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

@@ -33,8 +33,8 @@ management:
 
 # MQTT
 mqtt:
-#  host: tcp://123.57.12.40:1883
+  host: tcp://123.57.12.40:1883
-  host: tcp://127.0.0.1:1883
+#  host: tcp://127.0.0.1:1883
   username: adminuser
   password: adminuser
   qos: 0

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

@@ -1,6 +1,5 @@
 package cn.iocoder.yudao.module.system.api.robot.dto;
 
-import cn.iocoder.yudao.module.system.api.robot.websocket.RobotStatusDataPoseDTO;
 import lombok.Data;
 
 @Data

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

@@ -1,6 +1,5 @@
 package cn.iocoder.yudao.module.system.api.robot.dto;
 
-import cn.iocoder.yudao.module.system.api.robot.websocket.RobotStatusDataPoseDTO;
 import lombok.Data;
 
 import java.util.List;

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

@@ -1,4 +1,4 @@
-package cn.iocoder.yudao.module.system.api.robot.websocket;
+package cn.iocoder.yudao.module.system.api.robot.dto;
 
 import lombok.Data;
 
@@ -16,8 +16,6 @@ public class RobotStatusDataPoseDTO {
     public String floor;
     //区域
     public String area;
-    //货叉高度
-    public Double forkHeight;
     //电池剩余容量   废弃  从ROBOT_INFORMATION_SOC 获取电量
 //    public String batSoc;
 }

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

@@ -1,5 +1,6 @@
-package cn.iocoder.yudao.module.system.api.robot.websocket;
+package cn.iocoder.yudao.module.system.api.robot.vo;
 
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import lombok.Data;
 
 import java.util.List;

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

@@ -1,23 +0,0 @@
-package cn.iocoder.yudao.module.system.api.robot.websocket;
-
-import io.swagger.v3.oas.annotations.media.Schema;
-import lombok.Data;
-
-@Data
-public class WsWareHouseLocationDTO {
-
-    @Schema(description = "实际坐标x轴")
-    private String actualLocationX;
-
-    @Schema(description = "实际坐标y轴")
-    private String actualLocationY;
-
-    @Schema(description = "类型: 1：添加，  0:减少")
-    private Integer type = 1;
-
-    @Schema(description = "所在楼")
-    public String floor;
-
-    @Schema(description = "所在区")
-    public String area;
-}

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

@@ -224,7 +224,6 @@ public interface ErrorCodeConstants {
     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");
     ErrorCode TASK_COMMONG_FAIL = new ErrorCode(1-002-035-113, "下发失败");
-    ErrorCode TASK_ASSIGN_OTHER_ROBOT = new ErrorCode(1-002-035-114, "此任务已经转移给其他车辆");
 
     // ========== 机器人任务明细 1-002-036-000 ==========
     ErrorCode TASK_DETAIL_NOT_EXISTS = new ErrorCode(1-002-036-001, "车辆任务明细不存在");

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

@@ -42,11 +42,7 @@ public class RobotGenericsStatusApiImpl implements RobotGenericsStatusApi {
         String batSoc = robotStatusData.getHwStates().getBatSoc();
         if (ObjectUtil.isNotEmpty(batSoc)) {
             String[] split = batSoc.split("\\.");
-            batSoc = split[1];
+            batSoc = split[1].substring(0,2);
-            if (batSoc.length() > 2) {
-                batSoc = batSoc.substring(0,2);
-            }
-
             if (batSoc.startsWith("0")) {
                 batSoc = batSoc.substring(1);
             }

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

@@ -5,7 +5,6 @@ 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.CommonConstant;
 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;
@@ -61,7 +60,7 @@ public class RobotObstaclesStatusApiImpl implements RobotObstaclesStatusApi{
         warnMsg.setWarnMsg(robotNo +" 机器人遇到障碍物");
         warnMsgService.createWarnMsg(warnMsg);
 
-        webSocketSenderApi.sendObject(floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea(),
+        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/api/robot/RobotReactiveStatusApiImpl.java

@@ -1,11 +1,12 @@
 package cn.iocoder.yudao.module.system.api.robot;
 
 import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.json.JSONUtil;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataErrorDTO;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.api.robot.vo.RobotReactiveStatusDTO;
-import cn.iocoder.yudao.module.system.constant.CommonConstant;
 import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO;
@@ -25,6 +26,8 @@ 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;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.data.redis.core.StringRedisTemplate;
 import org.springframework.validation.annotation.Validated;
 import org.springframework.web.bind.annotation.RestController;
 
@@ -71,11 +74,11 @@ public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi {
         FloorZoneDTO floorZone = new FloorZoneDTO();
         if (ObjectUtil.isNotEmpty(o)) {
             floorZone = JSON.parseObject((String) o, FloorZoneDTO.class);
-            String oldFloorArea = floorZone.getFloor() + CommonConstant.SYMBOL + floorZone.getArea();
+            String oldFloorArea = floorZone.getFloor() + "-" + floorZone.getArea();
             redisUtil.hdel(oldFloorArea, robotNo);
 
-            String newFloorArea = data.getFloorZone().getFloor() + CommonConstant.SYMBOL + data.getFloorZone().getArea();
+            String newFloorArea = data.getFloorZone().getFloor() + "-" + data.getFloorZone().getArea();
-            String key = FloorAreaConstant.FLOOR_AREA_ROBOT + floorZone.getFloor() + CommonConstant.SYMBOL + floorZone.getArea();
+            String key = FloorAreaConstant.FLOOR_AREA_ROBOT + floorZone.getFloor() + "-" + floorZone.getArea();
             if (!oldFloorArea.equals(newFloorArea)) {
                 redisUtil.hdel(key, robotNo);
             }
@@ -87,7 +90,7 @@ public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi {
 
         redisUtil.set(floorAreaKey, JSON.toJSONString(floorZone));
         Map<String, Object> map = new HashMap<>();
-        String value = floorZone.getFloor() + CommonConstant.SYMBOL + floorZone.getArea();
+        String value = floorZone.getFloor() + "-" + floorZone.getArea();
         map.put(robotNo, value);
         redisUtil.hmset(value, map);
 
@@ -150,7 +153,7 @@ public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi {
                     .warnCode(robotStatusData.getErrorCode())
                     .robotNo(robotNo)
                     .warnType(RobotWarnType.ROBOT_WARN.getType())
-                    .warnMsg(robotNo + CommonConstant.SYMBOL + mappingDOS.getWarnMsg())
+                    .warnMsg(robotNo + "_" + mappingDOS.getWarnMsg())
                     .warnSolve(mappingDOS.getWarnSolve())
                     .build();
 

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

@@ -6,11 +6,8 @@ import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
 import cn.iocoder.yudao.module.system.api.robot.dto.*;
 import cn.iocoder.yudao.module.system.api.robot.processor.RequestProcessor;
-import cn.iocoder.yudao.module.system.api.robot.websocket.RobotInformationVO;
+import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
-import cn.iocoder.yudao.module.system.api.robot.vo.RobotReactiveStatusDTO;
-import cn.iocoder.yudao.module.system.api.robot.websocket.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.config.ratelimiter.SystemRateLimiter;
-import cn.iocoder.yudao.module.system.constant.CommonConstant;
 import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
@@ -27,8 +24,6 @@ import org.springframework.web.bind.annotation.RestController;
 import javax.annotation.Resource;
 import java.util.HashMap;
 import java.util.Map;
-import java.util.concurrent.ExecutorService;
-import java.util.concurrent.Executors;
 
 @Slf4j
 @RestController // 提供 RESTful API 接口，给 Feign 调用
@@ -47,11 +42,9 @@ public class RobotStatusApiImpl implements RobotStatusApi {
     @Resource
     private RequestProcessor processor;
 
-    private static final ExecutorService executorService = Executors.newFixedThreadPool(5);
+    @Autowired
-
-    /*@Autowired
     private ThreadPoolTaskExecutor taskExecutor;
-*/
+
     @Resource
     private CommonApi commonApi;
 
@@ -64,9 +57,7 @@ public class RobotStatusApiImpl implements RobotStatusApi {
     @Override
     @SystemRateLimiter(time = 1, count = 150, keyArg = "robotStatusUpdate", message = "机器人上报点位超过限流")
     public void robotStatusUpdate(RobotPoseStatusDTO robotStatusDataDTO) {
-        executorService.execute(() -> {
+        updateRobotPosed(robotStatusDataDTO);
-            updateRobotPosed(robotStatusDataDTO);
-        });
     }
 
     /**
@@ -96,14 +87,6 @@ public class RobotStatusApiImpl implements RobotStatusApi {
         robotStatusDataPoseDTO.setRobotNo(robotNo);
         robotStatusDataPoseDTO.setFloor(floorZoneDTO.getFloor());
         robotStatusDataPoseDTO.setArea(floorZoneDTO.getArea());
-
-        String speedKey = RobotTaskChcheConstant.ROBOT_SPEED_FORK_HEIGHT + robotNo;
-        Object speedObject = redisUtil.get(speedKey);
-        if (ObjectUtil.isNotEmpty(speedObject)) {
-            RobotReactiveStatusDTO data = JSON.parseObject(speedObject.toString(), RobotReactiveStatusDTO.class);
-            robotStatusDataPoseDTO.setForkHeight(data.getForkHeight());
-        }
-
         redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime);
 
         //机器人身上是否有货
@@ -121,17 +104,19 @@ public class RobotStatusApiImpl implements RobotStatusApi {
         robotInformationVO.setPose2d(robotStatusDataPoseDTO);
 
         Map<String, Object> map = new HashMap<>();
-        String value = FloorAreaConstant.FLOOR_AREA_ROBOT + floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea();
+        String value = FloorAreaConstant.FLOOR_AREA_ROBOT + floorZoneDTO.getFloor() + "-" + floorZoneDTO.getArea();
         map.put(robotStatusDataDTO.getMac(), JSON.toJSONString(robotInformationVO));
         redisUtil.hmset(value, map, 20);
 
         // 合并请求 - 这里接受到的数据都丢给 RequestProcessor - 再整合数据通过WebSocket丢给前端
-        processor.handleRequest(floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea(),
+        processor.handleRequest(floorZoneDTO.getFloor() + "_" + floorZoneDTO.getArea(),
                 robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(robotInformationVO));
         sendToPP(robotStatusDataPoseDTO);
     }
 
     private void sendToPP(RobotStatusDataPoseDTO robotStatusDataPoseDTO) {
-        commonApi.commonMethod(robotStatusDataPoseDTO, PathPlanningTopicConstant.AGV_POSE);
+        taskExecutor.execute(() -> {
+            commonApi.commonMethod(robotStatusDataPoseDTO, PathPlanningTopicConstant.AGV_POSE);
+        });
     }
 }

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

@@ -1,25 +1,18 @@
 package cn.iocoder.yudao.module.system.api.robot;
 
 import cn.hutool.core.util.ObjectUtil;
-import cn.hutool.json.JSONUtil;
 import cn.iocoder.yudao.framework.common.util.date.DateUtils;
 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.FloorZoneDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotCommandStateDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotCompleteTaskDTO;
-import cn.iocoder.yudao.module.system.api.robot.websocket.RobotSkuInfoDTO;
+import cn.iocoder.yudao.module.system.api.robot.vo.RobotSkuInfoDTO;
-import cn.iocoder.yudao.module.system.api.robot.websocket.WsWareHouseLocationDTO;
 import cn.iocoder.yudao.module.system.constant.CommonConstant;
-import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant;
-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.RobotExecutionStateConstant;
 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.log.vo.RobotTaskDetailActionLogSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
@@ -58,8 +51,6 @@ import java.time.LocalDateTime;
 import java.util.List;
 import java.util.UUID;
 
-import static cn.iocoder.yudao.module.system.service.robot.RobotInformationServiceImpl.key;
-
 @Slf4j
 @RestController // 提供 RESTful API 接口，给 Feign 调用
 @Validated
@@ -102,9 +93,6 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
     @Resource
     private CommonApi commonApi;
 
-    @Resource
-    public WebSocketSenderApi webSocketSenderApi;
-
     @Resource
     private RobotTaskDetailService taskDetailService;
 
@@ -123,9 +111,6 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
     @Value("${zn.robot_doing_action.doing_action_cache_time:2*24*60*60}")
     private Long doingActionCacheTime;
 
-    @Value("${zn.is_simulation:false}")
-    private Boolean isSimulation;
-
     @Transactional(rollbackFor = Exception.class)
     public void doRobotDoneTask(RobotCompleteTaskDTO robotCompleteTaskDTO) {
         log.info("机器人完成任务上报 :{}", JSON.toJSONString(robotCompleteTaskDTO));
@@ -192,8 +177,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DOING.getType()
                 , null);
 
-        if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
+        if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
-            || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()) ) {
             chargeDoing(robotCompleteTaskDTO);
         }
     }
@@ -259,7 +243,12 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 
         if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
                 || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
-            chargeLogMapper.updateChargStatusByTaskId(robotCompleteTaskDTO.getOrderId(),ChargeTaskStatusEnum.DONE.getType());
+            RobotChargeLogDO build = RobotChargeLogDO
+                    .builder()
+                    .id(robotCompleteTaskDTO.getOrderId())
+                    .taskStatus(ChargeTaskStatusEnum.CHARGEING.getType())
+                    .build();
+            chargeLogMapper.updateById(build);
         }
         taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType(), LocalDateTime.now());
 
@@ -288,7 +277,6 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         toWareHouseLocation.setLocationLock(LocationLockEnum.YES.getType());
         toWareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.YES.getType());
         locationMapper.updateById(toWareHouseLocation);
-        pushWareLocation(toWareHouseLocation,robotCompleteTaskDTO.getMac(),ZeroOneEnum.ONE.getType());
     }
 
     /**
@@ -343,25 +331,6 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         wareHouseLocationDO.setLocationLock(LocationLockEnum.YES.getType());
         wareHouseLocationDO.setLocationUseStatus(LocationUseStatusEnum.NO.getType());
         locationMapper.updateById(wareHouseLocationDO);
-        pushWareLocation(wareHouseLocationDO,robotCompleteTaskDTO.getMac(),ZeroOneEnum.ZERO.getType());
-    }
-
-    public void pushWareLocation(WareHouseLocationDO wareHouseLocationDO, String mac, Integer type) {
-        String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + mac;
-        Object floorAreaObject = redisUtil.get(floorAreaKey);
-        if (ObjectUtil.isEmpty(floorAreaObject)) {
-            return;
-        }
-        FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
-        String floorAreaStr = floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea();
-        WsWareHouseLocationDTO wsWareHouseLocation = new WsWareHouseLocationDTO();
-        wsWareHouseLocation.setActualLocationX(wareHouseLocationDO.getActualLocationX());
-        wsWareHouseLocation.setActualLocationY(wareHouseLocationDO.getActualLocationY());
-        wsWareHouseLocation.setType(type);
-        wsWareHouseLocation.setFloor(floorZoneDTO.getFloor());
-        wsWareHouseLocation.setArea(floorZoneDTO.getArea());
-        log.info("让3D推送修改库存 :{}", JSON.toJSONString(wsWareHouseLocation));
-        webSocketSenderApi.sendObject(floorAreaStr, WebSocketConstant.THREE_D_CHANGE_STOCK, JSON.toJSONString(wsWareHouseLocation));
     }
 
 
@@ -468,18 +437,28 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
     private void chargeDoing(RobotCompleteTaskDTO robotCompleteTaskDTO) {
 
         RobotCommandStateDTO commandStatus = robotCompleteTaskDTO.getCommandStatus();
+        Integer taskStatus = ChargeTaskStatusEnum.CHARGEING.getType();
 
-        //自动充电任务，移动到充电点就改为完成
+        //编辑地图会判断这表的状态,所以自动充电任务，移动到充电点就改为完成
         if (ObjectUtil.isNotEmpty(commandStatus) && CommandTypeEnum.MOVE_POSES.getType().equals(commandStatus.getCommandType())
                 && RobotExecutionStateConstant.DONE.equals(commandStatus.getExecutionState())) {
             taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType(), LocalDateTime.now());
-            setTaskDone(robotCompleteTaskDTO);
         }
 
-        chargeLogMapper.updateChargStatusByTaskId(robotCompleteTaskDTO.getOrderId(),ChargeTaskStatusEnum.CHARGEING.getType());
+        RobotChargeLogDO build = RobotChargeLogDO
+                .builder()
+                .id(robotCompleteTaskDTO.getOrderId())
+                .taskStatus(taskStatus)
+                .build();
+        chargeLogMapper.updateById(build);
     }
 
-    public RobotTaskDetailDO setTaskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
+    /**
+     * 任务完成
+     *
+     * @param robotCompleteTaskDTO
+     */
+    private void taskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
         //更新任务状态
         RobotTaskDetailDO detailDO = new RobotTaskDetailDO();
         detailDO.setId(robotCompleteTaskDTO.getOrderId());
@@ -491,8 +470,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
         List<RobotTaskDetailDO> taskDetails = robotTaskDetailMapper.queryByTaskId(robotTaskDetailDO.getRobotTaskId());
         boolean done =
-                taskDetails.stream().noneMatch(v -> (v.getTaskStatus().equals(RobotTaskDetailStatusEnum.NEW.getType()) ||
+                taskDetails.stream().noneMatch(v -> (v.getTaskStatus().equals(RobotTaskDetailStatusEnum.NEW.getType())));
-                        v.getTaskStatus().equals(RobotTaskDetailStatusEnum.DOING.getType())));
         if (done) {
             RobotTaskDO robotTaskDO = new RobotTaskDO();
             robotTaskDO.setId(taskDetails.get(0).getRobotTaskId());
@@ -501,17 +479,6 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
             robotTaskMapper.updateRobot(robotTaskDO);
             taskCycleMapper.deletByRobotTaskId(taskDetails.get(0).getRobotTaskId());
         }
-        return detailDO;
-    }
-
-    /**
-     * 任务完成
-     *
-     * @param robotCompleteTaskDTO
-     */
-    private void taskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
-
-        RobotTaskDetailDO robotTaskDetailDO  = setTaskDone(robotCompleteTaskDTO);
 
         RobotInformationDO robotInformationDO = robotInformationMapper.selectOne(new LambdaQueryWrapperX<RobotInformationDO>()
                 .eq(RobotInformationDO::getRobotNo, robotTaskDetailDO.getRobotNo()));
@@ -525,11 +492,6 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         //同步任务完成给PP
         pathPlanningService.updateBehavior(String.valueOf(robotCompleteTaskDTO.getOrderId()), robotTaskDetailDO.getRobotNo()
                 , "", PathIsReachEnum.END_WORK.getType());
-
-        if (!isSimulation) {
-            String plantingKey = PathPlanningChcheConstant.PATH_PLANNING_TASK + robotCompleteTaskDTO.getOrderId();
-            redisUtil.del(plantingKey);
-        }
     }
 
 
@@ -617,7 +579,6 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 
         String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
         logOne.setRobotNo(robotNo);
-        logOne.setOriginalRobotNo(robotNo);
         logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
         logOne.setTaskStage(robotTaskDetailDO.getTaskStage());
         logOne.setCommandType(PathTaskTypeEnum.getTaskType(robotTaskDetailDO.getTaskType()));

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

@@ -3,7 +3,6 @@ package cn.iocoder.yudao.module.system.api.robot;
 import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.system.api.robot.vo.RobotUpdatePalletHeightDTO;
-import cn.iocoder.yudao.module.system.constant.CommonConstant;
 import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
@@ -102,7 +101,7 @@ public class RobotUpdatePalletHeightApiImpl implements RobotUpdatePalletHeightAp
                 .warnCode(WARN_CODE)
                 .robotNo(robotNo)
                 .warnType(RobotWarnType.ROBOT_WARN.getType())
-                .warnMsg(data.getOrderId() + CommonConstant.SYMBOL + "不需要更新库位高度")
+                .warnMsg(data.getOrderId() + "_" + "不需要更新库位高度")
                 .build();
         warnMsgMapper.insert(warnMsg);
     }

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

@@ -1,13 +1,13 @@
-package cn.iocoder.yudao.module.system.schedul;
+package cn.iocoder.yudao.module.system.api.robot.schedul;
 
 import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
-import cn.iocoder.yudao.module.system.api.robot.websocket.RobotInformationVO;
+import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
-import cn.iocoder.yudao.module.system.constant.CommonConstant;
 import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant;
 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.task.TaskAssignDTO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
@@ -67,7 +67,7 @@ public class ScheduledTasks {
         }
 
         for (PositionMapDO positionMap : allMap) {
-            String key = FloorAreaConstant.FLOOR_AREA_ROBOT + positionMap.getFloor() + CommonConstant.SYMBOL + positionMap.getArea();
+            String key = FloorAreaConstant.FLOOR_AREA_ROBOT + positionMap.getFloor() + "-" + positionMap.getArea();
             Map<Object, Object> data = redisUtil.hmget(key);
             if (ObjectUtil.isEmpty(data)) {
                 continue;
@@ -86,7 +86,7 @@ public class ScheduledTasks {
             });
 
 //            log.info("3D发送数据:{}", JSON.toJSONString(map));
-            webSocketSenderApi.sendObject(positionMap.getFloor() + CommonConstant.SYMBOL + positionMap.getArea(), WebSocketConstant.THREE_D_MAP_PUSH, map);
+            webSocketSenderApi.sendObject(key, WebSocketConstant.THREE_D_MAP_PUSH, map);
         }
     }
 

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

@@ -1,4 +1,4 @@
-package cn.iocoder.yudao.module.system.api.robot.websocket;
+package cn.iocoder.yudao.module.system.api.robot.vo;
 
 import lombok.Data;
 

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

@@ -6,9 +6,4 @@ public class CommonConstant {
      * MDC请求常亮
      */
     public static final String REQUEST_ID = "requestId";
-
-    /**
-     * 拼接的符号 （不能改）
-     */
-    public static final String  SYMBOL = "_";
 }

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

@@ -13,11 +13,6 @@ public class WebSocketConstant {
      */
     public static String THREE_D_MAP_PUSH = "3d_map_push";
 
-    /**
-     * 3D地图修改库存
-     */
-    public static String THREE_D_CHANGE_STOCK = "3d_change_stock";
-
     /**
      * 推送地图点位信息
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogPageReqVO.java

@@ -57,6 +57,4 @@ public class RobotTaskDetailActionLogPageReqVO extends PageParam {
     @Schema(description = "是否已经统计(0:未统计、1：已经统计)")
     private Integer alreadyCounted;
 
-    @Schema(description = "这条任务第一次执行的AGV编号")
-    private String originalRobotNo;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogRespVO.java

@@ -69,7 +69,4 @@ public class RobotTaskDetailActionLogRespVO {
     @ExcelProperty("是否已经统计(0:未统计、1：已经统计)")
     private Integer alreadyCounted;
 
-    @Schema(description = "这条任务第一次执行的AGV编号")
-    @ExcelProperty("这条任务第一次执行的AGV编号")
-    private String originalRobotNo;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/RobotTaskDetailActionLogSaveReqVO.java

@@ -52,7 +52,4 @@ public class RobotTaskDetailActionLogSaveReqVO {
 
     @Schema(description = "是否已经统计(0:未统计、1：已经统计)")
     private Integer alreadyCounted;
-
-    @Schema(description = "这条任务第一次执行的AGV编号")
-    private String originalRobotNo;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/log/RobotTaskDetailActionLogDO.java

@@ -87,9 +87,5 @@ public class RobotTaskDetailActionLogDO extends BaseDO {
      * 时长,单位分钟
      */
     private Long duration;
-    /**
-     * 这条任务第一次执行的AGV编号
-     */
-    private String originalRobotNo;
 
 }

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

@@ -36,11 +36,4 @@ public interface RobotChargeLogMapper extends BaseMapperX<RobotChargeLogDO> {
      */
     List<String> getChargeFullRobotNos(@Param("chanceCycle") Integer chanceCycle,
                                        @Param("robotNos") List<String> robotNos);
-
-    /**
-     *
-     * @param taskDetailId
-     * @param taskStatus
-     */
-    void updateChargStatusByTaskId(@Param("taskDetailId") Long taskDetailId, @Param("taskStatus")  Integer taskStatus);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/bulletinboard/BulletinBoardServiceImpl.java

@@ -7,7 +7,7 @@ import cn.hutool.core.date.LocalDateTimeUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.json.JSONUtil;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
-import cn.iocoder.yudao.module.system.api.robot.websocket.RobotStatusDataPoseDTO;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.controller.admin.bulletinboard.vo.BulletinBoardVO;
 import cn.iocoder.yudao.module.system.controller.admin.bulletinboard.vo.RobotElectricityLevelVO;

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

@@ -5,22 +5,25 @@ 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.constant.CommonConstant;
+import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.*;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
+import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.robot.LocationEnableEnum;
 import cn.iocoder.yudao.module.system.enums.robot.LocationLockEnum;
 import cn.iocoder.yudao.module.system.enums.robot.LocationUseStatusEnum;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+import org.apache.commons.lang3.StringUtils;
 import org.springframework.stereotype.Service;
 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 java.util.Map;
 import java.util.function.Function;
@@ -74,7 +77,7 @@ public class HouseLocationServiceImpl extends ServiceImpl<WareHouseLocationMappe
             return;
         }
 
-        str = "修改库位信息:" + updateReqVO.getLocationNo() + CommonConstant.SYMBOL + str;
+        str = "修改库位信息:" + updateReqVO.getLocationNo() + "_" + str;
 
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
                 .operateAction(str)

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

@@ -60,7 +60,7 @@ public interface RobotTaskDetailActionLogService {
     RobotTaskDetailActionLogDO setPreviousTaskDoneByOrderId(Long orderId);
 
     /**
-     * 获取车辆的最后一条任务(限处理中的任务使用)
+     * 获取车辆的最后一条任务
      * @param robotNo
      * @return
      */
@@ -84,10 +84,4 @@ public interface RobotTaskDetailActionLogService {
      */
     List<RobotTaskDetailActionLogDO> getUnStatisticsDurationLog();
 
-    /**
-     * 获取这台车最后一次执行的任务(查真实的分配记录)
-     * @param robotNo
-     * @return
-     */
-    RobotTaskDetailActionLogDO getOriginalLastTaskByRobotNo(String robotNo);
 }

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

@@ -2,12 +2,19 @@ package cn.iocoder.yudao.module.system.service.log;
 
 import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.RobotTaskDetailActionLogPageReqVO;
 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.robot.RobotChargeLogDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
 import cn.iocoder.yudao.module.system.dal.mysql.log.RobotTaskDetailActionLogMapper;
+import cn.iocoder.yudao.module.system.enums.robot.RobotTaskStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.actionlog.ActionStatusEnum;
-import cn.iocoder.yudao.module.system.enums.robot.actionlog.CommandIdEnum;
+import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
+import com.alibaba.fastjson.JSON;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.scheduling.annotation.Async;
 import org.springframework.stereotype.Service;
 import javax.annotation.Resource;
 import org.springframework.validation.annotation.Validated;
@@ -127,18 +134,4 @@ public class RobotTaskDetailActionLogServiceImpl implements RobotTaskDetailActio
         return taskDetailActionLogMapper.getUnStatisticsDurationLog();
     }
 
-    /**
-     * 查这台车最后一次分配的任务
-     * @param robotNo
-     * @return
-     */
-    @Override
-    public RobotTaskDetailActionLogDO getOriginalLastTaskByRobotNo(String robotNo) {
-        return taskDetailActionLogMapper.selectOne(new LambdaQueryWrapperX<RobotTaskDetailActionLogDO>()
-                .eq(RobotTaskDetailActionLogDO::getOriginalRobotNo, robotNo)
-                .eq(RobotTaskDetailActionLogDO::getCommandId, CommandIdEnum.TASK.getType())
-                .orderByDesc(RobotTaskDetailActionLogDO::getCreateTime)
-                .last("limit 1"));
-    }
-
 }

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

@@ -9,7 +9,6 @@ import cn.iocoder.yudao.module.mqtt.api.path.dto.*;
 import cn.iocoder.yudao.module.mqtt.api.path.task.TaskPathPlanningDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
 import cn.iocoder.yudao.module.system.api.robot.vo.PathPlanningMovePoseVO;
-import cn.iocoder.yudao.module.system.constant.CommonConstant;
 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.RobotTaskChcheConstant;
@@ -504,7 +503,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + mac;
         Object floorAreaObject = redisUtil.get(floorAreaKey);
         FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
-        webSocketSenderApi.sendObject(floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea(),
+        webSocketSenderApi.sendObject(floorZoneDTO.getFloor() + "_" + floorZoneDTO.getArea(),
                 WebSocketConstant.PLANNING_MOVE_POSE, message);
     }
 
@@ -547,7 +546,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         }
 
         List<PositionMapItemDO> itemDOList = new ArrayList<>();
-        List<PositionMapItemDO> items = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.STOP.getType());
+        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);

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java

@@ -50,7 +50,6 @@ import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogServic
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 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.mapstop.RobotMapStopService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import cn.iocoder.yudao.module.system.util.redis.RedissonUtils;
@@ -58,7 +57,6 @@ import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import lombok.extern.slf4j.Slf4j;
 import org.redisson.api.RLock;
-import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 
 import javax.annotation.Resource;
@@ -125,10 +123,6 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
     @Resource
     private RobotTaskDetailService taskDetailService;
 
-    @Resource
-    @Lazy
-    private RobotTaskService taskService;
-
     @Resource
     private ControllerTaskTransferLogService controllerTaskTransferLogService;
 
@@ -330,12 +324,7 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
                 } catch (InterruptedException e) {
                     throw new RuntimeException(e);
                 }
-                RemoteRobotTransferDTO dto = doRobotChangeMode(remoteMode, remoteIp, robotNo, remoteControllerPort, remoteControllerIp);
+               return doRobotChangeMode(remoteMode, remoteIp, robotNo,remoteControllerPort,remoteControllerIp);
-                if (!RemoteModeEnum.AUTOMATIC.getType().equals(remoteMode)) {
-                    taskService.chargeDone(robotNo);
-                }
-
-                return dto;
             } finally {
                 lock.unlock();
             }

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

@@ -4,9 +4,10 @@ import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
-import cn.iocoder.yudao.module.system.api.robot.websocket.RobotInformationVO;
+import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
 import cn.iocoder.yudao.module.system.controller.admin.statistics.dto.RobotStatusClassificationDTO;
+import cn.iocoder.yudao.module.system.controller.admin.statistics.dto.RobotTaskManualInterventionDTO;
 import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;

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

@@ -21,9 +21,8 @@ import cn.iocoder.yudao.module.mqtt.enums.task.ExecutionTypeEnum;
 import cn.iocoder.yudao.module.system.api.robot.processor.RequestProcessor;
 import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
-import cn.iocoder.yudao.module.system.api.robot.websocket.RobotStatusDataPoseDTO;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
-import cn.iocoder.yudao.module.system.api.robot.websocket.RobotInformationVO;
+import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
-import cn.iocoder.yudao.module.system.constant.CommonConstant;
 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;
@@ -58,8 +57,6 @@ import cn.iocoder.yudao.module.system.enums.item.UseStatusEnum;
 import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum;
 import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeToRobotEnum;
 import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
-import cn.iocoder.yudao.module.system.enums.robot.LocationLockEnum;
-import cn.iocoder.yudao.module.system.enums.robot.LocationUseStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotTaskDetailStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotTaskModelEnum;
@@ -95,7 +92,6 @@ 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.*;
 
 /**
@@ -166,9 +162,6 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Value("${zn.full_electricity:95}")
     private String fullElectricity;
 
-    @Value("${zn.path_planning.task_chche_time:604800}")
-    private Long taskChcheTime;
-
     @Resource
     private RobotCameraService cameraService;
 
@@ -320,7 +313,6 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
     /**
      * 查询车辆所在的地图id
-     *
      * @param robotNo
      * @return
      */
@@ -452,14 +444,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             Object o = redisUtil.get(floorAreaKey);
             if (ObjectUtil.isNotEmpty(o)) {
                 FloorZoneDTO floorZone = JSON.parseObject((String) o, FloorZoneDTO.class);
-                String oldFloorArea = floorZone.getFloor() + CommonConstant.SYMBOL + floorZone.getArea();
+                String oldFloorArea = floorZone.getFloor() + "-" + floorZone.getArea();
                 redisUtil.hdel(oldFloorArea, robotInformationDO.getRobotNo());
                 redisUtil.del(floorAreaKey);
                 if (ObjectUtil.isNotEmpty(o)) {
                     String newFloorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + updateReqVO.getMacAddress();
                     redisUtil.set(newFloorAreaKey, JSON.toJSONString(floorZone));
                     Map<String, Object> map = new HashMap<>();
-                    String value = floorZone.getFloor() + CommonConstant.SYMBOL + floorZone.getArea();
+                    String value = floorZone.getFloor() + "-" + floorZone.getArea();
                     map.put(updateReqVO.getRobotNo(), value);
                     redisUtil.hmset(value, map);
                 }
@@ -512,7 +504,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         Object o = redisUtil.get(floorAreaKey);
         if (ObjectUtil.isNotEmpty(o)) {
             FloorZoneDTO floorZone = JSON.parseObject((String) o, FloorZoneDTO.class);
-            String oldFloorArea = floorZone.getFloor() + CommonConstant.SYMBOL + floorZone.getArea();
+            String oldFloorArea = floorZone.getFloor() + "-" + floorZone.getArea();
             redisUtil.hdel(oldFloorArea, robotInformationDO.getRobotNo());
             redisUtil.del(floorAreaKey);
         }
@@ -906,7 +898,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         robotInformationVO.setPose2d(robotStatusDataPoseDTO);
 
         // 模拟请求
-        processor.handleRequest(robotStatusDataDTO.getData().getFloor_zone().getFloor() + CommonConstant.SYMBOL + robotStatusDataDTO.getData().getFloor_zone().getArea(),
+        processor.handleRequest(robotStatusDataDTO.getData().getFloor_zone().getFloor() + "_" + robotStatusDataDTO.getData().getFloor_zone().getArea(),
                 robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(robotInformationVO));
 
     }
@@ -1081,16 +1073,10 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Transactional(rollbackFor = Exception.class)
     public void doTaskContinue(String robotNo) {
 
-        RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getOriginalLastTaskByRobotNo(robotNo);
+        RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getLastTaskByRobotNo(robotNo,CommandIdEnum.TASK.getType());
         if (ObjectUtil.isEmpty(actionLog)) {
             throw exception(ROBOT_LAST_TASK_NO_EXISTS);
         }
-
-        if (!actionLog.getRobotNo().equals(actionLog.getOriginalRobotNo())) {
-            throw exception0(TASK_ASSIGN_OTHER_ROBOT.getCode(), TASK_ASSIGN_OTHER_ROBOT.getMsg() + actionLog.getRobotNo(),
-                    TASK_ASSIGN_OTHER_ROBOT.getMsg() + actionLog.getRobotNo());
-        }
-
         String mac = getMacByRobotNo(robotNo);
         robotCloseTaskDetail(actionLog.getTaskDetailId() + "", mac, actionLog.getCommandType());
 
@@ -1172,10 +1158,6 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         List<TaskToPathPlanningDTO> pathPlanningList = new ArrayList<>();
         pathPlanningList.add(pathPlanning);
-
-        String plantingKey = PathPlanningChcheConstant.PATH_PLANNING_TASK + pathPlanning.getOrderId();
-        redisUtil.set(plantingKey, JSON.toJSONString(pathPlanning), taskChcheTime);
-
         log.info("任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
         commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
     }
@@ -1193,8 +1175,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             takeTask(pathPlanning, isRemote);
         } else if (PathTaskTypeEnum.RELEASE.getType().equals(actionLog.getCommandType())) {
             releaseTask(pathPlanning);
-        } else if (PathTaskTypeEnum.MOVE.getType().equals(actionLog.getCommandType())
+        } else if (PathTaskTypeEnum.MOVE.getType().equals(actionLog.getCommandType())) {
-            || PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(actionLog.getCommandType())) {
 
         }
     }
@@ -1233,14 +1214,11 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
      * @param pathPlanning
      */
     private void takeReleaseTask(TaskToPathPlanningDTO pathPlanning, Boolean isRemote) {
-
         RobotTaskDetailDO robotTaskDetail = checkTaskDone(pathPlanning.getOrderId());
-        String robotNo = pathPlanning.getRobotNoLimitationAreaDTOS().get(0).getRobotNo();
+        if (!RobotTaskStageEnum.TAKEING.getType().equals(robotTaskDetail.getTaskStage())
-        String mac = getMacByRobotNo(robotNo);
+                && !RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetail.getTaskStage())
-        String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + mac;
+                && !RobotTaskStageEnum.UN_START.getType().equals(robotTaskDetail.getTaskStage())) {
-        Object cargoDetected = redisUtil.get(cargoDetectedKey);
+            //只要放货
-        if (ObjectUtil.isNotEmpty(cargoDetected) && RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))) {
-            //说明取货完成
             pathPlanning.setTakeLevel(null);
             pathPlanning.setTakeGroupId(null);
             pathPlanning.setTakeLocationNumber(null);
@@ -1248,15 +1226,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             pathPlanning.setTakeOffsetHeight(null);
             pathPlanning.setTakeOffsetHeight(null);
             pathPlanning.setTaskType(PathTaskTypeToRobotEnum.DROP_OFF_GOODS.getType());
-            WareHouseLocationDO wareHouseLocation = wareHouseLocationMapper.selectById(robotTaskDetail.getFromLocationId());
+        } else {
-            if (wareHouseLocation.getTaskId().equals(robotTaskDetail.getTakeId()) && LocationLockEnum.NO.getType().equals(wareHouseLocation.getLocationLock())) {
-                wareHouseLocation.setSkuInfo(null);
-                wareHouseLocation.setSkuNumber(0L);
-                wareHouseLocation.setLocationLock(LocationLockEnum.YES.getType());
-                wareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.NO.getType());
-                wareHouseLocationMapper.updateById(wareHouseLocation);
-            }
-        }else {
             takeCheck(robotTaskDetail.getFromLocationId(), robotTaskDetail.getRobotTaskId(), isRemote);
         }
         releaseCheck(robotTaskDetail.getToLocationId(), robotTaskDetail.getRobotTaskId());
@@ -1541,15 +1511,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Override
     @Transactional(rollbackFor = Exception.class)
     public void rmoteTransferTaskToNewFreeRobo(String oldRobotNo, Long id, String robotNo) {
-        RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getOriginalLastTaskByRobotNo(oldRobotNo);
+        RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getLastTaskByRobotNo(robotNo,CommandIdEnum.TASK.getType());
         if (ObjectUtil.isEmpty(actionLog)) {
             log.info("车辆前一个任务不存在或已经完成");
             throw exception(ROBOT_LAST_TASK_NO_EXISTS);
         }
-        if (!oldRobotNo.equals(actionLog.getRobotNo())) {
+        if (!actionLog.getTaskDetailId().equals(id)) {
-            log.info("此任务已经被转移到车辆 :{}", actionLog.getRobotNo());
+            log.info("车辆最新的任务id是 ：{}, 车辆的前一个任务是 :{}", id, actionLog.getTaskDetailId());
-            throw exception0(TASK_ASSIGN_OTHER_ROBOT.getCode(), TASK_ASSIGN_OTHER_ROBOT.getMsg() + actionLog.getRobotNo(),
+            throw exception(ROBOT_LAST_TASK_NO_EXISTS);
-                    TASK_ASSIGN_OTHER_ROBOT.getMsg() + actionLog.getRobotNo());
         }
 
         if (ActionStatusEnum.DONE.getType().equals(actionLog.getActionStatus())) {
@@ -1593,9 +1562,6 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         resendToPPData(pathPlanning, actionLog, robotInformationDO, true);
 
-        String plantingKey = PathPlanningChcheConstant.PATH_PLANNING_TASK + pathPlanning.getOrderId();
-        redisUtil.set(plantingKey, JSON.toJSONString(pathPlanning), taskChcheTime);
-
         List<TaskToPathPlanningDTO> pathPlanningList = new ArrayList<>();
         pathPlanningList.add(pathPlanning);
         log.info("远遥任务转移, 任务下发给PP :{}", JSON.toJSONString(pathPlanningList));

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

@@ -109,10 +109,4 @@ public interface RobotTaskService extends IService<RobotTaskDO> {
      * 校验是否存在未完成的任务
      */
     void checkHaveDoingTask();
-
-    /**
-     * 设置车辆充电完成
-     * @param robotNo
-     */
-    void chargeDone(String robotNo);
 }

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

@@ -1,7 +1,9 @@
 package cn.iocoder.yudao.module.system.service.robot;
 
 import cn.hutool.core.bean.BeanUtil;
+import cn.hutool.core.date.DateUtil;
 import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.json.JSONUtil;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.date.DateUtils;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
@@ -12,6 +14,7 @@ import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.*;
 import cn.iocoder.yudao.module.mqtt.enums.task.ExecutionTypeEnum;
 import cn.iocoder.yudao.module.system.api.path.vo.RobotClosePathPlantingDTO;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
@@ -56,11 +59,13 @@ import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
 //import cn.iocoder.yudao.module.system.service.robot.job.RobotCommonTaskService;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskManualInterventionEnum;
 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.statistics.RobotWorkingHoursStatisticsService;
+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;
 import com.alibaba.fastjson.JSON;
@@ -553,34 +558,33 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
         if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getOrderType())
                 || PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getOrderType())) {
-            robotChargeLogs = chargeLogMapper.selectOne(new LambdaQueryWrapperX<RobotChargeLogDO>()
+            robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getOrderId());
-                    .eq(RobotChargeLogDO::getTaskDetailId, taskAssignDTO.getOrderId())
+
-                    .orderByDesc(RobotChargeLogDO::getCreateTime)
+            robotChargeLogs.setTaskStatus(ChargeTaskStatusEnum.DOING.getType());
-                    .last("limit 1"));
+            chargeLogMapper.updateById(robotChargeLogs);
 
-            chargeLogMapper.updateChargStatusByTaskId(taskAssignDTO.getOrderId(),ChargeTaskStatusEnum.CHARGEING.getType());
             robotStatus = RobotStatusEnum.CHARGE.getType();
-            if (ObjectUtil.isNotEmpty(robotChargeLogs) && ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId())) {
-                deviceNoMap.put(robotChargeLogs.getTaskDetailId(), robotChargeLogs.getDeviceNo());
-            }
 
-            if (ObjectUtil.isNotEmpty(robotChargeLogs) && ObjectUtil.isNotEmpty(robotChargeLogs.getDeviceNo())) {
+            if (ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId())) {
-                setDeviceUseing(robotChargeLogs.getDeviceNo(), taskAssignDTO.getRobotNo());
+                deviceNoMap.put(robotChargeLogs.getTaskDetailId(), robotChargeLogs.getDeviceNo());
             }
         }
 
-//        chargeDone(taskAssignDTO.getRobotNo());
+        chargeDone(taskAssignDTO.getRobotNo());
 
         robotInformationMapper.updateRobotListStatus(taskAssignDTO.getRobotNo(), robotStatus, taskAssignDTO.getOrderId());
 
         RobotTaskDO robotTaskDO = setTaskDoing(taskAssignDTO.getOrderId(), taskAssignDTO.getRobotNo(), deviceNoMap, taskAssignDTO.getWaitId());
 
+        if (ObjectUtil.isNotEmpty(robotChargeLogs) && ObjectUtil.isNotEmpty(robotChargeLogs.getDeviceNo())) {
+            setDeviceUseing(robotChargeLogs.getDeviceNo(), taskAssignDTO.getRobotNo());
+        }
+
         RobotTaskDetailActionLogSaveReqVO logOne = new RobotTaskDetailActionLogSaveReqVO();
         logOne.setCommandType(taskAssignDTO.getOrderType());
         String actionMsg = taskAssignDTO.getRobotActionMsg() + robotTaskDO.getTaskNo();
         logOne.setActionMsg(actionMsg);
         logOne.setRobotNo(taskAssignDTO.getRobotNo());
-        logOne.setOriginalRobotNo(taskAssignDTO.getRobotNo());
         logOne.setStartTime(LocalDateTime.now());
         logOne.setTaskNo(robotTaskDO.getTaskNo());
         logOne.setCommandId(-1L);
@@ -1459,12 +1463,10 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
      *
      * @param robotNo
      */
-    @Override
+    private void chargeDone(String robotNo) {
-    public void chargeDone(String robotNo) {
         RobotInformationDO robotInformationDO = robotInformationMapper.selectOne(new LambdaQueryWrapperX<RobotInformationDO>()
                 .eq(RobotInformationDO::getRobotNo, robotNo));
         if (!RobotStatusEnum.CHARGE.getType().equals(robotInformationDO.getRobotStatus())) {
-            log.info("车辆非充电状态:{}",robotNo);
             return;
         }
 

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

@@ -1,12 +1,16 @@
 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;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnCodeMappingMapper;
 import com.alibaba.fastjson.JSON;
+import com.baomidou.mybatisplus.core.metadata.IPage;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
@@ -14,11 +18,18 @@ import javax.annotation.Resource;
 import javax.servlet.http.HttpServletResponse;
 
 import org.springframework.validation.annotation.Validated;
+import org.springframework.transaction.annotation.Transactional;
+import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.serializer.SerializerFeature;
+import org.apache.commons.io.FileUtils;
+import org.springframework.context.annotation.PropertySource;
+import org.springframework.web.multipart.MultipartFile;
 
+import javax.servlet.http.HttpServletResponse;
 import java.io.*;
 import java.net.URLEncoder;
 import java.nio.charset.StandardCharsets;
+import java.util.HashMap;
 import java.util.Map;
 
 import java.util.*;
@@ -26,6 +37,7 @@ 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;
 
 

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

@@ -8,7 +8,6 @@ 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.infra.api.websocket.WebSocketSenderApi;
-import cn.iocoder.yudao.module.system.constant.CommonConstant;
 import cn.iocoder.yudao.module.system.constant.webSocket.WebSocketConstant;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnMsgPageReqVO;
@@ -119,7 +118,7 @@ public class RobotWarnMsgServiceImpl extends ServiceImpl<RobotWarnMsgMapper, Rob
             return;
         }
         for (PositionMapDO positionMapDO : positionMapDOS) {
-            webSocketSenderApi.sendObject(positionMapDO.getFloor() + CommonConstant.SYMBOL + positionMapDO.getArea(),
+            webSocketSenderApi.sendObject(positionMapDO.getFloor() + "_" + positionMapDO.getArea(),
                     WebSocketConstant.AGV_WARN, JSONUtil.toJsonStr(errorMsg));
         }
 
@@ -178,26 +177,13 @@ public class RobotWarnMsgServiceImpl extends ServiceImpl<RobotWarnMsgMapper, Rob
     @Override
     public Map<String, List<RobotWarnMsgClassificationDTO>> robotWarnMsgClassification(String type) {
 
+
         if (TimeTypeEnum.WEEK.getType().equals(type)) {
             List<RobotWarnMsgClassificationDTO> data = warnMsgMapper.getRobotWarnMsgClassification(type);
             if (ObjectUtil.isEmpty(data)) {
                 return null;
             }
-
+            return data.stream().collect(Collectors.groupingBy(RobotWarnMsgClassificationDTO::getWarnTime));
-            Map<String, List<RobotWarnMsgClassificationDTO>> map =
-                    data.stream().collect(Collectors.groupingBy(RobotWarnMsgClassificationDTO::getWarnTime));
-
-            Calendar now = Calendar.getInstance();
-            now.setTime(new Date());
-            for (int i = 0; i < 7; i++) {
-                String timeStr = DateUtils.getYYYMMDD(now.getTime());
-                if (!map.containsKey(timeStr)) {
-                    map.put(timeStr,new ArrayList<>());
-                }
-                now.set(Calendar.DATE, now.get(Calendar.DATE) - 1);
-            }
-
-            return map;
         }
 
         //季度是90天，分成10份，是9. getMonthData已经扣了1，所以是8
@@ -212,7 +198,7 @@ public class RobotWarnMsgServiceImpl extends ServiceImpl<RobotWarnMsgMapper, Rob
     /**
      * 按月查询
      *
-     * @param day
+     * @param data
      * @return
      */
     private LinkedHashMap<String, List<RobotWarnMsgClassificationDTO>> getMonthData(int day) {
@@ -234,7 +220,7 @@ public class RobotWarnMsgServiceImpl extends ServiceImpl<RobotWarnMsgMapper, Rob
             String endTime = DateUtils.getYYYMMDD(endDate);
             List<RobotWarnMsgClassificationDTO> data = warnMsgMapper.getRobotWarnMsgByTime(startTime, endTime);
 
-            String key = startKeyDateStr + CommonConstant.SYMBOL + endTime;
+            String key = startKeyDateStr + "_" + endTime;
             map.put(key, data);
         }
         return map;

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

@@ -15,9 +15,7 @@ import com.google.common.collect.Sets;
 import org.apache.commons.lang3.StringUtils;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
-
 import javax.annotation.Resource;
-
 import org.springframework.validation.annotation.Validated;
 import org.springframework.transaction.annotation.Transactional;
 
@@ -92,7 +90,6 @@ public class RobotCameraServiceImpl extends ServiceImpl<RobotCameraMapper, Robot
 
     /**
      * 判断IP是否存在
-     *
      * @param cameraAddVOList
      */
     @Override
@@ -110,7 +107,7 @@ public class RobotCameraServiceImpl extends ServiceImpl<RobotCameraMapper, Robot
         }
         List<String> ips = robotCameraDOs.stream().map(RobotCameraDO::getCameraIp).collect(Collectors.toList());
         String join = StringUtils.join(ips, ",");
-        throw exception(CAMERA_IP_EXIST, "以下摄像头IP已经存在 " + join);
+        throw exception(CAMERA_IP_EXIST,"以下摄像头IP已经存在 "+join);
     }
 
     @Override
@@ -119,47 +116,20 @@ public class RobotCameraServiceImpl extends ServiceImpl<RobotCameraMapper, Robot
         List<RobotCameraDO> cameraDOList = BeanUtils.toBean(cameraAddVOList, RobotCameraDO.class);
         for (RobotCameraDO robotCameraDO : cameraDOList) {
             try {
-                setCameraAccountAndPassword(robotCameraDO);
+                if (ObjectUtil.isEmpty(robotCameraDO.getId())) {
+                    robotCameraDO.setCameraAccount(AESEncryptionUtil.encrypt(robotCameraDO.getCameraAccount(),cameraSecretKey));
+                    robotCameraDO.setCameraPassword(AESEncryptionUtil.encrypt(robotCameraDO.getCameraPassword(),cameraSecretKey));
+                }
             } catch (Exception e) {
-                throw exception(CAMERA_DECRYPTION_FAILED);
+                throw new RuntimeException(e);
             }
             robotCameraDO.setRobotNo(robotNo);
         }
         cameraMapper.insert(cameraDOList);
     }
 
-    private void setCameraAccountAndPassword(RobotCameraDO robotCameraDO) {
-        if (ObjectUtil.isEmpty(robotCameraDO.getId())) {
-            try {
-                robotCameraDO.setCameraAccount(AESEncryptionUtil.encrypt(robotCameraDO.getCameraAccount(), cameraSecretKey));
-                robotCameraDO.setCameraPassword(AESEncryptionUtil.encrypt(robotCameraDO.getCameraPassword(), cameraSecretKey));
-            } catch (Exception e) {
-                throw new RuntimeException(e);
-            }
-        } else {
-            robotCameraDO.setCameraAccount(getEncrypt(robotCameraDO.getCameraAccount()));
-            robotCameraDO.setCameraPassword(getEncrypt(robotCameraDO.getCameraPassword()));
-        }
-    }
-
-    public String getEncrypt(String str){
-        try {
-            AESEncryptionUtil.decrypt(str, cameraSecretKey);
-            return str;
-        } catch (Exception e) {
-
-        }
-
-        try {
-            return AESEncryptionUtil.encrypt(str, cameraSecretKey);
-        } catch (Exception e) {
-            throw new RuntimeException(e);
-        }
-    }
-
     /**
      * 根据车辆编号删除
-     *
      * @param robotNo
      */
     @Override

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

@@ -7,7 +7,7 @@ import cn.iocoder.yudao.framework.common.util.date.DateUtils;
 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.system.api.robot.websocket.RobotStatusDataPoseDTO;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.controller.admin.config.vo.CommonConfigVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO;
@@ -30,6 +30,7 @@ import cn.iocoder.yudao.module.system.enums.device.DeviceUseStatusEnum;
 import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
 import cn.iocoder.yudao.module.system.enums.robot.*;
 import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeModelEnum;
+import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
 import cn.iocoder.yudao.module.system.service.robot.pathplanning.RobotPathPlanningService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;

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

@@ -4,7 +4,7 @@ import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.json.JSONUtil;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
-import cn.iocoder.yudao.module.system.api.robot.websocket.RobotStatusDataPoseDTO;
+import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.constant.robot.RobotStatusCodeConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.controller.admin.config.vo.CommonConfigVO;

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

@@ -34,7 +34,6 @@ import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
 import cn.iocoder.yudao.module.system.enums.robot.*;
 import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeModelEnum;
 import cn.iocoder.yudao.module.system.enums.robot.information.ChargeTypeEnum;
-import cn.iocoder.yudao.module.system.service.robot.RobotTaskService;
 import cn.iocoder.yudao.module.system.service.robot.job.DistributeTasksService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;
@@ -43,7 +42,6 @@ import org.apache.commons.lang3.tuple.ImmutablePair;
 import org.apache.commons.lang3.tuple.Pair;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
-import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
@@ -107,10 +105,6 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     @Resource
     private CommonApi commonApi;
 
-    @Resource
-    @Lazy
-    private RobotTaskService taskService;
-
     /**
      * 下发任务给PP
      */
@@ -256,9 +250,6 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         List<RobotTaskDetailAddVO> taskDetails = new ArrayList<>();
         List<RobotTaskDO> tasks = new ArrayList<>();
         for (PositionMapItemDO v : robotMapItems) {
-
-            taskService.chargeDone(v.getRobotNo());
-
             RobotTaskDO task = new RobotTaskDO();
             String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.MOVE_TASK_NO.getKey());
             task.setTaskNo(moveTaskNo + DateUtils.getYearMonthDay() + incrementByKey);
@@ -401,10 +392,6 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         //前一个任务是仅取货
         List<String> robotDoTake = getRobotDoTake(robots);
 
-        for (RobotInformationDO robot : robots) {
-            taskService.chargeDone(robot.getRobotNo());
-        }
-
         List<PositionMapItemDO> positionMapItems = positionMapItemMapper.selectList(new LambdaQueryWrapperX<PositionMapItemDO>()
                 .eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType())
                 .eq(PositionMapItemDO::getUseStatus, UseStatusEnum.FREE.getType()));
@@ -482,7 +469,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                 pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
                 pathPlanning.setReleasePointId(toLocation.getMapItemId());
 
-                pathPlanningSetReleaseHeight(pathPlanning, toLocation);
+                pathPlanningSetReleaseHeight(pathPlanning,toLocation);
                 pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
                 pathPlanning.setReleaseOffsetHeight(offsetHeight);
                 if (ObjectUtil.isNotEmpty(taskDetailDO.getToLaneId())) {
@@ -506,19 +493,18 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
     /**
      * 设置放货高度
-     *
      * @param pathPlanning
      * @param toLocation
      */
     private void pathPlanningSetReleaseHeight(TaskToPathPlanningDTO pathPlanning, WareHouseLocationDO toLocation) {
-        if (ZeroOneEnum.ONE.getType().equals(toLocation.getLocationStorey())) {
+        if ( ZeroOneEnum.ONE.getType().equals(toLocation.getLocationStorey())) {
             pathPlanning.setReleaseHeight(0.0);
             return;
         }
 
         WareHouseLocationDO nextLocation = locationMapper.selectOne(new LambdaQueryWrapperX<WareHouseLocationDO>()
                 .eq(WareHouseLocationDO::getId, toLocation.getMapItemId())
-                .eq(WareHouseLocationDO::getLocationStorey, toLocation.getLocationStorey() - 1)
+                .eq(WareHouseLocationDO::getLocationStorey, toLocation.getLocationStorey()-1)
                 .last("limit 1"));
         if (ObjectUtil.isNotEmpty(nextLocation) && ObjectUtil.isNotEmpty(nextLocation.getLocationTotalHeight())) {
             pathPlanning.setReleaseHeight(Double.valueOf(nextLocation.getLocationTotalHeight() + ""));
@@ -527,7 +513,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
         Integer locationStorey = toLocation.getLocationStorey() - 1;
         double height = locationStorey * defaultTrayHeight;
-        log.info("放货设置默认高度 :{}", pathPlanning.getReleaseHeight());
+        log.info("放货设置默认高度 :{}",pathPlanning.getReleaseHeight());
         pathPlanning.setReleaseHeight(height);
     }
 
@@ -544,7 +530,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         }
         Integer locationStorey = fromLocation.getLocationStorey();
         double height = locationStorey * defaultTrayHeight;
-        log.info("取货设置默认取货高度 :{}", height);
+        log.info("取货设置默认取货高度 :{}",height);
         pathPlanning.setTakeHeight(height);
     }
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/aes/AESEncryptionUtil.java

@@ -8,13 +8,6 @@ import java.util.Base64;
 public class AESEncryptionUtil {
     private static final String AES_ALGORITHM = "AES";
 
-    /**
-     * 加密
-     * @param plaintext
-     * @param key
-     * @return
-     * @throws Exception
-     */
     public static String encrypt(String plaintext, String key) throws Exception {
         SecretKeySpec secretKey = new SecretKeySpec(key.getBytes(StandardCharsets.UTF_8), AES_ALGORITHM);
         Cipher cipher = Cipher.getInstance(AES_ALGORITHM);
@@ -23,13 +16,6 @@ public class AESEncryptionUtil {
         return Base64.getEncoder().encodeToString(encryptedBytes);
     }
 
-    /**
-     * 解密
-     * @param ciphertext
-     * @param key
-     * @return
-     * @throws Exception
-     */
     public static String decrypt(String ciphertext, String key) throws Exception {
         SecretKeySpec secretKey = new SecretKeySpec(key.getBytes(StandardCharsets.UTF_8), AES_ALGORITHM);
         Cipher cipher = Cipher.getInstance(AES_ALGORITHM);

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

@@ -2,17 +2,6 @@
 <!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
 <mapper namespace="cn.iocoder.yudao.module.system.dal.mysql.robot.RobotChargeLogMapper">
 
-
-    <update id="updateChargStatusByTaskId">
-        update
-            robot_charge_log
-        set
-            task_status = #{taskStatus}
-        where
-            task_detail_id = #{taskDetailId}
-        and deleted = '0'
-    </update>
-
     <!--
         一般情况下，尽可能使用 Mapper 进行 CRUD 增删改查即可。
         无法满足的场景，例如说多表关联查询，才使用 XML 编写 SQL。

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

@@ -55,6 +55,12 @@
                 <when test="type == 1">
                     AND DATE_SUB(CURDATE(), INTERVAL 7 DAY) &lt;= date(create_time)
                 </when>
+                <when test="type == 2">
+                    AND DATE_SUB(CURDATE(), INTERVAL 30 DAY) &lt;= date(create_time)
+                </when>
+                <when test="type == 3">
+                    AND DATE_SUB(CURDATE(), INTERVAL 90 DAY) &lt;= date(create_time)
+                </when>
             </choose>
         </where>
         GROUP BY warnTime ,warn_level