摄像头code

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYArgDTO.java

@@ -0,0 +1,19 @@
+package cn.iocoder.yudao.module.mqtt.api.path.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+import java.util.List;
+
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class PathToRobotChangeXYArgDTO {
+    private List<PathToRobotChangeXYArgMovePoseDTO> pose2ds;
+    private PathToRobotChangeXYArgPoseDTO backPose;
+    private PathToRobotChangeXYArgPoseDTO cargoPose;
+
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYArgMovePoseDTO.java

@@ -0,0 +1,41 @@
+package cn.iocoder.yudao.module.mqtt.api.path.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class PathToRobotChangeXYArgMovePoseDTO {
+    /**
+     * 开始控制点x轴
+     */
+    private Double actualBeginControlX;
+    /**
+     * 开始控制点y轴
+     */
+    private Double actualBeginControlY;
+
+    /**
+     * 结束控制点x轴
+     */
+    private Double actualEndControlX;
+    /**
+     * 结束控制点y轴
+     */
+    private Double actualEndControlY;
+
+    private String id;
+
+    private Integer isEndPose;
+    private Integer isOldPose;
+    private Boolean isStraightEdge;
+    private String poseId;
+    private Double speed;
+    private Double x;
+    private Double y;
+    private Double yaw;
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYArgPoseDTO.java

@@ -0,0 +1,38 @@
+package cn.iocoder.yudao.module.mqtt.api.path.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class PathToRobotChangeXYArgPoseDTO {
+    /**
+     * 开始控制点x轴
+     */
+    private Double actualBeginControlX;
+    /**
+     * 开始控制点y轴
+     */
+    private Double actualBeginControlY;
+
+    /**
+     * 结束控制点x轴
+     */
+    private Double actualEndControlX;
+    /**
+     * 结束控制点y轴
+     */
+    private Double actualEndControlY;
+
+    private String id;
+
+    private Boolean isStraightEdge;
+    private Double speed;
+    private Double x;
+    private Double y;
+    private Double yaw;
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYDTO.java

@@ -0,0 +1,25 @@
+package cn.iocoder.yudao.module.mqtt.api.path.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class PathToRobotChangeXYDTO {
+    //这个实体类不要修改
+    //这个实体类不要修改
+    //这个实体类不要修改
+    //这个实体类不要修改
+    //这个实体类不要修改
+    private String executionType;
+    private String orderId;
+    private String orderType;
+    private String robotNo;
+    private String taskType;
+
+    private PathToRobotChangeXYDataDTO data;
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotChangeXYDataDTO.java

@@ -0,0 +1,16 @@
+package cn.iocoder.yudao.module.mqtt.api.path.dto;
+
+import lombok.AllArgsConstructor;
+import lombok.Builder;
+import lombok.Data;
+import lombok.NoArgsConstructor;
+
+@Data
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class PathToRobotChangeXYDataDTO {
+    private PathToRobotChangeXYArgDTO arg;
+    private String commandType;
+    private Integer isCommandEnd;
+}

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PathToRobotDTO.java

@@ -21,5 +21,6 @@ public class PathToRobotDTO {
     private Integer isCommandEnd;
     private String robotNo;
     private String commandType;
+    private String taskType;
     private PathToRobotArgDTO arg;
 }

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

@@ -50,7 +50,7 @@ public class PathApiImpl implements PathApi {
      * 发送初始化信息给PP
      */
     @Override
-    @SystemRateLimiter(time = 10, count = 1, keyArg = "pathInitData", message = "路径规划初始化数据频繁")
+    @SystemRateLimiter(time = 15, count = 1, keyArg = "pathInitData", message = "路径规划初始化数据频繁")
     public void pathInitData() {
         taskExecutor.execute(() -> {
             TenantContextHolder.setTenantId(1L);

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

@@ -75,6 +75,14 @@ public class DeviceInformationController {
         return success(BeanUtils.toBean(information, DeviceInformationRespVO.class));
     }
 
+    @GetMapping("/getCameraCode")
+    @Operation(summary = "获得设备信息的摄像头code")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('device:information:getCameraCode')")
+    public CommonResult<String> getCameraCode(@RequestParam("id") Long id) throws Exception {
+        return success(informationService.getCameraCode(id));
+    }
+
     @GetMapping("/list")
     @Operation(summary = "获得设备信息列表")
     public CommonResult<List<DeviceInformationRespVO>> getList(@Valid DeviceInformationDTO dto) {

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

@@ -98,4 +98,6 @@ public class RobotInformationPageRespVO {
     @Schema(description = "车辆端口")
     private Long robotPort;
 
+    @Schema(description = "车辆是否有货")
+    private String cargoDetected;
 }

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

@@ -45,4 +45,10 @@ public class RobotModelPageReqVO extends PageParam {
 
     @Schema(description = "转弯半径(单位米)")
     private String robotTurningRadius;
+
+    @Schema(description = "X轴偏移量")
+    private String robotXOffset;
+
+    @Schema(description = "Y轴偏移量")
+    private String robotYOffset;
 }

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

@@ -49,4 +49,10 @@ public class RobotModelRespVO {
 
     @Schema(description = "转弯半径(单位米)")
     private String robotTurningRadius;
+
+    @Schema(description = "X轴偏移量")
+    private String robotXOffset;
+
+    @Schema(description = "Y轴偏移量")
+    private String robotYOffset;
 }

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

@@ -36,4 +36,10 @@ public class RobotModelSaveReqVO {
 
     @Schema(description = "转弯半径(单位米)")
     private String robotTurningRadius;
+
+    @Schema(description = "X轴偏移量")
+    private String robotXOffset;
+
+    @Schema(description = "Y轴偏移量")
+    private String robotYOffset;
 }

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

@@ -67,4 +67,14 @@ public class RobotModelDO extends BaseDO {
      */
     private String robotTurningRadius;
 
+    /**
+     * X轴偏移量
+     */
+    private String robotXOffset;
+
+    /**
+     * Y轴偏移量
+     */
+    private String robotYOffset;
+
 }

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

@@ -151,7 +151,7 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
      * @param locationStorey
      * @return
      */
-    List<WareHouseLocationDO> queryUpperLevelsByMapItemId(@Param("mapItemId") Long mapItemId,
+    List<Long> queryUpperLevelsByMapItemId(@Param("mapItemId") Long mapItemId,
                                                           @Param("locationStorey") Integer locationStorey);
 
     /**
@@ -160,7 +160,7 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
      * @param locationStorey
      * @return
      */
-    List<WareHouseLocationDO> queryLowerLevelsByMapItemId(@Param("mapItemId") Long mapItemId,
+    List<Long> queryLowerLevelsByMapItemId(@Param("mapItemId") Long mapItemId,
                                                           @Param("locationStorey") Integer locationStorey);
 
     /**

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

@@ -143,4 +143,11 @@ public interface DeviceInformationService extends IService<DeviceInformationDO>
      * @param id
      */
     void deleteDeviceByMapId(Long id);
+
+    /**
+     * 获取摄像头code
+     * @param id
+     * @return
+     */
+    String getCameraCode(Long id) throws Exception;
 }

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

@@ -117,7 +117,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
 
         if (DeviceTypeEnum.CAMERA.getType().equals(createReqVO.getDeviceType())) {
             try {
-                createReqVO.setDeviceNo(AESEncryptionUtil.getEncrypt(createReqVO.getDeviceNo(), cameraSecretKey));
+                createReqVO.setCameraCode(AESEncryptionUtil.getEncrypt(createReqVO.getCameraCode(), cameraSecretKey));
             } catch (Exception ignored) {
             }
         }
@@ -152,7 +152,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
         // 更新
         if (DeviceTypeEnum.CAMERA.getType().equals(updateReqVO.getDeviceType())) {
             try {
-                updateReqVO.setDeviceNo(AESEncryptionUtil.getEncrypt(updateReqVO.getDeviceNo(), cameraSecretKey));
+                updateReqVO.setCameraCode(AESEncryptionUtil.getEncrypt(updateReqVO.getCameraCode(), cameraSecretKey));
             } catch (Exception ignored) {
             }
         }
@@ -474,6 +474,16 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
         informationMapper.deleteDeviceByMapId(mapId);
     }
 
+    @Override
+    public String getCameraCode(Long id) throws Exception {
+        DeviceInformationDO deviceInformationDO = informationMapper.selectById(id);
+        if (ObjectUtil.isEmpty(deviceInformationDO.getCameraCode()) || !DeviceTypeEnum.CAMERA.getType().equals(deviceInformationDO.getDeviceType())) {
+            return "";
+        }
+
+        return AESEncryptionUtil.decrypt(deviceInformationDO.getCameraCode(), cameraSecretKey);
+    }
+
     public void shrink(String ip, int port, String deviceNo) {
         boolean success = true;
         short[] shrinkArr = {0};

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

@@ -27,10 +27,12 @@ import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotModelDO;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapLineMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
+import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.config.CommandConfigTypeEnum;
 import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum;
 import cn.iocoder.yudao.module.system.enums.line.DirectionEnum;
@@ -45,6 +47,7 @@ import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapService;
 import cn.iocoder.yudao.module.system.service.remote.RemoteControllerInformationService;
 import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
+import cn.iocoder.yudao.module.system.service.robot.RobotModelService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;
 import lombok.extern.slf4j.Slf4j;
@@ -121,6 +124,9 @@ public class PathPlanningServiceImpl implements PathPlanningService {
     @Resource
     private RobotTaskDetailActionLogService taskDetailActionLogService;
 
+    @Resource
+    private RobotModelService modelService;
+
     /**
      * 同步ware_position_map_line的点位信息
      */
@@ -447,38 +453,67 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         String mac = robotInformationService.getMacByRobotNo(pathRobotDTO.getRobotNo());
         String topic = RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + mac;
         if(RobotCommandTypeEnum.SWITCH_MAP.getType().equals(pathRobotDTO.getCommandType())) {
-            String mapFileName = positionMapService.getMapFileNameByFloorAndAreaName(pathRobotDTO.getArg().getFloor(),pathRobotDTO.getArg().getAreaId());
+            switchMap(pathRobotDTO,topic);
-            pathRobotDTO.getArg().setMapName(mapFileName);
+        } else if (RobotCommandTypeEnum.WORD_DROP_OFF_GOODS.getType().equals(pathRobotDTO.getCommandType())) {
-            controllerInformationService.robotChangeSpeed(pathRobotDTO);
+            wordDropOffGoods(message,topic,pathRobotDTO.getRobotNo());
-            commonApi.commonMethodStr(JSON.toJSONString(pathRobotDTO), topic);
+        } else {
-            RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getLastTaskByRobotNo(pathRobotDTO.getRobotNo(),null);
-            if (ObjectUtil.isNotEmpty(actionLog)) {
-                //为了统计各个地图的工作时间
-                RobotTaskDetailActionLogSaveReqVO data = new RobotTaskDetailActionLogSaveReqVO();
-                data.setActionMsg(actionLog.getRobotNo() + " 切换为 " + pathRobotDTO.getArg().getFloor()+"层 " + pathRobotDTO.getArg().getAreaId());
-                data.setRobotNo(actionLog.getRobotNo());
-                data.setTaskDetailId(actionLog.getTaskDetailId());
-                data.setTaskStage(actionLog.getTaskStage());
-                data.setCommandType(actionLog.getCommandType());
-                data.setTaskNo(actionLog.getTaskNo());
-                data.setActionStatus(actionLog.getActionStatus());
-                data.setStartTime(LocalDateTime.now());
-                Long mapId = robotInformationService.getRobotMapIdByRobotNo(actionLog.getRobotNo());
-                if (ObjectUtil.isNotEmpty(mapId)) {
-                    data.setPositionMapId(mapId);
-                }
-                taskDetailActionLogService.createTaskDetailActionLog(data);
-            }
-            if (ObjectUtil.isNotEmpty(actionLog) && ObjectUtil.isNotEmpty(actionLog.getStartTime())) {
-                Duration duration = Duration.between(actionLog.getCreateTime(), LocalDateTime.now());
-                actionLog.setDuration(duration.toMinutes());
-                taskDetailActionLogService.updateTaskDetailActionLogs(Collections.singletonList(actionLog));
-            }
-        }else {
             commonApi.commonMethodStr(message, topic);
         }
     }
 
+    /**
+     * 适配不同车型的放货点
+     * @param message
+     * @param topic
+     */
+    private void wordDropOffGoods(String message, String topic, String robotNo) {
+        RobotInformationDO robotInformation = robotInformationService.getInformationByRobotNo(robotNo);
+        RobotModelDO model = modelService.getModel(robotInformation.getRobotModelId());
+        if (String.valueOf(ZeroOneEnum.ZERO.getType()).equals(model.getRobotXOffset())
+                && String.valueOf(ZeroOneEnum.ZERO.getType()).equals(model.getRobotYOffset())) {
+            commonApi.commonMethodStr(message, topic);
+            return;
+        }
+        PathToRobotChangeXYDTO pathToRobotChangeXY = JSON.parseObject(message, PathToRobotChangeXYDTO.class);
+
+
+    }
+
+    /**
+     * 统计时间使用
+     * @param pathRobotDTO
+     * @param topic
+     */
+    public void switchMap(PathToRobotDTO pathRobotDTO,String topic ) {
+        String mapFileName = positionMapService.getMapFileNameByFloorAndAreaName(pathRobotDTO.getArg().getFloor(),pathRobotDTO.getArg().getAreaId());
+        pathRobotDTO.getArg().setMapName(mapFileName);
+        controllerInformationService.robotChangeSpeed(pathRobotDTO);
+        commonApi.commonMethodStr(JSON.toJSONString(pathRobotDTO), topic);
+        RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getLastTaskByRobotNo(pathRobotDTO.getRobotNo(),null);
+        if (ObjectUtil.isNotEmpty(actionLog)) {
+            //为了统计各个地图的工作时间
+            RobotTaskDetailActionLogSaveReqVO data = new RobotTaskDetailActionLogSaveReqVO();
+            data.setActionMsg(actionLog.getRobotNo() + " 切换为 " + pathRobotDTO.getArg().getFloor()+"层 " + pathRobotDTO.getArg().getAreaId());
+            data.setRobotNo(actionLog.getRobotNo());
+            data.setTaskDetailId(actionLog.getTaskDetailId());
+            data.setTaskStage(actionLog.getTaskStage());
+            data.setCommandType(actionLog.getCommandType());
+            data.setTaskNo(actionLog.getTaskNo());
+            data.setActionStatus(actionLog.getActionStatus());
+            data.setStartTime(LocalDateTime.now());
+            Long mapId = robotInformationService.getRobotMapIdByRobotNo(actionLog.getRobotNo());
+            if (ObjectUtil.isNotEmpty(mapId)) {
+                data.setPositionMapId(mapId);
+            }
+            taskDetailActionLogService.createTaskDetailActionLog(data);
+        }
+        if (ObjectUtil.isNotEmpty(actionLog) && ObjectUtil.isNotEmpty(actionLog.getStartTime())) {
+            Duration duration = Duration.between(actionLog.getCreateTime(), LocalDateTime.now());
+            actionLog.setDuration(duration.toMinutes());
+            taskDetailActionLogService.updateTaskDetailActionLogs(Collections.singletonList(actionLog));
+        }
+    }
+
     /**
      * 实时行为上报
      * @param orderId

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

@@ -31,7 +31,6 @@ import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
 import cn.iocoder.yudao.module.system.service.housearea.HouseAreaService;
 import cn.iocoder.yudao.module.system.service.houselane.WareHouseLaneService;
 import cn.iocoder.yudao.module.system.service.houselocation.HouseLocationService;
-import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 import cn.iocoder.yudao.module.system.service.parkingspot.ParkingSpotService;
 import cn.iocoder.yudao.module.system.service.remote.RemoteControllerInformationService;
@@ -39,6 +38,7 @@ import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
 import cn.iocoder.yudao.module.system.service.robot.RobotTaskDetailService;
 import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
 import cn.iocoder.yudao.module.system.service.robot.mapstop.RobotMapStopService;
+import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import com.fasterxml.jackson.databind.ObjectMapper;
 import lombok.extern.slf4j.Slf4j;
@@ -136,6 +136,9 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
     @Resource
     private ParkingSpotService parkingSpotService;
 
+    @Resource
+    private RedisUtil redisUtil;
+
     @Override
     public Long createPositionMap(PositionMapSaveReqVO createReqVO) {
         // 插入
@@ -258,6 +261,7 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
             houseAreaService.deleteHouseAreaByMapId(positionMap.getId());
             houseLaneService.deleteHouseLaneByMapId(positionMap.getId());
             parkingSpotService.deleteParkingByMapId(positionMap.getId());
+            redisUtil.del("pngBase64");
         }
 
         // 处理 PNG 文件

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

@@ -662,6 +662,15 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         if (ObjectUtil.isNotEmpty(pageReqVO.getRobotStatisticsType())) {
             List<RobotInformationPageRespVO> resultList = new ArrayList<>();
             for (RobotInformationPageRespVO v : targetList) {
+
+                String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + v.getMacAddress();
+                Object cargoDetected = redisUtil.get(cargoDetectedKey);
+                if (ObjectUtil.isNotEmpty(cargoDetected) && RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))) {
+                    //说明取货完成
+                    v.setCargoDetected("有货");
+                }else {
+                    v.setCargoDetected("空车");
+                }
                 if (RobotStatisticsTypeEnum.STANDBY.getType().equals(pageReqVO.getRobotStatisticsType())
                         && v.getRobotTaskStatus().equals(0)) {
                     resultList.add(v);

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

@@ -266,12 +266,12 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                     throw exception0(TASK_CHECK_EXCEPTION.getCode(), "以下移动的点位重复 " + positionMapItem.getSortNum(), positionMapItem.getSortNum());
                 }
                 pointList.add(robotTaskDetail.getReleaseId());
-            }else if (RobotTaskTypeEnum.TAKE.getType().equals(robotTaskDetail.getTaskType())) {
+            } else if (RobotTaskTypeEnum.TAKE.getType().equals(robotTaskDetail.getTaskType())) {
                 if (takeRobotNos.contains(robotTaskDetail.getRobotNo())) {
                     throw exception0(TASK_CHECK_EXCEPTION.getCode(), "一辆车只能有一个仅取货任务 " + robotTaskDetail.getRobotNo(), robotTaskDetail.getRobotNo());
                 }
                 takeRobotNos.add(robotTaskDetail.getRobotNo());
-            }else if (RobotTaskTypeEnum.RELEASE.getType().equals(robotTaskDetail.getTaskType())) {
+            } else if (RobotTaskTypeEnum.RELEASE.getType().equals(robotTaskDetail.getTaskType())) {
                 if (releaseRobotNos.contains(robotTaskDetail.getRobotNo())) {
                     throw exception0(TASK_CHECK_EXCEPTION.getCode(), "一辆车只能有一个仅放货任务 " + robotTaskDetail.getRobotNo(), robotTaskDetail.getRobotNo());
                 }
@@ -301,7 +301,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         if (ObjectUtil.isNotEmpty(takeRobotNos)) {
             RobotTaskDetailDO takeTask = taskDetailMapper.selectOne(new LambdaQueryWrapperX<RobotTaskDetailDO>()
                     .in(RobotTaskDetailDO::getRobotNo, takeRobotNos)
-                    .in(RobotTaskDetailDO::getTaskStatus,RobotTaskStatusEnum.NEW.getType(), RobotTaskStatusEnum.DOING.getType())
+                    .in(RobotTaskDetailDO::getTaskStatus, RobotTaskStatusEnum.NEW.getType(), RobotTaskStatusEnum.DOING.getType())
                     .eq(RobotTaskDetailDO::getTaskType, RobotTaskTypeEnum.TAKE.getType())
                     .last("limit 1"));
             if (ObjectUtil.isNotEmpty(takeTask)) {
@@ -312,7 +312,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         if (ObjectUtil.isNotEmpty(releaseRobotNos)) {
             RobotTaskDetailDO releaseTask = taskDetailMapper.selectOne(new LambdaQueryWrapperX<RobotTaskDetailDO>()
                     .in(RobotTaskDetailDO::getRobotNo, releaseRobotNos)
-                    .in(RobotTaskDetailDO::getTaskStatus,RobotTaskStatusEnum.NEW.getType(), RobotTaskStatusEnum.DOING.getType())
+                    .in(RobotTaskDetailDO::getTaskStatus, RobotTaskStatusEnum.NEW.getType(), RobotTaskStatusEnum.DOING.getType())
                     .eq(RobotTaskDetailDO::getTaskType, RobotTaskTypeEnum.RELEASE.getType())
                     .last("limit 1"));
             if (ObjectUtil.isNotEmpty(releaseTask)) {
@@ -531,6 +531,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
         informationMapper.updateById(robotInformationDOS);
 
+        taskCycleMapper.deletByRobotTaskId(robotTaskDO.getId());
     }
 
     @Override
@@ -592,7 +593,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                     .orderByDesc(RobotChargeLogDO::getCreateTime)
                     .last("limit 1"));
 
-            chargeLogMapper.updateChargStatusByTaskId(taskAssignDTO.getOrderId(),ChargeTaskStatusEnum.CHARGEING.getType());
+            chargeLogMapper.updateChargStatusByTaskId(taskAssignDTO.getOrderId(), ChargeTaskStatusEnum.CHARGEING.getType());
             robotStatus = RobotStatusEnum.CHARGE.getType();
             if (ObjectUtil.isNotEmpty(robotChargeLogs) && ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId())) {
                 deviceNoMap.put(robotChargeLogs.getTaskDetailId(), robotChargeLogs.getDeviceNo());
@@ -978,14 +979,29 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             releaseMapItemIds.addAll(mapItemList);
         }
         List<Long> locationIds = new ArrayList<>();
+        Set<Long> chooseLocationIds = new HashSet<>();
+
+        for (RobotTaskDetailAddVO item : taskDetailList) {
+            if (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(item.getTaskType())) {
+                chooseLocationIds.add(item.getTakeId());
+                chooseLocationIds.add(item.getReleaseId());
+            } else if (RobotTaskTypeEnum.TAKE.getType().equals(item.getTaskType())) {
+                chooseLocationIds.add(item.getTakeId());
+            } else if (RobotTaskTypeEnum.RELEASE.getType().equals(item.getTaskType())) {
+                chooseLocationIds.add(item.getReleaseId());
+            }
+        }
 
         for (RobotTaskDetailAddVO robotTaskVo : taskDetailList) {
             robotTaskVo.setRobotTaskId(task.getId());
             robotTaskVo.setPriority(task.getPriority());
             RobotTaskTypeEnum robotTaskType = RobotTaskTypeEnum.getRobotTaskType(robotTaskVo.getTaskType());
+            if (ObjectUtil.isEmpty(robotTaskType)) {
+                throw exception0(TASK_CREATE_FAIL.getCode(), "任务类型不存在");
+            }
             switch (robotTaskType) {
                 case TAKE_RELEASE:
-                    doTakeRelease(robotTaskVo, locationIds, takeMapItemIds, releaseMapItemIds, laneIds, areaIds, task.getSkuInfo());
+                    doTakeRelease(robotTaskVo, locationIds, takeMapItemIds, releaseMapItemIds, laneIds, areaIds, task.getSkuInfo(), chooseLocationIds);
                     break;
                 case PARK:
                     doPark(robotTaskVo, locationIds, takeMapItemIds, releaseMapItemIds);
@@ -997,10 +1013,10 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                     doMove(robotTaskVo, locationIds, takeMapItemIds, releaseMapItemIds);
                     break;
                 case TAKE:
-                    doTake(robotTaskVo, locationIds, takeMapItemIds, releaseMapItemIds);
+                    doTake(robotTaskVo, locationIds, takeMapItemIds, releaseMapItemIds, chooseLocationIds);
                     break;
                 case RELEASE:
-                    doRelease(robotTaskVo, locationIds, takeMapItemIds, releaseMapItemIds, laneIds, areaIds, task.getSkuInfo());
+                    doRelease(robotTaskVo, locationIds, takeMapItemIds, releaseMapItemIds, laneIds, areaIds, task.getSkuInfo(), chooseLocationIds);
                     break;
                 case SCAN:
                     //暂无此功能
@@ -1062,8 +1078,10 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
      */
     @Transactional(rollbackFor = Exception.class)
     public void doRelease(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds, List<Long> takeMapItemIds,
-                          List<Long> releaseMapItemIds, List<Long> laneIds, List<Long> areaIds, String skuInfo) {
+                          List<Long> releaseMapItemIds, List<Long> laneIds, List<Long> areaIds, String skuInfo,
-        setToLocation(robotTaskVo, getMapIdsByRobotNo(robotTaskVo.getRobotNo()), locationIds, takeMapItemIds, releaseMapItemIds, laneIds, areaIds, skuInfo);
+                          Set<Long> chooseLocationIds) {
+        setToLocation(robotTaskVo, getMapIdsByRobotNo(robotTaskVo.getRobotNo()), locationIds, takeMapItemIds,
+                releaseMapItemIds, laneIds, areaIds, skuInfo, chooseLocationIds);
         locationIds.add(robotTaskVo.getToLocationId());
     }
 
@@ -1074,12 +1092,12 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
      */
     @Transactional(rollbackFor = Exception.class)
     public void doTake(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds, List<Long> takeMapItemIds,
-                       List<Long> releaseMapItemIds) {
+                       List<Long> releaseMapItemIds, Set<Long> chooseLocationIds) {
         Set<Long> mapIds = new HashSet<>();
         if (ObjectUtil.isNotEmpty(robotTaskVo.getRobotNo())) {
             mapIds = getMapIdsByRobotNo(robotTaskVo.getRobotNo());
         }
-        setFromLocation(robotTaskVo, mapIds, locationIds, takeMapItemIds, releaseMapItemIds);
+        setFromLocation(robotTaskVo, mapIds, locationIds, takeMapItemIds, releaseMapItemIds, chooseLocationIds);
         locationIds.add(robotTaskVo.getFromLocationId());
     }
 
@@ -1092,7 +1110,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     public void doMove(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds, List<Long> takeMapItemIds,
                        List<Long> releaseMapItemIds) {
         setToLocation(robotTaskVo, getMapIdsByRobotNo(robotTaskVo.getRobotNo()), locationIds, takeMapItemIds, releaseMapItemIds,
-                null, null, null);
+                null, null, null, null);
         locationIds.add(robotTaskVo.getToLocationId());
     }
 
@@ -1145,7 +1163,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     @Transactional(rollbackFor = Exception.class)
     public void setToLocation(RobotTaskDetailAddVO robotTaskVo, Set<Long> mapIds, List<Long> locationIds,
                               List<Long> takeMapItemIds, List<Long> releaseMapItemIds,
-                              List<Long> laneIds, List<Long> areaIds, String skuInfo) {
+                              List<Long> laneIds, List<Long> areaIds, String skuInfo, Set<Long> chooseLocationIds) {
         if (ReleaseTakeEnum.TO_LOCATION.getType().equals(robotTaskVo.getReleaseType())) {
             WareHouseLocationDO query = WareHouseLocationDO.builder().id(robotTaskVo.getReleaseId()).build();
             WareHouseLocationDO locationDO = locationMapper.queryAllByLimit(query);
@@ -1167,7 +1185,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                 log.error("此放货库位有库存 :{}", locationDO.getLocationNo());
                 throw exception0(TASK_CREATE_FAIL.getCode(), "此放货库位有库存 " + locationDO.getLocationNo());
             }
-            checkToLocationNoneTask(locationDO);
+            checkToLocationNoneTask(locationDO, chooseLocationIds);
             releaseMapItemIds.add(locationDO.getMapItemId());
         } else {
             if (ReleaseTakeEnum.TO_LANE.getType().equals(robotTaskVo.getReleaseType()) && ObjectUtil.isEmpty(laneIds)
@@ -1202,12 +1220,18 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
      *
      * @param locationDO
      */
-    private void checkToLocationNoneTask(WareHouseLocationDO locationDO) {
+    private void checkToLocationNoneTask(WareHouseLocationDO locationDO, Set<Long> chooseLocationIds) {
-        List<WareHouseLocationDO> locations = locationMapper.queryLowerLevelsByMapItemId(locationDO.getMapItemId(), locationDO.getLocationStorey());
+        if (ObjectUtil.isEmpty(chooseLocationIds)) {
-        if (ObjectUtil.isNotEmpty(locations)) {
+            return;
-            log.error("此放货库位的下层库位无货,请先放下层库位 :{}", locationDO.getLocationNo());
-            throw exception0(TASK_CREATE_FAIL.getCode(), "此放货库位的下层库位无货,请先放下层库位 " + locationDO.getLocationNo());
         }
+        List<Long> locations = locationMapper.queryLowerLevelsByMapItemId(locationDO.getMapItemId(), locationDO.getLocationStorey());
+
+        if (ObjectUtil.isEmpty(locations) || chooseLocationIds.containsAll(locations)) {
+            return;
+        }
+
+        log.error("此放货库位的下层库位无货,请先放下层库位 :{}", locationDO.getLocationNo());
+        throw exception0(TASK_CREATE_FAIL.getCode(), "此放货库位的下层库位无货,请先放下层库位 " + locationDO.getLocationNo());
     }
 
     /**
@@ -1219,7 +1243,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
      */
     @Transactional(rollbackFor = Exception.class)
     public void setFromLocation(RobotTaskDetailAddVO robotTaskVo, Set<Long> mapIds, List<Long> locationIds,
-                                List<Long> takeMapItemIds, List<Long> releaseMapItemIds) {
+                                List<Long> takeMapItemIds, List<Long> releaseMapItemIds, Set<Long> chooseLocationIds) {
         if (ReleaseTakeEnum.TO_LOCATION.getType().equals(robotTaskVo.getTakeType())) {
             WareHouseLocationDO query = WareHouseLocationDO.builder().id(robotTaskVo.getTakeId()).build();
             WareHouseLocationDO locationDO = locationMapper.queryAllByLimit(query);
@@ -1241,7 +1265,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                 log.error("此取货库位没库存 :{}", locationDO.getLocationNo());
                 throw exception0(TASK_CREATE_FAIL.getCode(), "此取货库位没库存 " + locationDO.getLocationNo());
             }
-            checkFromLocationNoneTask(locationDO);
+            checkFromLocationNoneTask(locationDO, chooseLocationIds);
             takeMapItemIds.add(locationDO.getMapItemId());
         } else {
             WareHouseLocationDO wareHouseLocationDO =
@@ -1266,13 +1290,19 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
      *
      * @param locationDO
      */
-    private void checkFromLocationNoneTask(WareHouseLocationDO locationDO) {
+    private void checkFromLocationNoneTask(WareHouseLocationDO locationDO, Set<Long> chooseLocationIds) {
 
-        List<WareHouseLocationDO> locations = locationMapper.queryUpperLevelsByMapItemId(locationDO.getMapItemId(), locationDO.getLocationStorey());
+        if (ObjectUtil.isEmpty(chooseLocationIds)) {
-        if (ObjectUtil.isNotEmpty(locations)) {
+            return;
-            log.error("此取货库位的上层库位有货,请先取上层库位的货物 :{}", locationDO.getLocationNo());
-            throw exception0(TASK_CREATE_FAIL.getCode(), "此取货库位的上层库位有货,请先取上层库位的货物 " + locationDO.getLocationNo());
         }
+
+        List<Long> locations = locationMapper.queryUpperLevelsByMapItemId(locationDO.getMapItemId(), locationDO.getLocationStorey());
+        if (ObjectUtil.isEmpty(locations) || chooseLocationIds.containsAll(locations)) {
+            return;
+        }
+
+        log.error("此取货库位的上层库位有货,请先取上层库位的货物 :{}", locationDO.getLocationNo());
+        throw exception0(TASK_CREATE_FAIL.getCode(), "此取货库位的上层库位有货,请先取上层库位的货物 " + locationDO.getLocationNo());
     }
 
     /**
@@ -1283,18 +1313,18 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     @Transactional(rollbackFor = Exception.class)
     public void doTakeRelease(RobotTaskDetailAddVO robotTaskVo, List<Long> locationIds,
                               List<Long> takeMapItemIds, List<Long> releaseMapItemIds,
-                              List<Long> laneIds, List<Long> areaIds, String skuInfo) {
+                              List<Long> laneIds, List<Long> areaIds, String skuInfo, Set<Long> chooseLocationIds) {
         Set<Long> mapIds = new HashSet<>();
         if (ObjectUtil.isNotEmpty(robotTaskVo.getRobotNo())) {
             mapIds = getMapIdsByRobotNo(robotTaskVo.getRobotNo());
         }
 
         //校验放货库位
-        setToLocation(robotTaskVo, mapIds, locationIds, takeMapItemIds, releaseMapItemIds, laneIds, areaIds, skuInfo);
+        setToLocation(robotTaskVo, mapIds, locationIds, takeMapItemIds, releaseMapItemIds, laneIds, areaIds, skuInfo, chooseLocationIds);
         locationIds.add(robotTaskVo.getToLocationId());
 
         //校验取货库位
-        setFromLocation(robotTaskVo, mapIds, locationIds, takeMapItemIds, releaseMapItemIds);
+        setFromLocation(robotTaskVo, mapIds, locationIds, takeMapItemIds, releaseMapItemIds, chooseLocationIds);
         locationIds.add(robotTaskVo.getFromLocationId());
 
         //验证取货库位是否存在未完成的任务
@@ -1498,7 +1528,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         RobotInformationDO robotInformationDO = robotInformationMapper.selectOne(new LambdaQueryWrapperX<RobotInformationDO>()
                 .eq(RobotInformationDO::getRobotNo, robotNo));
         if (!RobotStatusEnum.CHARGE.getType().equals(robotInformationDO.getRobotStatus())) {
-            log.info("车辆非充电状态:{}",robotNo);
+            log.info("车辆非充电状态:{}", robotNo);
             return;
         }
 

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

@@ -26,6 +26,8 @@ import org.springframework.stereotype.Service;
 import javax.annotation.Resource;
 import java.time.LocalDateTime;
 import java.util.ArrayList;
+import java.util.Collections;
+import java.util.LinkedList;
 import java.util.List;
 import java.util.Map;
 import java.util.Set;
@@ -78,7 +80,8 @@ public class CycleServiceImpl implements CycleService {
         Set<Long> taskIds = detailDOS.stream().map(RobotTaskDetailDO::getRobotTaskId).collect(Collectors.toSet());
 
         List<RobotTaskDO> taskList = taskMapper.selectList(new LambdaQueryWrapper<RobotTaskDO>()
-                .in(RobotTaskDO::getId, taskIds));
+                .in(RobotTaskDO::getId, taskIds)
+                .orderByAsc(RobotTaskDO::getCreateTime));
 
         Map<Long, List<RobotTaskDetailDO>> taskIdMap =
                 detailDOS.stream().collect(Collectors.groupingBy(RobotTaskDetailDO::getRobotTaskId));
@@ -86,7 +89,7 @@ public class CycleServiceImpl implements CycleService {
         String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey());
 
         List<RobotTaskDO> taskDOList = new ArrayList<>();
-        List<RobotTaskDetailDO> taskDetailList = new ArrayList<>();
+        List<RobotTaskDetailDO> taskDetailList = new LinkedList<>();
         for (RobotTaskDO v : taskList) {
             RobotTaskDO taskData = getTaskData(incrementByKey, v);
             List<RobotTaskDetailDO> taskDetailDOS = getTaskDetailData(taskData,taskIdMap,v.getId());
@@ -97,6 +100,7 @@ public class CycleServiceImpl implements CycleService {
 
         taskMapper.insertBatch(taskDOList);
         taskMapper.updateById(taskList);
+        Collections.reverse(taskDetailList);
         taskDetailMapper.insertBatch(taskDetailList);
 
         List<Long> fromLocationIds = taskDetailList.stream().map(RobotTaskDetailDO::getFromLocationId).collect(Collectors.toList());
@@ -121,7 +125,7 @@ public class CycleServiceImpl implements CycleService {
     private List<RobotTaskDetailDO> getTaskDetailData(RobotTaskDO taskData, Map<Long,
             List<RobotTaskDetailDO>> taskIdMap, Long id) {
 
-        List<RobotTaskDetailDO> taskDetailDOList = new ArrayList<>();
+        List<RobotTaskDetailDO> taskDetailDOList = new LinkedList<>();
         List<RobotTaskDetailDO> taskDetailDOS = taskIdMap.get(id);
         for (RobotTaskDetailDO v : taskDetailDOS) {
             RobotTaskDetailDO build = RobotTaskDetailDO.builder()

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

@@ -872,10 +872,9 @@
     </select>
 
 
-    <select id="queryUpperLevelsByMapItemId"
+    <select id="queryUpperLevelsByMapItemId" resultType="Long">
-            resultType="cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO">
         select
-            <include refid="base_sql"></include>
+            id
         from
             ware_house_location
         <where>
@@ -888,9 +887,9 @@
     </select>
 
     <select id="queryLowerLevelsByMapItemId"
-            resultType="cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO">
+            resultType="Long">
         select
-            <include refid="base_sql"></include>
+            id
         from
             ware_house_location
         <where>