地图配置

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

@@ -150,7 +150,7 @@ public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi {
                     .warnCode(robotStatusData.getErrorCode())
                     .robotNo(robotNo)
                     .warnType(RobotWarnType.ROBOT_WARN.getType())
-                    .warnMsg(robotNo + CommonConstant.SYMBOL + mappingDOS.getWarnMsg())
+                    .warnMsg(robotNo+"号车" + CommonConstant.SYMBOL + mappingDOS.getWarnMsg())
                     .warnSolve(mappingDOS.getWarnSolve())
                     .build();
 

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

@@ -147,7 +147,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
             return;
         }
 
-        if (RobotExecutionStateConstant.UN_DO.equals(robotCompleteTaskDTO.getExecutionState())
+        if (ObjectUtil.isNotEmpty(robotCompleteTaskDTO.getCommandStatus())
+                && RobotExecutionStateConstant.UN_DO.equals(robotCompleteTaskDTO.getCommandStatus().getExecutionState())) {
+            log.info("任务未开始 :{}", robotCompleteTaskDTO.getOrderId());
+        } else if (RobotExecutionStateConstant.UN_DO.equals(robotCompleteTaskDTO.getExecutionState())
                 || RobotExecutionStateConstant.STOP.equals(robotCompleteTaskDTO.getExecutionState())
                 || RobotExecutionStateConstant.CLOSE.equals(robotCompleteTaskDTO.getExecutionState())) {
             log.info("任务未开始/暂停/取消 :{}", robotCompleteTaskDTO.getOrderId());
@@ -244,6 +247,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
             redisUtil.del(RobotTaskChcheConstant.ROBOT_TASK_SKU_INFO + robotCompleteTaskDTO.getMac());
         }
         //todo 后面考虑下充电，车机目前对充电的逻辑未定义
+        RobotTaskDetailDO robotTaskDetail = null;
         if (PathTaskTypeEnum.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())
                 || PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())
                 || PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(robotCompleteTaskDTO.getOrderType())
@@ -251,7 +255,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 || PathTaskTypeEnum.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())
                 || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
                 || PathTaskTypeEnum.RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
-            taskDone(robotCompleteTaskDTO);
+            robotTaskDetail = taskDone(robotCompleteTaskDTO);
 
         } else if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
             RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
@@ -263,7 +267,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 robotTaskDetailMapper.updateById(robotTaskDetailDO);
                 return;
             } else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType())) {
-                taskDone(robotCompleteTaskDTO);
+                robotTaskDetail = taskDone(robotCompleteTaskDTO);
             }
         }
 
@@ -273,6 +277,29 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         }
         taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType(), LocalDateTime.now());
 
+        addTaskDetailActionDoneLog(robotCompleteTaskDTO, robotTaskDetail);
+    }
+
+    private void addTaskDetailActionDoneLog(RobotCompleteTaskDTO robotCompleteTaskDTO, RobotTaskDetailDO robotTaskDetail) {
+        RobotTaskDetailActionLogSaveReqVO logOne = new RobotTaskDetailActionLogSaveReqVO();
+        String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
+        logOne.setActionMsg("车辆 " + robotNo + " 完成任务");
+        logOne.setRobotNo(robotNo);
+        logOne.setOriginalRobotNo(robotNo);
+        logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
+        if (ObjectUtil.isNotEmpty(robotTaskDetail)) {
+            logOne.setTaskStage(robotTaskDetail.getTaskStage());
+            logOne.setCommandType(PathTaskTypeEnum.getTaskType(robotTaskDetail.getTaskType()));
+        }
+//        logOne.setTaskNo(robotTask.getTaskNo());
+        logOne.setActionStatus(ActionStatusEnum.DONE.getType());
+        logOne.setStartTime(LocalDateTime.now());
+        logOne.setEndTime(LocalDateTime.now());
+        Long mapId = robotInformationService.getRobotMapIdByRobotNo(robotNo);
+        if (ObjectUtil.isNotEmpty(mapId)) {
+            logOne.setPositionMapId(mapId);
+        }
+        taskDetailActionLogService.createTaskDetailActionLog(logOne);
     }
 
     /**
@@ -413,16 +440,18 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
         if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())
                 || PathTaskTypeEnum.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
+            RobotTaskDetailDO detailDO = new RobotTaskDetailDO();
             if (RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetailDO.getTaskStage())
                     || RobotTaskStageEnum.UN_START.getType().equals(robotTaskDetailDO.getTaskStage())) {
-                robotTaskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.NEW.getType());
+                detailDO.setTaskStatus(RobotTaskDetailStatusEnum.NEW.getType());
-                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.UN_START.getType());
+                detailDO.setTaskStage(RobotTaskStageEnum.UN_START.getType());
 
                 if (!znConfigConstant.getIsSimulation()) {
 //                    robotTaskDetailDO.setRobotNo("");
                 }
-                robotTaskDetailDO.setOccurError(ZeroOneEnum.ZERO.getType());
+                detailDO.setOccurError(ZeroOneEnum.ZERO.getType());
-                robotTaskDetailMapper.updateById(robotTaskDetailDO);
+//                robotTaskDetailMapper.updateById(robotTaskDetailDO);
+                robotTaskDetailMapper.updateRobotDetailById(detailDO);
                 String taskNo = taskDetailService.getTaskNoByDetailId(robotCompleteTaskDTO.getOrderId());
                 msg = robotNo + "_" + "车辆发生异常,重新分配其他车辆执行此任务" + taskNo + " - " + robotCompleteTaskDTO.getOrderId();
             }
@@ -537,7 +566,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      *
      * @param robotCompleteTaskDTO
      */
-    private void taskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
+    private RobotTaskDetailDO taskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
 
         RobotTaskDetailDO robotTaskDetailDO = setTaskDone(robotCompleteTaskDTO);
 
@@ -558,6 +587,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
             String plantingKey = PathPlanningChcheConstant.PATH_PLANNING_TASK + robotCompleteTaskDTO.getOrderId();
             redisUtil.del(plantingKey);
         }
+        return robotTaskDetailDO;
     }
 
 
@@ -571,6 +601,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 
         RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
         Long taskStage = robotTaskDetailDO.getTaskStage();
+        log.info("任务 :{} , 当前阶段 :{}", robotCompleteTaskDTO.getOrderId(), taskStage);
 
         RobotTaskDO robotTask = robotTaskMapper.selectById(robotTaskDetailDO.getRobotTaskId());
 
@@ -579,7 +610,12 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 
         RobotTaskDetailActionLogSaveReqVO logOne = new RobotTaskDetailActionLogSaveReqVO();
         if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
-            if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType) && RobotTaskStageEnum.UN_START.getType().equals(taskStage)) {
+            if (CommandTypeEnum.WORK_PICK_UP_GOODS_MOVE_TO_CHECK.getType().equals(commandType)) {
+                logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getFromLocationNo() + "取货");
+                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_TAKE.getType());
+            } else if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType) && (RobotTaskStageEnum.UN_START.getType().equals(taskStage)
+                    || RobotTaskStageEnum.GO_TAKE.getType().equals(taskStage)
+                    || RobotTaskStageEnum.TAKEING.getType().equals(taskStage))) {
                 logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getFromLocationNo() + "取货");
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_TAKE.getType());
             } else if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(commandType)) {
@@ -590,7 +626,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
             } else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(commandType)) {
                 logOne.setActionMsg("车辆正在放货" + robotTaskDetailDO.getToLocationNo());
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING.getType());
-            } else if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) {
+            } else if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)
+                    || CommandTypeEnum.WORK_DROP_OFF_GOODS_MOVE_TO_CHECK.getType().equals(commandType)) {
                 logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo() + "放货");
                 if (!RobotTaskStageEnum.DONE.getType().equals(taskStage)) {
                     robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
@@ -636,7 +673,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo() + "放货");
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
             } else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(commandType)) {
-                logOne.setActionMsg("车辆正在放货"+ robotTaskDetailDO.getToLocationNo());
+                logOne.setActionMsg("车辆正在放货" + robotTaskDetailDO.getToLocationNo());
                 if (!RobotTaskStageEnum.DONE.getType().equals(taskStage)) {
                     robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING.getType());
                 }

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

@@ -1,5 +1,6 @@
 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.RobotWorkStatusDTO;
 import cn.iocoder.yudao.module.system.constant.robot.RobotExecutionStateConstant;
@@ -47,6 +48,10 @@ public class RobotWorkStatusApiImpl implements RobotWorkStatusApi {
 
         TenantContextHolder.setTenantId(1L);
         RobotWorkStatusDTO data = JSON.parseObject(message, RobotWorkStatusDTO.class);
+        if (ObjectUtil.isEmpty(data.getOrderId())) {
+            log.info("任务id为空,不进行处理");
+            return;
+        }
         String robotNo = robotInformationService.getRobotNoByMac(data.getMac());
         RobotOperationLogSaveReqVO createReqVO = RobotOperationLogSaveReqVO.builder()
                 .orderId(Long.valueOf(data.getOrderId()))

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mqtt/util/MqttUtils.java

@@ -72,9 +72,9 @@ public class MqttUtils {
         }
 
         if (message.length() > 510) {
-            log.info("发送的主题 :{}, 内容 :{}",topic, message.substring(0, 500));
+            log.info("111111发送的主题 :{}, 内容 :{}",topic, message.substring(0, 500));
         }else {
-            log.info("发送的主题 :{}, 内容 :{}",topic, message);
+            log.info("111111发送的主题 :{}, 内容 :{}",topic, message);
         }
     }
 

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

@@ -36,4 +36,6 @@ public class ZnConfigConstant {
     private Boolean taskNotCheck;
     private Double checkShortestDistance;
     private Double checkLongestDistance;
+    private String mapCheckDistance;
+    private String mapArcOffset;
 }

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

@@ -11,6 +11,7 @@ import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
 import cn.iocoder.yudao.module.system.api.path.PathApi;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.NodeBaseDTO;
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionMapConfigDTO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionMapItemNodeDTO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemRespVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemSaveReqVO;
@@ -165,4 +166,12 @@ public class PositionMapItemController {
         map.put("LINE",lineList);
         return success(map);
     }
+
+    @GetMapping("/getCheckDistance")
+    @Operation(summary = "获取检测点距离")
+    @PreAuthorize("@ss.hasPermission('system:position-map-item:getCheckDistance')")
+    public CommonResult<PositionMapConfigDTO> getCheckDistance() {
+        PositionMapConfigDTO distance = positionMapItemService.getCheckDistance();
+        return success(distance);
+    }
 }

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

@@ -0,0 +1,14 @@
+package cn.iocoder.yudao.module.system.controller.admin.positionmap.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Schema(description = "地图配置")
+@Data
+public class PositionMapConfigDTO {
+    @Schema(description = "库位到检测点距离")
+    private String mapCheckDistance;
+
+    @Schema(description = "弧线偏移量")
+    private String mapArcOffset;
+}

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

@@ -128,7 +128,6 @@ public class RobotInformationController {
     @Operation(summary = "获得车辆信息分页")
     @PreAuthorize("@ss.hasPermission('robot:information:list')")
     public CommonResult<PageResult<RobotInformationPageRespVO>> getRobotList(@Valid RobotInformationPageReqVO pageReqVO) {
-        pageReqVO.setPageSize(300);
         PageResult<RobotInformationPageRespVO> pageResult = informationService.getInformationPage(pageReqVO);
         return success(BeanUtils.toBean(pageResult, RobotInformationPageRespVO.class));
     }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java

@@ -61,4 +61,6 @@ public interface RobotTaskDetailActionLogMapper extends BaseMapperX<RobotTaskDet
      * @return
      */
     List<RobotTaskDetailActionLogDO> getLastTwoTask(@Param("robotNo") String robotNo);
+
+    void alreadyCounted(@Param("ids") List<Long> ids);
 }

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

@@ -92,4 +92,6 @@ public interface RobotInformationMapper extends BaseMapperX<RobotInformationDO>
     RobotInformationDO selectByRobotNoAndIdNotIn(@Param("robotNo") String robotNo, @Param("id") Long id);
 
     RobotInformationDO selectByMacAndIdNotIn(@Param("macAddress") String macAddress,@Param("id") Long id);
+
+    void initRobotInformation();
 }

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

@@ -167,4 +167,13 @@ public interface RobotTaskDetailMapper extends BaseMapperX<RobotTaskDetailDO> {
      * @return
      */
     RobotTaskManualInterventionDTO getRobotTaskAutomaticArtificial(@Param("type") String type);
+
+    /**
+     * 清除所有数据
+     */
+    void truncate();
+
+    List<RobotTaskDetailDO> selectAutoCreateCycleTaskForever();
+
+    void setTaskUnDo(@Param("ids") List<Long> ids);
 }

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

@@ -86,4 +86,11 @@ public interface RobotTaskMapper extends BaseMapperX<RobotTaskDO> {
      * @return
      */
     List<RobotTaskDO> selectDoingTaskByRobotNo(@Param("robotNo") String robotNo);
+
+    /**
+     * 清除所有数据
+     */
+    void truncate();
+
+    void setTaskUnDo(@Param("ids") Set<Long> ids);
 }

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

@@ -28,6 +28,6 @@ public enum DurationTypeEnum {
             || PathTaskTypeEnum.AUTO_CHARGE.getType().equals(commonType)) {
             return CHARGE_TIME.type;
         }
-        return CHARGE_TIME.type;
+        return TASK_TIME.type;
     }
 }

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

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

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

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

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

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

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

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

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

@@ -174,6 +174,12 @@ public class PathPlanningServiceImpl implements PathPlanningService {
             assembleDataToPP(relatedPathNode, positionMapLineDOS);
         }
 
+        try {
+            Thread.sleep(2000);
+        } catch (InterruptedException e) {
+            throw new RuntimeException(e);
+        }
+
 //        commonApi.commonMethod(new PositionMapLineDTO(), PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_LINE_END);
         mqttUtils.pub(PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_LINE_END,JSON.toJSONString(new PositionMapLineDO()));
     }

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

@@ -2,6 +2,7 @@ package cn.iocoder.yudao.module.system.service.positionmap;
 
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionMapConditionDTO;
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionMapConfigDTO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
@@ -151,4 +152,6 @@ public interface PositionMapItemService extends IService<PositionMapItemDO> {
      * @param mapId
      */
     void checkHaveBindChangePoint(Long mapId);
+
+    PositionMapConfigDTO getCheckDistance();
 }

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

@@ -7,9 +7,11 @@ import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.Pose2ds;
+import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionMapConditionDTO;
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionMapConfigDTO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnMsgSaveReqVO;
@@ -26,6 +28,7 @@ import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import org.apache.commons.lang3.StringUtils;
+import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
@@ -66,6 +69,9 @@ public class PositionMapItemServiceImpl extends ServiceImpl<PositionMapItemMappe
     @Resource
     private PositionChangePointBindingMapper positionChangePointBindingMapper;
 
+    @Autowired
+    private ZnConfigConstant znConfigConstant;
+
     @Override
     public Long createPositionMapItem(PositionMapItemSaveReqVO createReqVO) {
         // 插入
@@ -267,4 +273,12 @@ public class PositionMapItemServiceImpl extends ServiceImpl<PositionMapItemMappe
         throw exception(MAP_EXIST_BINDING_POINT);
     }
 
+    @Override
+    public PositionMapConfigDTO getCheckDistance() {
+        PositionMapConfigDTO configDTO = new PositionMapConfigDTO();
+        configDTO.setMapCheckDistance(znConfigConstant.getMapCheckDistance());
+        configDTO.setMapArcOffset(znConfigConstant.getMapArcOffset());
+        return configDTO;
+    }
+
 }

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

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

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

@@ -362,7 +362,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                 .last("limit 1"));
 
         RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO();
-        robotTask.setOrderId(robotInformationDO.getTaskDetailId()+"");
+        robotTask.setOrderId(robotInformationDO.getTaskDetailId() + "");
         robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + robotInformationDO.getMacAddress());
         robotTask.setExecutionType(ExecutionTypeEnum.PAUSE.getType());
         mqttUtils.pub(robotTask.getTopic(), JSON.toJSONString(robotTask));
@@ -377,13 +377,18 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                 .last("limit 1"));
 
         RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO();
-        robotTask.setOrderId(robotInformationDO.getTaskDetailId()+"");
+        robotTask.setOrderId(robotInformationDO.getTaskDetailId() + "");
         robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + robotInformationDO.getMacAddress());
         robotTask.setExecutionType(ExecutionTypeEnum.CONTINUE.getType());
         mqttUtils.pub(robotTask.getTopic(), JSON.toJSONString(robotTask));
         mapStopService.rcsDeleteStopRobotAddLog(robotNo);
     }
 
+    @Override
+    public void initRobotInformation() {
+        informationMapper.initRobotInformation();
+    }
+
 
     /**
      * 校验IP地址是否合法
@@ -438,8 +443,8 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         if (RobotStatusEnum.STOP_FREE.getType().equals(updateReqVO.getRobotStatus())
                 || RobotStatusEnum.STOP_DOING.getType().equals(updateReqVO.getRobotStatus())) {
             updateReqVO.setRobotStatus(robotInformationDO.getRobotStatus());
-        }else if (!updateReqVO.getRobotStatus().equals(robotInformationDO.getRobotStatus())) {
+        } else if (!updateReqVO.getRobotStatus().equals(robotInformationDO.getRobotStatus())) {
-            str = str + " 修改车辆状态: " +RobotStatusEnum.getMsg(updateReqVO.getRobotStatus());
+            str = str + " 修改车辆状态: " + RobotStatusEnum.getMsg(updateReqVO.getRobotStatus());
         }
 
         if (!updateReqVO.getRobotNo().equals(robotInformationDO.getRobotNo())) {
@@ -698,6 +703,16 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         List<RobotCameraAddVO> cameraAddVOList = cameraService.getCameraByRobotNo(robotInformationDO.getRobotNo());
         bean.setCameraAddVOList(cameraAddVOList);
+
+        List<RobotMapStopDO> stopRobotNoByRobotNo = mapStopService.getStopRobotNoByRobotNo(robotInformationDO.getRobotNo());
+        if (ObjectUtil.isEmpty(stopRobotNoByRobotNo)) {
+            return bean;
+        } else if (RobotStatusEnum.STAND_BY.getType().equals(robotInformationDO.getRobotStatus())) {
+            robotInformationDO.setRobotStatus(RobotStatusEnum.STOP_FREE.getType());
+        } else {
+            robotInformationDO.setRobotStatus(RobotStatusEnum.STOP_DOING.getType());
+        }
+
         return bean;
     }
 
@@ -712,11 +727,19 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
     @Override
     public PageResult<RobotInformationPageRespVO> getInformationPage(RobotInformationPageReqVO pageReqVO) {
-        PageResult<RobotInformationDO> pageResult = informationMapper.selectPage(pageReqVO);
+        List<RobotInformationDO> list = informationMapper.selectList(new LambdaQueryWrapperX<RobotInformationDO>()
+                .eqIfPresent(RobotInformationDO::getRobotModelId, pageReqVO.getRobotModelId())
+                .eqIfPresent(RobotInformationDO::getRobotModelNumber, pageReqVO.getRobotModelNumber())
+                .likeIfPresent(RobotInformationDO::getRobotNo, pageReqVO.getRobotNo())
+                .eqIfPresent(RobotInformationDO::getRobotTaskModel, pageReqVO.getRobotTaskModel())
+                .eqIfPresent(RobotInformationDO::getMacAddress, pageReqVO.getMacAddress())
+                .eqIfPresent(RobotInformationDO::getRobotStatus, pageReqVO.getRobotStatus())
+                .betweenIfPresent(RobotInformationDO::getCreateTime, pageReqVO.getCreateTime())
+                .orderByDesc(RobotInformationDO::getId));
 
         PageResult<RobotInformationPageRespVO> dataPage = new PageResult<>();
-        dataPage.setTotal(pageResult.getTotal());
+        Long total = ObjectUtil.isEmpty(list) ? 0L : list.size();
-        List<RobotInformationDO> list = pageResult.getList();
+        dataPage.setTotal(total);
         List<RobotInformationPageRespVO> targetList = BeanUtil.copyToList(list, RobotInformationPageRespVO.class);
 
         List<RobotMapStopDO> allRobotMapStops = mapStopService.getAllRobotMapStops(ZeroOneEnum.ONE.getType());
@@ -726,7 +749,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         }
 
         for (RobotInformationPageRespVO v : targetList) {
-            setMsgAndRobotStatus(v,stopRobotNos);
+            setMsgAndRobotStatus(v, stopRobotNos);
         }
 
         if (ObjectUtil.isNotEmpty(pageReqVO.getRobotStatisticsType())) {
@@ -789,7 +812,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
      *
      * @param v
      */
-    private void setMsgAndRobotStatus(RobotInformationPageRespVO v,List<String> stopRobotNos) {
+    private void setMsgAndRobotStatus(RobotInformationPageRespVO v, List<String> stopRobotNos) {
 
         if (ObjectUtil.isNotEmpty(stopRobotNos) && stopRobotNos.contains(v.getRobotNo())) {
             v.setIsStop(ZeroOneEnum.ONE.getType());
@@ -1220,7 +1243,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Transactional(rollbackFor = Exception.class)
     public void doTaskContinue(String robotNo, Boolean isRobot) {
 
-        RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getOriginalLastTaskByRobotNo(robotNo);
+        RobotInformationDO robotInformationDO = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
+                .eq(RobotInformationDO::getRobotNo, robotNo)
+                .last("limit 1"));
+        if (ObjectUtil.isEmpty(robotInformationDO.getTaskDetailId())) {
+            throw exception(ROBOT_LAST_TASK_NO_EXISTS);
+        }
+
+        RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getLastActionLogByDetailId(robotInformationDO.getTaskDetailId());
         if (ObjectUtil.isEmpty(actionLog)) {
             throw exception(ROBOT_LAST_TASK_NO_EXISTS);
         }
@@ -1230,10 +1260,6 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                     TASK_ASSIGN_OTHER_ROBOT.getMsg() + actionLog.getRobotNo());
         }
 
-        RobotInformationDO robotInformationDO = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
-                .eq(RobotInformationDO::getRobotNo, robotNo)
-                .last("limit 1"));
-
         if (RobotTaskModelEnum.REJECTION.getType().equals(robotInformationDO.getRobotTaskModel())) {
             throw exception(ROBOT_REJECTION);
         }
@@ -1241,11 +1267,9 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         String mac = getMacByRobotNo(robotNo);
         robotCloseTaskDetail(actionLog.getTaskDetailId() + "", mac, actionLog.getCommandType());
 
-        if (!znConfigConstant.getIsSimulation()) {
+        checkTaskDone(actionLog.getTaskDetailId() + "");
-            checkTaskDone(actionLog.getTaskDetailId() + "");
-        }
 
-        CleanAgvDTO build = CleanAgvDTO.builder().robotNo(robotNo).build();
+//        CleanAgvDTO build = CleanAgvDTO.builder().robotNo(robotNo).build();
 //        commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
 //        mqttUtils.pub(PathPlanningTopicConstant.CLEAN_AGV, JSON.toJSONString(build));
 
@@ -1325,15 +1349,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         String plantingKey = PathPlanningChcheConstant.PATH_PLANNING_TASK + pathPlanning.getOrderId();
         redisUtil.set(plantingKey, JSON.toJSONString(pathPlanning), znConfigConstant.getTask().getTaskCacheTime());
 
-        log.info("任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
+        log.info("111111恢复任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
-//        commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
         mqttUtils.pub(PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST, JSON.toJSONString(pathPlanningList));
     }
 
     private void resendToPPData(TaskToPathPlanningDTO pathPlanning, RobotTaskDetailActionLogDO actionLog, RobotInformationDO robotInformationDO, Boolean isRemote) {
         if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(actionLog.getCommandType())
                 || PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(actionLog.getCommandType())) {
-            moveToWaitTask(pathPlanning, actionLog.getRobotNo());
+            moveToWaitTask(pathPlanning, robotInformationDO.getRobotNo());
         } else if (PathTaskTypeEnum.CHARGE.getType().equals(actionLog.getCommandType())
                 || PathTaskTypeEnum.AUTO_CHARGE.getType().equals(actionLog.getCommandType())) {
             chargeTask(pathPlanning, robotInformationDO);
@@ -1642,7 +1665,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         List<RobotInformationDO> robotInformationDOS = informationMapper.selectList(new LambdaQueryWrapperX<RobotInformationDO>()
                 .in(RobotInformationDO::getRobotNo, robotNos));
         for (RobotInformationDO robotInformationDO : robotInformationDOS) {
-            robotSimulationPose.setOrderId(robotInformationDO.getTaskDetailId()+"");
+            robotSimulationPose.setOrderId(robotInformationDO.getTaskDetailId() + "");
             mqttUtils.pub(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + robotInformationDO.getMacAddress(), JSON.toJSONString(robotSimulationPose));
             UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
                     .operateAction(str + robotInformationDO.getRobotNo())
@@ -1772,6 +1795,10 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         TaskToPathPlanningDTO pathPlanning = JSONUtil.toBean((String) o, TaskToPathPlanningDTO.class);
 
+        robotInformationDO.setTaskDetailId(id);
+        robotInformationDO.setRobotStatus(RobotStatusEnum.DOING.getType());
+        informationMapper.updateById(robotInformationDO);
+
         TaskRobotNoLimittationAreaDTO taskRobotNoLimittationAreaDTO =
                 robotPathPlanningService.getRobotNoLimitationArea(Collections.singletonList(robotInformationDO)).get(0);
 

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

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

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

@@ -533,9 +533,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             if (ObjectUtil.isEmpty(cargoDetected) || RobotStatusCodeConstant.CARGO_DETECTED.equals(cargoDetected)) {
                 robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType());
             }*/
-            //因为机器人如果正在抬叉取货，这时把任务取消，如果货叉刚好伸到托盘底下，还是需要人为控制
 //            robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType());
-            robotInformationDO.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
+//            robotInformationDO.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
         }
 
         informationMapper.updateById(robotInformationDOS);
@@ -1687,6 +1686,9 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                 case RELEASE:
                     msg = "放货点 " + robotTaskRespVO.getToLocationNo();
                     break;
+                case MOVE_TO_POINT:
+                    msg = "移动到点位 " + robotTaskRespVO.getToLocationNo();
+                    break;
                 default:
                     log.error("任务类型不存在");
             }

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

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

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

@@ -80,11 +80,11 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         CommonConfigDO commonConfigDO = configMapper.selectOne(new LambdaQueryWrapper<CommonConfigDO>()
                 .eq(CommonConfigDO::getConfigType, CommandConfigTypeEnum.CHARG_CONFIG.getType()));
 
-        Boolean needDoCharge = needDoCharge(commonConfigDO);
+        /*Boolean needDoCharge = needDoCharge(commonConfigDO);
         if (needDoCharge) {
             log.info("所有机器人都需要去执行充电任务");
             return pair;
-        }
+        }*/
 
         List<String> remoteRobotNos = controllerInformationMapper.getRemoteControllerRobotNos();
         log.info("远遥中的车辆 :{}",JSON.toJSONString(remoteRobotNos));
@@ -123,6 +123,13 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             }
 
 
+            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + robot.getMacAddress();
+            Object pose = redisUtil.get(pose2dKey);
+            if (ObjectUtil.isEmpty(pose)) {
+                log.info("车辆没有点位信息 :{}",robot.getRobotNo());
+                continue;
+            }
+
             //取货的，先执行放货再去充电
             /*if (ObjectUtil.isNotEmpty(lastTaskDetailMap) && ObjectUtil.isNotEmpty(lastTaskDetailMap.get(robot.getRobotNo()))) {
                 robot.setRobotStatus(RobotStatusEnum.LAST_TASK_IS_TAKE.getType());

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

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

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

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

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

@@ -120,7 +120,7 @@ public class RobotMapStopServiceImpl extends ServiceImpl<RobotMapStopMapper, Rob
     @Override
     public List<String> getStopRobotNoByMapIds(Long id) {
         List<RobotMapStopDO> positionMapItems = mapStopMapper.selectList(new LambdaQueryWrapperX<RobotMapStopDO>()
-                .eq(RobotMapStopDO::getStopType, ZeroOneEnum.ZERO.getType())
+                .eq(RobotMapStopDO::getStopType, ZeroOneEnum.ONE.getType())
                 .eq(RobotMapStopDO::getPositionMapId, id));
         if (ObjectUtil.isEmpty(positionMapItems)) {
             return new ArrayList<>();

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

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

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

@@ -191,7 +191,7 @@ zn:
   camera_secret_key: A2C4rv7DY012c9ef #摄像头秘钥
   do_cycle: true #是否开启循环
   lane_auto_move: true #线库是否自动移库 true:线库执行自动移库 、false：线库关闭执行自动移库
-  robot_position_cache_time: 10000000 #机器人上报点位存储时间(秒)
+  robot_position_cache_time: 3 #机器人上报点位存储时间(秒)
   cycle_do_auto_move: true #存在循环的任务，是否开启自动移库. true:存在循环任务，开启自动移库; false：有循环任务不自动移库
   full_electricity: 95 #机器人充满电的电量
   task_need_single: true #机器人对同一线库/点位是不是只能有一台机器人做任务 (true:一个点位/线库，只有一台机器人)
@@ -214,6 +214,8 @@ zn:
   task_not_check: true # 创建任务不校验
   check_shortest_distance: 1.5 # 检测点最短距离
   check_longest_distance: 3.0 # 检测点最长距离
+  map_check_distance: 2.2 #检测点成成距离
+  map_arc_offset: 15 #地图弧线距离
 
 
 #海康威视的相关配置

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

@@ -226,7 +226,7 @@ zn:
   camera_secret_key: A2C4rv7DY012c9ef #摄像头秘钥
   do_cycle: true #是否开启循环
   lane_auto_move: true #线库是否自动移库 true:线库执行自动移库 、false：线库关闭执行自动移库
-  robot_position_cache_time: 10000000 #机器人上报点位存储时间(秒)
+  robot_position_cache_time: 3 #机器人上报点位存储时间(秒)
   cycle_do_auto_move: true #存在循环的任务，是否开启自动移库. true:存在循环任务，开启自动移库; false：有循环任务不自动移库
   full_electricity: 95 #机器人充满电的电量
   task_need_single: true #机器人对同一线库/点位是不是只能有一台机器人做任务 (true:一个点位/线库，只有一台机器人)
@@ -240,7 +240,7 @@ zn:
     check_sku_info: true #校验物料信息
     task_cache_time: 1209600 #任务缓存的时间， 默认一星期
   robot_config: #机器人取放货默认配置
-    offset_height: 0.1 #叉起货需要在原来高度基础上偏移的高度
+    offset_height: 0.15 #叉起货需要在原来高度基础上偏移的高度
     default_tray_height: 0.82 #默认每层高度
   open_rate_limiter: true #是否开启限流
   is_simulation: false # 是否为仿真环境
@@ -249,6 +249,8 @@ zn:
   task_not_check: true # 创建任务不校验
   check_shortest_distance: 1.5 # 检测点最短距离
   check_longest_distance: 3.0 # 检测点最长距离
+  map_check_distance: 2.2 #检测点成成距离
+  map_arc_offset: 15 #地图弧线距离
 
 logging:
   file:

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

@@ -219,7 +219,7 @@ zn:
   camera_secret_key: A2C4rv7DY012c9ef #摄像头秘钥
   do_cycle: true #是否开启循环
   lane_auto_move: true #线库是否自动移库 true:线库执行自动移库 、false：线库关闭执行自动移库
-  robot_position_cache_time: 10000000 #机器人上报点位存储时间(秒)
+  robot_position_cache_time: 3 #机器人上报点位存储时间(秒)
   cycle_do_auto_move: true #存在循环的任务，是否开启自动移库. true:存在循环任务，开启自动移库; false：有循环任务不自动移库
   full_electricity: 95 #机器人充满电的电量
   task_need_single: true #机器人对同一线库/点位是不是只能有一台机器人做任务 (true:一个点位/线库，只有一台机器人)
@@ -242,6 +242,8 @@ zn:
   task_not_check: true # 创建任务不校验
   check_shortest_distance: 1.5 # 检测点最短距离
   check_longest_distance: 3.0 # 检测点最长距离
+  map_check_distance: 2.2 #检测点成成距离
+  map_arc_offset: 15 #地图弧线距离
 
 #海康威视的相关配置
 isc:

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

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

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

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

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

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

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

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

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

@@ -496,11 +496,28 @@
         </foreach>
     </update>
 
+    <update id="setTaskUnDo">
+        update
+            robot_task
+        set
+            task_status = '0',
+            task_stage = '0'
+        where
+        id in
+        <foreach collection="ids" item="id" index="index" open="(" close=")"
+                 separator=",">
+            #{id}
+        </foreach>
+    </update>
+
     <!--通过主键删除-->
     <delete id="deleteById">
         delete
         from robot_task
         where id = #{id}
     </delete>
+    <delete id="truncate">
+        TRUNCATE TABLE robot_task
+    </delete>
 
 </mapper>