循环任务

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

@@ -237,4 +237,6 @@ public interface ErrorCodeConstants {
     // ========== 车辆动作记录 1_002_045_001 ==========
     ErrorCode TASK_DETAIL_ACTION_LOG_NOT_EXISTS = new ErrorCode(1_002_045_001, "车辆动作记录不存在");
 
+    // ========== 循环任务点位 1_002_046_001==========
+    ErrorCode TASK_CYCLE_NOT_EXISTS = new ErrorCode(1_002_046_001, "循环任务点位不存在");
 }

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

@@ -76,16 +76,28 @@ public class RobotStatusApiImpl implements RobotStatusApi {
         String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robotStatusDataDTO.getMac();
         String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robotStatusDataDTO.getMac();
         String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robotStatusDataDTO.getMac();
-        redisUtil.set(taskStatusKey, robotStatusDataDTO.getData().getTask_status(), robotPositionCacheTime);
+        // todo 后续需要改为从车机上报
-        redisUtil.set(cargoDetectedKey, robotStatusDataDTO.getData().getCargo_detected(), robotPositionCacheTime);
+        redisUtil.set(taskStatusKey, "IDLE", robotPositionCacheTime);
+        redisUtil.set(cargoDetectedKey, false, robotPositionCacheTime);
+        /*redisUtil.set(taskStatusKey, robotStatusDataDTO.getData().getTask_status(), robotPositionCacheTime);
+        redisUtil.set(cargoDetectedKey, robotStatusDataDTO.getData().getCargo_detected(), robotPositionCacheTime);*/
 
         Object object = redisUtil.get(pose2dKey);
         RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
-        robotStatusDataPoseDTO.setX(robotStatusDataDTO.getData().getPose2d().getX());
+
-        robotStatusDataPoseDTO.setY(robotStatusDataDTO.getData().getPose2d().getY());
+        if (ObjectUtil.isNotEmpty(robotStatusDataDTO.getData())
-        robotStatusDataPoseDTO.setYaw(robotStatusDataDTO.getData().getPose2d().getYaw());
+                && ObjectUtil.isNotEmpty(robotStatusDataDTO.getData().getPose2d())) {
-        robotStatusDataPoseDTO.setFloor(robotStatusDataDTO.getData().getFloor_zone().getFloor());
+            robotStatusDataPoseDTO.setX(robotStatusDataDTO.getData().getPose2d().getX());
-        robotStatusDataPoseDTO.setArea(robotStatusDataDTO.getData().getFloor_zone().getArea());
+            robotStatusDataPoseDTO.setY(robotStatusDataDTO.getData().getPose2d().getY());
+            robotStatusDataPoseDTO.setYaw(robotStatusDataDTO.getData().getPose2d().getYaw());
+        }
+
+        if (ObjectUtil.isNotEmpty(robotStatusDataDTO.getData())
+                && ObjectUtil.isNotEmpty(robotStatusDataDTO.getData().getFloor_zone())) {
+            robotStatusDataPoseDTO.setFloor(robotStatusDataDTO.getData().getFloor_zone().getFloor());
+            robotStatusDataPoseDTO.setArea(robotStatusDataDTO.getData().getFloor_zone().getArea());
+        }
+
         robotStatusDataPoseDTO.setRobotNo(robotNo);
         redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime);
         pathPlanningApi.synchronousLineObject(robotStatusDataPoseDTO, PathPlanningTopicConstant.AGV_POSE);

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

@@ -15,6 +15,7 @@ import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
 import cn.iocoder.yudao.module.system.dal.mysql.actionlog.RobotTaskDetailActionLogMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.cycle.TaskCycleMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
@@ -65,6 +66,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
     @Autowired
     private ThreadPoolTaskExecutor taskExecutor;
 
+    @Resource
+    private TaskCycleMapper taskCycleMapper;
+
     @Resource
     private WareHouseLocationMapper houseLocationMapper;
 
@@ -157,6 +161,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
             robotTaskDO.setEndTime(LocalDateTime.now());
             robotTaskDO.setTaskStatus(RobotTaskDetailStatusEnum.DONE.getType());
             robotTaskMapper.updateRobot(robotTaskDO);
+            taskCycleMapper.deletByRobotTaskId(taskDetails.get(0).getRobotTaskId());
         }
 
         if (RobotTaskTypeEnum.MOVE.getType().equals(robotTaskDetailDO.getTaskType())) {

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/cycle/TaskCycleController.java

@@ -0,0 +1,97 @@
+package cn.iocoder.yudao.module.system.controller.admin.cycle;
+
+import cn.iocoder.yudao.module.system.controller.admin.cycle.vo.TaskCyclePageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.cycle.vo.TaskCycleRespVO;
+import cn.iocoder.yudao.module.system.controller.admin.cycle.vo.TaskCycleSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.cycle.TaskCycleDO;
+import cn.iocoder.yudao.module.system.service.cycle.TaskCycleService;
+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 - 循环任务点位")
+@RestController
+@RequestMapping("/robot/task-cycle")
+@Validated
+public class TaskCycleController {
+
+    @Resource
+    private TaskCycleService taskCycleService;
+
+    @PostMapping("/create")
+    @Operation(summary = "创建循环任务点位")
+    @PreAuthorize("@ss.hasPermission('robot:task-cycle:create')")
+    public CommonResult<Long> createTaskCycle(@Valid @RequestBody TaskCycleSaveReqVO createReqVO) {
+        return success(taskCycleService.createTaskCycle(createReqVO));
+    }
+
+    @PutMapping("/update")
+    @Operation(summary = "更新循环任务点位")
+    @PreAuthorize("@ss.hasPermission('robot:task-cycle:update')")
+    public CommonResult<Boolean> updateTaskCycle(@Valid @RequestBody TaskCycleSaveReqVO updateReqVO) {
+        taskCycleService.updateTaskCycle(updateReqVO);
+        return success(true);
+    }
+
+    @DeleteMapping("/delete")
+    @Operation(summary = "删除循环任务点位")
+    @Parameter(name = "id", description = "编号", required = true)
+    @PreAuthorize("@ss.hasPermission('robot:task-cycle:delete')")
+    public CommonResult<Boolean> deleteTaskCycle(@RequestParam("id") Long id) {
+        taskCycleService.deleteTaskCycle(id);
+        return success(true);
+    }
+
+    @GetMapping("/get")
+    @Operation(summary = "获得循环任务点位")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('robot:task-cycle:query')")
+    public CommonResult<TaskCycleRespVO> getTaskCycle(@RequestParam("id") Long id) {
+        TaskCycleDO taskCycle = taskCycleService.getTaskCycle(id);
+        return success(BeanUtils.toBean(taskCycle, TaskCycleRespVO.class));
+    }
+
+    @GetMapping("/page")
+    @Operation(summary = "获得循环任务点位分页")
+    @PreAuthorize("@ss.hasPermission('robot:task-cycle:query')")
+    public CommonResult<PageResult<TaskCycleRespVO>> getTaskCyclePage(@Valid TaskCyclePageReqVO pageReqVO) {
+        PageResult<TaskCycleDO> pageResult = taskCycleService.getTaskCyclePage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, TaskCycleRespVO.class));
+    }
+
+    @GetMapping("/export-excel")
+    @Operation(summary = "导出循环任务点位 Excel")
+    @PreAuthorize("@ss.hasPermission('robot:task-cycle:export')")
+    @ApiAccessLog(operateType = EXPORT)
+    public void exportTaskCycleExcel(@Valid TaskCyclePageReqVO pageReqVO,
+              HttpServletResponse response) throws IOException {
+        pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
+        List<TaskCycleDO> list = taskCycleService.getTaskCyclePage(pageReqVO).getList();
+        // 导出 Excel
+        ExcelUtils.write(response, "循环任务点位.xls", "数据", TaskCycleRespVO.class,
+                        BeanUtils.toBean(list, TaskCycleRespVO.class));
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/cycle/vo/TaskCyclePageReqVO.java

@@ -0,0 +1,28 @@
+package cn.iocoder.yudao.module.system.controller.admin.cycle.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 - 循环任务点位分页 Request VO")
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+public class TaskCyclePageReqVO extends PageParam {
+
+    @Schema(description = "机器人任务主表id", example = "2231")
+    private Long robotTaskId;
+
+    @Schema(description = "ware_position_map_item的id", example = "923")
+    private Long mapItemId;
+
+    @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/cycle/vo/TaskCycleRespVO.java

@@ -0,0 +1,31 @@
+package cn.iocoder.yudao.module.system.controller.admin.cycle.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 - 循环任务点位 Response VO")
+@Data
+@ExcelIgnoreUnannotated
+public class TaskCycleRespVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "9553")
+    @ExcelProperty("主键ID")
+    private Long id;
+
+    @Schema(description = "机器人任务主表id", example = "2231")
+    @ExcelProperty("机器人任务主表id")
+    private Long robotTaskId;
+
+    @Schema(description = "ware_position_map_item的id", example = "923")
+    @ExcelProperty("ware_position_map_item的id")
+    private Long mapItemId;
+
+    @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/cycle/vo/TaskCycleSaveReqVO.java

@@ -0,0 +1,21 @@
+package cn.iocoder.yudao.module.system.controller.admin.cycle.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import javax.validation.constraints.*;
+
+@Schema(description = "管理后台 - 循环任务点位新增/修改 Request VO")
+@Data
+public class TaskCycleSaveReqVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "9553")
+    private Long id;
+
+    @Schema(description = "机器人任务主表id", example = "2231")
+    private Long robotTaskId;
+
+    @Schema(description = "ware_position_map_item的id", example = "923")
+    private Long mapItemId;
+
+}

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

@@ -110,8 +110,8 @@ public class RobotInformationController {
     @Operation(summary = "查询所有车辆")
     @PreAuthorize("@ss.hasPermission('robot:information:getAllRobot')")
     public CommonResult<List<RobotInformationRespVO>> getAllRobot() {
-        List<RobotInformationDO> result = informationService.getAllRobot();
+        List<RobotInformationRespVO> result = informationService.getAllRobotAndErrorMsg();
-        return success(BeanUtils.toBean(result, RobotInformationRespVO.class));
+        return success(result);
     }
 
     @GetMapping("/list")

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

@@ -58,6 +58,14 @@ public class RobotTaskController {
         return success(true);
     }
 
+    @PutMapping("/close")
+    @Operation(summary = "更新机器人任务主表")
+    @PreAuthorize("@ss.hasPermission('robot:task:close')")
+    public CommonResult<Boolean> closeTask(@Valid @RequestBody RobotTaskSaveReqVO updateReqVO) {
+        taskService.closeTask(updateReqVO);
+        return success(true);
+    }
+
     @DeleteMapping("/delete")
     @Operation(summary = "删除机器人任务主表")
     @Parameter(name = "id", description = "编号", required = true)

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

@@ -78,4 +78,7 @@ public class RobotInformationRespVO {
     @ExcelProperty("区域")
     public String area;
 
+    @Schema(description = "机器人错误信息")
+    public String errorMsg;
+
 }

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

@@ -66,11 +66,11 @@ public class RobotTaskDetailAddVO {
     @Schema(description = "放货库位的排序")
     private Long toLocationNumber;
 
-    @Schema(description = "取货库位ware_position_map的id")
+    @Schema(description = "取货库位ware_position_map_item的id")
-    private Long fromMapId;
+    private Long fromMapItemId;
 
-    @Schema(description = "放货库位ware_position_map的id")
+    @Schema(description = "放货库位ware_position_map_item的id")
-    private Long toMapId;
+    private Long toMapItemId;
 
     public Long getPriority() {
         if (ObjectUtil.isEmpty(priority)) {

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

@@ -88,9 +88,9 @@ public class RobotTaskDetailPageReqVO extends PageParam {
     @Schema(description = "放货库位的排序")
     private Long toLocationNumber;
 
-    @Schema(description = "取货库位ware_position_map的id")
+    @Schema(description = "取货库位ware_position_map_item的id")
-    private Long fromMapId;
+    private Long fromMapItemId;
 
-    @Schema(description = "放货库位ware_position_map的id")
+    @Schema(description = "放货库位ware_position_map_item的id")
-    private Long toMapId;
+    private Long toMapItemId;
 }

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

@@ -110,11 +110,9 @@ public class RobotTaskDetailRespVO {
     @ExcelProperty("放货库位的排序")
     private Long toLocationNumber;
 
-    @Schema(description = "取货库位ware_position_map的id")
+    @Schema(description = "取货库位ware_position_map_item的id")
-    @ExcelProperty("取货库位ware_position_map的id")
+    private Long fromMapItemId;
-    private Long fromMapId;
 
-    @Schema(description = "放货库位ware_position_map的id")
+    @Schema(description = "放货库位ware_position_map_item的id")
-    @ExcelProperty("放货库位ware_position_map的id")
+    private Long toMapItemId;
-    private Long toMapId;
 }

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

@@ -88,10 +88,10 @@ public class RobotTaskDetailSaveReqVO {
     @Schema(description = "放货库位的排序")
     private Long toLocationNumber;
 
-    @Schema(description = "取货库位ware_position_map的id")
+    @Schema(description = "取货库位ware_position_map_item的id")
-    private Long fromMapId;
+    private Long fromMapItemId;
 
-    @Schema(description = "放货库位ware_position_map的id")
+    @Schema(description = "放货库位ware_position_map_item的id")
-    private Long toMapId;
+    private Long toMapItemId;
 
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/cycle/TaskCycleDO.java

@@ -0,0 +1,39 @@
+package cn.iocoder.yudao.module.system.dal.dataobject.cycle;
+
+import lombok.*;
+import java.util.*;
+import java.time.LocalDateTime;
+import java.time.LocalDateTime;
+import com.baomidou.mybatisplus.annotation.*;
+import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
+
+/**
+ * 循环任务点位 DO
+ *
+ * @author 陈宾顺
+ */
+@TableName("robot_task_cycle")
+@KeySequence("robot_task_cycle_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 TaskCycleDO extends BaseDO {
+
+    /**
+     * 主键ID
+     */
+    @TableId
+    private Long id;
+    /**
+     * 机器人任务主表id
+     */
+    private Long robotTaskId;
+    /**
+     * ware_position_map_item的id
+     */
+    private Long mapItemId;
+
+}

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

@@ -129,12 +129,14 @@ public class RobotTaskDetailDO extends BaseDO {
     private Integer electricity;
 
     /**
-     * ware_position_map的id
+     * ware_position_map_item的id的id
      */
-    private Long fromMapId;
+    private Long fromMapItemId;
 
     /**
-     * ware_position_map的id
+     * ware_position_map_item的id的id
      */
-    private Long toMapId;
+    private Long toMapItemId;
+
+    //todo 需要改为ware_position_map_item的id
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/cycle/TaskCycleMapper.java

@@ -0,0 +1,30 @@
+package cn.iocoder.yudao.module.system.dal.mysql.cycle;
+
+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.cycle.vo.TaskCyclePageReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.cycle.TaskCycleDO;
+import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
+
+/**
+ * 循环任务点位 Mapper
+ *
+ * @author 陈宾顺
+ */
+@Mapper
+public interface TaskCycleMapper extends BaseMapperX<TaskCycleDO> {
+
+    default PageResult<TaskCycleDO> selectPage(TaskCyclePageReqVO reqVO) {
+        return selectPage(reqVO, new LambdaQueryWrapperX<TaskCycleDO>()
+                .eqIfPresent(TaskCycleDO::getRobotTaskId, reqVO.getRobotTaskId())
+                .eqIfPresent(TaskCycleDO::getMapItemId, reqVO.getMapItemId())
+                .betweenIfPresent(TaskCycleDO::getCreateTime, reqVO.getCreateTime())
+                .orderByDesc(TaskCycleDO::getId));
+    }
+
+    void deletByRobotTaskId(@Param("robotTaskId") Long robotTaskId);
+}

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

@@ -64,7 +64,10 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
                            @Param("takeType") Integer takeType,
                            @Param("id")  Long id,
                            @Param("locationIds") List<Long> locationIds,
-                           @Param("mapIds") Set<Long> mapIds);
+                           @Param("mapIds") Set<Long> mapIds,
+                           @Param("takeMapItemIds") List<Long> takeMapItemIds,
+                           @Param("laneIds") List<Long> laneIds,
+                           @Param("areaIds") List<Long> areaIds);
 
     /**
      * 普通查询(未删除)
@@ -76,13 +79,14 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
 
     /**
      * 查询库位
-     * @param query
+     * (注意:----------不能修改排序-----------------)
-     * @param locationIds
-     * @return
      */
     List<WareHouseLocationDO> selectLocations(@Param("query") WareHouseLocationDO query,
                                               @Param("locationIds") List<Long> locationIds,
-                                              @Param("mapIds")  Set<Long> mapIds);
+                                              @Param("mapIds")  Set<Long> mapIds,
+                                              @Param("laneIds") List<Long> laneIds,
+                                              @Param("areaIds") List<Long> areaIds,
+                                              @Param("mapItemIds") List<Long> mapItemIds);
 
     void updateLocationLockList( @Param("locationIds") List<Long> locationIds,
                                  @Param("taskId") Long taskId,
@@ -114,4 +118,8 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
      * @param wareHouseLocationDO
      */
     void updateEntity(WareHouseLocationDO wareHouseLocationDO);
+
+    void releaseLocationLockList(@Param("locationIds") List<Long> locationIds,
+                                 @Param("taskId") Long taskId,
+                                 @Param("locationLock") Integer locationLock);
 }

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

@@ -65,10 +65,10 @@ public interface RobotInformationMapper extends BaseMapperX<RobotInformationDO>
 
     /**
      * 批量更新机器人状态
-     * @param robotNos
+     * @param robotNo
      * @param robotStatus
      */
-    void updateRobotListStatus(@Param("robotNos") Set<String> robotNos, @Param("robotStatus") Integer robotStatus);
+    void updateRobotListStatus(@Param("robotNo") String robotNo, @Param("robotStatus") Integer robotStatus);
 
     /**
      * 查询车辆尺寸

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

@@ -92,4 +92,21 @@ public interface RobotTaskDetailMapper extends BaseMapperX<RobotTaskDetailDO> {
      */
     List<RobotTaskDetailDO> getChargeTaskDetail();
 
+    /**
+     * 取货中的map_item_id
+     * @return
+     */
+    List<Long> selectTakeMapItemIds();
+
+    /**
+     * 放货中的map_item_id
+     * @return
+     */
+    List<Long> selectReleaseMapItemIds();
+
+    /**
+     * 查询需要创建循环任务且已经完成的订单
+     * @return
+     */
+    List<RobotTaskDetailDO> selectAutoCreateCycleTask();
 }

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

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

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

@@ -4,6 +4,7 @@ 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.RobotTaskService;
 import cn.iocoder.yudao.module.system.service.robot.job.AutoChargeService;
+import cn.iocoder.yudao.module.system.service.robot.job.CycleService;
 import cn.iocoder.yudao.module.system.service.robot.job.DistributeTasksService;
 import cn.iocoder.yudao.module.system.service.robot.job.RobotTaskAutoMoveService;
 import cn.iocoder.yudao.module.system.service.robot.pathplanning.RobotPathPlanningService;
@@ -39,6 +40,9 @@ public class RobotJob {
     @Autowired
     private AutoChargeService autoChargeService;
 
+    @Autowired
+    private CycleService cycleService;
+
     @Autowired
     private RobotPathPlanningService robotPathPlanningService;
 
@@ -129,4 +133,28 @@ public class RobotJob {
         }
     }
 
+
+
+    /**
+     * 创建循环任务
+     */
+    @XxlJob("CycleTaskJob")
+    @TenantJob
+    public void cycleTaskJob() {
+
+        RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_ADD_LOCK.getKey());
+        if (lock.tryLock()){
+            try {
+                log.info("----创建循环任务----");
+                cycleService.cycleTaskJob();
+            } catch (Exception e) {
+                log.error("创建循环任务异常 :{}", e);
+            } finally {
+                lock.unlock();
+            }
+        }else {
+            log.info("下发任务给路径规划未获取到锁");
+            throw exception(REDISSON_NOT_OBTAIN_LOCK);
+        }
+    }
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/cycle/TaskCycleService.java

@@ -0,0 +1,56 @@
+package cn.iocoder.yudao.module.system.service.cycle;
+
+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.cycle.vo.TaskCyclePageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.cycle.vo.TaskCycleSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.cycle.TaskCycleDO;
+
+/**
+ * 循环任务点位 Service 接口
+ *
+ * @author 陈宾顺
+ */
+public interface TaskCycleService {
+
+    /**
+     * 创建循环任务点位
+     *
+     * @param createReqVO 创建信息
+     * @return 编号
+     */
+    Long createTaskCycle(@Valid TaskCycleSaveReqVO createReqVO);
+
+    /**
+     * 更新循环任务点位
+     *
+     * @param updateReqVO 更新信息
+     */
+    void updateTaskCycle(@Valid TaskCycleSaveReqVO updateReqVO);
+
+    /**
+     * 删除循环任务点位
+     *
+     * @param id 编号
+     */
+    void deleteTaskCycle(Long id);
+
+    /**
+     * 获得循环任务点位
+     *
+     * @param id 编号
+     * @return 循环任务点位
+     */
+    TaskCycleDO getTaskCycle(Long id);
+
+    /**
+     * 获得循环任务点位分页
+     *
+     * @param pageReqVO 分页查询
+     * @return 循环任务点位分页
+     */
+    PageResult<TaskCycleDO> getTaskCyclePage(TaskCyclePageReqVO pageReqVO);
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/cycle/TaskCycleServiceImpl.java

@@ -0,0 +1,75 @@
+package cn.iocoder.yudao.module.system.service.cycle;
+
+import cn.iocoder.yudao.module.system.controller.admin.cycle.vo.TaskCyclePageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.cycle.vo.TaskCycleSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.cycle.TaskCycleDO;
+import cn.iocoder.yudao.module.system.dal.mysql.cycle.TaskCycleMapper;
+import org.springframework.stereotype.Service;
+import javax.annotation.Resource;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.util.*;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+
+
+import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.TASK_CYCLE_NOT_EXISTS;
+
+/**
+ * 循环任务点位 Service 实现类
+ *
+ * @author 陈宾顺
+ */
+@Service
+@Validated
+public class TaskCycleServiceImpl implements TaskCycleService {
+
+    @Resource
+    private TaskCycleMapper taskCycleMapper;
+
+    @Override
+    public Long createTaskCycle(TaskCycleSaveReqVO createReqVO) {
+        // 插入
+        TaskCycleDO taskCycle = BeanUtils.toBean(createReqVO, TaskCycleDO.class);
+        taskCycleMapper.insert(taskCycle);
+        // 返回
+        return taskCycle.getId();
+    }
+
+    @Override
+    public void updateTaskCycle(TaskCycleSaveReqVO updateReqVO) {
+        // 校验存在
+        validateTaskCycleExists(updateReqVO.getId());
+        // 更新
+        TaskCycleDO updateObj = BeanUtils.toBean(updateReqVO, TaskCycleDO.class);
+        taskCycleMapper.updateById(updateObj);
+    }
+
+    @Override
+    public void deleteTaskCycle(Long id) {
+        // 校验存在
+        validateTaskCycleExists(id);
+        // 删除
+        taskCycleMapper.deleteById(id);
+    }
+
+    private void validateTaskCycleExists(Long id) {
+        if (taskCycleMapper.selectById(id) == null) {
+            throw exception(TASK_CYCLE_NOT_EXISTS);
+        }
+    }
+
+    @Override
+    public TaskCycleDO getTaskCycle(Long id) {
+        return taskCycleMapper.selectById(id);
+    }
+
+    @Override
+    public PageResult<TaskCycleDO> getTaskCyclePage(TaskCyclePageReqVO pageReqVO) {
+        return taskCycleMapper.selectPage(pageReqVO);
+    }
+
+}

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

@@ -117,4 +117,11 @@ public interface RobotInformationService extends IService<RobotInformationDO> {
      * @return
      */
     String getMacByRobotNo(String robotNo);
+
+    /**
+     * 获取机器人全部信息和异常信息
+     * @return
+     */
+    List<RobotInformationRespVO> getAllRobotAndErrorMsg();
+
 }

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

@@ -30,10 +30,7 @@ import org.springframework.stereotype.Service;
 import org.springframework.validation.annotation.Validated;
 
 import javax.annotation.Resource;
-import java.util.ArrayList;
+import java.util.*;
-import java.util.List;
-import java.util.Map;
-import java.util.Set;
 import java.util.function.Function;
 import java.util.stream.Collectors;
 
@@ -513,4 +510,24 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         }
         return "";
     }
+
+    @Override
+    public List<RobotInformationRespVO> getAllRobotAndErrorMsg() {
+        RobotInformationDO query = new RobotInformationDO();
+        List<RobotInformationDO> robotInformationDOS = informationMapper.queryAllByLimit(query);
+        if (ObjectUtil.isEmpty(robotInformationDOS)) {
+            return new ArrayList<>();
+        }
+
+        List<RobotInformationRespVO> list = BeanUtils.toBean(robotInformationDOS, RobotInformationRespVO.class);
+        for (RobotInformationRespVO v : list) {
+            String errorMsgKey = RobotTaskChcheConstant.ROBOT_ERROR_MSG + v.getMacAddress();
+            Object errorMsg = redisUtil.get(errorMsgKey);
+            if (ObjectUtil.isNotEmpty(errorMsg)) {
+                v.setErrorMsg(String.valueOf(errorMsg));
+            }
+        }
+
+        return list;
+    }
 }

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

@@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.service.robot;
 import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailRespVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
@@ -86,6 +87,8 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
     @Override
     @Transactional(rollbackFor = Exception.class)
     public void insertRobotDetailList(List<RobotTaskDetailAddVO> taskDetailList) {
-        taskDetailMapper.insertBatchList(taskDetailList);
+        List<RobotTaskDetailDO> bean = BeanUtils.toBean(taskDetailList, RobotTaskDetailDO.class);
+        taskDetailMapper.insertBatch(bean);
+//        taskDetailMapper.insertBatchList(taskDetailList);
     }
 }

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

@@ -6,6 +6,7 @@ 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.detail.RobotTaskDetailLogResoVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.detail.RobotTaskDetailLogVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskRespVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskSaveReqVO;
@@ -75,4 +76,13 @@ public interface RobotTaskService extends IService<RobotTaskDO> {
      * @return
      */
     PageResult<RobotTaskDetailLogResoVO> logPage( RobotTaskDetailLogVO pageReqVO);
+
+    /**
+     * 添加循环任务点位
+     * @param id
+     * @param taskDetailList
+     */
+    void addCycle(Long id, List<RobotTaskDetailAddVO> taskDetailList);
+
+    void closeTask(@Valid RobotTaskSaveReqVO updateReqVO);
 }

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

@@ -0,0 +1,5 @@
+package cn.iocoder.yudao.module.system.service.robot.job;
+
+public interface CycleService {
+    void cycleTaskJob();
+}

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

@@ -0,0 +1,220 @@
+package cn.iocoder.yudao.module.system.service.robot.job;
+
+import cn.hutool.core.util.ObjectUtil;
+import cn.iocoder.yudao.framework.common.pojo.CommonResult;
+import cn.iocoder.yudao.framework.common.util.date.DateUtils;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskRespVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
+import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
+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.redis.RobotCacheLockEnum;
+import cn.iocoder.yudao.module.system.enums.robot.LocationLockEnum;
+import cn.iocoder.yudao.module.system.enums.robot.RobotTaskDetailStatusEnum;
+import cn.iocoder.yudao.module.system.enums.robot.RobotTaskStatusEnum;
+import cn.iocoder.yudao.module.system.service.robot.RobotTaskDetailService;
+import cn.iocoder.yudao.module.system.service.robot.RobotTaskService;
+import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import com.google.common.collect.Lists;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.beans.factory.annotation.Value;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+import java.time.LocalDateTime;
+import java.util.ArrayList;
+import java.util.List;
+import java.util.Map;
+import java.util.Set;
+import java.util.stream.Collectors;
+
+import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
+import static com.baomidou.mybatisplus.core.toolkit.IdWorker.getId;
+
+@Service
+@Slf4j
+public class CycleServiceImpl implements CycleService {
+
+    @Resource
+    private RobotTaskMapper taskMapper;
+
+    @Resource
+    private RobotTaskDetailMapper taskDetailMapper;
+
+    @Value("${zn.do_cycle:true}")
+    private Boolean doCycle;
+
+    @Value("${zn.task-no:ZN}")
+    private String taskNo;
+
+    @Resource
+    private RedisUtil redisUtil;
+
+    @Resource
+    private WareHouseLocationMapper locationMapper;
+
+    @Resource
+    private RobotTaskService robotTaskService;
+    /**
+     * 创建循环任务
+     */
+    @Override
+    public void cycleTaskJob() {
+        TenantContextHolder.setTenantId(1L);
+
+        if (!doCycle) {
+            log.info("循环任务关闭了--不自动创建循环任务");
+        }
+
+        List<RobotTaskDetailDO> detailDOS = taskDetailMapper.selectAutoCreateCycleTask();
+
+        if (ObjectUtil.isEmpty(detailDOS)) {
+            log.info("---不存在需要自动创建循环的任务--");
+            return;
+        }
+
+        Set<Long> taskIds = detailDOS.stream().map(RobotTaskDetailDO::getRobotTaskId).collect(Collectors.toSet());
+
+        List<RobotTaskDO> taskList = taskMapper.selectList(new LambdaQueryWrapper<RobotTaskDO>()
+                .in(RobotTaskDO::getId, taskIds));
+
+        Map<Long, List<RobotTaskDetailDO>> taskIdMap =
+                detailDOS.stream().collect(Collectors.groupingBy(RobotTaskDetailDO::getRobotTaskId));
+
+        String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey());
+
+        List<RobotTaskDO> taskDOList = new ArrayList<>();
+        List<RobotTaskDetailDO> taskDetailList = new ArrayList<>();
+        for (RobotTaskDO v : taskList) {
+            RobotTaskDO taskData = getTaskData(incrementByKey, v);
+            List<RobotTaskDetailDO> taskDetailDOS = getTaskDetailData(taskData,taskIdMap,v.getId());
+            taskDOList.add(taskData);
+            taskDetailList.addAll(taskDetailDOS);
+        }
+
+        taskMapper.insertBatch(taskDOList);
+        taskDetailMapper.insertBatch(taskDetailList);
+
+        List<Long> fromLocationIds = taskDetailList.stream().map(RobotTaskDetailDO::getFromLocationId).collect(Collectors.toList());
+        List<Long> toLocationIds = taskDetailList.stream().map(RobotTaskDetailDO::getToLocationId).collect(Collectors.toList());
+        List<Long> locationIds = new ArrayList<>();
+        locationIds.addAll(fromLocationIds);
+        locationIds.addAll(toLocationIds);
+
+        List<List<Long>> fromPartition = Lists.partition(locationIds, 100);
+        fromPartition.forEach(list -> {
+            locationMapper.updateLocationLockList(list, -1l, LocationLockEnum.NO.getType());
+        });
+
+        List<RobotTaskDetailAddVO> bean = BeanUtils.toBean(taskDetailList, RobotTaskDetailAddVO.class);
+        Map<Long, List<RobotTaskDetailAddVO>> taskDetailMap =
+                bean.stream().collect(Collectors.groupingBy(RobotTaskDetailAddVO::getRobotTaskId));
+        taskDetailMap.forEach((k,v) ->{
+            robotTaskService.addCycle(k,v);
+        });
+    }
+
+    private List<RobotTaskDetailDO> getTaskDetailData(RobotTaskDO taskData, Map<Long,
+            List<RobotTaskDetailDO>> taskIdMap, Long id) {
+
+        List<RobotTaskDetailDO> taskDetailDOList = new ArrayList<>();
+        List<RobotTaskDetailDO> taskDetailDOS = taskIdMap.get(id);
+        for (RobotTaskDetailDO v : taskDetailDOS) {
+            RobotTaskDetailDO build = RobotTaskDetailDO.builder()
+                    .robotTaskId(taskData.getId())
+                    .taskType(v.getTaskType())
+                    .releaseType(v.getTakeType())
+                    .takeType(v.getReleaseType())
+                    .releaseId(v.getTakeId())
+                    .takeId(v.getReleaseId())
+                    .fromLocationNo(v.getToLocationNo())
+                    .fromLocationId(v.getToLocationId())
+                    .fromLaneId(v.getToLaneId())
+                    .toLaneId(v.getFromLaneId())
+                    .toLocationNo(v.getFromLocationNo())
+                    .toLocationId(v.getFromLocationId())
+                    .fromLocationStorey(v.getToLocationStorey())
+                    .toLocationStorey(v.getFromLocationStorey())
+                    .priority(v.getPriority())
+                    .taskStatus(RobotTaskDetailStatusEnum.NEW.getType())
+                    .taskStage(0l)
+                    .needLock(v.getNeedLock())
+                    .startTime(null)
+                    .endTime(null)
+                    .fromLocationNumber(v.getToLocationNumber())
+                    .toLocationNumber(v.getFromLocationNumber())
+                    .fromMapItemId(v.getToMapItemId())
+                    .toMapItemId(v.getFromMapItemId())
+                    .build();
+            taskDetailDOList.add(build);
+        }
+
+        return taskDetailDOList;
+    }
+
+    /**
+     * 设置任务主表数据
+     * @param incrementByKey
+     * @param v
+     * @return
+     */
+    public RobotTaskDO getTaskData(String incrementByKey, RobotTaskDO v ) {
+        String taskNoStr = taskNo + DateUtils.getYearMonthDay() + incrementByKey;
+        RobotTaskDO task = new RobotTaskDO();
+        BeanUtils.copyProperties(v, task);
+        task.setRemainingCycleNumber(v.getRemainingCycleNumber() - 1);
+        task.setTaskNo(taskNoStr);
+        task.setTaskStatus(RobotTaskStatusEnum.NEW.getType());
+        task.setTaskStage(0l);
+        task.setStartTime(null);
+        task.setEndTime(null);
+        task.setCreateTime(LocalDateTime.now());
+        task.setUpdateTime(LocalDateTime.now());
+        task.setId(getId());
+        return task;
+    }
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+}

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

@@ -192,7 +192,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
 
         //不拼接
         List<Long> singleTaskIds =taskDOList.stream()
-                .filter(v -> MontageTaskEnum.YES.getType().equals(v.getMontageTask()))
+                .filter(v -> MontageTaskEnum.NO.getType().equals(v.getMontageTask()))
                 .map(RobotTaskDO::getId)
                 .collect(Collectors.toList());
 
@@ -366,9 +366,6 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         if (ObjectUtil.isNotEmpty(updateTaskDetails)) {
             robotTaskDetailMapper.updateBatch(updateTaskDetails);
         }
-        if (ObjectUtil.isNotEmpty(robotNos)) {
-            robotInformationMapper.updateRobotListStatus(robotNos, RobotStatusEnum.DOING.getType());
-        }
     }
 
     /**
@@ -664,7 +661,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         taskNigth.setCommand_type(CommandTypeEnum.MOVE_POSES.getType());
         List<Pose2ds> pose2dsNight = new ArrayList<>();
 
-        WareHouseLocationDO ware = WareHouseLocationDO.builder()
+       /* WareHouseLocationDO ware = WareHouseLocationDO.builder()
                 .laneId(-2l)
                 .build();
         List<WareHouseLocationDO> releaseStockList =
@@ -672,7 +669,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         for (WareHouseLocationDO wareHouseLocationDO : releaseStockList) {
             Pose2ds pose = positionMapItemMapper.selectByLocationId(wareHouseLocationDO.getId());
             pose2dsNight.add(pose);
-        }
+        }*/
 
 
 //        taskNigth.setPose2ds(pose2dsNight);

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

@@ -192,7 +192,7 @@ public class RobotTaskAutoMoveServiceImpl implements RobotTaskAutoMoveService {
 
         List<List<Long>> fromPartition = Lists.partition(locationIds, 100);
         fromPartition.forEach(list-> {
-            locationMapper.updateLocationLockList(list,0l,LocationLockEnum.NO.getType());
+//            locationMapper.updateLocationLockList(list,0l,LocationLockEnum.NO.getType());
         });
 
         // todo 搬运任务下发给机器人

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

@@ -254,7 +254,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             } else if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())
                     && ObjectUtil.isEmpty(taskDetailDO.getFromLaneId())) {
                 //取的是普通点位
-                pathPlanning.setTakeGroupId("POINT_" + taskDetailDO.getFromMapId());
+                pathPlanning.setTakeGroupId("POINT_" + taskDetailDO.getFromMapItemId());
                 pathPlanning.setTakeLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getFromLocationNumber()));
                 pathPlanning.setTakePointId(locationDOMap.get(taskDetailDO.getFromLocationId()).getMapItemId());
             }
@@ -270,7 +270,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             } else if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())
                     && ObjectUtil.isEmpty(taskDetailDO.getToLaneId())) {
                 //放的是普通点位
-                pathPlanning.setReleaseGroupId("POINT_" + taskDetailDO.getToMapId());
+                pathPlanning.setReleaseGroupId("POINT_" + taskDetailDO.getToMapItemId());
                 pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
                 pathPlanning.setReleasePointId(locationDOMap.get(taskDetailDO.getToLocationId()).getMapItemId());
             }
@@ -340,8 +340,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                         || RobotTaskTypeEnum.RELEASE.getType().equals(detail.getTaskType())) {
                     laneIds.add(detail.getFromLaneId());
                     laneIds.add(detail.getToLaneId());
-                    mapIds.add(detail.getFromMapId());
+                    mapIds.add(detail.getFromMapItemId());
-                    mapIds.add(detail.getToMapId());
+                    mapIds.add(detail.getToMapItemId());
                 }
             }
         }
@@ -352,8 +352,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                         && !laneIds.contains(v.getToLaneId())
                         && !RobotTaskTypeEnum.PARK.getType().equals(v.getTaskType()) //停车在充电的任务做
                         && !RobotTaskTypeEnum.CHARGE.getType().equals(v.getTaskType()) //停车在充电的任务做
-                        && !mapIds.contains(v.getFromMapId())
+                        && !mapIds.contains(v.getFromMapItemId())
-                        && !mapIds.contains(v.getToMapId()))
+                        && !mapIds.contains(v.getToMapItemId()))
                 .collect(Collectors.toList());
 
         if (ObjectUtil.isEmpty(detailDOS)) {
@@ -375,15 +375,15 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
         //取货点位--最小
         Map<Long, Long> fromLocationMap = detailDOS.stream()
-                .filter(v -> ObjectUtil.isNotEmpty(v.getFromMapId()))
+                .filter(v -> ObjectUtil.isNotEmpty(v.getFromMapItemId()))
-                .collect(Collectors.groupingBy(RobotTaskDetailDO::getFromMapId,
+                .collect(Collectors.groupingBy(RobotTaskDetailDO::getFromMapItemId,
                         Collectors.collectingAndThen(Collectors.minBy(Comparator.comparingLong(RobotTaskDetailDO::getFromLocationNumber)),
                                 a -> a.isPresent() ? a.get().getFromLocationNumber() : null)));
 
         //放货点位--最大
         Map<Long, Long> toLocationMap = detailDOS.stream()
-                .filter(v -> ObjectUtil.isNotEmpty(v.getToMapId()))
+                .filter(v -> ObjectUtil.isNotEmpty(v.getToMapItemId()))
-                .collect(Collectors.groupingBy(RobotTaskDetailDO::getToMapId,
+                .collect(Collectors.groupingBy(RobotTaskDetailDO::getToMapItemId,
                         Collectors.collectingAndThen(Collectors.maxBy(Comparator.comparingLong(RobotTaskDetailDO::getToLocationNumber)),
                                 a -> a.isPresent() ? a.get().getToLocationNumber() : null)));
 
@@ -392,14 +392,14 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         for (RobotTaskDetailDO v : detailDOS) {
             RobotTaskDetailDO fromLane = ObjectUtil.isNotEmpty(v.getFromLaneId()) ? fromLaneMap.get(v.getFromLaneId()) : null;
             RobotTaskDetailDO toLane = ObjectUtil.isNotEmpty(v.getToLaneId()) ? toLaneMap.get(v.getToLaneId()) : null;
-            Long fromLocation = ObjectUtil.isNotEmpty(v.getFromMapId()) ? fromLocationMap.get(v.getFromMapId()) : null;
+            Long fromLocation = ObjectUtil.isNotEmpty(v.getFromMapItemId()) ? fromLocationMap.get(v.getFromMapItemId()) : null;
-            Long toLocation = ObjectUtil.isNotEmpty(v.getToMapId()) ? toLocationMap.get(v.getToMapId()) : null;
+            Long toLocation = ObjectUtil.isNotEmpty(v.getToMapItemId()) ? toLocationMap.get(v.getToMapItemId()) : null;
             //校验放货线库，有取的任务
             RobotTaskDetailDO fromLaneDoRelease = ObjectUtil.isNotEmpty(v.getToLaneId()) ? fromLaneMap.get(v.getToLaneId()) : null;
             //校验放的普通库位，有取的任务
-            Long toHaveFrom = ObjectUtil.isNotEmpty(v.getToMapId()) ? fromLocationMap.get(v.getToMapId()) : null;
+            Long toHaveFrom = ObjectUtil.isNotEmpty(v.getToMapItemId()) ? fromLocationMap.get(v.getToMapItemId()) : null;
             //校验取货库位，有放的任务
-            Long fromHaveTo = ObjectUtil.isNotEmpty(v.getFromMapId()) ? toLocationMap.get(v.getFromMapId()) : null;
+            Long fromHaveTo = ObjectUtil.isNotEmpty(v.getFromMapItemId()) ? toLocationMap.get(v.getFromMapItemId()) : null;
 
             //取放模式
             if (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(v.getTaskType())) {
@@ -694,7 +694,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         taskNigth.setCommand_type(CommandTypeEnum.MOVE_POSES.getType());
         List<Pose2ds> pose2dsNight = new ArrayList<>();
 
-        WareHouseLocationDO ware = WareHouseLocationDO.builder()
+        /*WareHouseLocationDO ware = WareHouseLocationDO.builder()
                 .laneId(-2l)
                 .build();
         List<WareHouseLocationDO> releaseStockList =
@@ -702,7 +702,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         for (WareHouseLocationDO wareHouseLocationDO : releaseStockList) {
             Pose2ds pose = positionMapItemMapper.selectByLocationId(wareHouseLocationDO.getId());
             pose2dsNight.add(pose);
-        }
+        }*/
 
 
 //        taskNigth.setPose2ds(pose2dsNight);

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

@@ -250,4 +250,6 @@ zn:
   robot_chearg: #机器人充电的配置
     release_location_number_config: 50 #同一组序号，越大越先执行
     priority_config: 50 #优先级
+  task: #任务相关的配置
+    check_sku_info: true #校验物料信息
 

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

@@ -496,47 +496,90 @@
                 #{id}
             </foreach>
     </update>
+    <update id="releaseLocationLockList">
+        update
+            ware_house_location
+        set
+            location_lock = #{locationLock}
+        where
+            task_id = #{taskId}
+            and location_lock = '0'
+            and id in
+            <foreach collection="locationIds" item="id" index="index" open="(" close=")"
+                     separator=",">
+                #{id}
+            </foreach>
+    </update>
 
 
     <select id="selectByTypeAndId" resultMap="BaseResultMap">
         select
         <include refid="base_sql"></include>
         from
-            ware_house_location
+            ware_house_location t1
         <where>
             <if test= " locationUseStatus != null ">
-                AND location_use_status = #{locationUseStatus}
+                AND t1.location_use_status = #{locationUseStatus}
             </if>
             <if test= "takeType != null and takeType == '1'.toString()">
-                AND id = #{id}
+                AND t1.id = #{id}
             </if>
             <if test= "takeType != null and takeType == '2'.toString()">
-                AND lane_id = #{id}
+                AND t1.lane_id = #{id}
             </if>
             <if test= "takeType != null and takeType == '3'.toString()">
-                AND area_id = #{id}
+                AND t1.area_id = #{id}
             </if>
             <if test= " locationIds != null and locationIds.size() > 0">
-                AND id not in
+                AND t1.id not in
                 <foreach collection="locationIds" item="id" index="index" open="(" close=")"
                          separator=",">
                     #{id}
                 </foreach>
             </if>
             <if test= " mapIds != null and mapIds.size() > 0">
-                AND map_id in
+                AND t1.map_id in
                 <foreach collection="mapIds" item="mapId" index="index" open="(" close=")"
                          separator=",">
                     #{mapId}
                 </foreach>
             </if>
             <if test= '"1"=="1"'>
-                AND location_enable = '1'
+                AND t1.location_enable = '1'
-                AND location_lock = '1'
+                AND t1.location_lock = '1'
-                AND location_type = '0'
+                AND t1.location_type = '0'
+            </if>
+            <if test= "locationUseStatus != null and locationUseStatus == '0'.toString()">
+                AND ((t1.lane_id > 0
+                     and t1.location_number &lt; (SELECT IFNULL(min( t2.location_number ) ,10000000000) from ware_house_location t2
+                        where t1.lane_id = t2.lane_id
+                        AND t2.location_type = '0'
+                        AND (t2.location_use_status = '1' or t2.location_enable = '0' or t2.location_lock = '0'))
+                ) or t1.lane_id is null)
+            </if>
+            <if test= " takeMapItemIds != null and takeMapItemIds.size() > 0">
+                AND t1.map_item_id not in
+                <foreach collection="takeMapItemIds" item="mapItemId" index="index" open="(" close=")"
+                         separator=",">
+                    #{mapItemId}
+                </foreach>
+            </if>
+            <if test= " laneIds != null and laneIds.size() > 0">
+                AND t1.lane_id in
+                <foreach collection="laneIds" item="laneId" index="index" open="(" close=")"
+                         separator=",">
+                    #{laneId}
+                </foreach>
+            </if>
+            <if test= " areaIds != null and areaIds.size() > 0">
+                AND t1.area_id in
+                <foreach collection="areaIds" item="areaId" index="index" open="(" close=")"
+                         separator=",">
+                    #{areaId}
+                </foreach>
             </if>
         </where>
-        order by location_number desc , location_storey asc
+        order by t1.location_number desc , t1.location_storey asc
         limit 1
     </select>
 
@@ -642,8 +685,29 @@
                     #{mapId}
                 </foreach>
             </if>
+            <if test="laneIds != null and laneIds.size() > 0">
+                and lane_id in
+                <foreach collection="laneIds" item="item" index="index" open="(" close=")"
+                         separator=",">
+                    #{item}
+                </foreach>
+            </if>
+            <if test="areaIds != null and areaIds.size() > 0">
+                and area_id in
+                <foreach collection="areaIds" item="item" index="index" open="(" close=")"
+                         separator=",">
+                    #{item}
+                </foreach>
+            </if>
+            <if test="mapItemIds != null and mapItemIds.size() > 0">
+                and map_item_id not in
+                <foreach collection="mapItemIds" item="item" index="index" open="(" close=")"
+                         separator=",">
+                    #{item}
+                </foreach>
+            </if>
         </where>
-        order by id asc
+        order by location_number asc
     </select>
     <select id="getLocationByName" resultType="cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationRespVO">
         <choose>

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

@@ -267,11 +267,7 @@
         set
             robot_status = #{robotStatus}
         where
-            robot_no in
+            robot_no = #{robotNo}
-        <foreach collection="robotNos" item="robotNo" index="index" open="(" close=")"
-                 separator=",">
-            #{robotNo}
-        </foreach>
     </update>
 
     <!--通过主键删除-->

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

@@ -17,8 +17,8 @@
         <result property="toLaneId" column="to_lane_id" jdbcType="INTEGER"/>
         <result property="fromLocationNumber" column="from_location_number" jdbcType="INTEGER"/>
         <result property="toLocationNumber" column="to_location_number" jdbcType="INTEGER"/>
-        <result property="fromMapId" column="from_map_id" jdbcType="INTEGER"/>
+        <result property="fromMapItemId" column="from_map_item_id" jdbcType="INTEGER"/>
-        <result property="toMapId" column="to_map_id" jdbcType="INTEGER"/>
+        <result property="toMapItemId" column="to_map_item_id" 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"/>
@@ -69,8 +69,8 @@
                priority,
                from_location_number,
                to_location_number,
-               from_map_id,
+               from_map_item_id,
-               to_map_id
+               to_map_item_id
     </sql>
 
 
@@ -197,20 +197,55 @@
           and t2.task_type = '3'
     </select>
 
+    <select id="selectTakeMapItemIds" resultType="java.lang.Long">
+        select
+            t2.map_item_id
+        from
+            robot_task_detail t1, ware_house_location t2
+        where
+            t1.from_location_id = t2.id
+            and t1.task_status in ('0','1')
+    </select>
+
+    <select id="selectReleaseMapItemIds" resultType="java.lang.Long">
+        select
+            t2.map_item_id
+        from
+            robot_task_detail t1, ware_house_location t2
+        where
+            t1.to_location_id = t2.id
+          and t1.task_status in ('0','1')
+    </select>
+
+    <select id="selectAutoCreateCycleTask"
+            resultType="cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO">
+        select
+            t1.*
+        from
+            robot_task_detail t1, robot_task t2
+        where
+             t2.id = t1.robot_task_id
+             and t2.remaining_cycle_number > 1
+             and t2.task_status = '2'
+             and t1.task_status = '2'
+             and t1.deleted = '0'
+             and t2.deleted = '0'
+    </select>
+
 
     <!--keyProperty="id" useGeneratedKeys="true"-->
     <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,from_lane_id,to_lane_id,from_location_number,to_location_number,
-        from_map_id,to_map_id)
+        from_map_item_id,to_map_item_id)
         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.fromLaneId}, #{entity.toLaneId}, #{entity.fromLocationNumber},
-            #{entity.toLocationNumber}, #{entity.fromMapId}, #{entity.toMapId})
+            #{entity.toLocationNumber}, #{entity.fromMapItemId}, #{entity.toMapItemId})
         </foreach>
     </insert>
 

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

@@ -0,0 +1,15 @@
+<?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.cycle.TaskCycleMapper">
+
+    <!--
+        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/
+     -->
+
+    <delete id="deletByRobotTaskId">
+        delete from robot_task_cycle where robot_task_id = #{robotTaskId}
+    </delete>
+</mapper>