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

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

@@ -145,12 +145,16 @@ public class MqttFactory {
                 return BeanUtils.getBean(RobotWorkStatusServiceImpl.class);
             case ROBOT_UPDATE_PALLET_HEIGHT:
                 return BeanUtils.getBean(RobotUpdatePalletHeightServiceImpl.class);
+            case ROBOT_OBSTACLES_STATUS:
+                return BeanUtils.getBean(RobotObstaclesStatusServiceImpl.class);
             case PLANNING_INIT_DATA:
                 return BeanUtils.getBean(PathPlanningInitDataServiceImpl.class);
             case PLANNING_DISTRIBUTION_TASK:
                 return BeanUtils.getBean(PathPlanningDistributionTaskServiceImpl.class);
             case PLANNING_DISTRIBUTION_FAIL:
                 return BeanUtils.getBean(PathPlanningDistributionFailServiceImpl.class);
+            case PLANNING_SIMULATION_ROBOT_POSE_REQUEST:
+                return BeanUtils.getBean(PlanningSimulationRobotPoseRequestServiceImpl.class);
             case PLANNING_MOVE:
                 return BeanUtils.getBean(PathPlanningMoveServiceImpl.class);
             case PLANNING_ROUTE_DISPLAY:

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

@@ -21,9 +21,11 @@ public enum DefineSubTopicEnum {
     ROBOT_PATH_STATUS("ROBOT_PATH_STATUS", 2,"导航实时行为上报"),
     ROBOT_WORK_STATUS("ROBOT_WORK_STATUS", 2,"作业实时行为上报"),
     ROBOT_UPDATE_PALLET_HEIGHT("UPDATE_PALLET_HEIGHT", 2,"放货后货物高度反馈和取货后货物高度反馈"),
+    ROBOT_OBSTACLES_STATUS("ROBOT_OBSTACLES_STATUS", 2,"障碍物状态上报"),
     PLANNING_INIT_DATA("SYNCHRONOUS_ALL_MAP_REQUEST", 2,"路径规划需要初始数据上报"),
     PLANNING_DISTRIBUTION_TASK("TASK_ASSIGNMENT_FEEDBACK", 2,"路径规划任务分配上报"),
     PLANNING_DISTRIBUTION_FAIL("TASK_ASSIGNMENT_FAIL", 2,"路径规划失败上报"),
+    PLANNING_SIMULATION_ROBOT_POSE_REQUEST("SIMULATION_ROBOT_POSE_REQUEST", 2,"仿真初始化点位信息"),
     PLANNING_MOVE("UPDATE_ROUTE_DISPLAY_PLANNING", 2,"车辆即将走的点位"),
     PLANNING_ROUTE_DISPLAY("ROBOT_MOVE_POSE_PLANNING", 2,"路径规划上报实时路径");
 

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/framework/system/SystemConfiguration.java

@@ -6,6 +6,6 @@ import org.springframework.context.annotation.Configuration;
 
 @Configuration(proxyBeanMethods = false)
 @EnableFeignClients(clients = {RobotGenericsStatusApi.class, RobotTaskStatusApi.class, RobotStatusApi.class, RobotReactiveStatusApi.class,
-        RobotPathStatusApi.class,RobotWorkStatusApi.class,RobotUpdatePalletHeightApi.class})
+        RobotPathStatusApi.class,RobotWorkStatusApi.class,RobotUpdatePalletHeightApi.class,RobotObstaclesStatusApi.class})
 public class SystemConfiguration {
 }

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

@@ -0,0 +1,22 @@
+package cn.iododer.yudao.module.mqtt.service;
+
+import cn.iocoder.yudao.module.system.api.path.PathApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+@Service
+@Slf4j
+public class PlanningSimulationRobotPoseRequestServiceImpl  implements MqttService{
+
+    @Resource
+    private PathApi pathApi;
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("收到仿真初始化点位的消息 :{}",message);
+        pathApi.simulationRobotPoseRequest(message);
+    }
+
+}

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

@@ -0,0 +1,20 @@
+package cn.iododer.yudao.module.mqtt.service;
+
+import cn.iocoder.yudao.module.system.api.robot.RobotObstaclesStatusApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Autowired;
+import org.springframework.stereotype.Service;
+
+@Slf4j
+@Service
+public class RobotObstaclesStatusServiceImpl implements MqttService{
+
+    @Autowired
+    private RobotObstaclesStatusApi robotObstaclesStatusApi;
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("障碍物状态上报 :{}", message);
+        robotObstaclesStatusApi.robotObstaclesStatus(message);
+    }
+}

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

@@ -32,4 +32,8 @@ public interface PathApi {
     @PostMapping(PREFIX + "/pathPlanningMovePose")
     @Operation(summary = "路径规划要走的点位信息")
     void pathPlanningMovePose(@RequestParam("message") String message);
+
+    @PostMapping(PREFIX + "/simulationRobotPose")
+    @Operation(summary = "仿真初始化点位信息")
+    void simulationRobotPoseRequest(@RequestParam("message") String message);
 }

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

@@ -0,0 +1,19 @@
+package cn.iocoder.yudao.module.system.api.robot;
+
+import cn.iocoder.yudao.module.system.enums.ApiConstants;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import org.springframework.cloud.openfeign.FeignClient;
+import org.springframework.web.bind.annotation.PostMapping;
+import org.springframework.web.bind.annotation.RequestParam;
+
+@FeignClient(name = ApiConstants.NAME)
+@Tag(name = "RPC 服务 - 障碍物状态上报")
+public interface RobotObstaclesStatusApi {
+
+    String PREFIX = ApiConstants.PREFIX + "/task";
+
+    @PostMapping(PREFIX + "/robotObstaclesStatus")
+    @Operation(summary = "障碍物状态上报")
+    void robotObstaclesStatus(@RequestParam("message") String message);
+}

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotObstaclesStatusDTO.java

@@ -0,0 +1,17 @@
+package cn.iocoder.yudao.module.system.api.robot.dto;
+
+import lombok.Data;
+
+@Data
+public class RobotObstaclesStatusDTO {
+
+    /**
+     * mac地址
+     */
+    public String mac;
+
+    /**
+     * true表示有障碍物，false表示没有障碍物
+     */
+    public Boolean obstacles;
+}

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

@@ -167,6 +167,7 @@ public interface ErrorCodeConstants {
     ErrorCode INFORMATION_NOT_EXISTS = new ErrorCode(1_002_029_001, "设备信息不存在");
     ErrorCode INFORMATION_MAC_EXIST = new ErrorCode(1_002_029_002, "此Mac地址已经存在");
     ErrorCode INFORMATION_MAC_INPUT = new ErrorCode(1_002_029_003, "请输入Mac地址");
+    ErrorCode INFORMATION_BIND_MAP = new ErrorCode(1_002_029_004, "设备已经绑定在地图上,请先在地图上解绑");
 
     // ========== 线库/巷道 1-002-030-000 ==========
     ErrorCode HOUSE_LANE_NOT_EXISTS = new ErrorCode(1-002-030-001, "线库不存在");
@@ -201,9 +202,9 @@ public interface ErrorCodeConstants {
     ErrorCode TASK_CHECK_EXCEPTION = new ErrorCode(1-002-035-005, "任务下发失败");
     ErrorCode TASK_CHECK_ID_EXCEPTION = new ErrorCode(1-002-035-006, "请输入ID");
     ErrorCode TASK_CHECK_TASK_PRIORITY = new ErrorCode(1-002-035-007, "非新单据不能修改优先级");
-    ErrorCode TASK_CHECK_TASK_STATUS = new ErrorCode(1-002-035-100, "订单已完成");
+    ErrorCode TASK_CHECK_TASK_STATUS = new ErrorCode(1-002-035-100, "任务已完成");
-    ErrorCode TASK_CHECK_UPDATE_STATUS = new ErrorCode(1-002-035-101, "订单更新失败");
+    ErrorCode TASK_CHECK_UPDATE_STATUS = new ErrorCode(1-002-035-101, "任务更新失败");
-    ErrorCode TASK_CHECK_EXIST_NO = new ErrorCode(1-002-035-102, "订单号已存在");
+    ErrorCode TASK_CHECK_EXIST_NO = new ErrorCode(1-002-035-102, "任务号已存在");
     ErrorCode TASK_TYPE_UN_EXIST = new ErrorCode(1-002-035-103, "找不到对应的任务类型");
     ErrorCode TASK_TAKE_LOCATION_EMPTY = new ErrorCode(1-002-035-104, "取货库位没有库存");
     ErrorCode TASK_TAKE_LOCATION_UPPER_LEVELS_NOT_EMPTY = new ErrorCode(1-002-035-105, "取货库位上层不为空");
@@ -211,6 +212,7 @@ public interface ErrorCodeConstants {
     ErrorCode TASK_RELEASE_LOCATION_LOWER_LEVELS_EMPTY = new ErrorCode(1-002-035-107, "放货库位下层为空");
     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:");
 
     // ========== 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");

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

@@ -104,5 +104,15 @@ public class PathApiImpl implements PathApi {
         pathPlanningService.pathPlanningMovePose(message);
     }
 
+    /**
+     * 仿真点位信息
+     * @param message
+     */
+    @Override
+    public void simulationRobotPoseRequest(String message) {
+        TenantContextHolder.setTenantId(1L);
+        pathPlanningService.simulationRobotPoseRequest();
+    }
+
 
 }

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

@@ -0,0 +1,67 @@
+package cn.iocoder.yudao.module.system.api.robot;
+
+import cn.hutool.json.JSONUtil;
+import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
+import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotObstaclesStatusDTO;
+import cn.iocoder.yudao.module.system.api.robot.vo.RobotUpdatePalletHeightDTO;
+import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
+import cn.iocoder.yudao.module.system.constant.webSocket.WebSocketConstant;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnMsgSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnMsgDO;
+import cn.iocoder.yudao.module.system.enums.robot.RobotWarnType;
+import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
+import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
+import 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.validation.annotation.Validated;
+import org.springframework.web.bind.annotation.RestController;
+
+import javax.annotation.Resource;
+
+@Slf4j
+@RestController // 提供 RESTful API 接口，给 Feign 调用
+@Validated
+public class RobotObstaclesStatusApiImpl implements RobotObstaclesStatusApi{
+
+    @Resource
+    private RedisUtil redisUtil;
+
+    @Resource
+    public WebSocketSenderApi webSocketSenderApi;
+
+    @Resource
+    private RobotWarnMsgService warnMsgService;
+
+    @Autowired
+    private RobotInformationService robotInformationService;
+
+    @Override
+    public void robotObstaclesStatus(String message) {
+        log.info("障碍物状态上报 :{}" ,message);
+
+        RobotObstaclesStatusDTO data = JSON.parseObject(message, RobotObstaclesStatusDTO.class);
+        if (!data.getObstacles()) {
+            return;
+        }
+
+        String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + data.getMac();
+        Object floorAreaObject = redisUtil.get(floorAreaKey);
+        FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
+
+
+        String robotNo = robotInformationService.getRobotNoByMac(data.getMac());
+
+        RobotWarnMsgSaveReqVO warnMsg = new RobotWarnMsgSaveReqVO();
+        warnMsg.setWarnLevel(4);
+        warnMsg.setRobotNo(robotNo);
+        warnMsg.setWarnType(RobotWarnType.ROBOT_WARN.getType());
+        warnMsg.setWarnMsg(robotNo +" 机器人遇到障碍物");
+        warnMsgService.createWarnMsg(warnMsg);
+
+        webSocketSenderApi.sendObject(floorZoneDTO.getFloor() + "_" + floorZoneDTO.getArea(),
+                WebSocketConstant.AGV_WARN, warnMsg.getWarnMsg());
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java

@@ -64,6 +64,10 @@ public class PathPlanningTopicConstant {
      * 发送车辆编号对应的车宽、中心与车头距离、中心与车尾距离给PP
      */
     public static String SEND_ROBOT_DIMENSIONS = "SEND_ROBOT_DIMENSIONS";
+    /**
+     * 仿真车辆信息
+     */
+    public static String INIT_ROBOT_POSE = "INIT_ROBOT_POSE";
 
     /**
      * 车辆当前位置给给PP

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

@@ -20,4 +20,8 @@ public class RobotTopicConstant {
      * 让机器人同步告警码值映射的topic （拼接mac地址）
      */
     public static String UPDATE_ERROR_TOPIC = "UPDATE_ERROR_";
+    /**
+     * 让机器人同步告警码值映射的topic （拼接mac地址）
+     */
+    public static String WARN_WAIT_TIME_TOPIC = "WARN_WAIT_TIME";
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/dto/DeviceInformationDataJsonDTO.java

@@ -0,0 +1,20 @@
+package cn.iocoder.yudao.module.system.controller.admin.information.dto;
+
+import io.swagger.v3.oas.models.security.SecurityScheme;
+import lombok.Data;
+
+@Data
+public class DeviceInformationDataJsonDTO {
+    private Long id;
+    private Long positionMapId;
+    private Long positionMapItemId;
+    private String locationX;
+    private String locationY;
+    private String actualLocationX;
+    private String actualLocationY;
+    private Integer locationWide;
+    private Integer locationDeep;
+    private Integer deviceType;
+    private String deviceNo;
+    private String mapImageUrl;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/path/PathPlanningController.java

@@ -107,4 +107,11 @@ public class PathPlanningController {
         pathPlanningService.robotDimensions();
         return success("同步完成");
     }
+
+    @PostMapping("/robot/simulationRobotPoseRequest")
+    @Operation(summary = "发送车辆数据给--仿真")
+    public CommonResult<String> simulationRobotPoseRequest() {
+        pathPlanningService.simulationRobotPoseRequest();
+        return success("同步完成");
+    }
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/path/dto/SimulationRobotPoseDTO.java

@@ -0,0 +1,32 @@
+package cn.iocoder.yudao.module.system.controller.admin.path.dto;
+
+import com.alibaba.excel.annotation.ExcelProperty;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Builder;
+import lombok.Data;
+
+@Data
+public class SimulationRobotPoseDTO {
+    private String mac;
+
+    @Schema(description = "坐标x轴")
+    private String locationX;
+
+    @Schema(description = "坐标y轴")
+    private String locationY;
+
+    @Schema(description = "实际坐标x轴")
+    private String actualLocationX;
+
+    @Schema(description = "实际坐标y轴")
+    private String actualLocationY;
+
+    @Schema(description = "地图所在楼")
+    public String floor;
+
+    @Schema(description = "地图所在区")
+    public String area;
+
+    @Schema(description = "弧度")
+    private String locationYaw;
+}

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

@@ -13,7 +13,8 @@ public enum CommandConfigTypeEnum {
     CHARG_CONFIG(1,"充电设置(页面)"),
     PP_CONFIG_PRIORITY(2,"优先级>时间>路径"),
     PP_CONFIG_TIME(3,"优先级=时间>路径"),
-    PP_CONFIG_PATH(4,"优先级=时间=路径");
+    PP_CONFIG_PATH(4,"优先级=时间=路径"),
+    SIMULATION_CONFIG(13,"仿真初始化地图");
     /**
      * 类型
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/HouseLocationServiceImpl.java

@@ -72,18 +72,20 @@ public class HouseLocationServiceImpl extends ServiceImpl<WareHouseLocationMappe
         // 更新
         WareHouseLocationDO updateObj = BeanUtils.toBean(updateReqVO, WareHouseLocationDO.class);
 
+        houseLocationMapper.updateById(updateObj);
+
         String str = getChangeInfo(wareHouseLocationDO, updateObj);
-        if (ObjectUtil.isNotEmpty(str)) {
+
-            str = "修改库位信息:" + updateReqVO.getLocationNo() + "_" + str;
+        if(ObjectUtil.isEmpty(str)) {
+            return;
         }
 
+        str = "修改库位信息:" + updateReqVO.getLocationNo() + "_" + str;
+
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
                 .operateAction(str)
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
-
-        houseLocationMapper.updateById(updateObj);
-
     }
 
     public String getChangeInfo(WareHouseLocationDO wareHouseLocationDO, WareHouseLocationDO updateReqVO) {
@@ -123,7 +125,6 @@ public class HouseLocationServiceImpl extends ServiceImpl<WareHouseLocationMappe
             str = str + " 设置库位锁定状态为正常" ;
         }
 
-
         return str;
     }
 

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

@@ -5,8 +5,10 @@ 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.system.api.robot.vo.RobotPathStatusDTO;
 import cn.iocoder.yudao.module.system.constant.device.DeviceChcheConstant;
 import cn.iocoder.yudao.module.system.controller.admin.information.dto.DeviceInformationDTO;
+import cn.iocoder.yudao.module.system.controller.admin.information.dto.DeviceInformationDataJsonDTO;
 import cn.iocoder.yudao.module.system.controller.admin.information.dto.MapBindDeviceInfoDTO;
 import cn.iocoder.yudao.module.system.controller.admin.information.dto.StatisticsInformationDTO;
 import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationPageReqVO;
@@ -32,6 +34,7 @@ import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService
 import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
 import cn.iocoder.yudao.module.system.util.modbus3.ModbusUtils;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
+import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.serotonin.modbus4j.ModbusMaster;
@@ -52,8 +55,7 @@ import java.util.stream.Collectors;
 
 import static cn.hutool.core.collection.CollUtil.isNotEmpty;
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
-import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.INFORMATION_MAC_EXIST;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
-import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.INFORMATION_NOT_EXISTS;
 
 /**
  * 设备信息 Service 实现类
@@ -121,6 +123,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
     }
 
     @Override
+    @Transactional(rollbackFor = Exception.class)
     public void updateInformation(DeviceInformationSaveReqVO updateReqVO) {
         // 校验存在
         validateInformationExists(updateReqVO.getId());
@@ -137,6 +140,17 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
         DeviceInformationDO updateObj = BeanUtils.toBean(updateReqVO, DeviceInformationDO.class);
         informationMapper.updateById(updateObj);
 
+        if (ObjectUtil.isNotEmpty(updateObj.getPositionMapItemId())) {
+            PositionMapItemDO positionMapItem = positionMapItemService.getPositionMapItem(updateObj.getPositionMapItemId());
+            String dataJson = positionMapItem.getDataJson();
+            DeviceInformationDataJsonDTO data = JSON.parseObject(dataJson, DeviceInformationDataJsonDTO.class);
+            data.setDeviceType(updateObj.getDeviceType());
+            data.setDeviceNo(updateObj.getDeviceNo());
+            data.setMapImageUrl(updateObj.getMapImageUrl());
+            positionMapItem.setDataJson(JSON.toJSONString(data));
+            positionMapItemService.updateById(positionMapItem);
+        }
+
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
                 .operateAction("更新设备信息 " + updateReqVO.getDeviceNo())
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
@@ -149,19 +163,16 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
         // 校验存在
         validateInformationExists(id);
         DeviceInformationDO deviceInformationDO = informationMapper.selectById(id);
+        if (ObjectUtil.isNotEmpty(deviceInformationDO.getPositionMapItemId())) {
+            throw exception(INFORMATION_BIND_MAP);
+        }
+
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
                 .operateAction("删除设备 " + deviceInformationDO.getDeviceNo())
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         // 删除
         informationMapper.deleteById(id);
 
-        if (ObjectUtil.isNotEmpty(deviceInformationDO.getPositionMapItemId())) {
-            PositionMapItemDO positionMapItem = positionMapItemService.getPositionMapItem(deviceInformationDO.getPositionMapItemId());
-            positionMapItem.setType(PositionMapItemEnum.PATH.getType());
-            positionMapItem.setDataJson(null);
-            positionMapItemService.updateById(positionMapItem);
-        }
-
         userOperationLogService.createUserOperationLog(operationLog);
     }
 
@@ -208,7 +219,10 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
             editList.addAll(list.get(1));
         }
         if (isNotEmpty(list.get(2))) {
-            list.get(2).forEach(a -> a.setPositionMapItemId(null));
+            list.get(2).forEach( a -> {
+                a.setPositionMapItemId(null);
+                a.setPositionMapId(null);
+            });
             editList.addAll(list.get(2));
         }
         if (isNotEmpty(editList)) {

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

@@ -44,4 +44,9 @@ public interface PathPlanningService {
      * @param message
      */
     void pathPlanningMovePose(String message);
+
+    /**
+     * 仿真点位信息
+     */
+    void simulationRobotPoseRequest();
 }

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

@@ -18,19 +18,27 @@ import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
 import cn.iocoder.yudao.module.system.constant.webSocket.WebSocketConstant;
+import cn.iocoder.yudao.module.system.controller.admin.path.dto.SimulationRobotPoseDTO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLineSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.task.TaskAssignDTO;
+import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapLineMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
+import cn.iocoder.yudao.module.system.enums.config.CommandConfigTypeEnum;
+import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum;
 import cn.iocoder.yudao.module.system.enums.line.DirectionEnum;
 import cn.iocoder.yudao.module.system.enums.path.PathTypeEnum;
+import cn.iocoder.yudao.module.system.service.config.CommonConfigService;
+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.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;
@@ -80,15 +88,21 @@ public class PathPlanningServiceImpl implements PathPlanningService {
     @Resource
     private CommonApi commonApi;
 
-    @Resource
-    private RequestProcessor processor;
-
     @Resource
     private RedisUtil redisUtil;
 
     @Resource
     public WebSocketSenderApi webSocketSenderApi;
 
+    @Resource
+    private CommonConfigService configService;
+
+    @Resource
+    private PositionMapService positionMapService;
+
+    @Resource
+    private PositionMapItemService positionMapItemService;
+
     /**
      * 同步ware_position_map_line的点位信息
      */
@@ -444,6 +458,64 @@ public class PathPlanningServiceImpl implements PathPlanningService {
                 WebSocketConstant.PLANNING_MOVE_POSE, message);
     }
 
+    /**
+     * 仿真点位信息
+     */
+    @Override
+    public void simulationRobotPoseRequest() {
+        CommonConfigDO config = configService.getConfig(CommandConfigTypeEnum.SIMULATION_CONFIG.getType().longValue());
+        PositionMapDO positionMap = null;
+        if (ObjectUtil.isEmpty(config) || ObjectUtil.isEmpty(config.getConfigStr())) {
+            List<PositionMapDO> maps = positionMapService.getAllMap();
+            if (ObjectUtil.isEmpty(maps)) {
+                return;
+            }
+            positionMap = maps.get(0);
+        }else {
+            positionMap = positionMapService.getPositionMap(Long.valueOf(config.getConfigStr()));
+        }
+        if (ObjectUtil.isEmpty(positionMap)) {
+            log.info("仿真环境没有地图信息");
+            return;
+        }
+
+        List<RobotInformationDO> robots = robotInformationService.getAllRobot();
+
+        if (ObjectUtil.isEmpty(robots)) {
+            log.info("仿真环境没有机器人信息");
+            return;
+        }
+
+        List<PositionMapItemDO> itemDOList = new ArrayList<>();
+        List<PositionMapItemDO> items = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.WAIT.getType());
+        if (ObjectUtil.isEmpty(items) || items.size() < robots.size()) {
+            List<PositionMapItemDO> itemPoses = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.PATH.getType());
+            itemDOList.addAll(itemPoses);
+        } else {
+            itemDOList = items;
+        }
+
+        List<SimulationRobotPoseDTO> simulationList = new ArrayList<>();
+        int i = 0;
+        for (RobotInformationDO robot : robots) {
+            SimulationRobotPoseDTO simulationRobotPoseDTO = new SimulationRobotPoseDTO();
+            simulationRobotPoseDTO.setMac(robot.getMacAddress());
+            if (itemDOList.size() <= i) {
+                continue;
+            }
+            simulationRobotPoseDTO.setLocationX(itemDOList.get(i).getLocationX());
+            simulationRobotPoseDTO.setLocationY(itemDOList.get(i).getLocationY());
+            simulationRobotPoseDTO.setActualLocationX(itemDOList.get(i).getActualLocationX());
+            simulationRobotPoseDTO.setActualLocationY(itemDOList.get(i).getActualLocationY());
+            simulationRobotPoseDTO.setLocationYaw(itemDOList.get(i).getLocationYaw());
+            simulationRobotPoseDTO.setFloor(positionMap.getFloor()+"");
+            simulationRobotPoseDTO.setArea(positionMap.getArea());
+            simulationList.add(simulationRobotPoseDTO);
+            i++;
+        }
+        commonApi.commonMethod(simulationList, PathPlanningTopicConstant.INIT_ROBOT_POSE);
+    }
+
     public PositionMapLineDTO setPositionMapLineDTOData(PositionMapLineDTO positionMapLineDO) {
         PositionMapLineDTO build = PositionMapLineDTO.builder()
                 .id(positionMapLineDO.getId())

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

@@ -103,4 +103,12 @@ public interface PositionMapItemService extends IService<PositionMapItemDO> {
     Object getAGVPointInformation(String macAddress);
 
     void setMapItemIdle(Long id);
+
+    /**
+     * 查询地图对应的类型数据
+     * @param id 地图id
+     * @param type 类型
+     * @return
+     */
+    List<PositionMapItemDO> getPositionMapItemByMapAndType(Long id, Integer type);
 }

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

@@ -17,6 +17,7 @@ import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
 
 import javax.annotation.Resource;
+import java.util.Collections;
 import java.util.List;
 
 import static cn.hutool.core.collection.CollUtil.isNotEmpty;
@@ -130,4 +131,11 @@ public class PositionMapItemServiceImpl extends ServiceImpl<PositionMapItemMappe
         positionMapItemMapper.updateById(item);
     }
 
+    @Override
+    public List<PositionMapItemDO> getPositionMapItemByMapAndType(Long mapId, Integer type) {
+        return positionMapItemMapper.selectList(new LambdaQueryWrapperX<PositionMapItemDO>()
+                .eq(PositionMapItemDO::getPositionMapId, mapId)
+                .eq(PositionMapItemDO::getType, type));
+    }
+
 }

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

@@ -10,6 +10,7 @@ import org.springframework.web.multipart.MultipartFile;
 import javax.servlet.http.HttpServletResponse;
 import javax.validation.Valid;
 import java.io.IOException;
+import java.util.List;
 
 /**
  * 仓库点位地图 Service 接口
@@ -94,4 +95,10 @@ public interface PositionMapService extends IService<PositionMapDO> {
      * @param id
      */
     void emergencyStopOrRecovery(Long id);
+
+    /**
+     * 获取所有地图
+     * @return
+     */
+    List<PositionMapDO> getAllMap();
 }

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

@@ -305,4 +305,9 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
 
     }
 
+    @Override
+    public List<PositionMapDO> getAllMap() {
+        return positionMapMapper.selectList(new LambdaQueryWrapperX<PositionMapDO>().orderByDesc(PositionMapDO::getId));
+    }
+
 }

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

@@ -181,15 +181,6 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
         String addResult = "";
         if (lock.tryLock(60l, TimeUnit.MINUTES)) {
-            /*try {
-                addResult = addTask(createReqVO);
-            } catch (Exception e) {
-                log.error("下发任务出现异常 :{}", e);
-                addResult = ObjectUtil.isNotEmpty(e.getMessage()) ? e.getMessage(): "创建任务失败";
-            } finally {
-                lock.unlock();
-            }*/
-
             try {
                 addResult = addTask(createReqVO);
             } finally {
@@ -203,7 +194,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             throw exception0(TASK_CHECK_EXCEPTION.getCode(), addResult);
         }
 
-        UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder().operateAction("创建订单 " + createReqVO.getTaskNo())
+        UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder().operateAction("创建任务 " + createReqVO.getTaskNo())
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
 
@@ -386,7 +377,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         List<Long> detailIds = new ArrayList<>();
         Set<String> robotNos = new HashSet<>();
 
-        UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder().operateAction("关闭订单 " + robotTaskDO.getTaskNo())
+        UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder().operateAction("关闭任务 " + robotTaskDO.getTaskNo())
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
 
@@ -726,20 +717,21 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                     new ArrayList<>(), new ArrayList<>(), new ArrayList<>());
             if (ObjectUtil.isEmpty(stockList)) {
                 log.error("取货线库/区域为空或者已锁定或者机器人取放货区域受限制 :{}", robotTaskVo.toString());
-                throw new RuntimeException("取货线库/区域为空或者已锁定或者机器人取放货区域受限制");
+                throw exception0(TASK_CREATE_FAIL.getCode(), "取货线库/区域为空或者已锁定或者机器人取放货区域受限制" );
             }
             //判断取货库位是否存在未完成的任务
             Set<Long> stockLocationIds = stockList.stream().map(WareHouseLocationDO::getId).collect(Collectors.toSet());
             List<RobotTaskDetailDO> doingTasks = taskDetailMapper.queryDoingTaskByIds(stockLocationIds);
             if (ObjectUtil.isNotEmpty(doingTasks)) {
-                throw new RuntimeException("取货线库/区域,存在未完成的任务");
+                log.error("取货线库/区域,存在未完成的任务 :{}", JSON.toJSONString(doingTasks));
+                throw exception0(TASK_CREATE_FAIL.getCode(), "取货线库/区域,存在未完成的任务" );
             }
             //查找空库位
             WareHouseLocationDO releaseQuery = null;
             if (ReleaseTakeEnum.TO_LANE.getType().equals(robotTaskVo.getReleaseType())) {
                 if (ObjectUtil.isEmpty(laneIds) && ObjectUtil.isNotEmpty(skuInfo)) {
                     log.error("查不到此物料对应的线库区域 :{}", robotTaskVo.getReleaseId());
-                    throw new RuntimeException("查不到此物料对应的线库区域 " + skuInfo);
+                    throw exception0(TASK_CREATE_FAIL.getCode(), "查不到此物料对应的线库区域" );
                 }
                 releaseQuery = WareHouseLocationDO.builder()
                         .laneId(robotTaskVo.getReleaseId())
@@ -750,7 +742,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             } else if (ReleaseTakeEnum.TO_AREA.getType().equals(robotTaskVo.getReleaseType())) {
                 if (ObjectUtil.isEmpty(areaIds) && ObjectUtil.isNotEmpty(skuInfo)) {
                     log.error("查不到此物料对应的区域库位 :{}", robotTaskVo.getReleaseId());
-                    throw new RuntimeException("查不到此物料对应的区域库位 " + skuInfo);
+                    throw exception0(TASK_CREATE_FAIL.getCode(), "查不到此物料对应的区域库位" );
                 }
                 releaseQuery = WareHouseLocationDO.builder()
                         .areaId(robotTaskVo.getReleaseId())
@@ -764,7 +756,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                     laneIds, areaIds, mapItemIds);
             if (ObjectUtil.isEmpty(releaseStockList) || releaseStockList.size() < stockList.size()) {
                 log.error("放货线库/区域库位数量不足或者机器人取放货区域受限制 :{}", robotTaskVo.toString());
-                throw new RuntimeException("放货线库/区域库位数量不足或者机器人取放货区域受限制");
+                throw exception0(TASK_CREATE_FAIL.getCode(), "放货线库/区域库位数量不足或者机器人取放货区域受限制" );
             }
             Collections.reverse(releaseStockList);
             //赋值数据
@@ -896,7 +888,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                     break;
                 default:
                     log.error("任务类型不存在 ");
-                    throw new RuntimeException("任务类型不存在");
+                    throw exception0(TASK_CREATE_FAIL.getCode(), "任务类型不存在" );
             }
         }
         return locationIds;
@@ -1028,30 +1020,30 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             robotTaskVo.setToMapItemId(locationDO.getMapItemId());
             if (ObjectUtil.isNotEmpty(mapIds) && !mapIds.contains(locationDO.getMapId())) {
                 log.error("机器人不能在此放货库位放货 :{}, 机器人编号 :{}", locationDO.getLocationNo(), robotTaskVo.getRobotNo());
-                throw new RuntimeException("机器人不能在此放货库位放货 " + robotTaskVo.getReleaseId());
+                throw exception0(TASK_CREATE_FAIL.getCode(), "机器人不能在此放货库位放货 " + robotTaskVo.getReleaseId());
             }
             if (ObjectUtil.isNotEmpty(takeMapItemIds) && takeMapItemIds.contains(locationDO.getMapItemId())) {
                 log.error("此点位存在取货任务 :{}", locationDO.getLocationNo());
-                throw new RuntimeException("此库位存在取货任务 " + locationDO.getLocationNo());
+                throw exception0(TASK_CREATE_FAIL.getCode(), "此库位存在取货任务 " + locationDO.getLocationNo());
             }
             releaseMapItemIds.add(locationDO.getMapItemId());
         } else {
             if (ReleaseTakeEnum.TO_LANE.getType().equals(robotTaskVo.getReleaseType()) && ObjectUtil.isEmpty(laneIds)
                     && ObjectUtil.isNotEmpty(skuInfo)) {
                 log.error("查不到此物料对应的线库区域 :{}", robotTaskVo.getReleaseId());
-                throw new RuntimeException("查不到此物料对应的线库区域 " + skuInfo);
+                throw exception0(TASK_CREATE_FAIL.getCode(), "查不到此物料对应的线库区域 " + skuInfo);
             }
             if (ReleaseTakeEnum.TO_AREA.getType().equals(robotTaskVo.getReleaseType()) && ObjectUtil.isEmpty(areaIds)
                     && ObjectUtil.isNotEmpty(skuInfo)) {
                 log.error("查不到此物料对应的区域库位 :{}", robotTaskVo.getReleaseId());
-                throw new RuntimeException("查不到此物料对应的区域库位 " + skuInfo);
+                throw exception0(TASK_CREATE_FAIL.getCode(), "查不到此物料对应的区域库位 " + skuInfo);
             }
             WareHouseLocationDO wareHouseLocationDO =
                     locationMapper.selectByTypeAndId(LocationUseStatusEnum.NO.getType(), robotTaskVo.getReleaseType()
                             , robotTaskVo.getReleaseId(), locationIds, mapIds, takeMapItemIds, laneIds, areaIds);
             if (ObjectUtil.isEmpty(wareHouseLocationDO)) {
                 log.error("放货库位为空或者已锁定或者机器人取放货区域受限制 :{}", robotTaskVo.getReleaseId());
-                throw new RuntimeException("放货库位为空或者已锁定或者机器人取放货区域受限制 " + robotTaskVo.getReleaseId());
+                throw exception0(TASK_CREATE_FAIL.getCode(), "放货库位为空或者已锁定或者机器人取放货区域受限制 " + robotTaskVo.getReleaseId());
             }
             robotTaskVo.setToLocationNo(wareHouseLocationDO.getLocationNo());
             robotTaskVo.setToLocationId(wareHouseLocationDO.getId());
@@ -1084,15 +1076,15 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             robotTaskVo.setFromMapItemId(locationDO.getMapItemId());
             if (ObjectUtil.isNotEmpty(mapIds) && !mapIds.contains(locationDO.getMapId())) {
                 log.error("机器人不能在此取货库位取货 :{}, 机器人编号 :{}", locationDO.getLocationNo(), robotTaskVo.getRobotNo());
-                throw new RuntimeException("机器人不能在此取货库位取货 " + robotTaskVo.getTakeId());
+                throw exception0(TASK_CREATE_FAIL.getCode(), "机器人不能在此取货库位取货 " + robotTaskVo.getTakeId());
             }
             if (ObjectUtil.isNotEmpty(releaseMapItemIds) && releaseMapItemIds.contains(locationDO.getMapItemId())) {
                 log.error("此取货库位存在放货任务 :{}", locationDO.getLocationNo());
-                throw new RuntimeException("此取货库位存在放货任务 " + locationDO.getLocationNo());
+                throw exception0(TASK_CREATE_FAIL.getCode(), "此取货库位存在放货任务 " + locationDO.getLocationNo());
             }
             if (LocationUseStatusEnum.NO.getType().equals(locationDO.getLocationUseStatus())) {
                 log.error("此取货库位没库存 :{}", locationDO.getLocationNo());
-                throw new RuntimeException("此取货库位没库存 " + locationDO.getLocationNo());
+                throw exception0(TASK_CREATE_FAIL.getCode(), "此取货库位没库存 " + locationDO.getLocationNo());
             }
             takeMapItemIds.add(locationDO.getMapItemId());
         } else {
@@ -1101,7 +1093,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                             robotTaskVo.getTakeId(), locationIds, mapIds, releaseMapItemIds, new ArrayList<>(), new ArrayList<>());
             if (ObjectUtil.isEmpty(wareHouseLocationDO)) {
                 log.error("取货库位为空或者已锁定或者机器人取放货区域受限制 :{}", robotTaskVo.getTakeId());
-                throw new RuntimeException("取货库位为空或者已锁定或者机器人取放货区域受限制 " + robotTaskVo.getTakeId());
+                throw exception0(TASK_CREATE_FAIL.getCode(), "取货库位为空或者已锁定或者机器人取放货区域受限制 " + robotTaskVo.getTakeId());
             }
             robotTaskVo.setFromLocationNo(wareHouseLocationDO.getLocationNo());
             robotTaskVo.setFromLocationId(wareHouseLocationDO.getId());
@@ -1141,7 +1133,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         List<RobotTaskDetailDO> doingTasks = taskDetailMapper.queryDoingTaskByIds(set);
         if (ObjectUtil.isNotEmpty(doingTasks)) {
             log.error("取货库位,存在未完成的任务 :{}", robotTaskVo.getTakeId());
-            throw new RuntimeException("取货库位,存在未完成的任务 ");
+            throw exception0(TASK_CREATE_FAIL.getCode(), "取货库位,存在未完成的任务" );
         }
 
     }

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

@@ -2,6 +2,7 @@ package cn.iocoder.yudao.module.system.service.robot;
 
 import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.mybatis.core.util.MyBatisUtils;
+import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.warn.RobotWarnCodeMappingVO;
@@ -32,6 +33,9 @@ import java.util.HashMap;
 import java.util.Map;
 
 import java.util.*;
+import java.util.function.Function;
+import java.util.stream.Collectors;
+
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.pojo.PageParam;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
@@ -108,7 +112,8 @@ public class RobotWarnCodeMappingServiceImpl implements RobotWarnCodeMappingServ
         if (ObjectUtil.isEmpty(list)) {
             return;
         }
-        exportJson(response,list,"warn.json",warnUploadPath);
+        Map<String, RobotWarnCodeMappingVO> map = list.stream().collect(Collectors.toMap(RobotWarnCodeMappingVO::getWarnCode, Function.identity(), (v1, v2) -> v1));
+        exportJson(response,map,"warn.json",warnUploadPath);
     }
 
     public void exportJson(HttpServletResponse response, Object obj, String fileName, String uploadPath) {

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

@@ -71,6 +71,17 @@ public class ToolsServiceImpl implements ToolsService {
         }
 
         CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfigDO.getConfigStr(), CommonConfigVO.class);
+        if (ObjectUtil.isNotEmpty(chargeConfig.getWarnWaitTime())) {
+            List<RobotInformationDO> robots = informationService.getAllRobot();
+            if (ObjectUtil.isNotEmpty(robots)) {
+                for (RobotInformationDO robot : robots) {
+                    commonApi.commonMethodStr(String.valueOf(chargeConfig.getWarnWaitTime()),
+                            RobotTopicConstant.WARN_WAIT_TIME_TOPIC+robot.getMacAddress());
+                }
+            }
+        }
+
+
         if (ObjectUtil.isEmpty(chargeConfig.getPathSortConfig())) {
             addWarnMsg();
             return "没有配置路径规划权重";