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

@@ -1,7 +1,6 @@
 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;
@@ -24,9 +23,9 @@ 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);
@@ -38,9 +37,9 @@ 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

@@ -35,7 +35,6 @@ 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

@@ -19,9 +19,4 @@ 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, "车辆上传信息未包含楼层或区域信息");
+    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, "车辆文件上传内容为空");
+    ErrorCode AGV_FILE_UPLOAD_CONTENT_IS_EMPTY = new ErrorCode(1_002_038_002, "AGV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, "找不到车辆地图信息");
+    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, "车辆图片转base64失败");
+    ErrorCode AGV_IMAGE_CONVERSION_TO_BASE64_FAILED = new ErrorCode(1_002_038_005, "AGV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

@@ -88,6 +88,7 @@ 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

@@ -49,6 +49,9 @@ 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

@@ -338,7 +338,6 @@ 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（0:空闲、1:使用中）")
+    @Schema(description = "设备使用状态（IDLE:空闲、USEING:使用中）")
-    private Integer deviceUseStatus;
+    private String 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（0:空闲、1:使用中）")
+    @Schema(description = "设备使用状态（IDLE:空闲、USEING:使用中）")
-    @ExcelProperty("设备使用状态（0:空闲、1:使用中）")
+    @ExcelProperty("设备使用状态（IDLE:空闲、USEING:使用中）")
-    private Integer deviceUseStatus;
+    private String 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（0:空闲、1:使用中）")
+    @Schema(description = "设备使用状态（IDLE:空闲、USEING:使用中）")
-    private Integer deviceUseStatus;
+    private String 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

@@ -3,7 +3,6 @@ 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;
@@ -56,12 +55,4 @@ 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

@@ -1,14 +0,0 @@
-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（0:空闲、1:使用中）
+     * 设备使用状态（IDLE:空闲、USEING:使用中）
      */
-    private Integer deviceUseStatus;
+    private String 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") Integer deviceUseStatus,
+                               @Param("deviceUseStatus") String deviceUseStatus,
                                @Param("lastUser") String lastUser);
 
     /**
@@ -47,24 +47,11 @@ public interface DeviceInformationMapper extends BaseMapperX<DeviceInformationDO
      * @param lastUser
      */
     void setDeviceReleaseByLastUser(@Param("lastUser") String lastUser,
-                                    @Param("deviceUseStatus") Integer deviceUseStatus);
+                                    @Param("deviceUseStatus") String 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

@@ -74,17 +74,4 @@ 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

@@ -8,7 +8,6 @@ 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
@@ -34,12 +33,4 @@ 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

@@ -38,11 +38,4 @@ 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

@@ -9,8 +9,6 @@ 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
  *
@@ -28,10 +26,4 @@ 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(0, "空闲"),
+    IDLE("IDLE", "空闲"),
-    USEING(1, "使用中");
+    USEING("USEING", "使用中");
 
     /**
      * 类型
      */
-    private final Integer type;
+    private final String type;
     /**
      * 说明
      */

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

@@ -59,7 +59,6 @@ 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;
@@ -167,7 +166,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
      */
     @Override
     public void synchronousAllItem(PositionMapSaveReqVO data) {
-        log.info("开始同步点位信息");
+        log.info("synchronousAllItem----start");
         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()));
@@ -187,10 +186,11 @@ 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("同步点位信息结束");
+        log.info("synchronousAllItem----end");
     }
 
     /**
@@ -499,7 +499,6 @@ 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;
@@ -547,14 +546,13 @@ public class PathPlanningServiceImpl implements PathPlanningService {
             return;
         }
 
-        List<PositionMapItemDO> itemDOList = new LinkedList<>();
+        List<PositionMapItemDO> itemDOList = new ArrayList<>();
         List<PositionMapItemDO> items = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.STOP.getType());
-        if (ObjectUtil.isNotEmpty(items)) {
+        if (ObjectUtil.isEmpty(items) || items.size() < robots.size()) {
-            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

@@ -174,8 +174,7 @@ 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

@@ -587,6 +587,7 @@ 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

@@ -50,8 +50,6 @@ 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;
@@ -174,14 +172,6 @@ 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;
@@ -424,12 +414,16 @@ 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(
@@ -481,36 +475,6 @@ 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) {
@@ -518,13 +482,6 @@ 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());
@@ -549,9 +506,6 @@ 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();
@@ -562,13 +516,6 @@ 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

@@ -48,7 +48,6 @@ 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;
@@ -208,7 +207,7 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
         informationService.setRobotFree(robotTaskDetailDO.getRobotNo());
 
         actionLog.setActionStatus(ActionStatusEnum.DONE.getType());
-        taskDetailActionLogService.updateTaskDetailActionLogs(Collections.singletonList(actionLog));
+        taskDetailActionLogService.updateTaskDetailActionLogs(Arrays.asList(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, ZeroOneEnum.ZERO.getType())
+                .eq(DeviceInformationDO::getDeviceUseStatus, DeviceUseStatusEnum.IDLE.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("充电中的车辆未达到离开的阀值");
+                log.info("充电中的车辆未充满电");
                 return;
             }
             robotPathPlanningService.moveRobotToWait(moveToWaitRobots);
@@ -213,7 +213,6 @@ 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

@@ -119,6 +119,7 @@ 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();
 
@@ -217,20 +218,19 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         List<PositionMapItemDO> robotMapItems = new ArrayList<>();
         if (ObjectUtil.isNotEmpty(existMapItems)) {
 
-            for (PositionMapItemDO positionMapItem : existMapItems) {
+            for (PositionMapItemDO positionMapItem : positionMapItems) {
-                if (ObjectUtil.isEmpty(robots)) {
-                    break;
-                }
                 robotNos.removeIf(v -> v.equals(positionMapItem.getRobotNo()));
+                if (UseStatusEnum.USEING.getType().equals(positionMapItem.getUseStatus())) {
+                    continue;
+                }
                 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 ->  UseStatusEnum.FREE.getType().equals(v.getUseStatus()))
+                    .filter(v -> ObjectUtil.isEmpty(v.getRobotNo()))
                     .collect(Collectors.toList());
             if (ObjectUtil.isNotEmpty(emptyMapItems)) {
                 for (PositionMapItemDO positionMapItem : emptyMapItems) {
@@ -250,8 +250,11 @@ 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 =
@@ -293,7 +296,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                     .build();
 
             TaskRobotNoLimittationAreaDTO taskRobotNoLimittationAreaDTO = robotNoLimittationAreaDTOMap.get(v.getRobotNo());
-            List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = Collections.singletonList(taskRobotNoLimittationAreaDTO);
+            List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = Arrays.asList(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

@@ -1,7 +1,5 @@
 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;
@@ -16,10 +14,4 @@ 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

@@ -14,7 +14,6 @@ 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;
@@ -245,11 +244,6 @@ 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

@@ -36,26 +36,4 @@
         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

@@ -158,24 +158,4 @@
         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

@@ -1,15 +1,6 @@
 <?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

@@ -1,15 +1,6 @@
 <?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

@@ -9,13 +9,4 @@
         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>