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3 Commits
5a870cf145 ... 02ac8dfda9

Author SHA1 Message Date
cbs
02ac8dfda9 操作日志 2025-03-17 11:51:58 +08:00
cbs
2f7bea2518 告警JSON文件 2025-03-14 17:55:58 +08:00
cbs
928491f16c 机器人移动到等待点 2025-03-14 14:45:23 +08:00
42 changed files with 752 additions and 306 deletions
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4
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/common/CommonApi.java
View File

@ -21,4 +21,8 @@ public interface CommonApi {
@PostMapping(PREFIX + "/commonMethod")
@Operation(summary = "公共方法")
void commonMethod(@RequestBody Object obj, @RequestParam("topic") String topic);
@PostMapping(PREFIX + "/commonMethodStr")
@Operation(summary = "公共方法")
void commonMethodStr(@RequestParam("str") String str, @RequestParam("topic") String topic);
}

4
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java
View File

@ -76,4 +76,8 @@ public class TaskToPathPlanningDTO {
@Schema(description = "取货-叉起货需要在原来高度基础上偏移的高度")
private Double releaseOffsetHeight;
//PICK_UP_GOODS取货、DROP_OFF_GOODS放货、MOVE移动、AUTO_CHARGE自动充电、MANUAL_CHARGE手动充电
//如果是取放货 传PICK_UP_GOODS
private String taskType;
}

7
yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/dto/RobotRcsHeartBeatDTO.java Normal file
View File

@ -0,0 +1,7 @@
package cn.iocoder.yudao.module.mqtt.api.task.dto;
import lombok.Data;
@Data
public class RobotRcsHeartBeatDTO {
}

18
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/api/common/CommonApiImpl.java
View File

@ -23,9 +23,23 @@ 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 :{}", 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 :{}", 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);
}
}
@Override
public void commonMethodStr(String str, String topic) {
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));
}else {
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);

22
yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java
View File

@ -15,17 +15,17 @@ import java.util.List;
public enum DefineSubTopicEnum {
//qos 0-至多1次、1-至少1次、2-正好一次
ROBOT_STATUS("ROBOT_STATUS", 0,"点位"),
ROBOT_TASK_STATUS("ROBOT_TASK_STATUS", 0,"机器人任务完成上报"),
ROBOT_REACTIVE_STATUS("ROBOT_REACTIVE_STATUS", 0,"机器人响应式状态上报"),
ROBOT_GENERICS_STATUS("ROBOT_GENERICS_STATUS", 0,"机器人异常"),
ROBOT_PATH_STATUS("ROBOT_PATH_STATUS", 0,"导航实时行为上报"),
ROBOT_WORK_STATUS("ROBOT_WORK_STATUS", 0,"作业实时行为上报"),
ROBOT_UPDATE_PALLET_HEIGHT("UPDATE_PALLET_HEIGHT", 0,"放货后货物高度反馈和取货后货物高度反馈"),
SYNCHRONOUS_ALL_MAP_REQUEST("SYNCHRONOUS_ALL_MAP_REQUEST", 0,"路径规划需要初始数据上报"),
TASK_ASSIGNMENT_FEEDBACK("TASK_ASSIGNMENT_FEEDBACK", 0,"路径规划任务分配上报"),
TASK_ASSIGNMENT_FAIL("TASK_ASSIGNMENT_FAIL", 0,"路径规划失败上报"),
ROBOT_TASK_MOVE ("ROBOT_TASK_MOVE ", 0,"路径规划上报实时路径");
ROBOT_STATUS("ROBOT_STATUS", 2,"点位"),
ROBOT_TASK_STATUS("ROBOT_TASK_STATUS", 2,"机器人任务完成上报"),
ROBOT_REACTIVE_STATUS("ROBOT_REACTIVE_STATUS", 2,"机器人响应式状态上报"),
ROBOT_GENERICS_STATUS("ROBOT_GENERICS_STATUS", 2,"机器人异常"),
ROBOT_PATH_STATUS("ROBOT_PATH_STATUS", 2,"导航实时行为上报"),
ROBOT_WORK_STATUS("ROBOT_WORK_STATUS", 2,"作业实时行为上报"),
ROBOT_UPDATE_PALLET_HEIGHT("UPDATE_PALLET_HEIGHT", 2,"放货后货物高度反馈和取货后货物高度反馈"),
SYNCHRONOUS_ALL_MAP_REQUEST("SYNCHRONOUS_ALL_MAP_REQUEST", 2,"路径规划需要初始数据上报"),
TASK_ASSIGNMENT_FEEDBACK("TASK_ASSIGNMENT_FEEDBACK", 2,"路径规划任务分配上报"),
TASK_ASSIGNMENT_FAIL("TASK_ASSIGNMENT_FAIL", 2,"路径规划失败上报"),
ROBOT_TASK_MOVE ("ROBOT_TASK_MOVE", 2,"路径规划上报实时路径");
private final String topic;

1
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
View File

@ -197,6 +197,7 @@ public interface ErrorCodeConstants {
ErrorCode TASK_CHECK_TASK_STATUS = new ErrorCode(1-002-035-100, "订单已完成");
ErrorCode TASK_CHECK_UPDATE_STATUS = new ErrorCode(1-002-035-101, "订单更新失败");
ErrorCode TASK_CHECK_EXIST_NO = new ErrorCode(1-002-035-102, "订单号已存在");
ErrorCode TASK_TYPE_UN_EXIST = new ErrorCode(1-002-035-103, "找不到对应的任务类型");
// ========== 机器人任务明细 1-002-036-000 ==========
ErrorCode TASK_DETAIL_NOT_EXISTS = new ErrorCode(1-002-036-001, "机器人任务明细不存在");

34
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
View File

@ -21,7 +21,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMap
import cn.iocoder.yudao.module.system.dal.mysql.robot.*;
import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import cn.iocoder.yudao.module.system.enums.path.PathIsReachEnum;
import cn.iocoder.yudao.module.system.enums.path.PathTaskType;
import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum;
import cn.iocoder.yudao.module.system.enums.robot.*;
import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeTaskStatusEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotStatusCodeEnum;
@ -140,9 +140,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
* @param robotCompleteTaskDTO
*/
private void robotTaskDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey) {
if (PathTaskType.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
chargeDoing(robotCompleteTaskDTO, robotDoingActionKey);
} else if (PathTaskType.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
logOne.setActionMsg("车辆正在前往等待点");
String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
@ -182,14 +182,14 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
*/
private void robotTaskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
//todo 后面考虑下充电，车机目前对充电的逻辑未定义
if (PathTaskType.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskType.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskType.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskType.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskType.RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
if (PathTaskTypeEnum.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
|| PathTaskTypeEnum.RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
taskDone(robotCompleteTaskDTO);
} else if (PathTaskType.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
if (RobotTaskStageEnum.TAKEING.getType().equals(robotTaskDetailDO.getTaskStage())) {
pathPlanningService.updateBehavior(String.valueOf(robotCompleteTaskDTO.getOrderId()), robotTaskDetailDO.getRobotNo()
@ -197,9 +197,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
} else if (RobotTaskStageEnum.RELEASEING.getType().equals(robotTaskDetailDO.getTaskStage())) {
taskDone(robotCompleteTaskDTO);
}
} else if (PathTaskType.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())) {
moveToWaitService.updateWaitStatus(robotCompleteTaskDTO.getOrderId(), WaitStatusEnum.REACH_WAIT.getType());
} else if (PathTaskType.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotChargeLogDO build = RobotChargeLogDO
.builder()
.id(robotCompleteTaskDTO.getOrderId())
@ -371,7 +371,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
String commandType = commandStatus.getCommandType();
RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
if (PathTaskType.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType) && RobotTaskStageEnum.UN_START.getType().equals(taskStage)) {
logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getFromLocationNo() + "取货");
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_TAKE.getType());
@ -386,7 +386,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
}
} else if (PathTaskType.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
RobotChargeLogDO robotChargeLogDO = chargeLogMapper.selectById(robotCompleteTaskDTO.getOrderId());
if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) {
logOne.setActionMsg("车辆正在前往" + robotChargeLogDO.getDeviceNo() + "充电");
@ -396,17 +396,17 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.CHARGEING.getType());
}
} else if (PathTaskType.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) {
logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo());
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.MOVE.getType());
}
} else if (PathTaskType.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())) {
if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) {
logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo());
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.MOVE.getType());
}
} else if (PathTaskType.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType) && RobotTaskStageEnum.UN_START.getType().equals(taskStage)) {
logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getFromLocationNo() + "取货");
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_TAKE.getType());
@ -415,7 +415,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING.getType());
}
} else if (PathTaskType.RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
} else if (PathTaskTypeEnum.RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType) && RobotTaskStageEnum.UN_START.getType().equals(taskStage)) {
logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo() + "放货");
robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/robot/RobotTopicConstant.java
View File

@ -16,4 +16,8 @@ public class RobotTopicConstant {
*RCS发送心跳给车机
*/
public static String RCS_HEART_BEAT = "RCS_HEART_BEAT";
/**
* 让机器人同步告警码值映射的topic （拼接mac地址）
*/
public static String UPDATE_ERROR_TOPIC = "UPDATE_ERROR";
}

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/log/vo/UserOperationLogSaveReqVO.java
View File

@ -7,6 +7,7 @@ import javax.validation.constraints.*;
@Schema(description = "管理后台 - 用户操作记录新增/修改 Request VO")
@Data
@Builder
public class UserOperationLogSaveReqVO {
@Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "24510")

12
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapItemController.java
View File

@ -7,10 +7,13 @@ import cn.iocoder.yudao.framework.common.pojo.CommonResult;
import cn.iocoder.yudao.framework.common.util.collection.CollectionUtils;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.NodeBaseDTO;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemRespVO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
import cn.iocoder.yudao.module.system.handler.mapnode.NodeProcessingContext;
import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
import com.baomidou.mybatisplus.core.toolkit.IdWorker;
import io.swagger.v3.oas.annotations.Operation;
@ -42,6 +45,9 @@ public class PositionMapItemController {
@Resource
private NodeProcessingContext nodeProcessingContext;
@Resource
private UserOperationLogService userOperationLogService;
// -- 前端给所有的节点信息 -
@PostMapping("/batchSaveOrEditOrDel")
@Operation(summary = "批量新增编辑删除节点")
@ -59,6 +65,12 @@ public class PositionMapItemController {
List<List<PositionMapItemDO>> list = CollectionUtils.compareLists(oldList, newAllList,
(oldVal, newVal) -> ObjectUtil.equal(oldVal.getId(), newVal.getId()));
positionMapItemService.batchSaveOrEditOrDel(positionMapId, list);
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction("保存地图编辑")
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
return success(true);
}

32
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/RobotPositionMapDTO.java Normal file
View File

@ -0,0 +1,32 @@
package cn.iocoder.yudao.module.system.controller.admin.positionmap.dto;
import lombok.Builder;
import lombok.Data;
@Data
@Builder
public class RobotPositionMapDTO {
/**
* 实际坐标x轴
*/
private String actualLocationX;
/**
* 实际坐标y轴
*/
private String actualLocationY;
/**
* 类型 1.路径点位 2.库位点 3.充电桩 4.停车点 5.区域变更点 6.等待点 --- 后续补充
*/
private Integer type;
/**
* AGV编号
*/
private String robotNo;
/**
* 仓库点位地图表id
*/
private Long positionMapId;
}

9
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotWarnCodeMappingController.java
View File

@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.controller.admin.robot;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingRespVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.warn.RobotWarnCodeMappingVO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
import cn.iocoder.yudao.module.system.service.robot.RobotWarnCodeMappingService;
import org.springframework.web.bind.annotation.*;
@ -13,6 +14,7 @@ import io.swagger.v3.oas.annotations.tags.Tag;
import io.swagger.v3.oas.annotations.Parameter;
import io.swagger.v3.oas.annotations.Operation;
import javax.annotation.security.PermitAll;
import javax.validation.constraints.*;
import javax.validation.*;
import javax.servlet.http.*;
@ -94,4 +96,11 @@ public class RobotWarnCodeMappingController {
BeanUtils.toBean(list, RobotWarnCodeMappingRespVO.class));
}
@GetMapping("/agv/query")
@Operation(summary = "机器人下载告警码值映射文件")
@PermitAll
public void agvQueryWarnCode(HttpServletResponse response) {
warnCodeMappingService.agvQueryWarnCode(response);
}
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/task/TaskAssignDTO.java
View File

@ -15,7 +15,7 @@ import lombok.NoArgsConstructor;
@AllArgsConstructor
public class TaskAssignDTO {
@Schema(description = "robot_task_detail/robot_charge_log 的 id")
private Long id;
private Long orderId;
@Schema(description = "任务类型(TAKE_RELEASE、CHARGE、MOVE、TAKE、RELEASE、AUTO_CHARGE)")
private String type;

33
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/warn/RobotWarnCodeMappingVO.java Normal file
View File

@ -0,0 +1,33 @@
package cn.iocoder.yudao.module.system.controller.admin.robot.warn;
import com.alibaba.excel.annotation.ExcelProperty;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.Data;
@Data
public class RobotWarnCodeMappingVO {
@Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "15754")
@ExcelProperty("主键ID")
private Long id;
@Schema(description = "告警等级 (1,2,3,4)")
@ExcelProperty("告警等级 (1,2,3,4)")
private Integer warnLevel;
@Schema(description = "能不能继续做任务 (0:不能， 1:能)")
@ExcelProperty("能不能继续做任务 (0:不能， 1:能)")
private Integer doTask;
@Schema(description = "告警编号")
@ExcelProperty("告警编号")
private String warnCode;
@Schema(description = "告警信息")
@ExcelProperty("告警信息")
private String warnMsg;
@Schema(description = "告警解决方法")
@ExcelProperty("告警解决方法")
private String warnSolve;
}

15
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/tool/ToolsController.java
View File

@ -11,6 +11,8 @@ import org.springframework.validation.annotation.Validated;
import org.springframework.web.bind.annotation.*;
import javax.annotation.Resource;
import javax.annotation.security.PermitAll;
import javax.servlet.http.HttpServletResponse;
import javax.validation.Valid;
import javax.validation.constraints.NotBlank;
@ -25,17 +27,24 @@ public class ToolsController {
@Resource
private ToolsService toolsService;
@PostMapping("/cleanAgv")
@PostMapping("/pp/cleanAgv")
@Operation(summary = "路径规划---清除交管")
@PreAuthorize("@ss.hasPermission('robot:information:cleanAgv')")
@PermitAll
public CommonResult<String> cleanAgv(@Valid @RequestParam @NotBlank(message = "请传机器人编号") String robotNo) {
return success(toolsService.cleanAgv(robotNo));
}
@PostMapping("/closeTaskDetail")
@Operation(summary = "关闭任务(同步路径规划和车机)-不改变数据库任务状态")
@PreAuthorize("@ss.hasPermission('robot:information:closeTaskDetail')")
@PermitAll
public CommonResult<String> closeTaskDetail(@Valid @RequestParam @NotBlank(message = "请传任务id") String taskDetailId) {
return success(toolsService.closeTaskDetail(taskDetailId));
}
@GetMapping("/robot/updateWarnCode")
@Operation(summary = "机器人---下载告警码值映射文件")
@PermitAll
public CommonResult<String> updateWarnCode() {
return success(toolsService.updateWarnCode());
}
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/wait/MoveToWaitDO.java
View File

@ -25,7 +25,7 @@ public class MoveToWaitDO extends BaseDO {
/**
* 主键ID
*/
@TableId
@TableId(type = IdType.ASSIGN_ID)
private Long id;
/**
* AGV编号

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java
View File

@ -5,6 +5,7 @@ import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.module.mqtt.api.path.dto.PositionMapItemSynDTO;
import cn.iocoder.yudao.module.mqtt.api.task.dto.Pose2ds;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.RobotPositionMapDTO;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemPageReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
import org.apache.ibatis.annotations.Mapper;
@ -60,4 +61,11 @@ public interface PositionMapItemMapper extends BaseMapperX<PositionMapItemDO> {
* @param laneId
*/
void emptyLaneId(@Param("mapId") Long mapId, @Param("laneId") Long laneId);
/**
*
* @param list
* @return
*/
List<PositionMapItemDO> selectInWaitList(@Param("list") List<RobotPositionMapDTO> list);
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotWarnCodeMappingMapper.java
View File

@ -6,8 +6,11 @@ import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.warn.RobotWarnCodeMappingVO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
import com.baomidou.mybatisplus.core.metadata.IPage;
import org.apache.ibatis.annotations.Mapper;
import org.apache.ibatis.annotations.Param;
/**
* 机器人告警码值映射 Mapper
@ -28,4 +31,5 @@ public interface RobotWarnCodeMappingMapper extends BaseMapperX<RobotWarnCodeMap
.orderByDesc(RobotWarnCodeMappingDO::getId));
}
List<RobotWarnCodeMappingVO> getAllWarnCodeList();
}

21
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/item/PositionMapItemEnum.java Normal file
View File

@ -0,0 +1,21 @@
package cn.iocoder.yudao.module.system.enums.item;
import lombok.AllArgsConstructor;
import lombok.Getter;
@Getter
@AllArgsConstructor
public enum PositionMapItemEnum {
PATH(1,"路径点位"),
LOCATION(2,"库位点"),
CHARGE(3,"充电桩"),
STOP(4,"停车点"),
CHANGE(5,"区域变更点"),
WAIT(6,"等待点");
/**
* 类型
*/
private final Integer type;
private final String msg;
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskType.java → yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskTypeEnum.java
View File

@ -9,7 +9,7 @@ import lombok.Getter;
*/
@Getter
@AllArgsConstructor
public enum PathTaskType {
public enum PathTaskTypeEnum {
TAKE_RELEASE("TAKE_RELEASE","取放货"),
CHARGE("CHARGE","充电任务"),
MOVE("MOVE","移动任务"),

45
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskTypeToRobotEnum.java Normal file
View File

@ -0,0 +1,45 @@
package cn.iocoder.yudao.module.system.enums.path;
import cn.iocoder.yudao.module.system.enums.robot.RobotTaskTypeEnum;
import lombok.AllArgsConstructor;
import lombok.Getter;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.ROBOT_MAC_ADDRESS_EXISTS;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.TASK_TYPE_UN_EXIST;
@Getter
@AllArgsConstructor
public enum PathTaskTypeToRobotEnum {
PICK_UP_GOODS("PICK_UP_GOODS","取货"),
DROP_OFF_GOODS("DROP_OFF_GOODS","放货"),
MOVE("MOVE","移动"),
AUTO_CHARGE("AUTO_CHARGE","自动充电"),
MANUAL_CHARGE("MANUAL_CHARGE","手动充电");
/**
* 类型
*/
private final String type;
private final String msg;
/**
* 任务对应的类型
* @param taskType
* @return
*/
public static String taskDetailGetType(Integer taskType) {
if (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(taskType)) {
return PICK_UP_GOODS.getType();
}else if (RobotTaskTypeEnum.MOVE.getType().equals(taskType)) {
return MOVE.getType();
}else if (RobotTaskTypeEnum.TAKE.getType().equals(taskType)) {
return PICK_UP_GOODS.getType();
}else if (RobotTaskTypeEnum.RELEASE.getType().equals(taskType)) {
return DROP_OFF_GOODS.getType();
}else if (RobotTaskTypeEnum.PARK.getType().equals(taskType)) {
return MOVE.getType();
}
throw exception(TASK_TYPE_UN_EXIST);
}
}

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/LocationEnableEnum.java
View File

@ -9,10 +9,11 @@ import lombok.Getter;
@Getter
@AllArgsConstructor
public enum LocationEnableEnum {
YES(1), //启用
NO(0); //禁用
YES(1,"启用"),
NO(0,"禁用");
/**
* 类型
*/
private final Integer type;
private final String msg;
}

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/LocationUseStatusEnum.java
View File

@ -9,10 +9,11 @@ import lombok.Getter;
@Getter
@AllArgsConstructor
public enum LocationUseStatusEnum {
YES(1), //占用
NO(0); //空闲
YES(1,"占用"),
NO(0,"空闲");
/**
* 类型
*/
private final Integer type;
private final String msg;
}

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/job/robot/RobotJob.java
View File

@ -164,7 +164,6 @@ public class RobotJob {
lock.unlock();
}
}else {
log.info("维护车机心跳未获取到锁");
throw exception(REDISSON_NOT_OBTAIN_LOCK);
}
}

16
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/config/CommonConfigServiceImpl.java
View File

@ -4,12 +4,15 @@ import cn.hutool.core.date.DateTime;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.json.JSONObject;
import cn.hutool.json.JSONUtil;
import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
import cn.iocoder.yudao.module.system.controller.admin.config.vo.*;
import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
import cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper;
import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import cn.iocoder.yudao.module.system.enums.config.CommandConfigTypeEnum;
import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
import cn.iocoder.yudao.module.system.service.tool.ToolsService;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
@ -47,6 +50,9 @@ public class CommonConfigServiceImpl implements CommonConfigService {
@Resource
private ToolsService toolsService;
@Resource
private UserOperationLogService userOperationLogService;
@Override
public Long createConfig(CommonConfigSaveReqVO createReqVO) {
// 插入
@ -63,6 +69,11 @@ public class CommonConfigServiceImpl implements CommonConfigService {
configMapper.insert(config);
toolsService.sendPPsortConfig();
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction("添加参数设置")
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
// 返回
return config.getId();
}
@ -130,6 +141,11 @@ public class CommonConfigServiceImpl implements CommonConfigService {
configMapper.updateById(updateObj);
toolsService.sendPPsortConfig();
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction("修改参数设置")
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
}
@Override

44
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/HouseLocationServiceImpl.java
View File

@ -1,14 +1,20 @@
package cn.iocoder.yudao.module.system.service.houselocation;
import cn.hutool.core.util.ObjectUtil;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationRespVO;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationVO;
import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
import cn.iocoder.yudao.module.system.enums.robot.LocationEnableEnum;
import cn.iocoder.yudao.module.system.enums.robot.LocationUseStatusEnum;
import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import org.springframework.stereotype.Service;
@ -36,6 +42,9 @@ public class HouseLocationServiceImpl extends ServiceImpl<WareHouseLocationMappe
@Resource
private WareHouseLocationMapper houseLocationMapper;
@Resource
private UserOperationLogService userOperationLogService;
@Override
@Transactional(rollbackFor = Exception.class)
public Long createHouseLocation(WareHouseLocationSaveReqVO createReqVO) {
@ -51,9 +60,44 @@ public class HouseLocationServiceImpl extends ServiceImpl<WareHouseLocationMappe
public void updateHouseLocation(WareHouseLocationSaveReqVO updateReqVO) {
// 校验存在
validateHouseLocationExists(updateReqVO.getId());
String str = "";
WareHouseLocationDO wareHouseLocationDO = houseLocationMapper.selectById(updateReqVO.getId());
if (!wareHouseLocationDO.getLocationEnable().equals(updateReqVO.getLocationEnable())) {
if (LocationEnableEnum.YES.getType().equals(updateReqVO.getLocationEnable())) {
str = str + "设置库位" + LocationEnableEnum.YES.getMsg() + " ";
} else {
str = str + "设置库位" + LocationEnableEnum.NO.getMsg() + " ";
}
}
if (!wareHouseLocationDO.getLocationUseStatus().equals(updateReqVO.getLocationUseStatus())) {
if (LocationUseStatusEnum.YES.getType().equals(updateReqVO.getLocationUseStatus())) {
str = str + "设置库位" + LocationUseStatusEnum.YES.getMsg() + " ";
} else {
str = str + "设置库位" + LocationUseStatusEnum.NO.getMsg() + " ";
}
}
if (ObjectUtil.isNotEmpty(updateReqVO.getSkuInfo()) && ObjectUtil.isNotEmpty(wareHouseLocationDO.getSkuInfo())
&& !wareHouseLocationDO.getSkuInfo().equals(updateReqVO.getSkuInfo())) {
str = str + "设置库位物料信息 " + wareHouseLocationDO.getSkuInfo();
} else if (ObjectUtil.isNotEmpty(updateReqVO.getSkuInfo()) && ObjectUtil.isNotEmpty(wareHouseLocationDO.getSkuInfo())
&& wareHouseLocationDO.getSkuInfo().equals(updateReqVO.getSkuInfo())) {
} else if (ObjectUtil.isEmpty(updateReqVO.getSkuInfo()) && ObjectUtil.isNotEmpty(wareHouseLocationDO.getSkuInfo())) {
str = str + "设置库位物料信息为空";
} else if (ObjectUtil.isNotEmpty(updateReqVO.getSkuInfo()) && ObjectUtil.isEmpty(wareHouseLocationDO.getSkuInfo())) {
str = str + "设置库位物料信息为 " + updateReqVO.getSkuInfo();
}
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction(str)
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
// 更新
WareHouseLocationDO updateObj = BeanUtils.toBean(updateReqVO, WareHouseLocationDO.class);
houseLocationMapper.updateById(updateObj);
}
@Override

20
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java
View File

@ -4,6 +4,7 @@ import cn.hutool.core.util.ObjectUtil;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
import cn.iocoder.yudao.module.system.constant.device.DeviceChcheConstant;
import cn.iocoder.yudao.module.system.controller.admin.information.dto.DeviceInformationDTO;
import cn.iocoder.yudao.module.system.controller.admin.information.dto.MapBindDeviceInfoDTO;
@ -11,6 +12,7 @@ import cn.iocoder.yudao.module.system.controller.admin.information.dto.Statistic
import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationRespVO;
import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.dict.DictDataDO;
import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
@ -19,6 +21,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
import cn.iocoder.yudao.module.system.enums.device.DeviceStatusEnum;
import cn.iocoder.yudao.module.system.enums.device.PictureConfigEnum;
import cn.iocoder.yudao.module.system.service.dict.DictDataService;
import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
@ -61,6 +64,9 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
@Resource
private RedisUtil redisUtil;
@Resource
private UserOperationLogService userOperationLogService;
@Override
public Long createInformation(DeviceInformationSaveReqVO createReqVO) {
// -- 先判断库里是否有相通的mac地址数据
@ -83,6 +89,11 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
DeviceInformationDO information = BeanUtils.toBean(createReqVO, DeviceInformationDO.class);
information.setDeviceStatus(1);
informationMapper.insert(information);
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction("新增设备 " + createReqVO.getDeviceNo())
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
// 返回
return information.getId();
}
@ -103,6 +114,11 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
// 更新
DeviceInformationDO updateObj = BeanUtils.toBean(updateReqVO, DeviceInformationDO.class);
informationMapper.updateById(updateObj);
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction("更新设备信息 " + updateReqVO.getDeviceNo())
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
}
@Override
@ -159,7 +175,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
list.get(2).forEach(a -> a.setPositionMapItemId(null));
editList.addAll(list.get(2));
}
if (isNotEmpty(editList)){
if (isNotEmpty(editList)) {
informationMapper.updateBatch(editList);
}
}
@ -271,7 +287,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
if (ObjectUtil.isNotEmpty(deviceInformationDO.getPositionMapId())
&& ObjectUtil.isNotEmpty(positionMap.get(deviceInformationDO.getPositionMapId()))) {
deviceInformationDO.setFloor(positionMap.get(deviceInformationDO.getPositionMapId()).getFloor()+"");
deviceInformationDO.setFloor(positionMap.get(deviceInformationDO.getPositionMapId()).getFloor() + "");
deviceInformationDO.setArea(positionMap.get(deviceInformationDO.getPositionMapId()).getArea());
}

22
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/notify/NotifyMessageServiceImpl.java
View File

@ -1,11 +1,16 @@
package cn.iocoder.yudao.module.system.service.notify;
import cn.hutool.core.util.ObjectUtil;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.notify.vo.message.NotifyMessageMyPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.notify.vo.message.NotifyMessagePageReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.notify.NotifyMessageDO;
import cn.iocoder.yudao.module.system.dal.dataobject.notify.NotifyTemplateDO;
import cn.iocoder.yudao.module.system.dal.mysql.notify.NotifyMessageMapper;
import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
import org.apache.commons.lang3.StringUtils;
import org.springframework.stereotype.Service;
import org.springframework.validation.annotation.Validated;
@ -13,6 +18,7 @@ import javax.annotation.Resource;
import java.util.Collection;
import java.util.List;
import java.util.Map;
import java.util.stream.Collectors;
/**
* 站内信 Service 实现类
@ -26,6 +32,9 @@ public class NotifyMessageServiceImpl implements NotifyMessageService {
@Resource
private NotifyMessageMapper notifyMessageMapper;
@Resource
private UserOperationLogService userOperationLogService;
@Override
public Long createNotifyMessage(Long userId, Integer userType,
NotifyTemplateDO template, String templateContent, Map<String, Object> templateParams) {
@ -64,6 +73,19 @@ public class NotifyMessageServiceImpl implements NotifyMessageService {
@Override
public int updateNotifyMessageRead(Collection<Long> ids, Long userId, Integer userType) {
List<NotifyMessageDO> notifyMessageDOS = notifyMessageMapper.selectBatchIds(ids);
String str = "";
if (ObjectUtil.isNotEmpty(notifyMessageDOS)) {
List<String> list = notifyMessageDOS.stream().map(NotifyMessageDO::getTemplateContent).collect(Collectors.toList());
str = StringUtils.join(list, ",");
if(str.length() > 90) {
str = str.substring(0,90);
}
}
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction("查看了消息:" + str)
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
return notifyMessageMapper.updateListRead(ids, userId, userType);
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/path/PathPlanningServiceImpl.java
View File

@ -395,7 +395,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
PathPosedsDTO pathPosedsDTO = JSON.parseObject(message, PathPosedsDTO.class);
String mac = robotInformationService.getMacByRobotNo(pathPosedsDTO.getRobotNo());
String topic = RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + mac;
commonApi.commonMethod(message, topic);
commonApi.commonMethodStr(message, topic);
}
/**

38
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
View File

@ -7,14 +7,17 @@ import cn.hutool.json.JSONUtil;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.util.collection.CollectionUtils;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotRcsHeartBeatDTO;
import cn.iocoder.yudao.module.system.api.robot.RequestProcessor;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
import cn.iocoder.yudao.module.system.dal.dataobject.informationmapassociation.InformationMapAssociationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
@ -27,6 +30,7 @@ import cn.iocoder.yudao.module.system.enums.robot.RobotStatusEnum;
import cn.iocoder.yudao.module.system.enums.robot.RobotTaskModelEnum;
import cn.iocoder.yudao.module.system.enums.robot.information.RobotStatisticsTypeEnum;
import cn.iocoder.yudao.module.system.service.informationmapassociation.InformationMapAssociationService;
import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
@ -61,6 +65,9 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
@Resource
private CommonApi commonApi;
@Resource
private UserOperationLogService userOperationLogService;
@Resource
private RedisUtil redisUtil;
@Resource
@ -106,6 +113,11 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
}
informationMapAssociationService.saveBatch(list);
}
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction("新增车辆 "+createReqVO.getRobotNo())
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
// 返回
return information.getId();
}
@ -148,6 +160,20 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
(CollUtil.isEmpty(updateReqVO.getFloorAreaJson()) ? Collections.emptyList() : new ArrayList<>(updateReqVO.getFloorAreaJson())),
ObjectUtil::equal);
informationMapAssociationService.saveOrUpdateOrDel(updateReqVO.getId(), list);
String str = "";
if (!robotInformationDO.getRobotTaskModel().equals(updateReqVO.getRobotTaskModel())
&& RobotTaskModelEnum.REJECTION.getType().equals(updateReqVO.getRobotTaskModel())) {
str = ",且设置车辆锁定";
}else if (!robotInformationDO.getRobotTaskModel().equals(updateReqVO.getRobotTaskModel())
&& RobotTaskModelEnum.NORMAL.getType().equals(updateReqVO.getRobotTaskModel())) {
str = ",且设置车辆非锁定";
}
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction("更新车辆信息"+str)
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
}
@Override
@ -156,6 +182,12 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
validateInformationExists(id);
// 删除
informationMapper.deleteById(id);
RobotInformationDO robotInformationDO = informationMapper.selectById(id);
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction("删除车辆 "+robotInformationDO.getRobotNo())
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
}
private void validateInformationExists(Long id) {
@ -574,10 +606,10 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
@Override
public void rcsHeartBeat() {
RobotInformationDO query = new RobotInformationDO();
List<RobotInformationDO> robotInformationDOS = informationMapper.queryAllByLimit(query);
for (RobotInformationDO robotInformationDO : robotInformationDOS) {
List<RobotInformationDO> robotInformations = informationMapper.queryAllByLimit(query);
for (RobotInformationDO robotInformationDO : robotInformations) {
String topic = RobotTopicConstant.RCS_HEART_BEAT + robotInformationDO.getMacAddress();
commonApi.commonMethod("同步的消息", topic);
commonApi.commonMethod(new RobotRcsHeartBeatDTO(), topic);
}
}
}

56
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
View File

@ -8,15 +8,16 @@ import cn.iocoder.yudao.framework.common.util.date.DateUtils;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.mybatis.core.util.MyBatisUtils;
import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
import cn.iocoder.yudao.module.mqtt.api.task.dto.*;
import cn.iocoder.yudao.module.mqtt.enums.task.ExecutionTypeEnum;
import cn.iocoder.yudao.module.system.api.path.vo.RobotClosePathPlantingDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotStatusCodeConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.detail.RobotTaskDetailLogResoVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.detail.RobotTaskDetailLogVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.task.TaskAssignDTO;
@ -41,13 +42,14 @@ import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import cn.iocoder.yudao.module.system.enums.device.DeviceUseStatusEnum;
import cn.iocoder.yudao.module.system.enums.path.PathTaskType;
import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum;
import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
import cn.iocoder.yudao.module.system.enums.robot.*;
import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeTaskStatusEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
//import cn.iocoder.yudao.module.system.service.robot.job.RobotCommonTaskService;
import cn.iocoder.yudao.module.system.enums.wait.WaitStatusEnum;
import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
import cn.iocoder.yudao.module.system.service.wait.MoveToWaitService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import cn.iocoder.yudao.module.system.util.redis.RedissonUtils;
@ -149,6 +151,9 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
@Resource
private CommonApi commonApi;
@Resource
private UserOperationLogService userOperationLogService;
@Override
@Transactional(rollbackFor = Exception.class)
public Long createTask(RobotTaskSaveReqVO createReqVO) throws InterruptedException {
@ -181,6 +186,10 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
throw exception0(TASK_CHECK_EXCEPTION.getCode(), addResult);
}
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder().operateAction("创建订单 " + createReqVO.getTaskNo())
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
return 1l;
}
@ -360,6 +369,10 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
List<Long> detailIds = new ArrayList<>();
Set<String> robotNos = new HashSet<>();
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder().operateAction("关闭订单 " + robotTaskDO.getTaskNo())
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
for (RobotTaskDetailDO taskDetailDO : taskDetailDOS) {
if (!RobotTaskDetailStatusEnum.NEW.getType().equals(taskDetailDO.getTaskStatus())
&& !RobotTaskDetailStatusEnum.DOING.getType().equals(taskDetailDO.getTaskStatus())) {
@ -457,8 +470,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
Integer robotStatus = RobotStatusEnum.DOING.getType();
if (PathTaskType.AUTO_CHARGE.getType().equals(taskAssignDTO.getType())) {
robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getId());
if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getType())) {
robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getOrderId());
robotChargeLogs.setTaskStatus(ChargeTaskStatusEnum.DOING.getType());
chargeLogMapper.updateBatch(robotChargeLogs);
@ -469,18 +482,18 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
detailId = robotChargeLogs.getTaskDetailId();
}
} else if (PathTaskType.MOVE_TO_WAIT.getType().equals(taskAssignDTO.getType())) {
} else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(taskAssignDTO.getType())) {
chargeDone(taskAssignDTO.getRobotNo());
moveToWaitService.updateWaitStatus(taskAssignDTO.getId(), WaitStatusEnum.GO_TO_WAIT.getType());
} else if (PathTaskType.CHARGE.getType().equals(taskAssignDTO.getType())) {
moveToWaitService.updateWaitStatus(taskAssignDTO.getOrderId(), WaitStatusEnum.GO_TO_WAIT.getType());
} else if (PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getType())) {
robotStatus = RobotStatusEnum.CHARGE.getType();
detailId = taskAssignDTO.getId();
detailId = taskAssignDTO.getOrderId();
} else {
chargeDone(taskAssignDTO.getRobotNo());
detailId = taskAssignDTO.getId();
detailId = taskAssignDTO.getOrderId();
}
robotInformationMapper.updateRobotListStatus(taskAssignDTO.getRobotNo(), robotStatus, taskAssignDTO.getId());
robotInformationMapper.updateRobotListStatus(taskAssignDTO.getRobotNo(), robotStatus, taskAssignDTO.getOrderId());
if (ObjectUtil.isNotEmpty(detailId)) {
setTaskDoing(detailId, taskAssignDTO.getRobotNo(), deviceNoMap);
@ -502,17 +515,17 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
.topic(RobotTopicConstant.ROBOT_TASK_TOPIC + mac)
.orderType(taskAssignDTO.getType())
.executionType(ExecutionTypeEnum.DEFAULT.getType())
.orderId(taskAssignDTO.getId().toString())
.orderId(taskAssignDTO.getOrderId().toString())
.data(Lists.newArrayList(robotAssignTask))
.build();
if (PathTaskType.TAKE_RELEASE.getType().equals(taskAssignDTO.getType())
|| PathTaskType.TAKE.getType().equals(taskAssignDTO.getType())
|| PathTaskType.RELEASE.getType().equals(taskAssignDTO.getType())) {
if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(taskAssignDTO.getType())
|| PathTaskTypeEnum.TAKE.getType().equals(taskAssignDTO.getType())
|| PathTaskTypeEnum.RELEASE.getType().equals(taskAssignDTO.getType())) {
RobotAssignTaskDataDTO robotAssignTaskData = getRobotAssignTaskData(v, taskAssignDTO);
List<RobotAssignTaskDataDTO> data = build.getData();
data.add(robotAssignTaskData);
} else if (PathTaskType.CHARGE.getType().equals(taskAssignDTO.getType())
|| PathTaskType.AUTO_CHARGE.getType().equals(taskAssignDTO.getType())) {
} else if (PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getType())
|| PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getType())) {
RobotAssignTaskDataDTO robotAssignTaskData = new RobotAssignTaskDataDTO();
robotAssignTaskData.setCommandType(RobotCommandTypeEnum.WORK_START_CHARGE.getType());
List<RobotAssignTaskDataDTO> data = build.getData();
@ -536,8 +549,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
RobotAssignTaskDataDTO take = new RobotAssignTaskDataDTO();
RobotAssignTaskArgDTO build = null;
WareHouseLocationDO location = null;
if (PathTaskType.TAKE_RELEASE.getType().equals(taskAssignDTO.getType()) ||
PathTaskType.TAKE.getType().equals(taskAssignDTO.getType())) {
if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(taskAssignDTO.getType()) ||
PathTaskTypeEnum.TAKE.getType().equals(taskAssignDTO.getType())) {
take.setCommandType(RobotCommandTypeEnum.WORD_PICK_UP_GOODS.getType());
location = locationMapper.selectById(v.getFromLocationId());
build = RobotAssignTaskArgDTO.builder()
@ -545,7 +558,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
.offsetHeight(offsetHeight)
.build();
take.setArg(Arrays.asList(build));
} else if (PathTaskType.RELEASE.getType().equals(taskAssignDTO.getType())) {
} else if (PathTaskTypeEnum.RELEASE.getType().equals(taskAssignDTO.getType())) {
take.setCommandType(RobotCommandTypeEnum.WORD_DROP_OFF_GOODS.getType());
location = locationMapper.selectById(v.getToLocationId());
build = RobotAssignTaskArgDTO.builder()
@ -1097,6 +1110,11 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
taskMapper.updateById(updateObj);
taskDetailMapper.updateBatch(taskDetailDOS);
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction("修改" + robotTaskDO.getTaskNo() + "优先级" + updateReqVO.getPriority())
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
}
@Override

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingService.java
View File

@ -1,11 +1,13 @@
package cn.iocoder.yudao.module.system.service.robot;
import java.util.*;
import javax.servlet.http.HttpServletResponse;
import javax.validation.*;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.warn.RobotWarnCodeMappingVO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
/**
@ -53,4 +55,5 @@ public interface RobotWarnCodeMappingService {
*/
PageResult<RobotWarnCodeMappingDO> getWarnCodeMappingPage(RobotWarnCodeMappingPageReqVO pageReqVO);
void agvQueryWarnCode(HttpServletResponse response);
}

82
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotWarnCodeMappingServiceImpl.java
View File

@ -1,13 +1,35 @@
package cn.iocoder.yudao.module.system.service.robot;
import cn.hutool.core.util.ObjectUtil;
import cn.iocoder.yudao.framework.mybatis.core.util.MyBatisUtils;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotWarnCodeMappingSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.robot.warn.RobotWarnCodeMappingVO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnCodeMappingMapper;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.metadata.IPage;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
import javax.servlet.http.HttpServletResponse;
import org.springframework.validation.annotation.Validated;
import org.springframework.transaction.annotation.Transactional;
import com.alibaba.fastjson.JSON;
import com.alibaba.fastjson.serializer.SerializerFeature;
import org.apache.commons.io.FileUtils;
import org.springframework.context.annotation.PropertySource;
import org.springframework.web.multipart.MultipartFile;
import javax.servlet.http.HttpServletResponse;
import java.io.*;
import java.net.URLEncoder;
import java.nio.charset.StandardCharsets;
import java.util.HashMap;
import java.util.Map;
import java.util.*;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
@ -25,11 +47,15 @@ import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.WARN_CODE_
*/
@Service
@Validated
@Slf4j
public class RobotWarnCodeMappingServiceImpl implements RobotWarnCodeMappingService {
@Resource
private RobotWarnCodeMappingMapper warnCodeMappingMapper;
@Value("${map.file.warn-path}")
private String warnUploadPath;
@Override
public Long createWarnCodeMapping(RobotWarnCodeMappingSaveReqVO createReqVO) {
// 插入
@ -72,4 +98,60 @@ public class RobotWarnCodeMappingServiceImpl implements RobotWarnCodeMappingServ
return warnCodeMappingMapper.selectPage(pageReqVO);
}
/**
* 机器人查询告警码值映射
* @return
*/
@Override
public void agvQueryWarnCode(HttpServletResponse response) {
List<RobotWarnCodeMappingVO> list = warnCodeMappingMapper.getAllWarnCodeList();
if (ObjectUtil.isEmpty(list)) {
return;
}
exportJson(response,list,"warn.json",warnUploadPath);
}
public void exportJson(HttpServletResponse response, Object obj, String fileName, String uploadPath) {
try {
String jsonString = JSON.toJSONString(obj,
SerializerFeature.PrettyFormat,
SerializerFeature.WriteMapNullValue,
SerializerFeature.WriteDateUseDateFormat);
//String fullPath = "/" + fileName;
File path = new File(uploadPath);
if (!path.exists()) {
path.mkdirs();
}
String fullPath = uploadPath + "/" + fileName;
File file = new File(fullPath);
Writer write = new OutputStreamWriter(new FileOutputStream(file), StandardCharsets.UTF_8);
write.write(jsonString);
write.flush();
write.close();
FileInputStream fis = new FileInputStream(file);
// force-download
response.setContentType("application/force-download");
response.setHeader("Content-Disposition", "attachment;filename="
.concat(String.valueOf(URLEncoder.encode(fileName, "UTF-8"))));
response.setCharacterEncoding("utf-8");
OutputStream os = response.getOutputStream();
byte[] buf = new byte[1024];
int len = 0;
while ((len = fis.read(buf)) != -1) {
os.write(buf, 0, len);
}
fis.close();
os.close();
boolean delete = file.delete();
// return file;
} catch (Exception e) {
log.error("告警码值导出JSON文件失败");
}
}
}

27
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
View File

@ -55,37 +55,12 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
@Autowired
private RobotTaskDetailMapper robotTaskDetailMapper;
@Resource
private RobotTaskApi robotTaskApi;
@Resource
private PositionMapItemMapper positionMapItemMapper;
@Value("${zn.init_height:0.0}")
private double initHeight;
@Value("${zn.default_scan_height:0.4}")
private double scanHeight;
@Value("${zn.parm:5000}")
private Integer parm;
@Value("${zn.lift_height:0.1}")
private double liftHeight;
@Value("${zn.move_height:0.1}")
private double moveHeight;
@Value("${zn.full_electricity:100}")
private String fullElectricity;
@Resource
private CommonConfigMapper configMapper;
@Resource
private WareHouseLocationMapper locationMapper;
@Resource
private RedisUtil redisUtil;
@ -121,7 +96,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robot.getMacAddress();
String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robot.getMacAddress();
Object taskStatus = redisUtil.get(taskStatusKey);
if (ObjectUtil.isEmpty(taskStatus) || RobotStatusCodeConstant.TASK_STATUS_RUNNING.equals(Boolean.parseBoolean(String.valueOf(taskStatus)))) {
if (ObjectUtil.isEmpty(taskStatus) || !RobotStatusCodeConstant.TASK_STATUS_RUNNING.equals(Boolean.parseBoolean(String.valueOf(taskStatus)))) {
robot.setRobotStatus(RobotStatusEnum.DOING.getType());
continue;
}

208
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
View File

@ -1,6 +1,7 @@
package cn.iocoder.yudao.module.system.service.robot.pathplanning;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.json.JSONUtil;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
@ -8,12 +9,17 @@ import cn.iocoder.yudao.module.mqtt.api.path.task.TaskLimitationAreaDTO;
import cn.iocoder.yudao.module.mqtt.api.path.task.TaskRobotNoLimittationAreaDTO;
import cn.iocoder.yudao.module.mqtt.api.path.task.TaskToPathPlanningDTO;
import cn.iocoder.yudao.module.mqtt.api.task.RobotTaskApi;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.RobotPositionMapDTO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
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.robot.RobotChargeLogDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
import cn.iocoder.yudao.module.system.dal.dataobject.wait.MoveToWaitDO;
import cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper;
import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
@ -21,14 +27,18 @@ 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.dal.mysql.robot.RobotTaskDetailMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
import cn.iocoder.yudao.module.system.enums.path.PathTaskType;
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.item.PositionMapItemEnum;
import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum;
import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeToRobotEnum;
import cn.iocoder.yudao.module.system.enums.robot.*;
import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeModelEnum;
import cn.iocoder.yudao.module.system.enums.robot.information.ChargeTypeEnum;
import cn.iocoder.yudao.module.system.service.robot.job.DistributeTasksService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import com.alibaba.fastjson.JSON;
import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang3.tuple.ImmutablePair;
import org.apache.commons.lang3.tuple.Pair;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
@ -37,7 +47,6 @@ import org.springframework.transaction.annotation.Transactional;
import org.springframework.validation.annotation.Validated;
import javax.annotation.Resource;
import java.math.BigDecimal;
import java.time.LocalDateTime;
import java.util.*;
import java.util.function.Function;
@ -47,46 +56,19 @@ import java.util.stream.Collectors;
@Validated
@Slf4j
public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
@Autowired
private RobotInformationMapper robotInformationMapper;
@Autowired
private RobotTaskMapper robotTaskMapper;
@Autowired
private RobotTaskDetailMapper robotTaskDetailMapper;
@Resource
private RobotTaskApi robotTaskApi;
@Resource
private PositionMapItemMapper positionMapItemMapper;
@Value("${zn.init_height:0.0}")
private double initHeight;
@Value("${zn.default_scan_height:0.4}")
private double scanHeight;
@Value("${zn.parm:5000}")
private Integer parm;
@Value("${zn.lift_height:0.1}")
private double liftHeight;
@Value("${zn.move_height:0.1}")
private double moveHeight;
@Value("${zn.task_need_single:true}")
private Boolean taskNeedSingle;
@Value("${zn.location_number_reduce:100000000}")
private Long locationNumberReduce;
@Resource
private CommonConfigMapper configMapper;
@Resource
private WareHouseLocationMapper locationMapper;
@ -111,6 +93,9 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
@Value("${zn.robot_config.offset_height}")
private Double offsetHeight;
@Resource
private MoveToWaitMapper moveToWaitMapper;
/**
* 下发任务给PP
*/
@ -130,7 +115,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
List<RobotTaskDetailDO> taskDetailDOS = robotAndTaskDetails.getRight();
if (ObjectUtil.isEmpty(taskDetailDOS)) {
log.info("--不存在需要执行的任务--");
log.info("--不存在需要执行的任务--派车辆去等待点");
moveRobotToWait(robots);
return;
}
@ -139,6 +125,136 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
}
/**
* 派车辆去等待点
*
* @param robots
*/
private void moveRobotToWait(List<RobotInformationDO> robots) {
List<PositionMapItemDO> positionMapItems = positionMapItemMapper.selectList(new LambdaQueryWrapperX<PositionMapItemDO>()
.eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType())
.eq(PositionMapItemDO::getUseStatus, ZeroOneEnum.ZERO.getType()));
if (ObjectUtil.isEmpty(positionMapItems)) {
log.info("------没有空闲的停车点-----");
return;
}
List<PositionMapDO> positionMaps = positionMapMapper.selectList(new LambdaQueryWrapperX<PositionMapDO>());
Map<String, PositionMapDO> positionMap =
positionMaps.stream().collect(Collectors.toMap(v -> v.getFloor() + "_" + v.getArea(), Function.identity()));
List<RobotPositionMapDTO> list = new ArrayList<>();
for (RobotInformationDO robot : robots) {
String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robot.getMacAddress();
Object object = redisUtil.get(pose2dKey);
RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
if (ObjectUtil.isEmpty(object) || ObjectUtil.isEmpty(robotStatusDataPoseDTO)) {
log.info("------此机器人没有点位信息------ :{}", robot.getRobotNo());
continue;
}
String mapKey = robotStatusDataPoseDTO.getFloor() + "_" + robotStatusDataPoseDTO.getArea();
PositionMapDO positionMapDO = positionMap.get(mapKey);
if (ObjectUtil.isEmpty(positionMapDO)) {
log.info("------此机器人没有匹配到楼层和区域------ :{}", robot.getRobotNo());
}
RobotPositionMapDTO build = RobotPositionMapDTO.builder()
.actualLocationX(robotStatusDataPoseDTO.getX())
.actualLocationY(robotStatusDataPoseDTO.getY())
.robotNo(robot.getRobotNo())
.positionMapId(positionMapDO.getId())
.type(PositionMapItemEnum.STOP.getType())
.build();
list.add(build);
}
if (ObjectUtil.isEmpty(list)) {
log.info("------没有需要移动到等待点的机器人------");
return;
}
//在等待点的车
List<PositionMapItemDO> existItems = positionMapItemMapper.selectInWaitList(list);
if (ObjectUtil.isEmpty(existItems)) {
robotToWait(list, positionMapItems);
} else {
robotToWaitFilterWait(list, positionMapItems, existItems);
}
}
/**
* 派部分车去停车点
*
* @param list 车辆
* @param freePositionMapItems 空闲点位
* @param existItems 已经有车的点位
*/
private void robotToWaitFilterWait(List<RobotPositionMapDTO> list, List<PositionMapItemDO> freePositionMapItems,
List<PositionMapItemDO> existItems) {
Map<String, RobotPositionMapDTO> robotNoPositionMap =
list.stream().collect(Collectors.toMap(v -> v.getActualLocationX() + "_"
+ v.getActualLocationY() + "_" + v.getPositionMapId(), Function.identity()));
Map<String, PositionMapItemDO> existItemsMap =
existItems.stream().collect(Collectors.toMap(v -> v.getActualLocationX() + "_"
+ v.getActualLocationY() + "_" + v.getPositionMapId(), Function.identity()));
List<RobotPositionMapDTO> needMoveToWaitList = new ArrayList<>();
robotNoPositionMap.forEach((key, value) -> {
PositionMapItemDO positionMapItemDO = existItemsMap.get(key);
if (ObjectUtil.isEmpty(positionMapItemDO)) {
needMoveToWaitList.add(value);
}
});
if (ObjectUtil.isEmpty(needMoveToWaitList)) {
log.info("没有需要移动到等待点的车辆");
return;
}
robotToWait(needMoveToWaitList, freePositionMapItems);
}
/**
* 派车去停车点
*
* @param list
* @param positionMapItems
*/
private void robotToWait(List<RobotPositionMapDTO> list, List<PositionMapItemDO> positionMapItems) {
if (positionMapItems.size() < list.size()) {
log.info("空闲停车点少于车辆数量");
list = list.subList(0, positionMapItems.size());
}
List<String> waitIds = positionMapItems
.stream()
.map(u -> u.getId() + "")
.collect(Collectors.toList());
List<MoveToWaitDO> waits = list.stream()
.map(v -> {
MoveToWaitDO build = MoveToWaitDO.builder().robotNo(v.getRobotNo()).build();
return build;
})
.collect(Collectors.toList());
moveToWaitMapper.insertBatch(waits);
List<TaskToPathPlanningDTO> pathPlanningList = new ArrayList<>();
for (MoveToWaitDO wait : waits) {
TaskToPathPlanningDTO pathPlanning = TaskToPathPlanningDTO.builder()
.orderId(String.valueOf(wait.getId()))
.orderType(PathTaskTypeEnum.MOVE_TO_WAIT.getType())
.priority(1l)
.createTime(LocalDateTime.now())
.taskType(PathTaskTypeToRobotEnum.MOVE.getType())
.build();
pathPlanningList.add(pathPlanning);
}
log.info("派车去停车点--任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
pathPlanningApi.synchronousLineObject(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
}
@Override
public void sendChargeTaskToPP(List<RobotChargeLogDO> logs, List<RobotTaskDetailDO> taskDetailDOS,
List<RobotInformationDO> robots) {
@ -149,6 +265,9 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
Map<String, TaskRobotNoLimittationAreaDTO> robotNoLimittationAreaDTOMap =
robotNoLimitationArea.stream().collect(Collectors.toMap(v -> v.getRobotNo(), Function.identity()));
Map<String, RobotInformationDO> robotMap =
robots.stream().collect(Collectors.toMap(v -> v.getRobotNo(), Function.identity()));
Map<Long, RobotTaskDetailDO> taskDetailMap =
taskDetailDOS.stream().collect(Collectors.toMap(v -> v.getId(), Function.identity()));
@ -165,7 +284,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
priority = taskDetailMap.get(v.getTaskDetailId()).getPriority();
}
String orderType = ObjectUtil.isEmpty(v.getTaskDetailId()) ? PathTaskType.AUTO_CHARGE.getType():PathTaskType.CHARGE.getType();
String orderType = ObjectUtil.isEmpty(v.getTaskDetailId()) ? PathTaskTypeEnum.AUTO_CHARGE.getType() : PathTaskTypeEnum.CHARGE.getType();
TaskToPathPlanningDTO pathPlanning = TaskToPathPlanningDTO.builder()
.orderId(String.valueOf(v.getId()))
.orderType(orderType)
@ -177,6 +296,11 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = Arrays.asList(taskRobotNoLimittationAreaDTO);
pathPlanning.setRobotNoLimitationAreaDTOS(robotNoLimitions);
RobotInformationDO robotInformationDO = robotMap.get(taskRobotNoLimittationAreaDTO.getRobotNo());
String taskType = ChargeTypeEnum.AUTOMATIC.getType().equals(robotInformationDO.getChargeType()) ?
PathTaskTypeToRobotEnum.AUTO_CHARGE.getType() : PathTaskTypeToRobotEnum.MANUAL_CHARGE.getType();
pathPlanning.setTaskType(taskType);
pathPlanning.setReleaseGroupId("POINT_" + v.getPositionMapItemId());
pathPlanning.setReleaseLocationNumber(releaseLocationNumberConfig);
pathPlanning.setReleasePointId(v.getPositionMapItemId());
@ -221,10 +345,12 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
log.info("开始组装需要下发给PP的任务");
for (RobotTaskDetailDO taskDetailDO : taskDetailDOS) {
String taskType = PathTaskTypeToRobotEnum.taskDetailGetType(taskDetailDO.getTaskType());
TaskToPathPlanningDTO pathPlanning = TaskToPathPlanningDTO.builder()
.orderId(String.valueOf(taskDetailDO.getId()))
.orderType(PathTaskType.getTaskType(taskDetailDO.getTaskType()))
.orderType(PathTaskTypeEnum.getTaskType(taskDetailDO.getTaskType()))
.priority(taskDetailDO.getPriority())
.taskType(taskType)
.createTime(taskDetailDO.getCreateTime())
.build();
@ -251,7 +377,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
pathPlanning.setTakeGroupId("LINE_" + taskDetailDO.getFromLaneId());
pathPlanning.setTakeLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getFromLocationNumber()));
pathPlanning.setTakePointId(fromLocation.getMapItemId());
pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTrayHeight()+""));
pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTrayHeight() + ""));
pathPlanning.setTakeLevel(fromLocation.getLocationStorey());
pathPlanning.setTakeOffsetHeight(offsetHeight);
@ -261,7 +387,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
pathPlanning.setTakeGroupId("POINT_" + taskDetailDO.getFromMapItemId());
pathPlanning.setTakeLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getFromLocationNumber()));
pathPlanning.setTakePointId(fromLocation.getMapItemId());
pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTrayHeight()+""));
pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTrayHeight() + ""));
pathPlanning.setTakeLevel(fromLocation.getLocationStorey());
pathPlanning.setTakeOffsetHeight(offsetHeight);
}
@ -273,7 +399,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
pathPlanning.setReleaseGroupId("LINE_" + taskDetailDO.getToLaneId());
pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
pathPlanning.setReleasePointId(toLocation.getMapItemId());
pathPlanning.setReleaseHeight(Double.valueOf(toLocation.getLocationTrayHeight()+""));
pathPlanning.setReleaseHeight(Double.valueOf(toLocation.getLocationTrayHeight() + ""));
pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
pathPlanning.setReleaseOffsetHeight(offsetHeight);
@ -283,7 +409,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
pathPlanning.setReleaseGroupId("POINT_" + taskDetailDO.getToMapItemId());
pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
pathPlanning.setReleasePointId(toLocation.getMapItemId());
pathPlanning.setReleaseHeight(Double.valueOf(toLocation.getLocationTrayHeight()+""));
pathPlanning.setReleaseHeight(Double.valueOf(toLocation.getLocationTrayHeight() + ""));
pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
pathPlanning.setReleaseOffsetHeight(offsetHeight);
@ -560,12 +686,4 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
}
}

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsService.java
View File

@ -1,5 +1,6 @@
package cn.iocoder.yudao.module.system.service.tool;
import javax.servlet.http.HttpServletResponse;
import javax.validation.Valid;
import javax.validation.constraints.NotBlank;
@ -9,4 +10,6 @@ public interface ToolsService {
String cleanAgv( String agvNo);
String closeTaskDetail(String taskDetailId);
String updateWarnCode();
}

21
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java
View File

@ -29,7 +29,9 @@ import org.springframework.stereotype.Service;
import org.springframework.validation.annotation.Validated;
import javax.annotation.Resource;
import javax.servlet.http.HttpServletResponse;
import java.util.Arrays;
import java.util.List;
@Slf4j
@Service
@ -127,6 +129,25 @@ public class ToolsServiceImpl implements ToolsService {
return "关闭任务成功";
}
@Override
public String updateWarnCode() {
List<RobotInformationDO> robots = robotInformationService.getAllRobot();
if (ObjectUtil.isEmpty(robots)){
return "暂无机器人";
}
for (RobotInformationDO robot : robots) {
commonApi.commonMethodStr("请同步告警码值", RobotTopicConstant.UPDATE_ERROR_TOPIC+robot.getMacAddress());
try {
//怕车机同时间同步对内存有影响
Thread.sleep(500);
} catch (InterruptedException e) {
throw new RuntimeException(e);
}
}
return "同步完成";
}
public void addWarnMsg() {
RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(4)

16
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/user/AdminUserServiceImpl.java
View File

@ -11,9 +11,11 @@ import cn.iocoder.yudao.framework.common.util.collection.CollectionUtils;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import cn.iocoder.yudao.framework.common.util.validation.ValidationUtils;
import cn.iocoder.yudao.framework.datapermission.core.util.DataPermissionUtils;
import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
import cn.iocoder.yudao.module.infra.api.config.ConfigApi;
import cn.iocoder.yudao.module.infra.api.file.FileApi;
import cn.iocoder.yudao.module.system.controller.admin.auth.vo.AuthRegisterReqVO;
import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.user.vo.profile.UserProfileUpdatePasswordReqVO;
import cn.iocoder.yudao.module.system.controller.admin.user.vo.profile.UserProfileUpdateReqVO;
import cn.iocoder.yudao.module.system.controller.admin.user.vo.user.UserImportExcelVO;
@ -27,6 +29,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.dept.UserPostMapper;
import cn.iocoder.yudao.module.system.dal.mysql.user.AdminUserMapper;
import cn.iocoder.yudao.module.system.service.dept.DeptService;
import cn.iocoder.yudao.module.system.service.dept.PostService;
import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
import cn.iocoder.yudao.module.system.service.permission.PermissionService;
import cn.iocoder.yudao.module.system.service.tenant.TenantService;
import com.google.common.annotations.VisibleForTesting;
@ -85,6 +88,9 @@ public class AdminUserServiceImpl implements AdminUserService {
@Resource
private ConfigApi configApi;
@Resource
private UserOperationLogService userOperationLogService;
@Override
@Transactional(rollbackFor = Exception.class)
@LogRecord(type = SYSTEM_USER_TYPE, subType = SYSTEM_USER_CREATE_SUB_TYPE, bizNo = "{{#user.id}}",
@ -113,6 +119,11 @@ public class AdminUserServiceImpl implements AdminUserService {
// 3. 记录操作日志上下文
LogRecordContext.putVariable("user", user);
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction("新增用户 " + createReqVO.getUsername())
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
return user.getId();
}
@ -155,6 +166,11 @@ public class AdminUserServiceImpl implements AdminUserService {
// 3. 记录操作日志上下文
LogRecordContext.putVariable(DiffParseFunction.OLD_OBJECT, BeanUtils.toBean(oldUser, UserSaveReqVO.class));
LogRecordContext.putVariable("user", oldUser);
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction("编辑用户 " + updateReqVO.getUsername())
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
}
private void updateUserPost(UserSaveReqVO reqVO, AdminUserDO updateObj) {

17
yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
View File

@ -217,18 +217,11 @@ justauth:
map:
file:
upload-path: /Users/aikai/Documents/map/ # 地图文件上传路径
warn-path: /Users/aikai/Documents/json/ # 告警码值上传路径
zn:
task-no: ZN #任务号开头
do_cycle: true #是否开启循环
init_height: 0.0 #初始化高度
default_scan_height: 0.0 #默认的扫描高度,用于一层扫托盘
get_pallet_topic_height: 0.4 #获取托盘位置需要高于托盘的高度
default_add_height: 0.1 #默认的添加高度， 车机上报高度加上此高度 = 上一个点位的放托盘高度
take_fork_height: 0.1 #托盘高度+此高度=取货的抬叉高度
parm: 5000 #等待时间
lift_height: 0.1 #抬高托盘高度
move_height: 0.1 #行走高度
lane_auto_move: true #线库是否自动移库 true:线库执行自动移库 、false：线库关闭执行自动移库
robot_position_cache_time: 10 #机器人上报点位存储时间(秒)
cycle_do_auto_move: true #存在循环的任务，是否开启自动移库. true:存在循环任务，开启自动移库; false：有循环任务不自动移库
@ -236,15 +229,7 @@ zn:
robot_error_level_time: 30 #机器人异常存储时间(秒)
task_need_single: true #机器人对同一线库/点位是不是只能有一台机器人做任务 (true:一个点位/线库，只有一台机器人)
location_number_reduce: 100000000 #库位排序的差值(下发取货任务，将库位排序减去此值，然后取绝对值)
path_planning_distribute_task_time: 10 #10秒内不给PP发两次任务分配
robot_doing_action: # 机器人正在做的动作
doing_take_msg: 机器人正在取货
doing_release_msg: 机器人正在放货
complete_task: 机器人完成任务
get_pallet_topic: 机器人扫描托盘位置
scan: 机器人正在扫描
parking_space: 机器人正在前往停车位
charge: 机器人正在前往充电位
action_entity_cache_time: 172800 #机器人所有动作缓存时间 8小时
doing_action_cache_time: 172800 #单个动作缓存时间 8小时
robot_chearg: #机器人充电的配置

178
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml
View File

@ -16,6 +16,8 @@
<result property="laneId" column="lane_id" jdbcType="INTEGER"/>
<result property="locationX" column="location_x" jdbcType="VARCHAR"/>
<result property="locationY" column="location_y" jdbcType="VARCHAR"/>
<result property="actualLocationX" column="actual_location_x" jdbcType="VARCHAR"/>
<result property="actualLocationY" column="actual_location_y" jdbcType="VARCHAR"/>
<result property="type" column="type" jdbcType="INTEGER"/>
<result property="dataJson" column="data_json" jdbcType="VARCHAR"/>
<result property="creator" column="creator" jdbcType="VARCHAR"/>
@ -33,6 +35,8 @@
lane_id,
location_x,
location_y,
actual_location_x,
actual_location_y,
type,
data_json,
creator,
@ -43,117 +47,6 @@
tenant_id
</sql>
<!--查询指定行数据-->
<select id="queryAllByLimit" resultMap="BaseResultMap">
select
id, position_map_id, area_id, lane_id, location_x, location_y, type, data_json, creator, create_time, updater,
update_time, deleted, tenant_id
from ware_position_map_item
<where>
<if test="id != null">
and id = #{id}
</if>
<if test="positionMapId != null">
and position_map_id = #{positionMapId}
</if>
<if test="areaId != null">
and area_id = #{areaId}
</if>
<if test="laneId != null">
and lane_id = #{laneId}
</if>
<if test="locationX != null and locationX != ''">
and location_x = #{locationX}
</if>
<if test="locationY != null and locationY != ''">
and location_y = #{locationY}
</if>
<if test="type != null">
and type = #{type}
</if>
<if test="dataJson != null and dataJson != ''">
and data_json = #{dataJson}
</if>
<if test="creator != null and creator != ''">
and creator = #{creator}
</if>
<if test="createTime != null">
and create_time = #{createTime}
</if>
<if test="updater != null and updater != ''">
and updater = #{updater}
</if>
<if test="updateTime != null">
and update_time = #{updateTime}
</if>
<if test="deleted != null">
and deleted = #{deleted}
</if>
<if test="tenantId != null">
and tenant_id = #{tenantId}
</if>
</where>
limit #{pageable.offset}, #{pageable.pageSize}
</select>
<!--通过实体作为筛选条件查询-->
<select id="queryAll" resultMap="BaseResultMap">
select
id, position_map_id, area_id, lane_id, location_x, location_y, type, data_json, creator, create_time, updater,
update_time, deleted, tenant_id
from zn_wcs.ware_position_map_item
</select>
<!--统计总行数-->
<select id="count" resultType="java.lang.Long">
select count(1)
from ware_position_map_item
<where>
<if test="id != null">
and id = #{id}
</if>
<if test="positionMapId != null">
and position_map_id = #{positionMapId}
</if>
<if test="areaId != null">
and area_id = #{areaId}
</if>
<if test="laneId != null">
and lane_id = #{laneId}
</if>
<if test="locationX != null and locationX != ''">
and location_x = #{locationX}
</if>
<if test="locationY != null and locationY != ''">
and location_y = #{locationY}
</if>
<if test="type != null">
and type = #{type}
</if>
<if test="dataJson != null and dataJson != ''">
and data_json = #{dataJson}
</if>
<if test="creator != null and creator != ''">
and creator = #{creator}
</if>
<if test="createTime != null">
and create_time = #{createTime}
</if>
<if test="updater != null and updater != ''">
and updater = #{updater}
</if>
<if test="updateTime != null">
and update_time = #{updateTime}
</if>
<if test="deleted != null">
and deleted = #{deleted}
</if>
<if test="tenantId != null">
and tenant_id = #{tenantId}
</if>
</where>
</select>
<select id="selectByLocationId" resultType="cn.iocoder.yudao.module.mqtt.api.task.dto.Pose2ds">
select
t1.location_x as x,
@ -180,49 +73,30 @@
and type in ('1','2')
</select>
<!--新增所有列-->
<insert id="insertEntity" keyProperty="id" useGeneratedKeys="true">
insert into ware_position_map_item(position_map_id, area_id, lane_id, location_x, location_y, type, data_json,
creator, create_time, updater, update_time, deleted, tenant_id)
values (#{positionMapId}, #{areaId}, #{laneId}, #{locationX}, #{locationY}, #{type}, #{dataJson}, #{creator},
#{createTime}, #{updater}, #{updateTime}, #{deleted}, #{tenantId})
</insert>
<insert id="insertBatch" keyProperty="id" useGeneratedKeys="true">
insert into ware_position_map_item(position_map_id, area_id, lane_id, location_x, location_y, type, data_json,
creator, create_time, updater, update_time, deleted, tenant_id)
values
<foreach collection="entities" item="entity" separator=",">
(#{entity.positionMapId}, #{entity.areaId}, #{entity.laneId}, #{entity.locationX}, #{entity.locationY},
#{entity.type}, #{entity.dataJson}, #{entity.creator}, #{entity.createTime}, #{entity.updater},
#{entity.updateTime}, #{entity.deleted}, #{entity.tenantId})
<select id="selectInWaitList"
resultType="cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO">
select
<include refid="base_sql"></include>
from
ware_position_map_item
where deleted = '0'
<foreach collection="list" item="item" index="index" open="(" close=")"
separator=",">
<if test="positionMapId != null">
and position_map_id = #{positionMapId}
</if>
<if test="actualLocationX != null and actualLocationX != ''">
and actual_location_x = #{actualLocationX}
</if>
<if test="actualLocationY != null and actualLocationY != ''">
and actual_location_y = #{actualLocationY},
</if>
<if test="type != null">
and type = #{type},
</if>
</foreach>
</insert>
</select>
<insert id="insertOrUpdateBatch" keyProperty="id" useGeneratedKeys="true">
insert into ware_position_map_item(position_map_id, area_id, lane_id, location_x, location_y, type, data_json,
creator, create_time, updater, update_time, deleted, tenant_id)
values
<foreach collection="entities" item="entity" separator=",">
(#{entity.positionMapId}, #{entity.areaId}, #{entity.laneId}, #{entity.locationX}, #{entity.locationY},
#{entity.type}, #{entity.dataJson}, #{entity.creator}, #{entity.createTime}, #{entity.updater},
#{entity.updateTime}, #{entity.deleted}, #{entity.tenantId})
</foreach>
on duplicate key update
position_map_id = values(position_map_id),
area_id = values(area_id),
lane_id = values(lane_id),
location_x = values(location_x),
location_y = values(location_y),
type = values(type),
data_json = values(data_json),
creator = values(creator),
create_time = values(create_time),
updater = values(updater),
update_time = values(update_time),
deleted = values(deleted),
tenant_id = values(tenant_id)
</insert>
<!--通过主键修改数据-->
<update id="update">

2
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskDetailActionLogMapper.xml
View File

@ -1,6 +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.actionlog.RobotTaskDetailActionLogMapper">
<mapper namespace="cn.iocoder.yudao.module.system.dal.mysql.log.RobotTaskDetailActionLogMapper">
<!--
一般情况下，尽可能使用 Mapper 进行 CRUD 增删改查即可。

12
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotWarnCodeMappingMapper.xml
View File

@ -9,4 +9,16 @@
文档可见：https://www.iocoder.cn/MyBatis/x-plugins/
-->
<select id="getAllWarnCodeList"
resultType="cn.iocoder.yudao.module.system.controller.admin.robot.warn.RobotWarnCodeMappingVO">
select
id,
warn_level as warnLevel,
do_task as doTask,
warn_code as warnCode,
warn_msg as warnMsg,
warn_solve as warnSolve
from
robot_warn_code_mapping
</select>
</mapper>