打印日志

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java

@@ -1,6 +1,7 @@
 package cn.iododer.yudao.module.mqtt.api.common;
 
 import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
+import cn.iododer.yudao.module.mqtt.config.MqttFactory;
 import cn.iododer.yudao.module.mqtt.util.MqttUtils;
 import com.alibaba.fastjson.JSON;
 import lombok.extern.slf4j.Slf4j;
@@ -23,9 +24,9 @@ public class CommonApiImpl implements CommonApi {
             String str = JSON.toJSONString(obj);
             mqttUtils.pub(topic, JSON.toJSONString(obj));
             if (str.length() > 510) {
-//                log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str.substring(0, 500));
+                log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str.substring(0, 500));
             }else {
-//                log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str);
+                log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str);
             }
         } catch (MqttException e) {
             log.info("MQTT消息发送异常 :{}",e);
@@ -37,9 +38,9 @@ public class CommonApiImpl implements CommonApi {
         try {
             mqttUtils.pub(topic, str);
             if (str.length() > 510) {
-//                log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str.substring(0, 500));
+                log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str.substring(0, 500));
             }else {
-//                log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str);
+                log.info("MQTT消息发送成功topic :{}, 内容 :{}",topic, str);
             }
         } catch (MqttException e) {
             log.info("MQTT消息发送异常 :{}",e);

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

@@ -35,6 +35,7 @@ management:
 mqtt:
 #  host: tcp://123.57.12.40:1883
   host: tcp://127.0.0.1:1883
+#  host: tcp://10.10.7.195:1883
   username: adminuser
   password: adminuser
   qos: 2

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

@@ -19,4 +19,9 @@ public class RobotSkuInfoDTO {
      * 物料数量
      */
     private Long skuNumber;
+
+    /**
+     * 层数
+     */
+    private Integer locationStorey;
 }

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

@@ -236,11 +236,11 @@ public interface ErrorCodeConstants {
     ErrorCode PATH_PLANNING_DOING_DISTRIBUTE = new ErrorCode(1-002-037-002, "有正在分配的PP任务!");
 
     // ========== 地图信息 1-002-038-000 ==========
-    ErrorCode AGV_UPLOAD_INFORMATION_DOES_NOT_INCLUDE_FLOOR_OR_AREA_INFORMATION = new ErrorCode(1_002_038_001, "AGV上传信息未包含楼层或区域信息");
-    ErrorCode AGV_FILE_UPLOAD_CONTENT_IS_EMPTY = new ErrorCode(1_002_038_002, "AGV文件上传内容为空");
+    ErrorCode AGV_UPLOAD_INFORMATION_DOES_NOT_INCLUDE_FLOOR_OR_AREA_INFORMATION = new ErrorCode(1_002_038_001, "车辆上传信息未包含楼层或区域信息");
+    ErrorCode AGV_FILE_UPLOAD_CONTENT_IS_EMPTY = new ErrorCode(1_002_038_002, "车辆文件上传内容为空");
     ErrorCode PLEASE_UPLOAD_PNG_AND_YAML_FILES = new ErrorCode(1_002_038_003, "请上传png和yaml两个文件并且文件内容不为空");
-    ErrorCode AGV_MAP_NOT_FOUND = new ErrorCode(1_002_038_004, "找不到AGV地图信息");
-    ErrorCode AGV_IMAGE_CONVERSION_TO_BASE64_FAILED = new ErrorCode(1_002_038_005, "AGV图片转base64失败");
+    ErrorCode AGV_MAP_NOT_FOUND = new ErrorCode(1_002_038_004, "找不到车辆地图信息");
+    ErrorCode AGV_IMAGE_CONVERSION_TO_BASE64_FAILED = new ErrorCode(1_002_038_005, "车辆图片转base64失败");
     ErrorCode THE_LINE_LIBRARY_POINTS_ARE_NOT_LOCATED_IN_THE_SAME_AREA = new ErrorCode(1_002_038_006, "线库点位不在同一区域内");
     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, "已有库位在其它区域内");

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

@@ -88,7 +88,6 @@ public class PathApiImpl implements PathApi {
             } finally {
                 MDC.clear();
             }
-//            taskService.ppDistributionTask(message);  废弃了
         });
     }
 

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

@@ -49,9 +49,6 @@ public class RobotStatusApiImpl implements RobotStatusApi {
 
     private static final ExecutorService executorService = Executors.newFixedThreadPool(5);
 
-    /*@Autowired
-    private ThreadPoolTaskExecutor taskExecutor;
-*/
     @Resource
     private CommonApi commonApi;
 

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

@@ -338,6 +338,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         robotSkuInfo.setHaveSku(ZeroOneEnum.ONE.getType());
         robotSkuInfo.setSkuNumber(wareHouseLocationDO.getSkuNumber());
         robotSkuInfo.setSkuInfo(wareHouseLocationDO.getSkuInfo());
+        robotSkuInfo.setLocationStorey(wareHouseLocationDO.getLocationStorey());
         redisUtil.set(RobotTaskChcheConstant.ROBOT_TASK_SKU_INFO + robotCompleteTaskDTO.getMac(), JSON.toJSONString(robotSkuInfo));
         wareHouseLocationDO.setSkuInfo(null);
         wareHouseLocationDO.setSkuNumber(0L);

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

@@ -47,7 +47,7 @@ public class RequestProcessor {
     private void sendData(String map, Map<String, String> data) {
         // -- 发送给对应的websocket
 //        System.out.println("key:" + map + "发送数据：" + data);
-//        log.info("key:" + map + "发送数据：" + data);
+        log.info("key:" + map + "发送数据：" + data);
         webSocketSenderApi.sendObject(map, WebSocketConstant.MAP_PUSH, data);
     }
 

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

@@ -74,8 +74,8 @@ public class DeviceInformationPageReqVO extends PageParam {
     @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
     private LocalDateTime[] createTime;
 
-    @Schema(description = "设备使用状态（IDLE:空闲、USEING:使用中）")
-    private String deviceUseStatus;
+    @Schema(description = "设备使用状态（0:空闲、1:使用中）")
+    private Integer deviceUseStatus;
 
     @Schema(description = "设备专有属性（1：自动充电类型充电桩、2：手动充电类型充电桩）")
     private Integer deviceAttribute;

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

@@ -91,9 +91,9 @@ public class DeviceInformationRespVO {
     @ExcelProperty("创建时间")
     private LocalDateTime createTime;
 
-    @Schema(description = "设备使用状态（IDLE:空闲、USEING:使用中）")
-    @ExcelProperty("设备使用状态（IDLE:空闲、USEING:使用中）")
-    private String deviceUseStatus;
+    @Schema(description = "设备使用状态（0:空闲、1:使用中）")
+    @ExcelProperty("设备使用状态（0:空闲、1:使用中）")
+    private Integer deviceUseStatus;
 
     @Schema(description = "设备专有属性（1：自动充电类型充电桩、2：手动充电类型充电桩）")
     @ExcelProperty("设备专有属性（1：自动充电类型充电桩、2：手动充电类型充电桩）")

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

@@ -72,8 +72,8 @@ public class DeviceInformationSaveReqVO {
     @Schema(description = "设备最后通讯时间")
     private LocalDateTime deviceLastTime;
 
-    @Schema(description = "设备使用状态（IDLE:空闲、USEING:使用中）")
-    private String deviceUseStatus;
+    @Schema(description = "设备使用状态（0:空闲、1:使用中）")
+    private Integer deviceUseStatus;
 
     @Schema(description = "设备专有属性（1：自动充电类型充电桩、2：手动充电类型充电桩）")
     private Integer deviceAttribute;

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/tool/ToolsController.java

@@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.controller.admin.tool;
 
 import cn.iocoder.yudao.framework.common.pojo.CommonResult;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationSaveReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.tool.dto.SendMsgToMqttDTO;
 import cn.iocoder.yudao.module.system.service.tool.ToolsService;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.tags.Tag;
@@ -55,4 +56,12 @@ public class ToolsController {
         toolsService.simulationPose();
         return success("同步完成");
     }
+
+    @PostMapping("/sendMsgToMQTT")
+    @Operation(summary = "发送消息给MQTT")
+    @PermitAll
+    public CommonResult<String> sendMsgToMQTT( @RequestBody SendMsgToMqttDTO dto) {
+        toolsService.sendMsgToMQTT(dto);
+        return success("发送完成");
+    }
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/tool/dto/SendMsgToMqttDTO.java

@@ -0,0 +1,14 @@
+package cn.iocoder.yudao.module.system.controller.admin.tool.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class SendMsgToMqttDTO {
+
+    @Schema(description = "消息")
+    private String msg;
+
+    @Schema(description = "主题topic")
+    private String topic;
+}

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

@@ -112,9 +112,9 @@ public class DeviceInformationDO extends BaseDO {
      */
     private LocalDateTime deviceLastTime;
     /**
-     * 设备使用状态（IDLE:空闲、USEING:使用中）
+     * 设备使用状态（0:空闲、1:使用中）
      */
-    private String deviceUseStatus;
+    private Integer deviceUseStatus;
     /**
      * 设备专有属性（1：自动充电类型充电桩、2：手动充电类型充电桩）
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/information/DeviceInformationMapper.java

@@ -39,7 +39,7 @@ public interface DeviceInformationMapper extends BaseMapperX<DeviceInformationDO
      * @param lastUser
      */
     void updateDeviceUseStatus(@Param("deviceNo") String deviceNo,
-                               @Param("deviceUseStatus") String deviceUseStatus,
+                               @Param("deviceUseStatus") Integer deviceUseStatus,
                                @Param("lastUser") String lastUser);
 
     /**
@@ -47,11 +47,24 @@ public interface DeviceInformationMapper extends BaseMapperX<DeviceInformationDO
      * @param lastUser
      */
     void setDeviceReleaseByLastUser(@Param("lastUser") String lastUser,
-                                    @Param("deviceUseStatus") String deviceUseStatus);
+                                    @Param("deviceUseStatus") Integer deviceUseStatus);
 
     /**
      * 根据地图id删除
      * @param mapId
      */
     void deleteDeviceByMapId(@Param("mapId") Long mapId);
+
+    /**
+     * 更新车辆编号
+     * @param oldRobotNo
+     * @param newRobotNo
+     */
+    void updateRobotNo(@Param("oldRobotNo") String oldRobotNo, @Param("newRobotNo") String newRobotNo);
+
+    /**
+     * 清除车辆编号
+     * @param robotNo
+     */
+    void clearRobotNo(@Param("robotNo") String robotNo);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java

@@ -74,4 +74,17 @@ public interface PositionMapItemMapper extends BaseMapperX<PositionMapItemDO> {
      * @param mapId
      */
     void deleteByMapId(@Param("mapId") Long mapId);
+
+    /**
+     * 更新车辆编号
+     * @param oldRobotNo
+     * @param newRobotNo
+     */
+    void updateRobotNo(@Param("oldRobotNo") String oldRobotNo, @Param("newRobotNo") String newRobotNo);
+
+    /**
+     * 释放车辆
+     * @param robotNo
+     */
+    void clearRobotNo(@Param("robotNo") String robotNo);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/remote/RemoteControllerInformationMapper.java

@@ -8,6 +8,7 @@ import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
 import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RemoteControllerInformationPageReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.remote.RemoteControllerInformationDO;
 import org.apache.ibatis.annotations.Mapper;
+import org.apache.ibatis.annotations.Param;
 
 /**
  * 远遥设备信息 Mapper
@@ -33,4 +34,12 @@ public interface RemoteControllerInformationMapper extends BaseMapperX<RemoteCon
      * @return
      */
     List<String> getRemoteControllerRobotNos();
+
+    /**
+     * 更新车辆编号
+     * @param oldRobotNo
+     * @param newRobotNo
+     */
+    void updateRobotNo(@Param("oldRobotNo") String oldRobotNo, @Param("newRobotNo") String newRobotNo);
+
 }

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

@@ -38,4 +38,11 @@ public interface RobotMapStopMapper extends BaseMapperX<RobotMapStopDO> {
      * @param robotNos
      */
     void deleteRobotMapStopByRobotNos(@Param("robotNos") List<String> robotNos);
+
+    /**
+     * 更新车辆编号
+     * @param oldRobotNo
+     * @param newRobotNo
+     */
+    void updateRobotNo(@Param("oldRobotNo") String oldRobotNo, @Param("newRobotNo") String newRobotNo);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/wait/MoveToWaitMapper.java

@@ -9,6 +9,8 @@ import org.apache.ibatis.annotations.Mapper;
 
 import cn.iocoder.yudao.module.system.controller.admin.wait.vo.*;
 import cn.iocoder.yudao.module.system.dal.dataobject.wait.MoveToWaitDO;
+import org.apache.ibatis.annotations.Param;
+
 /**
  * 车辆前往等待点记录 Mapper
  *
@@ -26,4 +28,10 @@ public interface MoveToWaitMapper extends BaseMapperX<MoveToWaitDO> {
                 .orderByDesc(MoveToWaitDO::getId));
     }
 
+    /**
+     * 更新车辆编号
+     * @param oldRobotNo
+     * @param newRobotNo
+     */
+    void updateRobotNo(@Param("oldRobotNo") String oldRobotNo, @Param("newRobotNo") String newRobotNo);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceUseStatusEnum.java

@@ -9,13 +9,13 @@ import lombok.Getter;
 @Getter
 @AllArgsConstructor
 public enum DeviceUseStatusEnum {
-    IDLE("IDLE", "空闲"),
-    USEING("USEING", "使用中");
+    IDLE(0, "空闲"),
+    USEING(1, "使用中");
 
     /**
      * 类型
      */
-    private final String type;
+    private final Integer type;
     /**
      * 说明
      */

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

@@ -59,6 +59,7 @@ import java.time.LocalDateTime;
 import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.Collections;
+import java.util.LinkedList;
 import java.util.List;
 import java.util.Map;
 import java.util.stream.Collectors;
@@ -166,7 +167,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
      */
     @Override
     public void synchronousAllItem(PositionMapSaveReqVO data) {
-        log.info("synchronousAllItem----start");
+        log.info("开始同步点位信息");
         List<PositionMapDO> positionMapDOS = positionMapMapper.selectList(new LambdaQueryWrapperX<PositionMapDO>()
                 .eq(ObjectUtil.isNotEmpty(data.getFloor()), PositionMapDO::getFloor, data.getFloor())
                 .eq(ObjectUtil.isNotEmpty(data.getArea()), PositionMapDO::getArea, data.getArea()));
@@ -186,11 +187,10 @@ public class PathPlanningServiceImpl implements PathPlanningService {
             relatedPathNode.setType(PathTypeEnum.INIT.getType());
             relatedPathNode.setControl_nodes(positionMapItemSynDTOS);
 
-            log.info("synchronousAllItem----doing :{}",JSON.toJSONString(relatedPathNode));
             commonApi.commonMethod(relatedPathNode, PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_NODE);
         }
 
-        log.info("synchronousAllItem----end");
+        log.info("同步点位信息结束");
     }
 
     /**
@@ -499,6 +499,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
      */
     @Override
     public void pathPlanningMovePose(String message) {
+        log.info("车辆即将行走的点位 :{}",message);
         PathPlanningMovePoseVO robotStatusData = JSON.parseObject(message, PathPlanningMovePoseVO.class);
         String mac = robotInformationService.getMacByRobotNo(robotStatusData.getRobotNo());
         String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + mac;
@@ -546,13 +547,14 @@ public class PathPlanningServiceImpl implements PathPlanningService {
             return;
         }
 
-        List<PositionMapItemDO> itemDOList = new ArrayList<>();
+        List<PositionMapItemDO> itemDOList = new LinkedList<>();
         List<PositionMapItemDO> items = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.STOP.getType());
-        if (ObjectUtil.isEmpty(items) || items.size() < robots.size()) {
+        if (ObjectUtil.isNotEmpty(items)) {
+            itemDOList.addAll(items);
+        }
+        if ( itemDOList.size() < robots.size()) {
             List<PositionMapItemDO> itemPoses = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.PATH.getType());
             itemDOList.addAll(itemPoses);
-        } else {
-            itemDOList = items;
         }
 
         List<SimulationRobotPoseDTO> simulationList = new ArrayList<>();

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

@@ -174,7 +174,8 @@ public class PositionMapItemServiceImpl extends ServiceImpl<PositionMapItemMappe
     public List<PositionMapItemDO> getPositionMapItemByMapAndType(Long mapId, Integer type) {
         return positionMapItemMapper.selectList(new LambdaQueryWrapperX<PositionMapItemDO>()
                 .eq(PositionMapItemDO::getPositionMapId, mapId)
-                .eq(PositionMapItemDO::getType, type));
+                .eq(PositionMapItemDO::getType, type)
+                .orderByDesc(PositionMapItemDO::getId));
     }
 
     /**

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

@@ -587,7 +587,6 @@ public class RemoteControllerInformationServiceImpl extends ServiceImpl<RemoteCo
      */
     @Transactional(rollbackFor = Exception.class)
     public RemoteRobotTransferDTO doRobotChangeMode(Integer remoteMode, String remoteIp, String robotNo,int remoteControllerPort,String remoteControllerIp) {
-        log.info("切换模式的车辆 :{}", robotNo);
 
         //后续判断下，如果协控中，能不能切换模式
 

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

@@ -50,6 +50,8 @@ import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMappe
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.remote.RemoteControllerInformationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.*;
+import cn.iocoder.yudao.module.system.dal.mysql.statistics.RobotWorkingHoursStatisticsMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.wait.MoveToWaitMapper;
 import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.device.DeviceTypeEnum;
 import cn.iocoder.yudao.module.system.enums.device.DeviceUseStatusEnum;
@@ -172,6 +174,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Resource
     private RobotCameraService cameraService;
 
+    @Resource
+    private RobotChargeLogMapper chargeLogMapper;
+
+    @Resource
+    private RobotWorkingHoursStatisticsMapper robotWorkingHoursStatisticsMapper;
+
+    @Resource
+    private MoveToWaitMapper moveToWaitMapper;
 
     @Resource
     private RemoteControllerInformationMapper controllerInformationMapper;
@@ -414,16 +424,12 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         checkIpAndPort(updateObj);
 
+        if (!updateReqVO.getRobotNo().equals(robotInformationDO.getRobotNo())) {
+            updateRobotNo(robotInformationDO.getRobotNo(),updateReqVO.getRobotNo());
+        }
+
         informationMapper.updateById(updateObj);
 
-        if (!robotInformationDO.getRobotNo().equals(updateReqVO.getRobotNo())) {
-            List<RobotMapStopDO> robotMapStops = mapStopMapper.selectList(new LambdaQueryWrapperX<RobotMapStopDO>()
-                    .eq(RobotMapStopDO::getRobotNo, robotInformationDO.getRobotNo()));
-            if (ObjectUtil.isNotEmpty(robotMapStops)) {
-                robotMapStops.forEach(v -> v.setRobotNo(updateReqVO.getRobotNo()));
-                mapStopMapper.updateById(robotMapStops);
-            }
-        }
 
         // 更新AGV于地图关系表 -----
         List<List<Long>> list = CollectionUtils.compareLists(
@@ -475,6 +481,36 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         commonApi.commonMethod(RobotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
     }
 
+    /**
+     * 跟新车辆编号
+     * @param oldRobotNo
+     * @param newRobotNo
+     */
+    @Transactional(rollbackFor = Exception.class)
+    public void updateRobotNo(String oldRobotNo, String newRobotNo) {
+
+        deviceInformationMapper.updateRobotNo(oldRobotNo,newRobotNo);
+
+        controllerInformationMapper.updateRobotNo(oldRobotNo,newRobotNo);
+
+        RobotChargeLogDO robotChargeLog = chargeLogMapper.selectOne(new LambdaQueryWrapperX<RobotChargeLogDO>()
+                .eq(RobotChargeLogDO::getRobotNo, oldRobotNo)
+                .orderByDesc(RobotChargeLogDO::getCreateTime)
+                .last("limit 1"));
+        if (ObjectUtil.isNotEmpty(robotChargeLog)) {
+            robotChargeLog.setRobotNo(newRobotNo);
+            chargeLogMapper.updateById(robotChargeLog);
+        }
+
+        //这表暂时不改
+//        robotWorkingHoursStatisticsMapper
+        mapStopMapper.updateRobotNo(oldRobotNo,newRobotNo);
+
+        moveToWaitMapper.updateRobotNo(oldRobotNo,newRobotNo);
+
+        positionMapItemMapper.updateRobotNo(oldRobotNo,newRobotNo);
+    }
+
     @Override
     @Transactional(rollbackFor = Exception.class)
     public void deleteInformation(Long id) {
@@ -482,6 +518,13 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         validateInformationExists(id);
         RobotInformationDO robotInformationDO = informationMapper.selectById(id);
 
+        RemoteControllerInformationDO remoteControllerInformation = controllerInformationMapper.selectOne(new LambdaQueryWrapper<RemoteControllerInformationDO>()
+                .eq(RemoteControllerInformationDO::getRobotNo, robotInformationDO.getRobotNo())
+                .last("limit 1"));
+        if (ObjectUtil.isNotEmpty(remoteControllerInformation)) {
+            throw exception(ROBOT_DOING_REMOTE);
+        }
+
         cameraService.deleteCameraByRobotNo(robotInformationDO.getRobotNo());
 
         List<RobotTaskDO> list = taskMapper.selectDoingTaskByRobotNo(robotInformationDO.getRobotNo());
@@ -506,6 +549,9 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         List<RobotDimensionsDTO> RobotDimensions = informationMapper.selectRobotDimensions();
         commonApi.commonMethod(RobotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
 
+        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + robotInformationDO.getMacAddress();
+        redisUtil.del(pose2dKey);
+
         redisUtil.del(key);
         //地图相关
         String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + robotInformationDO.getMacAddress();
@@ -516,6 +562,13 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             redisUtil.hdel(oldFloorArea, robotInformationDO.getRobotNo());
             redisUtil.del(floorAreaKey);
         }
+
+        deleteRobot(robotInformationDO.getRobotNo());
+    }
+
+    private void deleteRobot(String robotNo) {
+        deviceInformationMapper.clearRobotNo(robotNo);
+        positionMapItemMapper.clearRobotNo(robotNo);
     }
 
     public void releaseRobotStop(RobotInformationDO robotInformationDO) {

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

@@ -48,6 +48,7 @@ import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 
 import java.time.LocalDateTime;
 import java.util.Arrays;
+import java.util.Collections;
 import java.util.List;
 import java.util.Map;
 import java.util.stream.Collectors;
@@ -207,7 +208,7 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
         informationService.setRobotFree(robotTaskDetailDO.getRobotNo());
 
         actionLog.setActionStatus(ActionStatusEnum.DONE.getType());
-        taskDetailActionLogService.updateTaskDetailActionLogs(Arrays.asList(actionLog));
+        taskDetailActionLogService.updateTaskDetailActionLogs(Collections.singletonList(actionLog));
         taskDetailActionLogService.setPreviousTaskDoneByOrderId(taskDetailId);
 
         if (RobotTaskStageEnum.DONE.getType().equals(taskStage)

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

@@ -111,7 +111,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
 
         List<DeviceInformationDO> deviceInformationDOS = deviceInformationMapper.selectList(new LambdaQueryWrapperX<DeviceInformationDO>()
                 .eq(DeviceInformationDO::getDeviceEnable, ZeroOneEnum.ONE.getType())
-                .eq(DeviceInformationDO::getDeviceUseStatus, DeviceUseStatusEnum.IDLE.getType())
+                .eq(DeviceInformationDO::getDeviceUseStatus, ZeroOneEnum.ZERO.getType())
                 .eq(DeviceInformationDO::getDeviceType, DeviceTypeEnum.CHARGING_STATION.getType()));
 
         if (ObjectUtil.isEmpty(deviceInformationDOS)) {
@@ -131,7 +131,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
             }
             List<RobotInformationDO>  moveToWaitRobots = getCanLeaveChargingRobots(chargeIngRobots, chargeConfig, robots.size());
             if (ObjectUtil.isEmpty(moveToWaitRobots)) {
-                log.info("充电中的车辆未充满电");
+                log.info("充电中的车辆未达到离开的阀值");
                 return;
             }
             robotPathPlanningService.moveRobotToWait(moveToWaitRobots);
@@ -213,6 +213,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
 
             Boolean adequateBatteryCapacity = remainingElectricityBigger(chargeConfig, robot);
             if (adequateBatteryCapacity) {
+                robot.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
                 String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC + robot.getMacAddress();
                 Object o = redisUtil.get(socKey);
                 Integer soc = ObjectUtil.isEmpty(o) ? 0 : Integer.parseInt(o.toString());

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

@@ -119,7 +119,6 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     public void sendTaskToPP() {
         TenantContextHolder.setTenantId(1L);
 
-        log.info("-------循环任务开始查找车子和任务------");
         Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> robotAndTaskDetails =
                 distributeTasksService.getRobotAndTaskDetails();
 
@@ -218,19 +217,20 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         List<PositionMapItemDO> robotMapItems = new ArrayList<>();
         if (ObjectUtil.isNotEmpty(existMapItems)) {
 
-            for (PositionMapItemDO positionMapItem : positionMapItems) {
-                robotNos.removeIf(v -> v.equals(positionMapItem.getRobotNo()));
-                if (UseStatusEnum.USEING.getType().equals(positionMapItem.getUseStatus())) {
-                    continue;
+            for (PositionMapItemDO positionMapItem : existMapItems) {
+                if (ObjectUtil.isEmpty(robots)) {
+                    break;
                 }
+                robotNos.removeIf(v -> v.equals(positionMapItem.getRobotNo()));
                 positionMapItem.setUseStatus(UseStatusEnum.PRE_OCCUPANCY.getType());
                 robotMapItems.add(positionMapItem);
+                positionMapItems.removeIf(v -> v.getId().equals(positionMapItem.getId()));
             }
         }
 
         if (ObjectUtil.isNotEmpty(robotNos)) {
             List<PositionMapItemDO> emptyMapItems = positionMapItems.stream()
-                    .filter(v -> ObjectUtil.isEmpty(v.getRobotNo()))
+                    .filter(v ->  UseStatusEnum.FREE.getType().equals(v.getUseStatus()))
                     .collect(Collectors.toList());
             if (ObjectUtil.isNotEmpty(emptyMapItems)) {
                 for (PositionMapItemDO positionMapItem : emptyMapItems) {
@@ -250,11 +250,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             return;
         }
 
-        Map<String, PositionMapItemDO> positionMap =
-                robotMapItems.stream().collect(Collectors.toMap(PositionMapItemDO::getRobotNo, Function.identity()));
         Map<Long, Long> sortMap = positionMapItems.stream().collect(Collectors.toMap(PositionMapItemDO::getId, PositionMapItemDO::getSortNum));
 
-
         //机器人不能行走的区域
         List<TaskRobotNoLimittationAreaDTO> robotNoLimitationArea = getRobotNoLimitationArea(robots);
         Map<String, TaskRobotNoLimittationAreaDTO> robotNoLimittationAreaDTOMap =
@@ -296,7 +293,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                     .build();
 
             TaskRobotNoLimittationAreaDTO taskRobotNoLimittationAreaDTO = robotNoLimittationAreaDTOMap.get(v.getRobotNo());
-            List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = Arrays.asList(taskRobotNoLimittationAreaDTO);
+            List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = Collections.singletonList(taskRobotNoLimittationAreaDTO);
             pathPlanning.setRobotNoLimitationAreaDTOS(robotNoLimitions);
 
             String key = PathPlanningChcheConstant.PATH_PLANNING_TASK + pathPlanning.getOrderId();

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

@@ -1,5 +1,7 @@
 package cn.iocoder.yudao.module.system.service.tool;
 
+import cn.iocoder.yudao.module.system.controller.admin.tool.dto.SendMsgToMqttDTO;
+
 import javax.servlet.http.HttpServletResponse;
 import javax.validation.Valid;
 import javax.validation.constraints.NotBlank;
@@ -14,4 +16,10 @@ public interface ToolsService {
     String updateWarnCode();
 
     void simulationPose();
+
+    /**
+     * 发送消息给MQTT
+     * @param dto
+     */
+    void sendMsgToMQTT(SendMsgToMqttDTO dto);
 }

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

@@ -14,6 +14,7 @@ import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
 import cn.iocoder.yudao.module.system.controller.admin.config.dto.TaskOrderConfigDTO;
 import cn.iocoder.yudao.module.system.controller.admin.config.vo.CommonConfigVO;
 import cn.iocoder.yudao.module.system.controller.admin.tool.dto.CleanAgvDTO;
+import cn.iocoder.yudao.module.system.controller.admin.tool.dto.SendMsgToMqttDTO;
 import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
@@ -244,6 +245,11 @@ public class ToolsServiceImpl implements ToolsService {
         }
     }
 
+    @Override
+    public void sendMsgToMQTT(SendMsgToMqttDTO dto) {
+        commonApi.commonMethodStr(dto.getMsg(),dto.getTopic());
+    }
+
 
     public void addWarnMsg() {
         RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(4)

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/information/DeviceInformationMapper.xml

@@ -36,4 +36,26 @@
         where
             position_map_id = #{mapId}
     </update>
+
+    <update id="updateRobotNo">
+        update
+            device_information
+        set
+            last_user = #{newRobotNo}
+        where
+            last_user = #{oldRobotNo}
+        and deleted = '0'
+        and device_type = '1'
+    </update>
+    <update id="clearRobotNo">
+        update
+            device_information
+        set
+            last_user = '',
+            device_use_status = '0'
+        where
+            last_user = #{robotNo}
+          and deleted = '0'
+          and device_type = '1'
+    </update>
 </mapper>

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml

@@ -158,4 +158,24 @@
         set deleted = 1
         where position_map_id = #{mapId}
     </update>
+
+    <update id="updateRobotNo">
+        update
+            ware_position_map_item
+        set
+            robot_no = #{newRobotNo}
+        where
+            robot_no = #{oldRobotNo}
+          and deleted = '0'
+    </update>
+    <update id="clearRobotNo">
+        update
+            ware_position_map_item
+        set
+            robot_no = '',
+            use_status = '0'
+        where
+            robot_no = #{robotNo}
+          and deleted = '0'
+    </update>
 </mapper>

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/remote/RemoteControllerInformationMapper.xml

@@ -1,6 +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.remote.RemoteControllerInformationMapper">
+    <update id="updateRobotNo">
+        update
+            remote_controller_information
+        set
+            robot_no = #{newRobotNo}
+        where
+            robot_no = #{oldRobotNo}
+          and deleted = '0'
+    </update>
 
     <!--
         一般情况下，尽可能使用 Mapper 进行 CRUD 增删改查即可。

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

@@ -1,6 +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.robot.RobotMapStopMapper">
+    <update id="updateRobotNo">
+        update
+            robot_map_stop
+        set
+            robot_no = #{newRobotNo}
+        where
+            robot_no = #{oldRobotNo}
+        and deleted = '0'
+    </update>
 
     <!--
         一般情况下，尽可能使用 Mapper 进行 CRUD 增删改查即可。

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/wait/MoveToWaitMapper.xml

@@ -9,4 +9,13 @@
         文档可见：https://www.iocoder.cn/MyBatis/x-plugins/
      -->
 
+    <update id="updateRobotNo">
+        update
+            robot_move_to_wait
+        set
+            robot_no = #{newRobotNo}
+        where
+            robot_no = #{oldRobotNo}
+          and deleted = '0'
+    </update>
 </mapper>