操作日志

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/common/CommonApi.java

@@ -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);
 }

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

@@ -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;
+
 }

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/dto/RobotRcsHeartBeatDTO.java

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

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

@@ -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);

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

@@ -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_STATUS("ROBOT_STATUS", 2,"点位"),
-    ROBOT_TASK_STATUS("ROBOT_TASK_STATUS", 0,"机器人任务完成上报"),
+    ROBOT_TASK_STATUS("ROBOT_TASK_STATUS", 2,"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_REACTIVE_STATUS("ROBOT_REACTIVE_STATUS", 2,"机器人响应式状态上报"),
-    ROBOT_GENERICS_STATUS("ROBOT_GENERICS_STATUS", 0,"机器人异常"),
+    ROBOT_GENERICS_STATUS("ROBOT_GENERICS_STATUS", 2,"机器人异常"),
-    ROBOT_PATH_STATUS("ROBOT_PATH_STATUS", 0,"导航实时行为上报"),
+    ROBOT_PATH_STATUS("ROBOT_PATH_STATUS", 2,"导航实时行为上报"),
-    ROBOT_WORK_STATUS("ROBOT_WORK_STATUS", 0,"作业实时行为上报"),
+    ROBOT_WORK_STATUS("ROBOT_WORK_STATUS", 2,"作业实时行为上报"),
-    ROBOT_UPDATE_PALLET_HEIGHT("UPDATE_PALLET_HEIGHT", 0,"放货后货物高度反馈和取货后货物高度反馈"),
+    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", 0,"路径规划需要初始数据上报"),
+    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", 0,"路径规划任务分配上报"),
+    TASK_ASSIGNMENT_FEEDBACK("TASK_ASSIGNMENT_FEEDBACK", 2,"路径规划任务分配上报"),
-    TASK_ASSIGNMENT_FAIL("TASK_ASSIGNMENT_FAIL", 0,"路径规划失败上报"),
+    TASK_ASSIGNMENT_FAIL("TASK_ASSIGNMENT_FAIL", 2,"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_TASK_MOVE ("ROBOT_TASK_MOVE", 2,"路径规划上报实时路径");
 
 
     private final String topic;

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

@@ -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");

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

@@ -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())
+        if (PathTaskTypeEnum.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())
-                || PathTaskType.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())
+                || PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(robotCompleteTaskDTO.getOrderType())
-                || PathTaskType.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())
+                || PathTaskTypeEnum.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())
-                || PathTaskType.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
+                || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
-                || PathTaskType.RELEASE.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());

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

@@ -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";
 }

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

@@ -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")

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

@@ -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);
     }
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/RobotPositionMapDTO.java

@@ -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;
+}

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

@@ -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);
+    }
+
 }

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

@@ -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;

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

@@ -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;
+}

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

@@ -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());
+    }
 }

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

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

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

@@ -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);
 }

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

@@ -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();
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/item/PositionMapItemEnum.java

@@ -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;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskTypeEnum.java

@@ -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"),

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/path/PathTaskTypeToRobotEnum.java

@@ -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);
+    }
+}

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

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

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

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

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

@@ -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);
         }
     }

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

@@ -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

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

@@ -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

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

@@ -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());
             }
 

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

@@ -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);
     }
 

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

@@ -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);
     }
 
     /**

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

@@ -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);
+        List<RobotInformationDO> robotInformations = informationMapper.queryAllByLimit(query);
-        for (RobotInformationDO robotInformationDO : robotInformationDOS) {
+        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);
         }
     }
 }

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

@@ -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())) {
+        if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getType())) {
-            robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getId());
+            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());
+            moveToWaitService.updateWaitStatus(taskAssignDTO.getOrderId(), WaitStatusEnum.GO_TO_WAIT.getType());
-        } else if (PathTaskType.CHARGE.getType().equals(taskAssignDTO.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())
+        if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(taskAssignDTO.getType())
-                || PathTaskType.TAKE.getType().equals(taskAssignDTO.getType())
+                || PathTaskTypeEnum.TAKE.getType().equals(taskAssignDTO.getType())
-                || PathTaskType.RELEASE.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())
+        } else if (PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getType())
-                || PathTaskType.AUTO_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()) ||
+        if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(taskAssignDTO.getType()) ||
-                PathTaskType.TAKE.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

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

@@ -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);
 }

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

@@ -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");
+        }
+    }
+
 }

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

@@ -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;
             }

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

@@ -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 {
     }
 
 
-
-
-
-
-
-
-
-
 }

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

@@ -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();
 }

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

@@ -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)

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

@@ -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) {

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

@@ -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

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

@@ -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-->
+    <select id="selectInWaitList"
-    <insert id="insertEntity" keyProperty="id" useGeneratedKeys="true">
+            resultType="cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO">
-        insert into ware_position_map_item(position_map_id, area_id, lane_id, location_x, location_y, type, data_json,
+        select
-                                           creator, create_time, updater, update_time, deleted, tenant_id)
+            <include refid="base_sql"></include>
-        values (#{positionMapId}, #{areaId}, #{laneId}, #{locationX}, #{locationY}, #{type}, #{dataJson}, #{creator},
+        from
-                #{createTime}, #{updater}, #{updateTime}, #{deleted}, #{tenantId})
+            ware_position_map_item
-    </insert>
+        where deleted = '0'
-
+        <foreach collection="list" item="item" index="index" open="(" close=")"
-    <insert id="insertBatch" keyProperty="id" useGeneratedKeys="true">
+                 separator=",">
-        insert into ware_position_map_item(position_map_id, area_id, lane_id, location_x, location_y, type, data_json,
+            <if test="positionMapId != null">
-        creator, create_time, updater, update_time, deleted, tenant_id)
+                and position_map_id = #{positionMapId}
-        values
+            </if>
-        <foreach collection="entities" item="entity" separator=",">
+            <if test="actualLocationX != null and actualLocationX != ''">
-            (#{entity.positionMapId}, #{entity.areaId}, #{entity.laneId}, #{entity.locationX}, #{entity.locationY},
+                and actual_location_x = #{actualLocationX}
-            #{entity.type}, #{entity.dataJson}, #{entity.creator}, #{entity.createTime}, #{entity.updater},
+            </if>
-            #{entity.updateTime}, #{entity.deleted}, #{entity.tenantId})
+            <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">

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

@@ -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。

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

@@ -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>