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

- 添加设备信息相关实体类、控制器、服务类和Mapper
- 实现设备信息的批量保存、编辑和删除功能
- 添加通过地图ID获取设备列表的接口
- 优化停车点相关代码，统一使用positionMapId和positionMapItemId字段
- 新增设备点位数据处理策略

yudao-framework/yudao-common/src/main/java/cn/iocoder/yudao/framework/common/enums/NodeTypeEnum.java

@@ -13,7 +13,7 @@ import lombok.Getter;
 public enum NodeTypeEnum {
     ROUTE(1, "路径点位"),
     WARE(2, "库位点"),
-    EQUIPMENT(3, "设备点"),
+    DEVICE(3, "设备点"),
     PARKING(4, "停车点"),
     CHANGE(5, "区域变更点"),
     WAIT(6, "等待点");

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

@@ -195,6 +195,7 @@ public interface ErrorCodeConstants {
     ErrorCode TASK_CHECK_TASK_PRIORITY = new ErrorCode(1-002-035-007, "非新单据不能修改优先级");
     ErrorCode TASK_CHECK_TASK_STATUS = new ErrorCode(1-002-035-100, "订单已完成");
     ErrorCode TASK_CHECK_UPDATE_STATUS = new ErrorCode(1-002-035-101, "订单更新失败");
+    ErrorCode TASK_CHECK_EXIST_NO = new ErrorCode(1-002-035-102, "订单号已存在");
 
     // ========== 机器人任务明细 1-002-036-000 ==========
     ErrorCode TASK_DETAIL_NOT_EXISTS = new ErrorCode(1-002-036-001, "机器人任务明细不存在");
@@ -213,4 +214,7 @@ public interface ErrorCodeConstants {
     ErrorCode THERE_ARE_ALREADY_STORAGE_LOCATIONS_IN_OTHER_LINE_WAREHOUSES = new ErrorCode(1_002_038_007, "已有库位在其他线库内");
     ErrorCode THERE_ARE_ALREADY_STORAGE_LOCATIONS_IN_OTHER_STORAGE_AREAS = new ErrorCode(1_002_038_008, "已有库位在其他库区内");
 
+    // ========== 机器人自动移库 1-002-039-000 ==========
+    ErrorCode TASK_AUTO_MOVE_NOT_EXISTS = new ErrorCode(1_002_039_001, "机器人自动移库不存在");
+
 }

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

@@ -72,6 +72,13 @@ public class DeviceInformationController {
         return success(BeanUtils.toBean(information, DeviceInformationRespVO.class));
     }
 
+    @GetMapping("/list")
+    @Operation(summary = "获得设备信息列表")
+    public CommonResult<List<DeviceInformationRespVO>> getList(@Valid DeviceInformationPageReqVO pageReqVO) {
+        List<DeviceInformationDO> list = informationService.getList(pageReqVO);
+        return success(BeanUtils.toBean(list, DeviceInformationRespVO.class));
+    }
+
     @GetMapping("/page")
     @Operation(summary = "获得设备信息分页")
     @PreAuthorize("@ss.hasPermission('device:information:query')")

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java

@@ -1,6 +1,9 @@
 package cn.iocoder.yudao.module.system.controller.admin.information.vo;
 
+import com.alibaba.excel.annotation.ExcelProperty;
 import lombok.*;
+
+import java.math.BigDecimal;
 import java.util.*;
 import io.swagger.v3.oas.annotations.media.Schema;
 import cn.iocoder.yudao.framework.common.pojo.PageParam;
@@ -14,6 +17,23 @@ import static cn.iocoder.yudao.framework.common.util.date.DateUtils.FORMAT_YEAR_
 @EqualsAndHashCode(callSuper = true)
 @ToString(callSuper = true)
 public class DeviceInformationPageReqVO extends PageParam {
+    @Schema(description = "地图id", example = "6609")
+    private Long positionMapId;
+
+    @Schema(description = "地图子表节点id", example = "23591")
+    private Long positionMapItemId;
+
+    @Schema(description = "库位坐标x轴")
+    private String locationX;
+
+    @Schema(description = "库位坐标y轴")
+    private String locationY;
+
+    @Schema(description = "宽度")
+    private BigDecimal locationWide;
+
+    @Schema(description = "深度")
+    private BigDecimal locationDeep;
 
     @Schema(description = "设备类型（1：充电桩、2：输送线、 3：码垛机、4：拆垛机、5：自动门、6：提升机、7：信号灯、8：按钮盒）", example = "2")
     private Integer deviceType;
@@ -24,6 +44,9 @@ public class DeviceInformationPageReqVO extends PageParam {
     @Schema(description = "mac地址")
     private String macAddress;
 
+    @Schema(description = "设备在地图上图标")
+    private String mapImageUrl;
+
     @Schema(description = "上传图片附件", example = "https://www.iocoder.cn")
     private String url;
 
@@ -47,4 +70,4 @@ public class DeviceInformationPageReqVO extends PageParam {
     @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
     private LocalDateTime[] createTime;
 
-}
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java

@@ -2,6 +2,8 @@ package cn.iocoder.yudao.module.system.controller.admin.information.vo;
 
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
+
+import java.math.BigDecimal;
 import java.util.*;
 import org.springframework.format.annotation.DateTimeFormat;
 import java.time.LocalDateTime;
@@ -16,6 +18,30 @@ public class DeviceInformationRespVO {
     @ExcelProperty("主键ID")
     private Long id;
 
+    @Schema(description = "地图id", example = "6609")
+    @ExcelProperty("地图id")
+    private Long positionMapId;
+
+    @Schema(description = "地图子表节点id", example = "23591")
+    @ExcelProperty("地图子表节点id")
+    private Long positionMapItemId;
+
+    @Schema(description = "库位坐标x轴")
+    @ExcelProperty("库位坐标x轴")
+    private String locationX;
+
+    @Schema(description = "库位坐标y轴")
+    @ExcelProperty("库位坐标y轴")
+    private String locationY;
+
+    @Schema(description = "宽度")
+    @ExcelProperty("宽度")
+    private BigDecimal locationWide;
+
+    @Schema(description = "深度")
+    @ExcelProperty("深度")
+    private BigDecimal locationDeep;
+
     @Schema(description = "设备类型（1：充电桩、2：输送线、 3：码垛机、4：拆垛机、5：自动门、6：提升机、7：信号灯、8：按钮盒）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
     @ExcelProperty("设备类型（1：充电桩、2：输送线、 3：码垛机、4：拆垛机、5：自动门、6：提升机、7：信号灯、8：按钮盒）")
     private Integer deviceType;
@@ -28,6 +54,10 @@ public class DeviceInformationRespVO {
     @ExcelProperty("mac地址")
     private String macAddress;
 
+    @Schema(description = "设备在地图上图标")
+    @ExcelProperty("设备在地图上图标")
+    private String mapImageUrl;
+
     @Schema(description = "上传图片附件", requiredMode = Schema.RequiredMode.REQUIRED, example = "https://www.iocoder.cn")
     @ExcelProperty("上传图片附件")
     private String url;
@@ -56,4 +86,4 @@ public class DeviceInformationRespVO {
     @ExcelProperty("创建时间")
     private LocalDateTime createTime;
 
-}
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java

@@ -2,6 +2,8 @@ package cn.iocoder.yudao.module.system.controller.admin.information.vo;
 
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
+
+import java.math.BigDecimal;
 import java.util.*;
 import javax.validation.constraints.*;
 import org.springframework.format.annotation.DateTimeFormat;
@@ -14,6 +16,24 @@ public class DeviceInformationSaveReqVO {
     @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "14335")
     private Long id;
 
+    @Schema(description = "地图id", example = "6609")
+    private Long positionMapId;
+
+    @Schema(description = "地图子表节点id", example = "23591")
+    private Long positionMapItemId;
+
+    @Schema(description = "库位坐标x轴")
+    private String locationX;
+
+    @Schema(description = "库位坐标y轴")
+    private String locationY;
+
+    @Schema(description = "宽度")
+    private BigDecimal locationWide;
+
+    @Schema(description = "深度")
+    private BigDecimal locationDeep;
+
     @Schema(description = "设备类型（1：充电桩、2：输送线、 3：码垛机、4：拆垛机、5：自动门、6：提升机、7：信号灯、8：按钮盒）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
     @NotNull(message = "设备类型不能为空")
     private Integer deviceType;
@@ -24,6 +44,9 @@ public class DeviceInformationSaveReqVO {
     @Schema(description = "mac地址")
     private String macAddress;
 
+    @Schema(description = "设备在地图上图标")
+    private String mapImageUrl;
+
     @Schema(description = "上传图片附件", requiredMode = Schema.RequiredMode.REQUIRED, example = "https://www.iocoder.cn")
     private String url;
 
@@ -42,4 +65,4 @@ public class DeviceInformationSaveReqVO {
     @Schema(description = "设备最后通讯时间")
     private LocalDateTime deviceLastTime;
 
-}
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/parkingspot/vo/ParkingSpotPageReqVO.java

@@ -17,10 +17,10 @@ import static cn.iocoder.yudao.framework.common.util.date.DateUtils.FORMAT_YEAR_
 public class ParkingSpotPageReqVO extends PageParam {
 
     @Schema(description = "地图id", example = "6609")
-    private Long mapId;
+    private Long positionMapId;
 
-    @Schema(description = "地图字表节点id", example = "23591")
-    private Long mapItemId;
+    @Schema(description = "地图子表节点id", example = "23591")
+    private Long positionMapItemId;
 
     @Schema(description = "库位坐标x轴")
     private String locationX;
@@ -47,4 +47,4 @@ public class ParkingSpotPageReqVO extends PageParam {
     @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
     private LocalDateTime[] createTime;
 
-}
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/parkingspot/vo/ParkingSpotRespVO.java

@@ -19,11 +19,11 @@ public class ParkingSpotRespVO {
 
     @Schema(description = "地图id", example = "6609")
     @ExcelProperty("地图id")
-    private Long mapId;
+    private Long positionMapId;
 
-    @Schema(description = "地图字表节点id", example = "23591")
-    @ExcelProperty("地图字表节点id")
-    private Long mapItemId;
+    @Schema(description = "地图子表节点id", example = "23591")
+    @ExcelProperty("地图子表节点id")
+    private Long positionMapItemId;
 
     @Schema(description = "库位坐标x轴")
     @ExcelProperty("库位坐标x轴")
@@ -57,4 +57,4 @@ public class ParkingSpotRespVO {
     @ExcelProperty("创建时间")
     private LocalDateTime createTime;
 
-}
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/parkingspot/vo/ParkingSpotSaveReqVO.java

@@ -14,10 +14,10 @@ public class ParkingSpotSaveReqVO {
     private Long id;
 
     @Schema(description = "地图id", example = "6609")
-    private Long mapId;
+    private Long positionMapId;
 
-    @Schema(description = "地图字表节点id", example = "23591")
-    private Long mapItemId;
+    @Schema(description = "地图子表节点id", example = "23591")
+    private Long positionMapItemId;
 
     @Schema(description = "库位坐标x轴")
     private String locationX;

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

@@ -109,4 +109,12 @@ public class RobotInformationController {
         return success(BeanUtils.toBean(result, RobotInformationRespVO.class));
     }
 
+    @PostMapping("/getAllRobot")
+    @Operation(summary = "查询所有车辆")
+    @PreAuthorize("@ss.hasPermission('robot:information:getAllRobot')")
+    public CommonResult<List<RobotInformationRespVO>> getAllRobot() {
+        List<RobotInformationDO> result = informationService.getAllRobot();
+        return success(BeanUtils.toBean(result, RobotInformationRespVO.class));
+    }
+
 }

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

@@ -0,0 +1,97 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot;
+
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskAutoMovePageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskAutoMoveRespVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskAutoMoveSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskAutoMoveDO;
+import cn.iocoder.yudao.module.system.service.robot.job.RobotTaskAutoMoveService;
+import org.springframework.web.bind.annotation.*;
+import javax.annotation.Resource;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.security.access.prepost.PreAuthorize;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Operation;
+
+import javax.validation.constraints.*;
+import javax.validation.*;
+import javax.servlet.http.*;
+import java.util.*;
+import java.io.IOException;
+
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.pojo.CommonResult;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
+
+import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils;
+
+import cn.iocoder.yudao.framework.apilog.core.annotation.ApiAccessLog;
+import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.*;
+
+
+@Tag(name = "管理后台 - 机器人自动移库")
+@RestController
+@RequestMapping("/robot/task-auto-move")
+@Validated
+public class RobotTaskAutoMoveController {
+
+    @Resource
+    private RobotTaskAutoMoveService taskAutoMoveService;
+
+    @PostMapping("/create")
+    @Operation(summary = "创建机器人自动移库")
+    @PreAuthorize("@ss.hasPermission('robot:task-auto-move:create')")
+    public CommonResult<Long> createTaskAutoMove(@Valid @RequestBody RobotTaskAutoMoveSaveReqVO createReqVO) {
+        return success(taskAutoMoveService.createTaskAutoMove(createReqVO));
+    }
+
+    @PutMapping("/update")
+    @Operation(summary = "更新机器人自动移库")
+    @PreAuthorize("@ss.hasPermission('robot:task-auto-move:update')")
+    public CommonResult<Boolean> updateTaskAutoMove(@Valid @RequestBody RobotTaskAutoMoveSaveReqVO updateReqVO) {
+        taskAutoMoveService.updateTaskAutoMove(updateReqVO);
+        return success(true);
+    }
+
+    @DeleteMapping("/delete")
+    @Operation(summary = "删除机器人自动移库")
+    @Parameter(name = "id", description = "编号", required = true)
+    @PreAuthorize("@ss.hasPermission('robot:task-auto-move:delete')")
+    public CommonResult<Boolean> deleteTaskAutoMove(@RequestParam("id") Long id) {
+        taskAutoMoveService.deleteTaskAutoMove(id);
+        return success(true);
+    }
+
+    @GetMapping("/get")
+    @Operation(summary = "获得机器人自动移库")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('robot:task-auto-move:query')")
+    public CommonResult<RobotTaskAutoMoveRespVO> getTaskAutoMove(@RequestParam("id") Long id) {
+        RobotTaskAutoMoveDO taskAutoMove = taskAutoMoveService.getTaskAutoMove(id);
+        return success(BeanUtils.toBean(taskAutoMove, RobotTaskAutoMoveRespVO.class));
+    }
+
+    @GetMapping("/page")
+    @Operation(summary = "获得机器人自动移库分页")
+    @PreAuthorize("@ss.hasPermission('robot:task-auto-move:query')")
+    public CommonResult<PageResult<RobotTaskAutoMoveRespVO>> getTaskAutoMovePage(@Valid RobotTaskAutoMovePageReqVO pageReqVO) {
+        PageResult<RobotTaskAutoMoveDO> pageResult = taskAutoMoveService.getTaskAutoMovePage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, RobotTaskAutoMoveRespVO.class));
+    }
+
+    @GetMapping("/export-excel")
+    @Operation(summary = "导出机器人自动移库 Excel")
+    @PreAuthorize("@ss.hasPermission('robot:task-auto-move:export')")
+    @ApiAccessLog(operateType = EXPORT)
+    public void exportTaskAutoMoveExcel(@Valid RobotTaskAutoMovePageReqVO pageReqVO,
+              HttpServletResponse response) throws IOException {
+        pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
+        List<RobotTaskAutoMoveDO> list = taskAutoMoveService.getTaskAutoMovePage(pageReqVO).getList();
+        // 导出 Excel
+        ExcelUtils.write(response, "机器人自动移库.xls", "数据", RobotTaskAutoMoveRespVO.class,
+                        BeanUtils.toBean(list, RobotTaskAutoMoveRespVO.class));
+    }
+
+}

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

@@ -87,7 +87,7 @@ public class RobotTaskController {
     @PreAuthorize("@ss.hasPermission('robot:task:query')")
     public CommonResult<PageResult<RobotTaskRespVO>> getTaskPage(@Valid @RequestBody RobotTaskPageReqVO pageReqVO) {
         PageResult<RobotTaskRespVO> pageResult = taskService.getTaskPage(pageReqVO);
-        return success(BeanUtils.toBean(pageResult, RobotTaskRespVO.class));
+        return success(pageResult);
     }
 
     @GetMapping("/export-excel")

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

@@ -0,0 +1,72 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
+
+import lombok.*;
+import java.util.*;
+import io.swagger.v3.oas.annotations.media.Schema;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import org.springframework.format.annotation.DateTimeFormat;
+import java.time.LocalDateTime;
+
+import static cn.iocoder.yudao.framework.common.util.date.DateUtils.FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND;
+
+@Schema(description = "管理后台 - 机器人自动移库分页 Request VO")
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+public class RobotTaskAutoMovePageReqVO extends PageParam {
+
+    @Schema(description = "机器人任务主表id", example = "24553")
+    private Long robotTaskId;
+
+    @Schema(description = "机器人任务明细表id", example = "11392")
+    private Long robotTaskDetailId;
+
+    @Schema(description = "原库位编号")
+    private String fromLocationNo;
+
+    @Schema(description = "原库位id", example = "8838")
+    private Long fromLocationId;
+
+    @Schema(description = "搬去的目标库位编号")
+    private String toLocationNo;
+
+    @Schema(description = "搬去的目标库位id/停车点/充电点/移动终点", example = "19168")
+    private Long toLocationId;
+
+    @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4：异常)", example = "1")
+    private Integer taskStatus;
+
+    @Schema(description = "取货线库id")
+    private Long fromLaneId;
+
+    @Schema(description = "放货线库id(目前设计不会用到此字段)")
+    private Long toLaneId;
+
+    @Schema(description = "优先级")
+    private Long priority;
+
+    @Schema(description = "AGV编号")
+    private String robotNo;
+
+    @Schema(description = "任务类型（1：自动移库、 ）", example = "2")
+    private Integer taskType;
+
+    @Schema(description = "移动类型（1：去、 2：回）", example = "2")
+    private Integer moveType;
+
+    @Schema(description = "开始时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
+    private LocalDateTime[] startTime;
+
+    @Schema(description = "结束时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
+    private LocalDateTime[] endTime;
+
+    @Schema(description = "robot_task_auto_move表id，来回搬运需要记录上一次搬运的源库位", example = "32231")
+    private Long taskAutoMoveId;
+
+    @Schema(description = "创建时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
+    private LocalDateTime[] createTime;
+
+}

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

@@ -0,0 +1,87 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import org.springframework.format.annotation.DateTimeFormat;
+import java.time.LocalDateTime;
+import com.alibaba.excel.annotation.*;
+
+@Schema(description = "管理后台 - 机器人自动移库 Response VO")
+@Data
+@ExcelIgnoreUnannotated
+public class RobotTaskAutoMoveRespVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "30110")
+    @ExcelProperty("主键ID")
+    private Long id;
+
+    @Schema(description = "机器人任务主表id", example = "24553")
+    @ExcelProperty("机器人任务主表id")
+    private Long robotTaskId;
+
+    @Schema(description = "机器人任务明细表id", example = "11392")
+    @ExcelProperty("机器人任务明细表id")
+    private Long robotTaskDetailId;
+
+    @Schema(description = "原库位编号")
+    @ExcelProperty("原库位编号")
+    private String fromLocationNo;
+
+    @Schema(description = "原库位id", example = "8838")
+    @ExcelProperty("原库位id")
+    private Long fromLocationId;
+
+    @Schema(description = "搬去的目标库位编号")
+    @ExcelProperty("搬去的目标库位编号")
+    private String toLocationNo;
+
+    @Schema(description = "搬去的目标库位id/停车点/充电点/移动终点", example = "19168")
+    @ExcelProperty("搬去的目标库位id/停车点/充电点/移动终点")
+    private Long toLocationId;
+
+    @Schema(description = "取货线库id")
+    @ExcelProperty("取货线库id")
+    private Long fromLaneId;
+
+    @Schema(description = "放货线库id(目前设计不会用到此字段)")
+    @ExcelProperty("放货线库id(目前设计不会用到此字段)")
+    private Long toLaneId;
+
+    @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4：异常)", example = "1")
+    @ExcelProperty("任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4：异常)")
+    private Integer taskStatus;
+
+    @Schema(description = "优先级")
+    @ExcelProperty("优先级")
+    private Long priority;
+
+    @Schema(description = "AGV编号")
+    @ExcelProperty("AGV编号")
+    private String robotNo;
+
+    @Schema(description = "任务类型（1：自动移库、 ）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @ExcelProperty("任务类型（1：自动移库、 ）")
+    private Integer taskType;
+
+    @Schema(description = "移动类型（1：去、 2：回）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @ExcelProperty("移动类型（1：去、 2：回）")
+    private Integer moveType;
+
+    @Schema(description = "开始时间")
+    @ExcelProperty("开始时间")
+    private LocalDateTime startTime;
+
+    @Schema(description = "结束时间")
+    @ExcelProperty("结束时间")
+    private LocalDateTime endTime;
+
+    @Schema(description = "robot_task_auto_move表id，来回搬运需要记录上一次搬运的源库位", example = "32231")
+    @ExcelProperty("robot_task_auto_move表id，来回搬运需要记录上一次搬运的源库位")
+    private Long taskAutoMoveId;
+
+    @Schema(description = "创建时间", requiredMode = Schema.RequiredMode.REQUIRED)
+    @ExcelProperty("创建时间")
+    private LocalDateTime createTime;
+
+}

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

@@ -0,0 +1,68 @@
+package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
+
+import com.alibaba.excel.annotation.ExcelProperty;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import javax.validation.constraints.*;
+import org.springframework.format.annotation.DateTimeFormat;
+import java.time.LocalDateTime;
+
+@Schema(description = "管理后台 - 机器人自动移库新增/修改 Request VO")
+@Data
+public class RobotTaskAutoMoveSaveReqVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "30110")
+    private Long id;
+
+    @Schema(description = "机器人任务主表id", example = "24553")
+    private Long robotTaskId;
+
+    @Schema(description = "机器人任务明细表id", example = "11392")
+    private Long robotTaskDetailId;
+
+    @Schema(description = "原库位编号")
+    private String fromLocationNo;
+
+    @Schema(description = "原库位id", example = "8838")
+    private Long fromLocationId;
+
+    @Schema(description = "搬去的目标库位编号")
+    private String toLocationNo;
+
+    @Schema(description = "取货线库id")
+    private Long fromLaneId;
+
+    @Schema(description = "放货线库id(目前设计不会用到此字段)")
+    private Long toLaneId;
+
+    @Schema(description = "搬去的目标库位id/停车点/充电点/移动终点", example = "19168")
+    private Long toLocationId;
+
+    @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4：异常)", example = "1")
+    private Integer taskStatus;
+
+    @Schema(description = "优先级")
+    private Long priority;
+
+    @Schema(description = "AGV编号")
+    private String robotNo;
+
+    @Schema(description = "任务类型（1：自动移库、 ）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @NotNull(message = "任务类型（1：自动移库、 ）不能为空")
+    private Integer taskType;
+
+    @Schema(description = "移动类型（1：去、 2：回）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @NotNull(message = "移动类型（1：去、 2：回）不能为空")
+    private Integer moveType;
+
+    @Schema(description = "开始时间")
+    private LocalDateTime startTime;
+
+    @Schema(description = "结束时间")
+    private LocalDateTime endTime;
+
+    @Schema(description = "robot_task_auto_move表id，来回搬运需要记录上一次搬运的源库位", example = "32231")
+    private Long taskAutoMoveId;
+
+}

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

@@ -37,6 +37,15 @@ public class RobotTaskDetailAddVO {
     @Schema(description = "所选车辆电量(充电模式)")
     private Integer electricity;
 
+    @Schema(description = "取货线库id")
+    private Long fromLaneId;
+
+    @Schema(description = "放货线库id")
+    private Long toLaneId;
+
+    @Schema(description = "取货库位的排序的位置,越大越优先堆放")
+    private Long locationNumber;
+
     @Schema(description = "计算后的来源库位编号(前端不用传此字段)")
     private String fromLocationNo;
     @Schema(description = "计算后的来源库位id(前端不用传此字段)")

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

@@ -46,6 +46,14 @@ public class RobotTaskDetailPageReqVO extends PageParam {
 
     @Schema(description = "AGV动作")
     private String robotAction;
+    @Schema(description = "取货线库id")
+    private Long fromLaneId;
+
+    @Schema(description = "放货线库id")
+    private Long toLaneId;
+
+    @Schema(description = "取货库位的排序的位置,越大越优先堆放")
+    private Long locationNumber;
 
     @Schema(description = "任务状态(0:未开始、1：执行中、2：已完成、3：已取消)", example = "1")
     private Integer taskStatus;

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

@@ -78,6 +78,18 @@ public class RobotTaskDetailRespVO {
     @ExcelProperty("创建时间")
     private LocalDateTime createTime;
 
+    @Schema(description = "取货线库id")
+    @ExcelProperty("取货线库id")
+    private Long fromLaneId;
+
+    @Schema(description = "放货线库id")
+    @ExcelProperty("放货线库id")
+    private Long toLaneId;
+
+    @Schema(description = "取货库位的排序的位置,越大越优先堆放")
+    @ExcelProperty("取货库位的排序的位置,越大越优先堆放")
+    private Long locationNumber;
+
     @Schema(description = "取货层数")
     @ExcelProperty("取货层数")
     private Integer fromLocationStorey;

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

@@ -38,6 +38,15 @@ public class RobotTaskDetailSaveReqVO {
     @NotNull(message = "取货库位/线库/区域不能为空")
     private Long takeId;
 
+    @Schema(description = "取货线库id")
+    private Long fromLaneId;
+
+    @Schema(description = "放货线库id")
+    private Long toLaneId;
+
+    @Schema(description = "取货库位的排序的位置,越大越优先堆放")
+    private Long locationNumber;
+
     @Schema(description = "计算后的来源库位编号")
     private String fromLocationNo;
     @Schema(description = "计算后的来源库位id")

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java

@@ -1,12 +1,14 @@
 package cn.iocoder.yudao.module.system.dal.dataobject.information;
 
-import lombok.*;
-import java.util.*;
-import java.time.LocalDateTime;
-import java.time.LocalDateTime;
-import java.time.LocalDateTime;
-import com.baomidou.mybatisplus.annotation.*;
 import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
+import com.baomidou.mybatisplus.annotation.IdType;
+import com.baomidou.mybatisplus.annotation.KeySequence;
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import lombok.*;
+
+import java.math.BigDecimal;
+import java.time.LocalDateTime;
 
 /**
  * 设备信息 DO
@@ -28,6 +30,30 @@ public class DeviceInformationDO extends BaseDO {
      */
     @TableId(type = IdType.ASSIGN_ID)
     private Long id;
+    /**
+     * 地图id
+     */
+    private Long positionMapId;
+    /**
+     * 地图子表节点id
+     */
+    private Long positionMapItemId;
+    /**
+     * 库位坐标x轴
+     */
+    private String locationX;
+    /**
+     * 库位坐标y轴
+     */
+    private String locationY;
+    /**
+     * 宽度
+     */
+    private BigDecimal locationWide;
+    /**
+     * 深度
+     */
+    private BigDecimal locationDeep;
     /**
      * 设备类型（1：充电桩、2：输送线、 3：码垛机、4：拆垛机、5：自动门、6：提升机、7：信号灯、8：按钮盒）
      */
@@ -40,6 +66,10 @@ public class DeviceInformationDO extends BaseDO {
      * mac地址
      */
     private String macAddress;
+    /**
+     * 设备在地图上图标
+     */
+    private String mapImageUrl;
     /**
      * 上传图片附件
      */
@@ -65,4 +95,4 @@ public class DeviceInformationDO extends BaseDO {
      */
     private LocalDateTime deviceLastTime;
 
-}
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/parkingspot/ParkingSpotDO.java

@@ -32,11 +32,11 @@ public class ParkingSpotDO extends BaseDO {
     /**
      * 地图id
      */
-    private Long mapId;
+    private Long positionMapId;
     /**
-     * 地图字表节点id
+     * 地图子表节点id
      */
-    private Long mapItemId;
+    private Long positionMapItemId;
     /**
      * 库位坐标x轴
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskAutoMoveDO.java

@@ -0,0 +1,98 @@
+package cn.iocoder.yudao.module.system.dal.dataobject.robot;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import java.time.LocalDateTime;
+import java.time.LocalDateTime;
+import java.time.LocalDateTime;
+import java.time.LocalDateTime;
+import com.baomidou.mybatisplus.annotation.*;
+import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
+
+/**
+ * 机器人自动移库 DO
+ *
+ * @author 陈宾顺
+ */
+@TableName("robot_task_auto_move")
+@KeySequence("robot_task_auto_move_seq") // 用于 Oracle、PostgreSQL、Kingbase、DB2、H2 数据库的主键自增。如果是 MySQL 等数据库，可不写。
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class RobotTaskAutoMoveDO extends BaseDO {
+
+    /**
+     * 主键ID
+     */
+    @TableId(type = IdType.ASSIGN_ID)
+    private Long id;
+    /**
+     * 机器人任务主表id
+     */
+    private Long robotTaskId;
+    /**
+     * 机器人任务明细表id
+     */
+    private Long robotTaskDetailId;
+    /**
+     * 原库位编号
+     */
+    private String fromLocationNo;
+    /**
+     * 原库位id
+     */
+    private Long fromLocationId;
+    /**
+     * 搬去的目标库位编号
+     */
+    private String toLocationNo;
+    /**
+     * 搬去的目标库位id/停车点/充电点/移动终点
+     */
+    private Long toLocationId;
+    /**
+     * 取货线库id
+     */
+    private Long fromLaneId;
+    /**
+     * 放货线库id (目前设计不会用到此字段)
+     */
+    private Long toLaneId;
+    /**
+     * 任务状态(0:未开始、1：执行中、2：已完成、3：已取消、4：异常)
+     */
+    private Integer taskStatus;
+    /**
+     * 优先级
+     */
+    private Long priority;
+    /**
+     * AGV编号
+     */
+    private String robotNo;
+    /**
+     * 任务类型（1：自动移库、 ）
+     */
+    private Integer taskType;
+    /**
+     * 移动类型（1：去、 2：回）
+     */
+    private Integer moveType;
+    /**
+     * 开始时间
+     */
+    private LocalDateTime startTime;
+    /**
+     * 结束时间
+     */
+    private LocalDateTime endTime;
+    /**
+     * robot_task_auto_move表id，来回搬运需要记录上一次搬运的源库位
+     */
+    private Long taskAutoMoveId;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskDetailDO.java

@@ -59,6 +59,18 @@ public class RobotTaskDetailDO extends BaseDO {
      * 计算后的来源库位id
      */
     private Long fromLocationId;
+    /**
+     * 取货线库id
+     */
+    private Long fromLaneId;
+    /**
+     * 放货线库id
+     */
+    private Long toLaneId;
+    /**
+     * 取货库位的排序的位置,越大越优先堆放
+     */
+    private Long locationNumber;
     /**
      * 计算后的目标库位编号
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java

@@ -73,14 +73,6 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
      */
     WareHouseLocationDO queryAllByLimit(WareHouseLocationDO wareHouseLocationDO);
 
-    /**
-     * 更新库位锁定状态
-     * @param id
-     * @param locationLock
-     */
-    void updateLocationLockStatus(@Param("id") Long id,
-                                  @Param("locationLock") int locationLock,
-                                  @Param("taskId") Long taskId);
 
     /**
      * 查询库位
@@ -93,7 +85,8 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
                                               @Param("mapIds")  Set<Long> mapIds);
 
     void updateLocationLockList( @Param("locationIds") List<Long> locationIds,
-                                 @Param("taskId") Long taskId);
+                                 @Param("taskId") Long taskId,
+                                 @Param("locationLock") Integer locationLock);
 
     /**
      * 根据类型查库位/线库/区域
@@ -101,4 +94,18 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
      * @return
      */
     List<WareHouseLocationRespVO> getLocationByName(WareHouseLocationVO requestVO);
+
+    /**
+     * 查询相通的线库 且 有货的 排序的位置较小的库位
+     * @param locations
+     * @return
+     */
+    List<WareHouseLocationDO> selectLocationByList(@Param("locations") List<WareHouseLocationDO> locations);
+
+    /**
+     * 查询需要移库的库位
+     * @param locationIds
+     * @return
+     */
+    List<WareHouseLocationDO> selectNeedMoveLocation(@Param("locationIds") Set<Long> locationIds);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/parkingspot/ParkingSpotMapper.java

@@ -1,13 +1,11 @@
 package cn.iocoder.yudao.module.system.dal.mysql.parkingspot;
 
-import java.util.*;
-
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
-import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.module.system.controller.admin.parkingspot.vo.ParkingSpotPageReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.parkingspot.ParkingSpotDO;
 import org.apache.ibatis.annotations.Mapper;
-import cn.iocoder.yudao.module.system.controller.admin.parkingspot.vo.*;
 
 /**
  * 停车点 Mapper
@@ -19,8 +17,8 @@ public interface ParkingSpotMapper extends BaseMapperX<ParkingSpotDO> {
 
     default PageResult<ParkingSpotDO> selectPage(ParkingSpotPageReqVO reqVO) {
         return selectPage(reqVO, new LambdaQueryWrapperX<ParkingSpotDO>()
-                .eqIfPresent(ParkingSpotDO::getMapId, reqVO.getMapId())
-                .eqIfPresent(ParkingSpotDO::getMapItemId, reqVO.getMapItemId())
+                .eqIfPresent(ParkingSpotDO::getPositionMapId, reqVO.getPositionMapId())
+                .eqIfPresent(ParkingSpotDO::getPositionMapItemId, reqVO.getPositionMapItemId())
                 .eqIfPresent(ParkingSpotDO::getLocationX, reqVO.getLocationX())
                 .eqIfPresent(ParkingSpotDO::getLocationY, reqVO.getLocationY())
                 .eqIfPresent(ParkingSpotDO::getLocationWide, reqVO.getLocationWide())
@@ -32,4 +30,4 @@ public interface ParkingSpotMapper extends BaseMapperX<ParkingSpotDO> {
                 .orderByDesc(ParkingSpotDO::getId));
     }
 
-}
+}

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

@@ -32,11 +32,6 @@ public interface RobotInformationMapper extends BaseMapperX<RobotInformationDO>
                 .orderByDesc(RobotInformationDO::getId));
     }
 
-    /**
-     * 查询空闲的机器人
-     * @return
-     */
-    List<RobotInformationDO> selectFreeRobot();
 
     /**
      * 更新机器人状态
@@ -64,4 +59,12 @@ public interface RobotInformationMapper extends BaseMapperX<RobotInformationDO>
      * @return
      */
     List<RobotInformationDO> selectByRobotNos(@Param("robotNos")  Set<String> robotNos);
+
+    /**
+     * 更新任务模式（0：拒收任务、1：正常）
+     * @param robotNos
+     * @param robotTaskModel
+     */
+    void updateRobotTaskModel(@Param("robotNos") Set<String> robotNos,
+                              @Param("robotTaskModel") Integer robotTaskModel);
 }

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

@@ -0,0 +1,40 @@
+package cn.iocoder.yudao.module.system.dal.mysql.robot;
+
+import java.util.*;
+
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskAutoMovePageReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskAutoMoveDO;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 机器人自动移库 Mapper
+ *
+ * @author 陈宾顺
+ */
+@Mapper
+public interface RobotTaskAutoMoveMapper extends BaseMapperX<RobotTaskAutoMoveDO> {
+
+    default PageResult<RobotTaskAutoMoveDO> selectPage(RobotTaskAutoMovePageReqVO reqVO) {
+        return selectPage(reqVO, new LambdaQueryWrapperX<RobotTaskAutoMoveDO>()
+                .eqIfPresent(RobotTaskAutoMoveDO::getRobotTaskId, reqVO.getRobotTaskId())
+                .eqIfPresent(RobotTaskAutoMoveDO::getRobotTaskDetailId, reqVO.getRobotTaskDetailId())
+                .eqIfPresent(RobotTaskAutoMoveDO::getFromLocationNo, reqVO.getFromLocationNo())
+                .eqIfPresent(RobotTaskAutoMoveDO::getFromLocationId, reqVO.getFromLocationId())
+                .eqIfPresent(RobotTaskAutoMoveDO::getToLocationNo, reqVO.getToLocationNo())
+                .eqIfPresent(RobotTaskAutoMoveDO::getToLocationId, reqVO.getToLocationId())
+                .eqIfPresent(RobotTaskAutoMoveDO::getTaskStatus, reqVO.getTaskStatus())
+                .eqIfPresent(RobotTaskAutoMoveDO::getPriority, reqVO.getPriority())
+                .eqIfPresent(RobotTaskAutoMoveDO::getRobotNo, reqVO.getRobotNo())
+                .eqIfPresent(RobotTaskAutoMoveDO::getTaskType, reqVO.getTaskType())
+                .eqIfPresent(RobotTaskAutoMoveDO::getMoveType, reqVO.getMoveType())
+                .betweenIfPresent(RobotTaskAutoMoveDO::getStartTime, reqVO.getStartTime())
+                .betweenIfPresent(RobotTaskAutoMoveDO::getEndTime, reqVO.getEndTime())
+                .eqIfPresent(RobotTaskAutoMoveDO::getTaskAutoMoveId, reqVO.getTaskAutoMoveId())
+                .betweenIfPresent(RobotTaskAutoMoveDO::getCreateTime, reqVO.getCreateTime())
+                .orderByDesc(RobotTaskAutoMoveDO::getId));
+    }
+
+}

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

@@ -32,7 +32,7 @@ public interface RobotTaskMapper extends BaseMapperX<RobotTaskDO> {
                 .eqIfPresent(RobotTaskDO::getDoMoveAll, reqVO.getDoMoveAll())
                 .eqIfPresent(RobotTaskDO::getCycleNumber, reqVO.getCycleNumber())
                 .eqIfPresent(RobotTaskDO::getRemainingCycleNumber, reqVO.getRemainingCycleNumber())
-                .eqIfPresent(RobotTaskDO::getTaskNo, reqVO.getTaskNo())
+                .likeIfPresent(RobotTaskDO::getTaskNo, reqVO.getTaskNo())
                 .eqIfPresent(RobotTaskDO::getTaskStatus, reqVO.getTaskStatus())
                 .eqIfPresent(RobotTaskDO::getTaskStage, reqVO.getTaskStage())
                 .betweenIfPresent(RobotTaskDO::getStartTime, reqVO.getStartTime())

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

@@ -0,0 +1,21 @@
+package cn.iocoder.yudao.module.system.enums.robot;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * robot_task_auto_move的task_status
+ */
+@Getter
+@AllArgsConstructor
+public enum AutoMoveTaskStatusEnum {
+    NEW(0),//未开始
+    DOING(1),//执行中
+    DONE(2),//已完成
+    CLOSE(3), //已取消
+    Exc(4); //异常
+    /**
+     * 类型
+     */
+    private final Integer type;
+}

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

@@ -0,0 +1,18 @@
+package cn.iocoder.yudao.module.system.enums.robot;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * robot_task_auto_move的task_type
+ */
+@Getter
+@AllArgsConstructor
+public enum AutoMoveTaskTypeEnum {
+
+    AUTO_MOVE(1); //自动移库
+    /**
+     * 类型
+     */
+    private final Integer type;
+}

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

@@ -0,0 +1,21 @@
+package cn.iocoder.yudao.module.system.enums.robot;
+
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * robot_task_auto_move的move_type
+ */
+@Getter
+@AllArgsConstructor
+public enum AutoMoveTypeEnum {
+
+    GO(1), //去
+    BACK(1); //回
+    /**
+     * 类型
+     */
+    private final Integer type;
+
+}

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

@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * 下发给车机的类型
+ */
 @Getter
 @AllArgsConstructor
 public enum CommandTypeEnum {

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

@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * robot_task的do_cycle
+ */
 @Getter
 @AllArgsConstructor
 public enum DoCycleEnum {

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

@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * ware_house_location的location_enable
+ */
 @Getter
 @AllArgsConstructor
 public enum LocationEnableEnum {

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

@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * ware_house_location的location_lock
+ */
 @Getter
 @AllArgsConstructor
 public enum LocationLockEnum {

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

@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * ware_house_location的location_use_status
+ */
 @Getter
 @AllArgsConstructor
 public enum LocationUseStatusEnum {

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

@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * robot_task的montage_task
+ */
 @Getter
 @AllArgsConstructor
 public enum MontageTaskEnum {

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

@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * robot_task的do_move_all
+ */
 @Getter
 @AllArgsConstructor
 public enum MoveAllEnum {

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

@@ -4,7 +4,7 @@ import lombok.AllArgsConstructor;
 import lombok.Getter;
 
 /**
- * 放货类型
+ * 放货类型robot_task_detail的release_type
  */
 @Getter
 @AllArgsConstructor

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

@@ -0,0 +1,21 @@
+package cn.iocoder.yudao.module.system.enums.robot;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * robot_task_auto_move表的task_status状态
+ */
+@Getter
+@AllArgsConstructor
+public enum RobotMoveStatusEnum {
+    NEW(0),//未开始
+    DOING(1),//执行中
+    DONE(2),//已完成
+    CLOSE(3), //已取消
+    Exc(4); //异常
+    /**
+     * 类型
+     */
+    private final Integer type;
+}

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

@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * robot_task_detail的task_status
+ */
 @Getter
 @AllArgsConstructor
 public enum RobotTaskDetailStatusEnum {

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

@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * robot_information的robot_task_model
+ */
 @Getter
 @AllArgsConstructor
 public enum RobotTaskModelEnum {

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

@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * robot_task表的task_status
+ */
 @Getter
 @AllArgsConstructor
 public enum RobotTaskStatusEnum {

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

@@ -3,6 +3,9 @@ package cn.iocoder.yudao.module.system.enums.robot;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+/**
+ * robot_task_detail的task_type
+ */
 @Getter
 @AllArgsConstructor
 public enum RobotTaskTypeEnum {

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/NodeProcessingContext.java

@@ -3,18 +3,12 @@ package cn.iocoder.yudao.module.system.handler.mapnode;
 
 import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.util.ObjectUtil;
-import cn.hutool.json.JSONUtil;
 import cn.iocoder.yudao.framework.common.enums.NodeTypeEnum;
 import cn.iocoder.yudao.framework.common.util.collection.CollectionUtils;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.NodeBaseDTO;
-import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
-import cn.iocoder.yudao.module.system.handler.mapnode.strategy.HouseLocationStrategyImpl;
-import cn.iocoder.yudao.module.system.handler.mapnode.strategy.MapNodeStrategyImpl;
-import cn.iocoder.yudao.module.system.handler.mapnode.strategy.NodeProcessingStrategy;
-import cn.iocoder.yudao.module.system.handler.mapnode.strategy.ParkingSpotStrategyImpl;
+import cn.iocoder.yudao.module.system.handler.mapnode.strategy.*;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
-import com.baomidou.mybatisplus.core.toolkit.IdWorker;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Component;
 import org.springframework.transaction.annotation.Transactional;
@@ -23,16 +17,13 @@ import javax.annotation.PostConstruct;
 import java.util.HashMap;
 import java.util.List;
 import java.util.Map;
-import java.util.Objects;
-
-import static com.baomidou.mybatisplus.core.toolkit.IdWorker.getId;
 
 @Component
 public class NodeProcessingContext {
 
     private final Map<Integer, NodeProcessingStrategy> strategyMap = new HashMap<>();
-
-
+    @Autowired
+    private PositionMapItemService positionMapItemService;
     @Autowired
     private MapNodeStrategyImpl mapNodeStrategyImpl;
     @Autowired
@@ -40,7 +31,7 @@ public class NodeProcessingContext {
     @Autowired
     private ParkingSpotStrategyImpl parkingSpotStrategyImpl;
     @Autowired
-    private PositionMapItemService positionMapItemService;
+    private DeviceStrategyImpl deviceStrategyImpl;
 
     /**
      * 项目启动时 初始化策略
@@ -52,7 +43,7 @@ public class NodeProcessingContext {
         // 库位
         strategyMap.put(NodeTypeEnum.WARE.getType(), houseLocationStrategyImpl);
         // 设备点
-//        strategyMap.put(NodeTypeEnum.EQUIPMENT.getType(), houseLocationStrategyImpl);
+        strategyMap.put(NodeTypeEnum.DEVICE.getType(), deviceStrategyImpl);
         // 停车点
         strategyMap.put(NodeTypeEnum.PARKING.getType(), parkingSpotStrategyImpl);
         // 路径点

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/DeviceStrategyImpl.java

@@ -0,0 +1,51 @@
+package cn.iocoder.yudao.module.system.handler.mapnode.strategy;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.hutool.json.JSONUtil;
+import cn.iocoder.yudao.framework.common.util.collection.CollectionUtils;
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.NodeBaseDTO;
+import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
+import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.Resource;
+import java.util.ArrayList;
+import java.util.List;
+
+import static com.baomidou.mybatisplus.core.toolkit.IdWorker.getId;
+
+@Component
+public class DeviceStrategyImpl implements NodeProcessingStrategy {
+    @Resource
+    private DeviceInformationService deviceInformationService;
+
+    @Override
+    public void processNodes(Long positionMapId, List<NodeBaseDTO> nodeBaseDTOS) {
+        // -- 策略3 处理设备点
+        // -- 将data里面的json 数据转为实体类 - 再对比节点id - 然后做新增删除修改操作
+        // ---------------      dataJSON里面没有具体的类的id - 然后库位要根据层数添加 多个库位数据 即 一个点位 对应多个库位
+        List<DeviceInformationDO> newList = new ArrayList<>();
+        nodeBaseDTOS.forEach(item -> {
+            if (item.getId() == null) {
+                item.setId(getId());
+            }
+            item.setPositionMapId(positionMapId);
+            DeviceInformationDO deviceInformationDO = JSONUtil.toBean(item.getDataJson(), DeviceInformationDO.class);
+            if (deviceInformationDO.getId() == null) {
+                deviceInformationDO.setId(getId());
+            }
+            deviceInformationDO.setLocationX(item.getLocationX());
+            deviceInformationDO.setLocationY(item.getLocationY());
+
+            deviceInformationDO.setPositionMapId(positionMapId);
+            deviceInformationDO.setPositionMapItemId(item.getId());
+            newList.add(deviceInformationDO);
+            item.setDataJson(JSONUtil.toJsonStr(deviceInformationDO));
+        });
+
+        List<DeviceInformationDO> oldList = deviceInformationService.getByMapId(positionMapId);
+        List<List<DeviceInformationDO>> list = CollectionUtils.diffList(oldList, newList,
+                (oldVal, newVal) -> ObjectUtil.equal(oldVal.getId(), newVal.getId()));
+        deviceInformationService.batchSaveOrEditOrDel(positionMapId, list);
+    }
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/ParkingSpotStrategyImpl.java

@@ -30,7 +30,6 @@ public class ParkingSpotStrategyImpl implements NodeProcessingStrategy {
                 item.setId(getId());
             }
             item.setPositionMapId(positionMapId);
-            // -- 如果是库位点 - 可能是一对多情况 - 需要将多个库位点的id set进去
             ParkingSpotDO parkingSpotDO = JSONUtil.toBean(item.getDataJson(), ParkingSpotDO.class);
             if (parkingSpotDO.getId() == null) {
                 parkingSpotDO.setId(getId());
@@ -38,8 +37,8 @@ public class ParkingSpotStrategyImpl implements NodeProcessingStrategy {
             parkingSpotDO.setLocationX(item.getLocationX());
             parkingSpotDO.setLocationY(item.getLocationY());
 
-            parkingSpotDO.setMapId(positionMapId);
-            parkingSpotDO.setMapItemId(item.getId());
+            parkingSpotDO.setPositionMapId(positionMapId);
+            parkingSpotDO.setPositionMapItemId(item.getId());
             newList.add(parkingSpotDO);
             item.setDataJson(JSONUtil.toJsonStr(parkingSpotDO));
         });

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

@@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.job.robot;
 import cn.iocoder.yudao.framework.tenant.core.job.TenantJob;
 import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
 import cn.iocoder.yudao.module.system.service.robot.job.DistributeTasksService;
+import cn.iocoder.yudao.module.system.service.robot.job.RobotTaskAutoMoveService;
 import cn.iocoder.yudao.module.system.util.redis.RedissonUtils;
 import com.xxl.job.core.handler.annotation.XxlJob;
 import lombok.extern.slf4j.Slf4j;
@@ -12,6 +13,12 @@ import org.springframework.stereotype.Component;
 
 import javax.annotation.Resource;
 
+import java.util.HashSet;
+import java.util.Set;
+
+import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.REDISSON_NOT_OBTAIN_LOCK;
+
 
 @Component
 @Slf4j
@@ -23,6 +30,9 @@ public class RobotJob {
     @Autowired
     private DistributeTasksService distributeTasksService;
 
+    @Autowired
+    private RobotTaskAutoMoveService robotTaskAutoMoveService;
+
     //下发任务给车机
     @XxlJob("DistributeTasksJob")
     @TenantJob
@@ -37,6 +47,32 @@ public class RobotJob {
             } finally {
                 lock.unlock();
             }
+        }else {
+            log.info("下发任务未获取到锁");
+            throw exception(REDISSON_NOT_OBTAIN_LOCK);
+        }
+    }
+
+    //下发自动移库任务
+    @XxlJob("DistributeAutoMoveJob")
+    @TenantJob
+    public void distributeAutoMoveJob() throws InterruptedException {
+        log.info("----下发自动移库任务----");
+        Set<String> locks = new HashSet<>();
+        locks.add(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
+        locks.add(RobotCacheLockEnum.ROBOT_TASK_ADD_LOCK.getKey());
+        RLock lock = redissonUtils.getLocks(locks);
+        if (lock.tryLock()){
+            try {
+                robotTaskAutoMoveService.distributeAutoMoveJob();
+            } catch (Exception e) {
+                log.error("下发自动移库任务出现异常 :{}",e.getMessage());
+            } finally {
+                lock.unlock();
+            }
+        }else {
+            log.info("下发自动移库任务未获取到锁");
+            throw exception(REDISSON_NOT_OBTAIN_LOCK);
         }
     }
 

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

@@ -1,13 +1,13 @@
 package cn.iocoder.yudao.module.system.service.information;
 
-import java.util.*;
-import javax.validation.*;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
-import cn.iocoder.yudao.framework.common.pojo.PageParam;
 import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
 
+import javax.validation.Valid;
+import java.util.List;
+
 /**
  * 设备信息 Service 接口
  *
@@ -53,4 +53,27 @@ public interface DeviceInformationService {
      */
     PageResult<DeviceInformationDO> getInformationPage(DeviceInformationPageReqVO pageReqVO);
 
-}
+    /**
+     * 批量新增删除修改
+     *
+     * @param positionMapId
+     * @param list
+     */
+    void batchSaveOrEditOrDel(Long positionMapId, List<List<DeviceInformationDO>> list);
+
+    /**
+     * 通过地图id获取设备列表
+     *
+     * @param positionMapId
+     * @return
+     */
+    List<DeviceInformationDO> getByMapId(Long positionMapId);
+
+    /**
+     * 获取设备列表
+     *
+     * @param pageReqVO
+     * @return
+     */
+    List<DeviceInformationDO> getList(@Valid DeviceInformationPageReqVO pageReqVO);
+}

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

@@ -1,25 +1,29 @@
 package cn.iocoder.yudao.module.system.service.information;
 
 import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.module.grpc.api.GrpcServiceApi;
 import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
 import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
-import cn.iocoder.yudao.module.system.enums.device.DeviceInformationEnum;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
-import javax.annotation.Resource;
+import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
 
-import cn.iocoder.yudao.framework.common.pojo.PageResult;
-import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
-
-
+import javax.annotation.Resource;
 import java.time.LocalDateTime;
+import java.util.List;
 
+import static cn.hutool.core.collection.CollUtil.isNotEmpty;
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
-import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
+import static cn.iocoder.yudao.framework.common.util.collection.CollectionUtils.convertList;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.INFORMATION_MAC_EXIST;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.INFORMATION_NOT_EXISTS;
 
 /**
  * 设备信息 Service 实现类
@@ -42,7 +46,7 @@ public class DeviceInformationServiceImpl implements DeviceInformationService {
         DeviceInformationPageReqVO pageReqVO = new DeviceInformationPageReqVO();
         pageReqVO.setMacAddress(createReqVO.getMacAddress());
         PageResult<DeviceInformationDO> pageResult = informationMapper.selectPage(pageReqVO);
-        if(ObjectUtil.isNotEmpty(pageResult.getList())){
+        if (ObjectUtil.isNotEmpty(pageResult.getList())) {
             throw exception(INFORMATION_MAC_EXIST);
         }
         // 插入
@@ -87,4 +91,31 @@ public class DeviceInformationServiceImpl implements DeviceInformationService {
         return informationMapper.selectPage(pageReqVO);
     }
 
-}
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public void batchSaveOrEditOrDel(Long positionMapId, List<List<DeviceInformationDO>> list) {
+        //批量添加、修改、删除
+        if (isNotEmpty(list.get(0))) {
+            informationMapper.insertBatch(list.get(0));
+        }
+        if (isNotEmpty(list.get(1))) {
+            informationMapper.updateBatch(list.get(1));
+        }
+        if (isNotEmpty(list.get(2))) {
+            informationMapper.deleteByIds(convertList(list.get(2), DeviceInformationDO::getId));
+        }
+    }
+
+    @Override
+    public List<DeviceInformationDO> getByMapId(Long positionMapId) {
+        return informationMapper.selectList(new LambdaQueryWrapperX<DeviceInformationDO>()
+                .eq(DeviceInformationDO::getPositionMapId, positionMapId));
+    }
+
+    @Override
+    public List<DeviceInformationDO> getList(DeviceInformationPageReqVO pageReqVO) {
+        return informationMapper.selectList(new LambdaQueryWrapper<DeviceInformationDO>()
+                .eq(pageReqVO.getDeviceType() != null, DeviceInformationDO::getDeviceType, pageReqVO.getDeviceType()));
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/parkingspot/ParkingSpotServiceImpl.java

@@ -9,6 +9,7 @@ import cn.iocoder.yudao.module.system.dal.dataobject.parkingspot.ParkingSpotDO;
 import cn.iocoder.yudao.module.system.dal.mysql.parkingspot.ParkingSpotMapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
 
 import javax.annotation.Resource;
@@ -65,10 +66,11 @@ public class ParkingSpotServiceImpl extends ServiceImpl<ParkingSpotMapper, Parki
     @Override
     public List<ParkingSpotDO> getByMapId(Long positionMapId) {
         return parkingSpotMapper.selectList(new LambdaQueryWrapperX<ParkingSpotDO>()
-                .eq(ParkingSpotDO::getMapId, positionMapId));
+                .eq(ParkingSpotDO::getPositionMapId, positionMapId));
     }
 
     @Override
+    @Transactional(rollbackFor = Exception.class)
     public void batchSaveOrEditOrDel(Long positionMapId, List<List<ParkingSpotDO>> list) {
         //批量添加、修改、删除
         if (isNotEmpty(list.get(0))) {

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

@@ -66,4 +66,11 @@ public interface RobotInformationService {
      * @return
      */
     List<RobotInformationDO> getCanUseRobot();
+
+    /**
+     * 查询所有车辆
+     * @return
+     */
+    List<RobotInformationDO> getAllRobot();
+
 }

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

@@ -173,4 +173,10 @@ public class RobotInformationServiceImpl implements RobotInformationService {
         return informationMapper.queryAllByLimit(query);
     }
 
+    @Override
+    public List<RobotInformationDO> getAllRobot() {
+        RobotInformationDO query = new RobotInformationDO();
+        return informationMapper.queryAllByLimit(query);
+    }
+
 }

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

@@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.service.robot;
 import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.common.util.date.DateUtils;
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.mybatis.core.util.MyBatisUtils;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
@@ -93,7 +94,7 @@ public class RobotTaskServiceImpl implements RobotTaskService {
         RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_ADD_LOCK.getKey());
 
         String addResult = "";
-        if (lock.tryLock(30l,TimeUnit.MINUTES)){
+        if (lock.tryLock(60l,TimeUnit.MINUTES)){
             try {
                 addResult = addTask(createReqVO);
             } catch (Exception e) {
@@ -155,6 +156,14 @@ public class RobotTaskServiceImpl implements RobotTaskService {
                 throw exception0(TASK_CHECK_EXCEPTION.getCode(), "以下机器人已被禁用 ",robotNo);
             }
         }
+        //校验任务号是否重复
+        if (ObjectUtil.isNotEmpty(createReqVO.getTaskNo())) {
+            List<RobotTaskDO> taskDOS = taskMapper.selectList(new LambdaQueryWrapperX<RobotTaskDO>()
+                    .eq(RobotTaskDO::getTaskNo, createReqVO.getTaskNo()));
+            if (ObjectUtil.isNotEmpty(taskDOS)) {
+                throw exception(TASK_CHECK_EXIST_NO);
+            }
+        }
     }
 
     /**
@@ -166,11 +175,14 @@ public class RobotTaskServiceImpl implements RobotTaskService {
         RobotTaskDO task = BeanUtils.toBean(createReqVO, RobotTaskDO.class);
         taskMapper.insert(task);
 
+        // todo 更新数据库顺序 后续改为xxl-job一致
+
         //查找库位
+        List<Long> locationIds = new ArrayList<>();
         if (MoveAllEnum.NO.getType().equals(createReqVO.getDoMoveAll())) {
-            setSingleLocationIdNo(createReqVO.getTaskDetailList(),task);
+            locationIds = setSingleLocationIdNo(createReqVO.getTaskDetailList(),task);
         } else {
-            setAllLocationIdNo(createReqVO,task.getId());
+            locationIds = setAllLocationIdNo(createReqVO,task.getId());
         }
 
         // 插入
@@ -180,6 +192,11 @@ public class RobotTaskServiceImpl implements RobotTaskService {
                 });
         robotTaskDetailService.insertRobotDetailList(createReqVO.getTaskDetailList());
 
+        List<List<Long>> fromPartition = Lists.partition(locationIds, 100);
+        fromPartition.forEach(list-> {
+            locationMapper.updateLocationLockList(list,task.getId(),LocationLockEnum.NO.getType());
+        });
+
         return RESULT;
     }
 
@@ -189,7 +206,7 @@ public class RobotTaskServiceImpl implements RobotTaskService {
      * @param taskId
      */
     @Transactional(rollbackFor = Exception.class)
-    public void setAllLocationIdNo(RobotTaskSaveReqVO createReqVO, Long taskId) {
+    public List<Long> setAllLocationIdNo(RobotTaskSaveReqVO createReqVO, Long taskId) {
         List<RobotTaskDetailAddVO> taskDetailList = createReqVO.getTaskDetailList();
 
         List<RobotTaskDetailAddVO> newTaskDetailList = new ArrayList<>();
@@ -266,17 +283,11 @@ public class RobotTaskServiceImpl implements RobotTaskService {
         }
 
         createReqVO.setTaskDetailList(newTaskDetailList);
-        //跟新库位状态为锁定
-        List<List<Long>> toPartition = Lists.partition(toLocationIds, 100);
-        toPartition.forEach(list-> {
-            locationMapper.updateLocationLockList(list,taskId);
-        });
-
-        List<List<Long>> fromPartition = Lists.partition(fromLocationIds, 100);
-        fromPartition.forEach(list-> {
-            locationMapper.updateLocationLockList(list,taskId);
-        });
 
+        if (ObjectUtil.isNotEmpty(fromLocationIds)) {
+            toLocationIds.addAll(fromLocationIds);
+        }
+        return toLocationIds;
     }
 
     /**
@@ -304,6 +315,9 @@ public class RobotTaskServiceImpl implements RobotTaskService {
             robotTaskDetailAddVo.setFromLocationId(stockList.get(i).getId());
             robotTaskDetailAddVo.setToLocationNo(releaseStockList.get(i).getLocationNo());
             robotTaskDetailAddVo.setToLocationId(releaseStockList.get(i).getId());
+            robotTaskDetailAddVo.setFromLaneId(stockList.get(i).getLaneId());
+            robotTaskDetailAddVo.setToLaneId(releaseStockList.get(i).getLaneId());
+            robotTaskDetailAddVo.setLocationNumber(stockList.get(i).getLocationNumber());
             robotTaskDetailAddVo.setRobotTaskId(taskId);
             robotTaskDetailAddVo.setPriority(robotTaskVo.getPriority());
             robotTaskDetailAddVo.setFromLocationStorey(stockList.get(i).getLocationStorey());
@@ -322,7 +336,7 @@ public class RobotTaskServiceImpl implements RobotTaskService {
      * @return
      */
     @Transactional(rollbackFor = Exception.class)
-    public void setSingleLocationIdNo(List<RobotTaskDetailAddVO> taskDetailList, RobotTaskDO task){
+    public List<Long> setSingleLocationIdNo(List<RobotTaskDetailAddVO> taskDetailList, RobotTaskDO task){
         List<Long> locationIds = new ArrayList<>();
         for (RobotTaskDetailAddVO robotTaskVo : taskDetailList) {
             robotTaskVo.setRobotTaskId(task.getId());
@@ -348,16 +362,17 @@ public class RobotTaskServiceImpl implements RobotTaskService {
                     doRelease(robotTaskVo,locationIds);
                     break;
                 case SCAN:
-                    doScan(robotTaskVo);
+                    doScan(robotTaskVo,locationIds);
                     break;
                 case DETECTING_TRAYS:
-                    doDetectingTrays(robotTaskVo);
+                    doDetectingTrays(robotTaskVo,locationIds);
                     break;
                 default :
                     log.error("任务类型不存在 ");
                     throw new RuntimeException("任务类型不存在");
             }
         }
+        return locationIds;
     }
 
     /**
@@ -365,9 +380,9 @@ public class RobotTaskServiceImpl implements RobotTaskService {
      * @param robotTaskVo
      */
     @Transactional(rollbackFor = Exception.class)
-    public void doDetectingTrays(RobotTaskDetailAddVO robotTaskVo) {
+    public void doDetectingTrays(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds) {
         setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),new ArrayList<>());
-        locationMapper.updateLocationLockStatus(robotTaskVo.getToLocationId(),0,robotTaskVo.getRobotTaskId());
+        locationIds.add(robotTaskVo.getToLocationId());
     }
 
     /**
@@ -375,9 +390,9 @@ public class RobotTaskServiceImpl implements RobotTaskService {
      * @param robotTaskVo
      */
     @Transactional(rollbackFor = Exception.class)
-    public void doScan(RobotTaskDetailAddVO robotTaskVo) {
+    public void doScan(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds) {
         setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),new ArrayList<>());
-        locationMapper.updateLocationLockStatus(robotTaskVo.getToLocationId(),0,robotTaskVo.getRobotTaskId());
+        locationIds.add(robotTaskVo.getToLocationId());
     }
 
     /**
@@ -387,7 +402,6 @@ public class RobotTaskServiceImpl implements RobotTaskService {
     @Transactional(rollbackFor = Exception.class)
     public void doRelease(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds) {
         setToLocation(robotTaskVo,getMapIdsByRobotNo(robotTaskVo.getRobotNo()),locationIds);
-        locationMapper.updateLocationLockStatus(robotTaskVo.getToLocationId(),0,robotTaskVo.getRobotTaskId());
         locationIds.add(robotTaskVo.getToLocationId());
     }
 
@@ -397,7 +411,11 @@ public class RobotTaskServiceImpl implements RobotTaskService {
      */
     @Transactional(rollbackFor = Exception.class)
     public void doTake(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds) {
-        locationMapper.updateLocationLockStatus(robotTaskVo.getFromLocationId(),0,robotTaskVo.getRobotTaskId());
+        Set<Long> mapIds = new HashSet<>();
+        if (ObjectUtil.isNotEmpty(robotTaskVo.getRobotNo())) {
+            mapIds = getMapIdsByRobotNo(robotTaskVo.getRobotNo());
+        }
+        setFromLocation(robotTaskVo,mapIds,locationIds);
         locationIds.add(robotTaskVo.getFromLocationId());
     }
 
@@ -459,6 +477,7 @@ public class RobotTaskServiceImpl implements RobotTaskService {
             robotTaskVo.setToLocationNo(locationDO.getLocationNo());
             robotTaskVo.setToLocationId(robotTaskVo.getReleaseId());
             robotTaskVo.setToLocationStorey(locationDO.getLocationStorey());
+            robotTaskVo.setToLaneId(locationDO.getLaneId());
             if (ObjectUtil.isNotEmpty(mapIds) && !mapIds.contains(locationDO.getMapId())) {
                 log.error("机器人不能在此放货库位放货 :{}, 机器人编号 :{}", locationDO.getLocationNo(),robotTaskVo.getRobotNo());
                 throw new RuntimeException("机器人不能在此放货库位放货 "+ robotTaskVo.getReleaseId());
@@ -474,6 +493,7 @@ public class RobotTaskServiceImpl implements RobotTaskService {
             robotTaskVo.setToLocationNo(wareHouseLocationDO.getLocationNo());
             robotTaskVo.setToLocationId(wareHouseLocationDO.getId());
             robotTaskVo.setToLocationStorey(wareHouseLocationDO.getLocationStorey());
+            robotTaskVo.setToLaneId(wareHouseLocationDO.getLaneId());
         }
     }
 
@@ -491,6 +511,8 @@ public class RobotTaskServiceImpl implements RobotTaskService {
             robotTaskVo.setFromLocationNo(locationDO.getLocationNo());
             robotTaskVo.setFromLocationId(robotTaskVo.getTakeId());
             robotTaskVo.setFromLocationStorey(locationDO.getLocationStorey());
+            robotTaskVo.setFromLaneId(locationDO.getLaneId());
+            robotTaskVo.setLocationNumber(locationDO.getLocationNumber());
             if (ObjectUtil.isNotEmpty(mapIds) && !mapIds.contains(locationDO.getMapId())) {
                 log.error("机器人不能在此取货库位取货 :{}, 机器人编号 :{}", locationDO.getLocationNo(),robotTaskVo.getRobotNo());
                 throw new RuntimeException("机器人不能在此取货库位取货 "+ robotTaskVo.getTakeId());
@@ -506,6 +528,8 @@ public class RobotTaskServiceImpl implements RobotTaskService {
             robotTaskVo.setFromLocationNo(wareHouseLocationDO.getLocationNo());
             robotTaskVo.setFromLocationId(wareHouseLocationDO.getId());
             robotTaskVo.setFromLocationStorey(wareHouseLocationDO.getLocationStorey());
+            robotTaskVo.setFromLaneId(wareHouseLocationDO.getLaneId());
+            robotTaskVo.setLocationNumber(wareHouseLocationDO.getLocationNumber());
         }
     }
 
@@ -537,9 +561,6 @@ public class RobotTaskServiceImpl implements RobotTaskService {
             throw new RuntimeException("取货库位,存在未完成的任务 ");
         }
 
-        //设置为锁定
-        locationMapper.updateLocationLockStatus(robotTaskVo.getToLocationId(),0,robotTaskVo.getRobotTaskId());
-        locationMapper.updateLocationLockStatus(robotTaskVo.getFromLocationId(),0,robotTaskVo.getRobotTaskId());
     }
 
     @Override
@@ -574,7 +595,11 @@ public class RobotTaskServiceImpl implements RobotTaskService {
                         && !robotTaskDO.getTaskStatus().equals(updateReqVO.getTaskStatus())) {
                     throw exception(TASK_CHECK_TASK_STATUS);
                 }
+
+                List<Long> locationIds = new ArrayList<>();
+                Set<String> robotNos = new HashSet<>();
                 if (ObjectUtil.isNotEmpty(updateReqVO.getTaskStatus())
+                    && RobotTaskStatusEnum.CLOSE.getType().equals(updateReqVO.getTaskStatus())
                     && !robotTaskDO.getTaskStatus().equals(updateReqVO.getTaskStatus())) {
                     for (RobotTaskDetailDO taskDetailDO : taskDetailDOS) {
                         if (RobotTaskDetailStatusEnum.DONE.getType().equals(taskDetailDO.getTaskStatus())) {
@@ -582,6 +607,18 @@ public class RobotTaskServiceImpl implements RobotTaskService {
                         }
                         //后期需做状态映射
                         taskDetailDO.setTaskStatus(updateReqVO.getTaskStatus());
+
+                        // todo 关闭需要下发任务给车机   。 还需要考虑下处理中的任务怎么处理
+
+                        if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())) {
+                            locationIds.add(taskDetailDO.getFromLocationId());
+                        }
+                        if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())) {
+                            locationIds.add(taskDetailDO.getToLocationId());
+                        }
+                        if (ObjectUtil.isNotEmpty(taskDetailDO.getRobotNo())) {
+                            robotNos.add(taskDetailDO.getRobotNo());
+                        }
                     }
                 }
 
@@ -589,6 +626,17 @@ public class RobotTaskServiceImpl implements RobotTaskService {
                 taskMapper.updateById(updateObj);
 
                 taskDetailMapper.updateBatch(taskDetailDOS);
+
+                if (ObjectUtil.isNotEmpty(locationIds)) {
+                    locationMapper.updateLocationLockList(locationIds,robotTaskDO.getId()
+                        ,LocationLockEnum.YES.getType());
+                }
+
+                // todo 执行中的需要锁车。 需要添加执行中的判断
+                if (ObjectUtil.isNotEmpty(robotNos)) {
+//                    informationMapper.updateRobotTaskModel(robotNos,RobotTaskModelEnum.REJECTION.getType());
+                }
+
             } catch (Exception e) {
                 log.error("更新任务失败 :{}",e.getMessage());
                 msg = e.getMessage();

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

@@ -1,5 +1,19 @@
 package cn.iocoder.yudao.module.system.service.robot.job;
 
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
+import org.apache.commons.lang3.tuple.Pair;
+
+import java.util.List;
+
 public interface DistributeTasksService {
+    /**
+     * 下发搬运任务
+     */
     void distributeTasks();
+
+    /**
+     * 获取待执行的机器人和任务
+     */
+    Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> getRobotAndTaskDetails();
 }

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

@@ -1,6 +1,7 @@
 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.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.mqtt.api.task.RobotTaskApi;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.Pose2ds;
@@ -18,6 +19,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
 import cn.iocoder.yudao.module.system.enums.robot.*;
 import com.alibaba.fastjson.JSON;
 import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.tuple.ImmutableTriple;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
@@ -74,13 +76,42 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
     @Override
     @Transactional(rollbackFor = Exception.class)
     public void distributeTasks() {
-        TenantContextHolder.setTenantId(1L);
-        List<RobotInformationDO> robots = robotInformationMapper.selectFreeRobot();
-        if (robots.isEmpty()) {
-            log.info("暂无空闲的机器人");
+
+        Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> robotAndTaskDetails = getRobotAndTaskDetails();
+        List<RobotInformationDO> robots = robotAndTaskDetails.getLeft();
+        if (ObjectUtil.isEmpty(robots)) {
             return;
         }
 
+        List<RobotTaskDetailDO> taskDetailDOS = robotAndTaskDetails.getRight();
+        if (ObjectUtil.isEmpty(taskDetailDOS)) {
+            return;
+        }
+
+        //任务下发给机器人
+        distributeTasks(robots,taskDetailDOS);
+    }
+
+    /**
+     * 获取待执行的机器人和任务
+     */
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> getRobotAndTaskDetails() {
+        Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> pair = Pair.of(new ArrayList<>(), new ArrayList<>());;
+        TenantContextHolder.setTenantId(1L);
+        List<RobotInformationDO> robots = robotInformationMapper.selectList(new LambdaQueryWrapperX<RobotInformationDO>()
+                .eq(RobotInformationDO::getRobotStatus, (RobotStatusEnum.STAND_BY.getType()))
+                .eq(RobotInformationDO::getRobotTaskModel, RobotTaskModelEnum.NORMAL.getType())
+                .orderByDesc(RobotInformationDO::getUpdateTime));
+
+        if (robots.isEmpty()) {
+            log.info("暂无空闲的机器人");
+            return pair;
+        }
+
+        //todo 还需要根据车机上报的信息，过滤掉不能用的机器人
+
         //拼接任务id
         List<Long> detailDongIds = robotTaskDetailMapper.getDoingTaskIds();
         List<Long> montageTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.YES.getType(),detailDongIds);
@@ -89,20 +120,16 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
 
         if (ObjectUtil.isEmpty(montageTaskIds) && ObjectUtil.isEmpty(singleTaskIds)) {
             log.info("暂无需要处理的主任务");
-            return;
+            return pair;
         }
 
         List<RobotTaskDetailDO> taskDetailDOS = getTaskDetail(montageTaskIds,singleTaskIds);
 
         if (taskDetailDOS.isEmpty()) {
             log.info("暂无需要处理的明细任务");
-            return;
+            return pair;
         }
-
-        //如果系统暂停  则不下发任务
-
-        //任务下发给机器人
-        distributeTasks(robots,taskDetailDOS);
+        return ImmutablePair.of(robots, taskDetailDOS);
     }
 
     /**
@@ -128,6 +155,12 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
     @Transactional(rollbackFor = Exception.class)
     public void distributeTasks(List<RobotInformationDO> robots, List<RobotTaskDetailDO> taskDetailDOS) {
         List<RobotAcceptTaskDTO> robotTaskDOS = new ArrayList<>();
+        //需要更新的任务明细id
+        List<RobotTaskDetailDO> updateTaskDetails = new ArrayList<>();
+        //需要更新的任务id
+        Set<Long> taskIds = new HashSet<>();
+        //需要更新的机器人编号
+        Set<String> robotNos = new HashSet<>();
         for (RobotTaskDetailDO taskDetailDO : taskDetailDOS) {
             if (ObjectUtil.isEmpty(robots)) {
                 break;
@@ -136,7 +169,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             RobotTaskTypeEnum robotTaskType = RobotTaskTypeEnum.getRobotTaskType(taskDetailDO.getTaskType());
             switch (robotTaskType) {
                 case TAKE_RELEASE:
-                    doTakeReleaseDistribute(taskDetailDO, robots,robotTaskDOS);
+                    doTakeReleaseDistribute(taskDetailDO, robots,robotTaskDOS,taskIds,updateTaskDetails,robotNos);
                     break;
                 /*case PARK:
                     doParkDistribute(taskDetailDO, robots,robotTaskDOS);
@@ -168,6 +201,27 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             log.info("任务下发给车机 :{}", JSON.toJSONString(robotTaskDOS));
             robotTaskApi.sendTaskToRobot(robotTaskDOS);
         }
+
+        if (ObjectUtil.isNotEmpty(taskIds)) {
+            List<RobotTaskDO> taskDOS = robotTaskMapper.selectBatchIds(taskIds);
+            for (RobotTaskDO taskDO : taskDOS) {
+                if (RobotTaskStatusEnum.NEW.getType().equals(taskDO.getTaskStatus())) {
+                    taskDO.setTaskStatus(RobotTaskStatusEnum.DOING.getType());
+                    taskDO.setStartTime(LocalDateTime.now());
+                }
+            }
+            robotTaskMapper.updateBatch(taskDOS);
+        }
+        if (ObjectUtil.isNotEmpty(updateTaskDetails)) {
+            robotTaskDetailMapper.updateBatch(updateTaskDetails);
+        }
+        if (ObjectUtil.isNotEmpty(robotNos)) {
+            List<RobotInformationDO> robotInformationDOS = robotInformationMapper.selectByRobotNos(robotNos);
+            robotInformationDOS.stream().forEach(robotInformationDO -> {
+                robotInformationDO.setRobotStatus(RobotStatusEnum.DOING.getType());
+            });
+            robotInformationMapper.updateBatch(robotInformationDOS);
+        }
     }
 
     /**
@@ -342,7 +396,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
      */
     @Transactional(rollbackFor = Exception.class)
     public void doTakeReleaseDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
-                                         List<RobotAcceptTaskDTO> robotTaskDOS) {
+                                         List<RobotAcceptTaskDTO> robotTaskDOS,Set<Long> taskIdSet,
+                                         List<RobotTaskDetailDO> updateTaskDetail, Set<String> robotNos) {
         WareHouseLocationDO query = WareHouseLocationDO.builder().id(taskDetailDO.getFromLocationId()).build();
         WareHouseLocationDO fromLocation = locationMapper.queryAllByLimit(query);
 
@@ -358,6 +413,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             return;
         }
 
+        // todo 需要校验取放线库， 都没有移库的任务
+
         RobotAcceptTaskDTO robotTaskDO = new RobotAcceptTaskDTO();
         robotTaskDO.setOrder_id(taskDetailDO.getId().toString());
         robotTaskDO.setOrder_type("出库");//未定
@@ -455,26 +512,6 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         }
 
 
-        /*Pose2ds poseOne = new Pose2ds();
-        poseOne.setX(-2.097);
-        poseOne.setY(-0.325);
-        poseOne.setYaw(1.571);
-        Pose2ds poseTwo = new Pose2ds();
-        poseTwo.setX(-0.856);
-        poseTwo.setY(1.622);
-        poseTwo.setYaw(0.034);
-        Pose2ds poseThree = new Pose2ds();
-        poseThree.setX(1.955);
-        poseThree.setY(-0.381);
-        poseThree.setYaw(-1.540);
-        Pose2ds poseFour = new Pose2ds();
-        poseFour.setX(3.046);
-        poseFour.setY(3.219);
-        poseFour.setYaw(-3.141);
-        pose2dsNight.add(poseOne);
-        pose2dsNight.add(poseTwo);
-        pose2dsNight.add(poseThree);
-        pose2dsNight.add(poseFour);*/
         taskNigth.setPose2ds(pose2dsNight);
 
         //10
@@ -557,10 +594,16 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         final String mac = macAddress;
         robots.removeIf(v -> v.getMacAddress().equals(mac));
 
-        updateTaskStatus(robotNo,taskDetailDO);
+        taskDetailDO.setRobotNo(robotNo);
+        taskDetailDO.setStartTime(LocalDateTime.now());
+        taskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
+        updateTaskDetail.add(taskDetailDO);
+
+        robotNos.add(robotNo);
+        taskIdSet.add(taskDetailDO.getRobotTaskId());
     }
 
-    private Pair<String, String> getMadAddressRobotNo(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
+    public Pair<String, String> getMadAddressRobotNo(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
                                                       WareHouseLocationDO fromLocation, WareHouseLocationDO toLocation) {
         String macAddress = "";
         String robotNo = taskDetailDO.getRobotNo();
@@ -572,7 +615,9 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                     .orElse("");
         } else {
             RobotInformationDO robotInformationDO = robots.stream()
-                    .filter(v -> v.getFloorAreaJson().contains(fromLocation.getAreaId())
+                    .filter(v ->
+                            ObjectUtil.isNotEmpty(v.getMacAddress())
+                            && v.getFloorAreaJson().contains(fromLocation.getAreaId())
                             && v.getFloorAreaJson().contains(toLocation.getAreaId()))
                     .findFirst()
                     .orElse(new RobotInformationDO());
@@ -585,18 +630,20 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
 
     @Transactional(rollbackFor = Exception.class)
     public void updateTaskStatus(String robotNo, RobotTaskDetailDO taskDetailDO) {
-        robotInformationMapper.updateRobotStatus(robotNo, RobotStatusEnum.DOING.getType());
-        RobotTaskDetailDO detailDO = new RobotTaskDetailDO();
-        detailDO.setId(taskDetailDO.getId());
-        detailDO.setStartTime(LocalDateTime.now());
-        detailDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
-        robotTaskDetailMapper.updateRobotDetailById(detailDO);
 
         RobotTaskDO robotTaskDO = new RobotTaskDO();
         robotTaskDO.setId(taskDetailDO.getRobotTaskId());
         robotTaskDO.setStartTime(LocalDateTime.now());
         robotTaskDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
         robotTaskMapper.updateRobot(robotTaskDO);
+
+        RobotTaskDetailDO detailDO = new RobotTaskDetailDO();
+        detailDO.setId(taskDetailDO.getId());
+        detailDO.setStartTime(LocalDateTime.now());
+        detailDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
+        robotTaskDetailMapper.updateRobotDetailById(detailDO);
+
+        robotInformationMapper.updateRobotStatus(robotNo, RobotStatusEnum.DOING.getType());
     }
 
 

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

@@ -0,0 +1,60 @@
+package cn.iocoder.yudao.module.system.service.robot.job;
+
+import java.util.*;
+import javax.validation.*;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskAutoMovePageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskAutoMoveSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskAutoMoveDO;
+
+/**
+ * 机器人自动移库 Service 接口
+ *
+ * @author 陈宾顺
+ */
+public interface RobotTaskAutoMoveService {
+
+    /**
+     * 创建机器人自动移库
+     *
+     * @param createReqVO 创建信息
+     * @return 编号
+     */
+    Long createTaskAutoMove(@Valid RobotTaskAutoMoveSaveReqVO createReqVO);
+
+    /**
+     * 更新机器人自动移库
+     *
+     * @param updateReqVO 更新信息
+     */
+    void updateTaskAutoMove(@Valid RobotTaskAutoMoveSaveReqVO updateReqVO);
+
+    /**
+     * 删除机器人自动移库
+     *
+     * @param id 编号
+     */
+    void deleteTaskAutoMove(Long id);
+
+    /**
+     * 获得机器人自动移库
+     *
+     * @param id 编号
+     * @return 机器人自动移库
+     */
+    RobotTaskAutoMoveDO getTaskAutoMove(Long id);
+
+    /**
+     * 获得机器人自动移库分页
+     *
+     * @param pageReqVO 分页查询
+     * @return 机器人自动移库分页
+     */
+    PageResult<RobotTaskAutoMoveDO> getTaskAutoMovePage(RobotTaskAutoMovePageReqVO pageReqVO);
+
+    /**
+     * 自动移库
+     */
+    void distributeAutoMoveJob();
+}

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

@@ -0,0 +1,412 @@
+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.framework.tenant.core.context.TenantContextHolder;
+import cn.iocoder.yudao.module.mqtt.api.task.RobotTaskApi;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskAutoMovePageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskAutoMoveSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskAutoMoveDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
+import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskAutoMoveMapper;
+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.*;
+import com.alibaba.fastjson.JSON;
+import com.google.common.collect.Lists;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.tuple.Pair;
+import org.springframework.beans.factory.annotation.Autowired;
+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;
+
+import java.time.LocalDateTime;
+import java.util.*;
+import java.util.stream.Collectors;
+
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+
+
+import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.TASK_AUTO_MOVE_NOT_EXISTS;
+
+/**
+ * 机器人自动移库 Service 实现类
+ *
+ * @author 陈宾顺
+ */
+@Service
+@Validated
+@Slf4j
+public class RobotTaskAutoMoveServiceImpl implements RobotTaskAutoMoveService {
+
+    @Resource
+    private RobotTaskAutoMoveMapper taskAutoMoveMapper;
+
+    @Autowired
+    private RobotInformationMapper robotInformationMapper;
+
+    @Autowired
+    private RobotTaskMapper robotTaskMapper;
+
+    @Autowired
+    private RobotTaskDetailMapper robotTaskDetailMapper;
+
+    @Resource
+    private RobotTaskApi robotTaskApi;
+
+    @Resource
+    private PositionMapItemMapper positionMapItemMapper;
+
+    @Resource
+    private WareHouseLocationMapper locationMapper;
+
+    @Autowired
+    private DistributeTasksService distributeTasksService;
+
+    @Value("${zn.lane_auto_move:true}")
+    private Boolean laneAutoMove;
+
+    @Override
+    public Long createTaskAutoMove(RobotTaskAutoMoveSaveReqVO createReqVO) {
+        // 插入
+        RobotTaskAutoMoveDO taskAutoMove = BeanUtils.toBean(createReqVO, RobotTaskAutoMoveDO.class);
+        taskAutoMoveMapper.insert(taskAutoMove);
+        // 返回
+        return taskAutoMove.getId();
+    }
+
+    @Override
+    public void updateTaskAutoMove(RobotTaskAutoMoveSaveReqVO updateReqVO) {
+        // 校验存在
+        validateTaskAutoMoveExists(updateReqVO.getId());
+        // 更新
+        RobotTaskAutoMoveDO updateObj = BeanUtils.toBean(updateReqVO, RobotTaskAutoMoveDO.class);
+        taskAutoMoveMapper.updateById(updateObj);
+    }
+
+    @Override
+    public void deleteTaskAutoMove(Long id) {
+        // 校验存在
+        validateTaskAutoMoveExists(id);
+        // 删除
+        taskAutoMoveMapper.deleteById(id);
+    }
+
+    private void validateTaskAutoMoveExists(Long id) {
+        if (taskAutoMoveMapper.selectById(id) == null) {
+            throw exception(TASK_AUTO_MOVE_NOT_EXISTS);
+        }
+    }
+
+    @Override
+    public RobotTaskAutoMoveDO getTaskAutoMove(Long id) {
+        return taskAutoMoveMapper.selectById(id);
+    }
+
+    @Override
+    public PageResult<RobotTaskAutoMoveDO> getTaskAutoMovePage(RobotTaskAutoMovePageReqVO pageReqVO) {
+        return taskAutoMoveMapper.selectPage(pageReqVO);
+    }
+
+    /**
+     * 自动移库
+     */
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public void distributeAutoMoveJob() {
+        TenantContextHolder.setTenantId(1L);
+        Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> robotAndTaskDetails =
+                distributeTasksService.getRobotAndTaskDetails();
+
+        List<RobotInformationDO> robots = robotAndTaskDetails.getLeft();
+        if (ObjectUtil.isEmpty(robots)) {
+            log.info("没有空闲的机器人能执行移库任务");
+            return;
+        }
+
+        List<RobotTaskDetailDO> taskDetailDOS = robotAndTaskDetails.getRight();
+        if (ObjectUtil.isEmpty(taskDetailDOS)) {
+            log.info("没有需要自动移库的明细任务");
+            return;
+        }
+
+        //查询需要移库的普通库位(非线库)
+        List<Pair<RobotTaskDetailDO, List<WareHouseLocationDO>>> ordinaryPairs = getOrdinaryAutoMoveLocation(taskDetailDOS);
+
+        //查询需要移库的库位(线库)
+        List<Pair<RobotTaskDetailDO, List<WareHouseLocationDO>>> pairs = getLaneAutoMoveLocation(taskDetailDOS);
+
+        if (ObjectUtil.isEmpty(ordinaryPairs) && ObjectUtil.isEmpty(pairs)) {
+            log.info("查不到需要移库的库位");
+            return;
+        }
+        ordinaryPairs.addAll(pairs);
+        //下发任务
+        List<RobotTaskAutoMoveDO> robotTaskAutoMoveDOS = allocationRobot(robots, ordinaryPairs);
+        if (ObjectUtil.isEmpty(robotTaskAutoMoveDOS)) {
+            log.info("暂无需要下发移库的任务");
+            return;
+        }
+
+        taskAutoMoveMapper.insert(robotTaskAutoMoveDOS);
+        Set<String> robotNos = robotTaskAutoMoveDOS.stream().map(RobotTaskAutoMoveDO::getRobotNo).collect(Collectors.toSet());
+
+        List<RobotInformationDO> robotInformationDOS = robotInformationMapper.selectByRobotNos(robotNos);
+        robotInformationDOS.stream().forEach(robotInformationDO -> {
+            robotInformationDO.setRobotStatus(RobotStatusEnum.DOING.getType());
+        });
+        robotInformationMapper.updateBatch(robotInformationDOS);
+
+        List<Long> locationIds = new ArrayList<>();
+        robotTaskAutoMoveDOS.forEach(robotTaskAutoMoveDO -> {
+            locationIds.add(robotTaskAutoMoveDO.getFromLocationId());
+            locationIds.add(robotTaskAutoMoveDO.getToLocationId());
+        });
+
+        List<List<Long>> fromPartition = Lists.partition(locationIds, 100);
+        fromPartition.forEach(list-> {
+            locationMapper.updateLocationLockList(list,0l,LocationLockEnum.NO.getType());
+        });
+
+        // todo 搬运任务下发给机器人
+
+    }
+
+    /**
+     * 查询需要移库的普通库位(非线库)
+     * @param taskDetailDOS
+     * @return
+     */
+    private List<Pair<RobotTaskDetailDO, List<WareHouseLocationDO>>> getOrdinaryAutoMoveLocation(List<RobotTaskDetailDO> taskDetailDOS) {
+        List<Pair<RobotTaskDetailDO, List<WareHouseLocationDO>>> result = new ArrayList<>();
+        List<RobotTaskDetailDO> details = taskDetailDOS.stream().filter(v ->
+                        (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(v.getTaskType())
+                                || RobotTaskTypeEnum.TAKE.getType().equals(v.getTaskType())
+                                || RobotTaskTypeEnum.RELEASE.getType().equals(v.getTaskType()))
+                                && ObjectUtil.isEmpty(v.getFromLaneId()))
+                .collect(Collectors.toList());
+        if (ObjectUtil.isEmpty(details)) {
+            log.info("普通库位, 不需要执行移库");
+            return result;
+        }
+
+        for (RobotTaskDetailDO robotTaskDetailDO : details) {
+            Set<Long> doingLocationIds = new HashSet<>();
+            if (ObjectUtil.isNotEmpty(robotTaskDetailDO.getFromLocationId())) {
+                doingLocationIds.add(robotTaskDetailDO.getFromLocationId());
+            }
+            if (ObjectUtil.isNotEmpty(robotTaskDetailDO.getToLocationId())) {
+                doingLocationIds.add(robotTaskDetailDO.getToLocationId());
+            }
+            if (ObjectUtil.isEmpty(doingLocationIds)) {
+                continue;
+            }
+            List<WareHouseLocationDO> locationDOS = locationMapper.selectNeedMoveLocation(doingLocationIds);
+            if (ObjectUtil.isEmpty(locationDOS)) {
+                log.info("暂无需要自动移库的库位 :{}" ,robotTaskDetailDO);
+                continue;
+            }
+            boolean enableOrLock = locationDOS.stream().anyMatch(v -> LocationEnableEnum.NO.getType().equals(v.getLocationEnable())
+                    || LocationLockEnum.NO.getType().equals(v.getLocationLock()));
+            if (enableOrLock) {
+                log.info("此库位被锁定或者禁用,无法执行移库 :{}",locationDOS);
+                //todo 后期加到告警表里面 方便排查问题
+                continue;
+            }
+            Pair<RobotTaskDetailDO, List<WareHouseLocationDO>> pair = Pair.of(robotTaskDetailDO, locationDOS);
+            result.add(pair);
+        }
+        return result;
+    }
+
+    /**
+     * 下发任务
+     * @param robots
+     * @param pairs
+     */
+    @Transactional(rollbackFor = Exception.class)
+    public List<RobotTaskAutoMoveDO> allocationRobot(List<RobotInformationDO> robots, List<Pair<RobotTaskDetailDO, List<WareHouseLocationDO>>> pairs) {
+        List<RobotTaskAutoMoveDO> list = new ArrayList<>();
+        if (ObjectUtil.isEmpty(robots) || ObjectUtil.isEmpty(pairs)) {
+            return list;
+        }
+
+        //查找空库位
+        // todo 并且 map_item_id没有处理中的任务
+        List<WareHouseLocationDO> emptyLocations = locationMapper.selectList(new LambdaQueryWrapperX<WareHouseLocationDO>()
+                .isNull(WareHouseLocationDO::getLaneId)
+                .eq(WareHouseLocationDO::getLocationUseStatus, LocationUseStatusEnum.NO.getType())
+                .eq(WareHouseLocationDO::getLocationEnable, LocationEnableEnum.YES.getType())
+                .eq(WareHouseLocationDO::getLocationLock, LocationLockEnum.YES.getType())
+                .orderByDesc(WareHouseLocationDO::getLocationNumber));
+        if (ObjectUtil.isEmpty(emptyLocations)) {
+            log.info("查不到空库位,无法执行移库任务");
+            return list;
+        }
+
+        for (Pair<RobotTaskDetailDO, List<WareHouseLocationDO>> pair : pairs) {
+            RobotTaskDetailDO detailDO = pair.getLeft();
+            for (WareHouseLocationDO wareHouseLocationDO : pair.getRight()) {
+                if (ObjectUtil.isEmpty(robots) || ObjectUtil.isEmpty(emptyLocations)) {
+                    return list;
+                }
+                // 校验机器人工作区域
+                RobotInformationDO robotInformationDO = robots.stream()
+                        .filter(v ->
+                                ObjectUtil.isNotEmpty(v.getMacAddress())
+                                        && v.getFloorAreaJson().contains(wareHouseLocationDO.getAreaId())
+                                        && v.getFloorAreaJson().contains(emptyLocations.get(0).getAreaId()))
+                        .findFirst()
+                        .orElse(new RobotInformationDO());
+                if (ObjectUtil.isEmpty(robotInformationDO) || ObjectUtil.isEmpty(robotInformationDO.getRobotNo())) {
+                    continue;
+                }
+
+                RobotTaskAutoMoveDO autoMoveDO = new RobotTaskAutoMoveDO();
+                autoMoveDO.setRobotTaskDetailId(detailDO.getId());
+                autoMoveDO.setRobotTaskId(detailDO.getRobotTaskId());
+                autoMoveDO.setFromLocationId(wareHouseLocationDO.getId());
+                autoMoveDO.setFromLocationNo(wareHouseLocationDO.getLocationNo());
+                autoMoveDO.setToLocationId(emptyLocations.get(0).getId());
+                autoMoveDO.setToLocationNo(emptyLocations.get(0).getLocationNo());
+                autoMoveDO.setFromLaneId(wareHouseLocationDO.getLaneId());
+                autoMoveDO.setTaskStatus(AutoMoveTaskStatusEnum.DOING.getType());
+                autoMoveDO.setPriority(wareHouseLocationDO.getLocationNumber());
+                autoMoveDO.setRobotNo(robotInformationDO.getRobotNo());
+                autoMoveDO.setTaskType(AutoMoveTaskTypeEnum.AUTO_MOVE.getType());
+                autoMoveDO.setMoveType(AutoMoveTypeEnum.GO.getType());
+                autoMoveDO.setStartTime(LocalDateTime.now());
+                list.add(autoMoveDO);
+
+                robots.removeIf(v -> v.getRobotNo().equals(autoMoveDO.getRobotNo()));
+                emptyLocations.removeIf(v -> v.getId().equals(autoMoveDO.getToLocationId()));
+            }
+
+        }
+
+        return list;
+    }
+
+    /**
+     * 查询需要移库的库位(线库)
+     * @param taskDetailDOS
+     * @return
+     */
+    public List<Pair<RobotTaskDetailDO, List<WareHouseLocationDO>>> getLaneAutoMoveLocation(List<RobotTaskDetailDO> taskDetailDOS) {
+        List<Pair<RobotTaskDetailDO, List<WareHouseLocationDO>>> result = new ArrayList<>();
+        if (ObjectUtil.isEmpty(taskDetailDOS) || !laneAutoMove) {
+            log.info("没有线库的任务明细, 不需要执行线库移库");
+            return result;
+        }
+        //此线库不能有移动过来的任务
+        List<RobotTaskDetailDO> doingTaskDetail = robotTaskDetailMapper.selectList(new LambdaQueryWrapperX<RobotTaskDetailDO>()
+                .eq(RobotTaskDetailDO::getTaskStatus, (RobotTaskStatusEnum.DOING.getType()))
+                .in(RobotTaskDetailDO::getTaskType, RobotTaskTypeEnum.TAKE_RELEASE.getType(), RobotTaskTypeEnum.TAKE.getType()));
+
+        Set<Long> doingTaskDetailLaneIds = new HashSet<>();
+        if (ObjectUtil.isNotEmpty(doingTaskDetail)) {
+            for (RobotTaskDetailDO robotTaskDetailDO : doingTaskDetail) {
+                if (ObjectUtil.isNotEmpty(robotTaskDetailDO.getFromLaneId())) {
+                    doingTaskDetailLaneIds.add(robotTaskDetailDO.getFromLaneId());
+                }
+                if (ObjectUtil.isNotEmpty(robotTaskDetailDO.getToLaneId())) {
+                    doingTaskDetailLaneIds.add(robotTaskDetailDO.getToLaneId());
+                }
+            }
+        }
+
+        //自动移库的任务
+        List<RobotTaskAutoMoveDO> robotTaskAutoMoveDOS = taskAutoMoveMapper.selectList(new LambdaQueryWrapperX<RobotTaskAutoMoveDO>()
+                .eq(RobotTaskAutoMoveDO::getTaskStatus, RobotTaskStatusEnum.DOING.getType()));
+        Set<Long> doingAutoMoveLaneIds = new HashSet<>();
+        Set<Long> doingDetailIds = new HashSet<>();
+        if (ObjectUtil.isNotEmpty(robotTaskAutoMoveDOS)) {
+            robotTaskAutoMoveDOS.forEach(robotTaskAutoMoveDO -> {
+                if (ObjectUtil.isNotEmpty(robotTaskAutoMoveDO.getFromLaneId())) {
+                    doingAutoMoveLaneIds.add(robotTaskAutoMoveDO.getFromLaneId());
+                }
+                if (ObjectUtil.isNotEmpty(robotTaskAutoMoveDO.getRobotTaskDetailId())) {
+                    doingDetailIds.add(robotTaskAutoMoveDO.getRobotTaskDetailId());
+                }
+            });
+        }
+
+        //只有库位为线库，且任务类型为取放货和仅取货的需要移库
+        List<RobotTaskDetailDO> details = taskDetailDOS.stream().filter(v ->
+                        (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(v.getTaskType())
+                                || RobotTaskTypeEnum.TAKE.getType().equals(v.getTaskType()))
+                                && ObjectUtil.isNotEmpty(v.getFromLaneId())
+                                && (/*ObjectUtil.isNotEmpty(doingAutoMoveLaneIds) &&*/ !doingAutoMoveLaneIds.contains(v.getFromLaneId()))
+                                && (/*ObjectUtil.isNotEmpty(doingDetailIds) &&*/ !doingDetailIds.contains(v.getId()))
+                                && (/*ObjectUtil.isNotEmpty(doingTaskDetailLaneIds) &&*/ !doingTaskDetailLaneIds.contains(v.getFromLaneId())))
+                .collect(Collectors.toList());
+        if (ObjectUtil.isEmpty(details)) {
+            log.info("没有线库的任务, 不需要执行线库移库");
+            return result;
+        }
+
+        Map<Long, List<RobotTaskDetailDO>> detailMaps =
+                details.stream().collect(Collectors.groupingBy(RobotTaskDetailDO::getFromLaneId));
+        //查找每一个线库最小的一个库位
+
+        for (Map.Entry<Long, List<RobotTaskDetailDO>> detaiMap : detailMaps.entrySet()) {
+            List<WareHouseLocationDO> locations = new ArrayList<>();
+            RobotTaskDetailDO robotTaskDetail = detaiMap.getValue()
+                    .stream()
+                    .min(Comparator.comparing(RobotTaskDetailDO::getLocationNumber)).get();
+            if (ObjectUtil.isNotEmpty(robotTaskDetail) && ObjectUtil.isNotEmpty(robotTaskDetail.getLocationNumber())) {
+                WareHouseLocationDO location = WareHouseLocationDO.builder().locationNumber(robotTaskDetail.getLocationNumber())
+                        .locationUseStatus(LocationUseStatusEnum.YES.getType())
+                        .locationLock(LocationLockEnum.YES.getType())
+                        .laneId(detaiMap.getKey()).build();
+                locations.add(location);
+            }
+
+            log.info("查询是否需要执行移库任务的线库id和对应的排序位置 :{}", JSON.toJSONString(locations));
+            if (ObjectUtil.isNotEmpty(locations)) {
+                List<WareHouseLocationDO> wareHouseLocationDOS = locationMapper.selectLocationByList(locations);
+                if (ObjectUtil.isNotEmpty(wareHouseLocationDOS)) {
+                    Pair<RobotTaskDetailDO, List<WareHouseLocationDO>> pair = Pair.of(robotTaskDetail, wareHouseLocationDOS);
+                    result.add(pair);
+                }
+            }
+        }
+
+        return result;
+    }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+}

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

@@ -225,4 +225,5 @@ zn:
   scan_height: 0.4 #扫描高度
   parm: 5000 #等待时间
   lift_height: 0.1 #抬高托盘高度
-  move_height: 0.1 #行走高度
+  move_height: 0.1 #行走高度
+  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

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

@@ -481,26 +481,13 @@
         where id = #{id}
     </update>
 
-    <update id="updateLocationLockStatus">
-        update
-            ware_house_location
-        <set>
-            <if test="taskId != null">
-                task_id = #{taskId},
-            </if>
-            <if test="locationLock != null">
-                location_lock = #{locationLock},
-            </if>
-        </set>
-        where
-            id = #{id}
-    </update>
+
 
     <update id="updateLocationLockList">
         update
             ware_house_location
         set
-            location_lock = '0',
+            location_lock = #{locationLock},
             task_id = #{taskId}
         where
             id in
@@ -690,4 +677,84 @@
         </choose>
     </select>
 
+
+    <select id="selectLocationByList"  resultMap="BaseResultMap">
+        select
+            <include refid="base_sql"></include>
+        from
+        ware_house_location
+            <where>
+                <foreach collection="locations" item="item" open="(" close=")"
+                         separator=",">
+                    1=1
+                    <if test="item.laneId != null">
+                        and lane_id = #{item.laneId}
+                    </if>
+                    <if test="item.locationNumber != null">
+                        and location_number &lt; #{item.locationNumber}
+                    </if>
+                    <if test="item.locationLock != null">
+                        and location_lock = #{item.locationLock}
+                    </if>
+                    <if test="item.locationUseStatus != null">
+                        and location_use_status = #{item.locationUseStatus}
+                    </if>
+                    <if test="1==1">
+                        and deleted = '0'
+                    </if>
+                </foreach>
+        </where>
+        order by  location_number asc
+    </select>
+
+
+    <select id="selectNeedMoveLocation" resultMap="BaseResultMap">
+        select
+            t2.id,
+            t2.lane_id,
+            t2.lane_name,
+            t2.area_id,
+            t2.area_name,
+            t2.location_no,
+            t2.location_yaw,
+            t2.group_name,
+            t2.sku_info,
+            t2.sku_batch,
+            t2.sku_number,
+            t2.tray_info,
+            t2.location_enable,
+            t2.location_lock,
+            t2.location_use_status,
+            t2.location_x,
+            t2.location_y,
+            t2.location_wide,
+            t2.location_deep,
+            t2.location_height,
+            t2.location_default_height,
+            t2.location_total_height,
+            t2.location_tray_height,
+            t2.location_storey,
+            t2.location_type,
+            t2.location_number,
+            t2.map_id,
+            t2.map_item_id
+        from
+            ware_house_location t1, ware_house_location t2
+        WHERE
+        t1.map_item_id = t2.map_item_id
+        and t1.id in
+        <foreach collection="locationIds" item="id" index="index" open="(" close=")"
+                 separator=",">
+            #{id}
+        </foreach>
+        and t2.location_number &lt; t1.location_number
+        and t2.location_use_status = '1'
+        and t2.id not in
+        <foreach collection="locationIds" item="id" index="index" open="(" close=")"
+                 separator=",">
+            #{id}
+        </foreach>
+        order by t2.location_number asc
+    </select>
+
 </mapper>

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

@@ -251,6 +251,19 @@
             robot_no = #{robotNo}
     </update>
 
+    <update id="updateRobotTaskModel">
+        update
+            robot_information
+        set
+            robot_task_model = #{robotTaskModel}
+        where
+            robot_no in
+        <foreach collection="robotNos" item="robotNo" index="index" open="(" close=")"
+                 separator=",">
+            #{robotNo}
+        </foreach>
+    </update>
+
     <!--通过主键删除-->
     <delete id="deleteById">
         delete
@@ -258,17 +271,6 @@
         where id = #{id}
     </delete>
 
-    <select id="selectFreeRobot"  resultMap="BaseResultMap">
-        select
-            <include refid="base_sql"></include>
-        from
-            robot_information
-        where
-            robot_task_model = '1'
-            and deleted = '0'
-            and robot_status = '3'
-        order by update_time asc
-    </select>
 
     <select id="statisticsInformation"
             resultType="cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationStatisticsVO">

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

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!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.RobotTaskAutoMoveMapper">
+
+    <!--
+        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。
+        代码生成器暂时只生成 Mapper XML 文件本身，更多推荐 MybatisX 快速开发插件来生成查询。
+        文档可见：https://www.iocoder.cn/MyBatis/x-plugins/
+     -->
+
+</mapper>

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

@@ -13,6 +13,9 @@
         <result property="takeId" column="take_id" jdbcType="INTEGER"/>
         <result property="fromLocationNo" column="from_location_no" jdbcType="VARCHAR"/>
         <result property="fromLocationId" column="from_location_id" jdbcType="INTEGER"/>
+        <result property="fromLaneId" column="from_lane_id" jdbcType="INTEGER"/>
+        <result property="toLaneId" column="to_lane_id" jdbcType="INTEGER"/>
+        <result property="locationNumber" column="location_number" jdbcType="INTEGER"/>
         <result property="toLocationNo" column="to_location_no" jdbcType="VARCHAR"/>
         <result property="toLocationId" column="to_location_id" jdbcType="INTEGER"/>
         <result property="fromLocationStorey" column="from_location_storey" jdbcType="INTEGER"/>
@@ -42,6 +45,9 @@
                take_id,
                from_location_no,
                from_location_id,
+               from_lane_id,
+               to_lane_id,
+               location_number
                to_location_no,
                to_location_id,
                robot_no,
@@ -360,13 +366,13 @@
     <insert id="insertBatchList" >
         insert into robot_task_detail(robot_task_id, task_type, release_type, take_type, release_id, take_id,
         from_location_no, from_location_id, to_location_no, to_location_id, robot_no,from_location_storey,
-        to_location_storey,priority)
+        to_location_storey,priority,from_lane_id,to_lane_id,location_number)
         values
         <foreach collection="taskDetailList" item="entity" separator=",">
             (#{entity.robotTaskId}, #{entity.taskType}, #{entity.releaseType}, #{entity.takeType}, #{entity.releaseId},
             #{entity.takeId}, #{entity.fromLocationNo}, #{entity.fromLocationId}, #{entity.toLocationNo},
             #{entity.toLocationId}, #{entity.robotNo}, #{entity.fromLocationStorey}, #{entity.toLocationStorey}
-            , #{entity.priority})
+            , #{entity.priority}, #{entity.fromLaneId}, #{entity.toLaneId}, #{entity.locationNumber})
         </foreach>
     </insert>