSE","仿真移动点位");
+    MOVE_POSE("MOVE_POSE","仿真移动点位"),
+    EMERGENCY_STOP("EMERGENCY_STOP","急停车辆"),
+    RECOVERY("RECOVERY","恢复车辆");
     /**
      * 类型
      */

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

@@ -63,7 +63,7 @@ public interface RobotTaskDetailActionLogService {
      * @param robotNo
      * @return
      */
-    RobotTaskDetailActionLogDO setPreviousTaskDoneByRobotNo(String robotNo);
+    RobotTaskDetailActionLogDO setPreviousTaskDoneByOrderId(Long orderId);
 
     /**
      * 获取车辆的最后一条任务

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

@@ -98,9 +98,9 @@ public class RobotTaskDetailActionLogServiceImpl implements RobotTaskDetailActio
     }
 
     @Override
-    public RobotTaskDetailActionLogDO setPreviousTaskDoneByRobotNo(String robotNo) {
+    public RobotTaskDetailActionLogDO setPreviousTaskDoneByOrderId(Long orderId) {
         RobotTaskDetailActionLogDO lastLog = taskDetailActionLogMapper.selectOne(new LambdaQueryWrapperX<RobotTaskDetailActionLogDO>()
-                .eq(RobotTaskDetailActionLogDO::getRobotNo, robotNo)
+                .eq(RobotTaskDetailActionLogDO::getTaskDetailId, orderId)
                 .orderByDesc(RobotTaskDetailActionLogDO::getCreateTime)
                 .last("limit 1"));
         if (ObjectUtil.isNotEmpty(lastLog) && ObjectUtil.isEmpty(lastLog.getCommandId())) {

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

@@ -44,6 +44,7 @@ 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;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
 
 import javax.annotation.Resource;
@@ -103,6 +104,9 @@ public class PathPlanningServiceImpl implements PathPlanningService {
     @Resource
     private PositionMapItemService positionMapItemService;
 
+    @Value("${zn.is_simulation:false}")
+    private Boolean isSimulation;
+
     /**
      * 同步ware_position_map_line的点位信息
      */
@@ -467,6 +471,12 @@ public class PathPlanningServiceImpl implements PathPlanningService {
      */
     @Override
     public void simulationRobotPoseRequest() {
+
+        if (!isSimulation) {
+            log.info("非仿真环境,不同步初始点位信息");
+            return;
+        }
+
         CommonConfigDO config = configService.getConfig(CommandConfigTypeEnum.SIMULATION_CONFIG.getType().longValue());
         PositionMapDO positionMap = null;
         if (ObjectUtil.isEmpty(config) || ObjectUtil.isEmpty(config.getConfigStr())) {

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemService.java

@@ -111,4 +111,11 @@ public interface PositionMapItemService extends IService<PositionMapItemDO> {
      * @return
      */
     List<PositionMapItemDO> getPositionMapItemByMapAndType(Long id, Integer type);
+
+    /**
+     * 批量查询
+     * @param pointList
+     * @return
+     */
+    List<PositionMapItemDO> getPositionMapItemByIds(List<Long> pointList);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java

@@ -138,4 +138,15 @@ public class PositionMapItemServiceImpl extends ServiceImpl<PositionMapItemMappe
                 .eq(PositionMapItemDO::getType, type));
     }
 
+    /**
+     * 获取使用中的点位
+     * @param idList
+     * @return
+     */
+    @Override
+    public List<PositionMapItemDO> getPositionMapItemByIds(List<Long> idList) {
+        return positionMapItemMapper.selectList(new LambdaQueryWrapperX<PositionMapItemDO>()
+                .in(PositionMapItemDO::getId, idList));
+    }
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapService.java

@@ -94,7 +94,7 @@ public interface PositionMapService extends IService<PositionMapDO> {
      *
      * @param id
      */
-    void emergencyStopOrRecovery(Long id);
+    void emergencyStopOrRecovery(Long id,Integer type);
 
     /**
      * 获取所有地图

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java

@@ -5,11 +5,20 @@ import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
+import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
+import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO;
+import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
+import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
+import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
+import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
+import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
+import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import lombok.extern.slf4j.Slf4j;
@@ -56,6 +65,15 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
     @Value("${map.file.upload-path}")
     private String UPLOAD_DIR;
 
+    @Resource
+    private RobotInformationService informationService;
+
+    @Resource
+    private UserOperationLogService userOperationLogService;
+
+    @Resource
+    private CommonApi commonApi;
+
     @Override
     public Long createPositionMap(PositionMapSaveReqVO createReqVO) {
         // 插入
@@ -300,8 +318,31 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
 
 
     @Override
-    public void emergencyStopOrRecovery(Long id) {
+    public void emergencyStopOrRecovery(Long id, Integer type) {
-        // todo 先获取当前地图上的所有AGV信息
+        // 先获取当前地图上的所有AGV信息
+        PositionMapDO positionMapDO = positionMapMapper.selectById(id);
+        List<String> robotNos =
+                informationService.getRobotByFloorAndArea(String.valueOf(positionMapDO.getFloor()), positionMapDO.getArea());
+        if (ObjectUtil.isEmpty(robotNos)) {
+            throw exception(MAP_DOES_NOT_EXIST_AGV);
+        }
+        for (String robotNo : robotNos) {
+            String mac = informationService.getMacByRobotNo(robotNo);
+            RobotSimulationPoseDTO robotSimulationPose = new RobotSimulationPoseDTO();
+            String str = "";
+            if (ZeroOneEnum.ONE.getType().equals(type)) {
+                robotSimulationPose.setCommandType(RobotCommandTypeEnum.EMERGENCY_STOP.getType());
+                str = RobotCommandTypeEnum.EMERGENCY_STOP.getMsg();
+            } else {
+                robotSimulationPose.setCommandType(RobotCommandTypeEnum.RECOVERY.getType());
+                str = RobotCommandTypeEnum.RECOVERY.getMsg();
+            }
+            commonApi.commonMethod(robotSimulationPose, RobotTopicConstant.ROBOT_COMMAND_TOPIC + mac);
+            UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
+                    .operateAction(str + robotNo)
+                    .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
+            userOperationLogService.createUserOperationLog(operationLog);
+        }
     }
 
     @Override

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

@@ -24,6 +24,7 @@ import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningChcheConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
+import cn.iocoder.yudao.module.system.constant.robot.RobotStatusCodeConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
@@ -77,6 +78,7 @@ import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import lombok.extern.slf4j.Slf4j;
 import org.redisson.api.RLock;
 import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
@@ -87,7 +89,6 @@ import java.util.function.Function;
 import java.util.stream.Collectors;
 
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
-import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception0;
 import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
 
 /**
@@ -158,6 +159,9 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Resource
     private RedissonUtils redissonUtils;
 
+    @Value("${zn.is_simulation:false}")
+    private Boolean isSimulation;
+
     @Override
     public Long createInformation(RobotInformationSaveReqVO createReqVO) {
         //判断mac地址是否重复
@@ -776,7 +780,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     }
 
     /**
-     * 继续做任务
+     * 恢复任务
      *
      * @param robotNo
      */
@@ -784,13 +788,24 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Transactional(rollbackFor = Exception.class)
     public void doTaskContinue(String robotNo) {
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
-                .operateAction("继续做任务 " + robotNo)
+                .operateAction("恢复任务 " + robotNo)
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
-        RobotTaskDetailActionLogDO actionLog = closeTask(robotNo);
+
-        if (ObjectUtil.isEmpty(actionLog) || ActionStatusEnum.DONE.getType().equals(actionLog.getActionStatus())) {
+        CleanAgvDTO build = CleanAgvDTO.builder().robotNo(robotNo).build();
+        commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
+        RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getLastTaskByRobotNo(robotNo);
+        if (ObjectUtil.isEmpty(actionLog)) {
             throw exception(ROBOT_LAST_TASK_NO_EXISTS);
         }
+        String mac = getMacByRobotNo(robotNo);
+        robotCloseTaskDetail(actionLog.getTaskDetailId() + "", mac, actionLog.getCommandType());
+
+        if (!isSimulation && ActionStatusEnum.DONE.getType().equals(actionLog.getActionStatus())) {
+            throw exception(TASK_CHECK_TASK_STATUS);
+        }
+
+//        RobotTaskDetailActionLogDO actionLog = closeTask(robotNo);
 
         String key = PathPlanningChcheConstant.PATH_PLANNING_TASK + actionLog.getTaskDetailId();
         Object o = redisUtil.get(key);
@@ -798,16 +813,32 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             throw exception(ROBOT_LAST_TASK_DELETE);
         }
 
+        RobotInformationDO robotInformationDO = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
+                .eq(RobotInformationDO::getRobotNo, robotNo)
+                .last("limit 1"));
+
+        String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robotInformationDO.getMacAddress();
+        Object taskStatus = redisUtil.get(taskStatusKey);
+        if (ObjectUtil.isEmpty(taskStatus) || !RobotStatusCodeConstant.CAN_DO_TASK.equals(Boolean.parseBoolean(String.valueOf(taskStatus)))) {
+            log.info("车机上报不允许接任务 :{}",robotNo);
+            throw exception(ROBOT_DO_TASK_FAIL);
+        }
+
         TaskToPathPlanningDTO pathPlanning = JSONUtil.toBean((String) o, TaskToPathPlanningDTO.class);
 
         RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
-        String msg = "";
         if (lock.tryLock()){
             try {
                 resendToPP(pathPlanning,actionLog);
-            } catch (Exception e) {
+
-                log.error("下发任务给路径规划现异常 :{}",e);
+
-                msg = ObjectUtil.isNotEmpty(e.getMessage()) ? e.getMessage(): "任务下发失败";
+                if (PathTaskTypeEnum.CHARGE.getType().equals(pathPlanning.getOrderType())
+                        || PathTaskTypeEnum.AUTO_CHARGE.getType().equals(pathPlanning.getOrderType())) {
+                    robotInformationDO.setRobotStatus(RobotStatusEnum.CHARGE.getType());
+                }else {
+                    robotInformationDO.setRobotStatus(RobotStatusEnum.DOING.getType());
+                }
+                informationMapper.updateById(robotInformationDO);
             } finally {
                 lock.unlock();
             }
@@ -816,20 +847,6 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             throw exception(REDISSON_NOT_OBTAIN_LOCK);
         }
 
-        if (ObjectUtil.isNotEmpty(msg)) {
-            throw exception0(TASK_CHECK_EXCEPTION.getCode(), msg);
-        }
-
-        RobotInformationDO robotInformationDO = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
-                .eq(RobotInformationDO::getRobotNo, robotNo)
-                .last("limit 1"));
-        if (PathTaskTypeEnum.CHARGE.getType().equals(pathPlanning.getOrderType())
-            || PathTaskTypeEnum.AUTO_CHARGE.getType().equals(pathPlanning.getOrderType())) {
-            robotInformationDO.setRobotStatus(RobotStatusEnum.CHARGE.getType());
-        }else {
-            robotInformationDO.setRobotStatus(RobotStatusEnum.DOING.getType());
-        }
-        informationMapper.updateById(robotInformationDO);
     }
 
     /**
@@ -846,6 +863,17 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = Arrays.asList(taskRobotNoLimittationAreaDTO);
         pathPlanning.setRobotNoLimitationAreaDTOS(robotNoLimitions);
 
+        if (!isSimulation) {
+            resendToPPData(pathPlanning,actionLog,robotInformationDO);
+        }
+
+        List<TaskToPathPlanningDTO> pathPlanningList = new ArrayList<>();
+        pathPlanningList.add(pathPlanning);
+        log.info("任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
+        pathPlanningApi.synchronousLineObject(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
+    }
+
+    private void resendToPPData(TaskToPathPlanningDTO pathPlanning, RobotTaskDetailActionLogDO actionLog, RobotInformationDO robotInformationDO) {
         if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(actionLog.getCommandType())
                 || PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(actionLog.getCommandType())) {
             moveToWaitTask(pathPlanning, actionLog.getRobotNo());
@@ -861,11 +889,6 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         }else if (PathTaskTypeEnum.MOVE.getType().equals(actionLog.getCommandType())) {
 
         }
-
-        List<TaskToPathPlanningDTO> pathPlanningList = new ArrayList<>();
-        pathPlanningList.add(pathPlanning);
-        log.info("任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
-        pathPlanningApi.synchronousLineObject(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
     }
 
     /**

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

@@ -87,4 +87,11 @@ public interface RobotTaskDetailService {
      * @return
      */
     String getTaskNoByDetailId(Long orderId);
+
+    /**
+     *
+     * @param pointList
+     * @return
+     */
+    List<Long> getDoIngTaskItemIdsByItemIds(List<Long> pointList);
 }

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

@@ -173,4 +173,9 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
     public String getTaskNoByDetailId(Long taskDetailId) {
         return taskDetailMapper.getTaskNoByDetailId(taskDetailId);
     }
+
+    @Override
+    public List<Long> getDoIngTaskItemIdsByItemIds(List<Long> pointList) {
+        return taskDetailMapper.getDoIngTaskItemIdsByItemIds(pointList);
+    }
 }

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

@@ -19,6 +19,7 @@ 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.controller.admin.log.vo.UserOperationLogSaveReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.detail.RobotTaskDetailLogResoVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.detail.RobotTaskDetailLogVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.task.TaskAssignDTO;
@@ -29,6 +30,7 @@ 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.positionmap.PositionMapItemDO;
 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;
@@ -54,7 +56,9 @@ import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
 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.log.RobotTaskDetailActionLogService;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
+import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
 import cn.iocoder.yudao.module.system.service.wait.MoveToWaitService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import cn.iocoder.yudao.module.system.util.redis.RedissonUtils;
@@ -64,6 +68,7 @@ import com.baomidou.mybatisplus.core.metadata.IPage;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.google.common.collect.Lists;
 import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.StringUtils;
 import org.redisson.api.RLock;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
@@ -163,6 +168,12 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     @Resource
     private RobotTaskDetailActionLogMapper taskDetailActionLogMapper;
 
+    @Resource
+    private PositionMapItemService positionMapItemService;
+
+    @Resource
+    private RobotTaskDetailActionLogService taskDetailActionLogService;
+
     @Override
     @Transactional(rollbackFor = Exception.class)
     public Long createTask(RobotTaskSaveReqVO createReqVO) throws InterruptedException {
@@ -242,6 +253,44 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             }
         }
 
+        //移动点位是否为空闲/重复、 处理中的任务
+        List<Long> pointList = new ArrayList<>();
+        for (RobotTaskDetailAddVO robotTaskDetail : createReqVO.getTaskDetailList()) {
+            if (!RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(robotTaskDetail.getTaskType())) {
+                continue;
+            }
+            if (pointList.contains(robotTaskDetail.getReleaseId())) {
+                PositionMapItemDO positionMapItem = positionMapItemService.getPositionMapItem(robotTaskDetail.getReleaseId());
+                throw exception0(TASK_CHECK_EXCEPTION.getCode(), "以下移动的点位重复 " + positionMapItem.getSortNum(), positionMapItem.getSortNum());
+            }
+            pointList.add(robotTaskDetail.getReleaseId());
+        }
+
+        if (ObjectUtil.isNotEmpty(pointList)) {
+            List<PositionMapItemDO> positionMapItemList = positionMapItemService.getPositionMapItemByIds(pointList);
+            List<Long> list = positionMapItemList.stream()
+                    .filter(v -> ZeroOneEnum.ONE.getType().equals(v.getUseStatus()))
+                    .map(PositionMapItemDO::getSortNum)
+                    .collect(Collectors.toList());
+            if (ObjectUtil.isNotEmpty(list)) {
+                String join = StringUtils.join(list, ",");
+                throw exception0(TASK_CHECK_EXCEPTION.getCode(), "以下移动的点位非空闲 " + join, join);
+            }
+
+            List<Long> doingTaskItemIds = robotTaskDetailService.getDoIngTaskItemIdsByItemIds(pointList);
+            if (ObjectUtil.isEmpty(doingTaskItemIds)) {
+                return;
+            }
+            String sortNumStr = getSortNumStr(doingTaskItemIds);
+            throw exception0(TASK_CHECK_EXCEPTION.getCode(), "以下移动的点位存在处理中的任务 " + sortNumStr, sortNumStr);
+        }
+    }
+
+    public String getSortNumStr(List<Long> pointList) {
+        List<PositionMapItemDO> positionMapItemList = positionMapItemService.getPositionMapItemByIds(pointList);
+        List<Long> list = positionMapItemList.stream().map(PositionMapItemDO::getSortNum)
+                .collect(Collectors.toList());
+        return StringUtils.join(list, ",");
     }
 
     /**
@@ -474,6 +523,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
         Map<Long, String> deviceNoMap = new HashMap<>();
         Integer robotStatus = RobotStatusEnum.DOING.getType();
+        //释放ware_position_map_item的使用状态
+        releaseMapItemUseStatus(taskAssignDTO.getRobotNo());
 
         RobotChargeLogDO robotChargeLogs = null;
         String taskNo = "";
@@ -529,6 +580,26 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
     }
 
+    /**
+     * 释放ware_position_map_item的使用状态
+     * @param robotNo
+     */
+    private void releaseMapItemUseStatus(String robotNo) {
+        RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getLastTaskByRobotNo(robotNo);
+        if (ObjectUtil.isEmpty(actionLog) || !PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(actionLog.getCommandType())) {
+            return;
+        }
+
+        RobotTaskDetailDO robotTaskDetail = taskDetailMapper.selectById(actionLog.getTaskDetailId());
+        if (ObjectUtil.isEmpty(robotTaskDetail)) {
+            return;
+        }
+        PositionMapItemSaveReqVO positionMapItemSaveReq = new PositionMapItemSaveReqVO();
+        positionMapItemSaveReq.setId(robotTaskDetail.getReleaseId());
+        positionMapItemSaveReq.setUseStatus(ZeroOneEnum.ZERO.getType());
+        positionMapItemService.updatePositionMapItem(positionMapItemSaveReq);
+    }
+
     /**
      * 更新设备使用中
      *
@@ -877,6 +948,9 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                     //暂无此功能
                     doDetectingTrays(robotTaskVo, locationIds, takeMapItemIds, releaseMapItemIds);
                     break;
+                case MOVE_TO_POINT:
+                    doMoveToPoint(robotTaskVo);
+                    break;
                 default:
                     log.error("任务类型不存在 ");
                     throw exception0(TASK_CREATE_FAIL.getCode(), "任务类型不存在");
@@ -885,6 +959,16 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         return locationIds;
     }
 
+    /**
+     * 移动到指定点位
+     *
+     * @param robotTaskVo
+     */
+    private void doMoveToPoint(RobotTaskDetailAddVO robotTaskVo) {
+
+
+    }
+
     /**
      * 检测托盘类型
      *
@@ -1049,6 +1133,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
     /**
      * 校验放货库位的下一层是否没任务
+     *
      * @param locationDO
      */
     private void checkToLocationNoneTask(WareHouseLocationDO locationDO) {
@@ -1112,6 +1197,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
     /**
      * 校验取货库位的上层是否存在未取的箱子
+     *
      * @param locationDO
      */
     private void checkFromLocationNoneTask(WareHouseLocationDO locationDO) {

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

@@ -435,6 +435,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             } else if (RobotTaskTypeEnum.PARK.getType().equals(taskDetailDO.getTaskType())) {
                 pathPlanning.setWaitIds(waitIds);
                 i++;
+            } else if (RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(taskDetailDO.getTaskType())) {
+                moveToPoint(pathPlanning,taskDetailDO);
             }
 
             if (ObjectUtil.isNotEmpty(robotDoTake) && ObjectUtil.isNotEmpty(taskDetailDO.getRobotNo())
@@ -503,6 +505,17 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         }
     }
 
+    /**
+     * 移动到路径点
+     * @param pathPlanning
+     * @param taskDetailDO
+     */
+    private void moveToPoint(TaskToPathPlanningDTO pathPlanning, RobotTaskDetailDO taskDetailDO) {
+        pathPlanning.setReleaseLocationNumber(1l);
+        pathPlanning.setReleasePointId(taskDetailDO.getReleaseId());
+        pathPlanning.setReleaseGroupId("POINT_" + taskDetailDO.getReleaseId());
+    }
+
     /**
      * 获取能执行此任务的机器人 和 不能走的区域
      *
@@ -609,13 +622,21 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                         || RobotTaskTypeEnum.MOVE.getType().equals(detail.getTaskType())
                         || RobotTaskTypeEnum.TAKE.getType().equals(detail.getTaskType())
                         || RobotTaskTypeEnum.RELEASE.getType().equals(detail.getTaskType())) {
+                    if (ObjectUtil.isNotEmpty(detail.getFromLaneId())) {
                         laneIds.add(detail.getFromLaneId());
+                    }
+                    if (ObjectUtil.isNotEmpty(detail.getToLaneId())) {
                         laneIds.add(detail.getToLaneId());
+                    }
+                    if (ObjectUtil.isNotEmpty(detail.getFromMapItemId())) {
                         mapIds.add(detail.getFromMapItemId());
+                    }
+                    if (ObjectUtil.isNotEmpty(detail.getToMapItemId())) {
                         mapIds.add(detail.getToMapItemId());
                     }
                 }
             }
+        }
 
         //过滤处理中的, 不能分配的任务;
         List<RobotTaskDetailDO> detailDOS = taskDetailDOS.stream()

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

@@ -30,6 +30,7 @@ import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapService;
 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;
@@ -216,7 +217,7 @@ public class ToolsServiceImpl implements ToolsService {
         }
 
         List<PositionMapItemDO> itemDOList = new ArrayList<>();
-        List<PositionMapItemDO> items = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.WAIT.getType());
+        List<PositionMapItemDO> items = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.STOP.getType());
         if (ObjectUtil.isEmpty(items) || items.size() < robots.size()) {
             List<PositionMapItemDO> itemPoses = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.PATH.getType());
             itemDOList.addAll(itemPoses);
@@ -224,7 +225,6 @@ public class ToolsServiceImpl implements ToolsService {
             itemDOList = items;
         }
 
-
         int i = 0;
         for (RobotInformationDO robot : robots) {
             RobotSimulationPoseDataDTO poseData = new RobotSimulationPoseDataDTO();
@@ -239,7 +239,7 @@ public class ToolsServiceImpl implements ToolsService {
             simulationPoseDTO.setPose2d(poseData);
             simulationPoseDTO.setCommandType(RobotCommandTypeEnum.MOVE_POSE.getType());
             commonApi.commonMethod(simulationPoseDTO, RobotTopicConstant.ROBOT_COMMAND_TOPIC + robot.getMacAddress());
-            log.info("仿真环境发送机器人默认点位信息");
+            log.info("仿真环境发送机器人默认点位信息 ：{}", JSON.toJSONString(poseData));
             i++;
         }
     }

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

@@ -191,7 +191,7 @@ 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
-  task_need_single: false #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)
+  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
     action_entity_cache_time: 172800 #机器人所有动作缓存时间 8小时

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

@@ -226,7 +226,7 @@ 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
-  task_need_single: false #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)
+  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
     action_entity_cache_time: 172800 #机器人所有动作缓存时间 8小时

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

@@ -217,7 +217,7 @@ 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
-  task_need_single: false #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)
+  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
     action_entity_cache_time: 172800 #机器人所有动作缓存时间 8小时

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

@@ -766,6 +766,16 @@
                     area_name like concat('%', #{locationNo}, '%')
                 and deleted = '0'
             </when>
+            <when test="type == 4">
+                select
+                id as id,
+                sort_num as locationNo
+                from
+                ware_position_map_item
+                where
+                    sort_num like concat('%', #{locationNo}, '%')
+                and deleted = '0'
+            </when>
         </choose>
     </select>
 

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml

@@ -56,6 +56,8 @@
             ware_position_map_item t1 ,ware_house_location t2
         where t1.id = t2.map_item_id
         and t2.id = #{locationId}
+          and t1.deleted = '0'
+          and t2.deleted = '0'
     </select>
 
     <select id="getAllByMapId" resultType="cn.iocoder.yudao.module.mqtt.api.path.dto.PositionMapItemSynDTO">
@@ -70,7 +72,7 @@
             ware_position_map_item
         where
             position_map_id = #{positionMapId}
-        and type in ('1','2')
+        and deleted = '0'
     </select>
 
     <select id="selectInWaitList"

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapLineMapper.xml

@@ -291,9 +291,7 @@
             <if test="updateTime != null">
                 and update_time = #{updateTime}
             </if>
-            <if test="deleted != null">
+                and deleted = '0'
-                and deleted = #{deleted}
-            </if>
             <if test="toward != null">
                 and toward = #{toward}
             </if>

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

@@ -264,6 +264,9 @@
         FROM
             robot_information t1
                 LEFT JOIN robot_model t2 ON t1.robot_model_id = t2.id
+        where
+            t1.deleted = '0'
+        and t2.deleted = '0'
     </select>
     <select id="getListByMapId"
             resultType="cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO">

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

@@ -285,6 +285,26 @@
             and t2.deleted = '0'
     </select>
 
+    <select id="getDoIngTaskItemIdsByItemIds" resultType="java.lang.Long">
+        select
+            distinct
+            t2.release_id
+        from
+            robot_task t1 left join robot_task_detail t2
+                                    on t1.id = t2.robot_task_id
+        where
+            t2.release_id in
+        <foreach collection="itemIds" item="itemId" index="index" open="(" close=")"
+                 separator=",">
+            #{itemId}
+        </foreach>
+          and t1.deleted = '0'
+          and t2.deleted = '0'
+          and t1.task_status in ('0','1')
+          and t2.task_status in ('0','1')
+          and t2.task_type = '9'
+    </select>
+
 
     <!--通过主键修改数据-->
     <update id="updateRobotDetailById">