Merge branch 'dev' into cbs

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

@@ -0,0 +1,24 @@
+package cn.iocoder.yudao.module.mqtt.api.path.task;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+import java.util.List;
+
+/**
+ * 发送任务给PP
+ */
+@Data
+public class TaskToPathPlanningDTO {
+
+    @Schema(description = "robot_task_detail 的 id")
+    private String id;
+
+    @Schema(description = "能执行此任务的机器人编号")
+    private List<String> robotNoList;
+
+    //线库: LINE + 线库号
+    //普通库位: POINT + 点位号
+    @Schema(description = "取的编号: 线库id+点位id")
+    private String takeId;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningTopicConstant.java

@@ -7,43 +7,43 @@ public class PathPlanningTopicConstant {
     /**
      * 同步全部地图点位  ware_position_map_line数据
      */
-    public static String SYNCHRONOUS_ALL_MAP_POINT = "SYNCHRONOUS_MAP_POINT";
+    public static String SYNCHRONOUS_ALL_MAP_LINE = "SYNCHRONOUS_ALL_MAP_LINE";
 
     /**
      * 同步 ware_position_map_item数据
      */
-    public static String SYNCHRONOUS_ALL_ITEM = "SYNCHRONOUS_ALL_ITEM";
+    public static String SYNCHRONOUS_ALL_MAP_NODE = "SYNCHRONOUS_ALL_MAP_NODE";
 
     /**
      * 添加ware_position_map_line地图点位给PP
      */
-    public static String ADD_MAP_POINT = "ADD_MAP_POINT";
+    public static String ADD_MAP_LINE = "ADD_MAP_LINE";
 
     /**
      * 删除ware_position_map_line地图点位给PP
      */
-    public static String DELETE_MAP_POINT = "DELETE_MAP_POINT";
+    public static String DELETE_MAP_LINE = "DELETE_MAP_LINE";
 
     /**
      * 更新ware_position_map_line地图点位给PP
      */
-    public static String UPDATE_MAP_POINT = "UPDATE_MAP_POINT";
+    public static String UPDATE_MAP_LINE = "UPDATE_MAP_LINE";
 
 
     /**
      * 添加ware_position_map_item地图点位给PP
      */
-    public static String ADD_MAP_ITEM = "ADD_MAP_ITEM";
+    public static String ADD_MAP_NODE = "ADD_MAP_NODE";
 
     /**
      * 删除ware_position_map_item地图点位给PP
      */
-    public static String DELETE_MAP_ITEM = "DELETE_MAP_ITEM";
+    public static String DELETE_MAP_NODE = "DELETE_MAP_NODE";
 
     /**
      * 更新ware_position_map_item地图点位给PP
      */
-    public static String UPDATE_MAP_ITEM = "UPDATE_MAP_ITEM";
+    public static String UPDATE_MAP_NODE = "UPDATE_MAP_NODE";
 
 
 

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

@@ -12,13 +12,16 @@ import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import org.springframework.stereotype.Service;
+
 import javax.annotation.Resource;
+
 import org.springframework.validation.annotation.Validated;
 import org.springframework.transaction.annotation.Transactional;
 
 import java.time.LocalDateTime;
 import java.time.format.DateTimeFormatter;
 import java.util.*;
+
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.pojo.PageParam;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
@@ -45,11 +48,11 @@ public class CommonConfigServiceImpl implements CommonConfigService {
         CommonConfigDO config = BeanUtils.toBean(createReqVO, CommonConfigDO.class);
 
         if (ZeroOneEnum.ONE.getType().equals(config.getConfigType())) {
-            CommonConfigVO chargeConfig= JSONUtil.toBean(config.getConfigStr(),CommonConfigVO.class);
+            CommonConfigVO chargeConfig = JSONUtil.toBean(config.getConfigStr(), CommonConfigVO.class);
             //一次
             if (ZeroOneEnum.ZERO.getType().equals(chargeConfig.getEveryDay())
                     && ObjectUtil.isNotEmpty(chargeConfig.getScheduleChargeStartTime())) {
-                setOnceStartTimeConfig(config,chargeConfig);
+                setOnceStartTimeConfig(config, chargeConfig);
             }
         }
 
@@ -60,6 +63,7 @@ public class CommonConfigServiceImpl implements CommonConfigService {
 
     /**
      * 设置一次的开始时间和结束时间
+     *
      * @param config
      * @param chargeConfig
      */
@@ -69,8 +73,8 @@ public class CommonConfigServiceImpl implements CommonConfigService {
         LocalDateTime nowEnd = LocalDateTime.now();
 
         if (now.isAfter(chargeConfig.getScheduleChargeEndTime())) {
-            now.plusDays(1);
+            now = now.plusDays(1);
-            nowEnd.plusDays(1);
+            nowEnd = nowEnd.plusDays(1);
         }
 
         LocalDateTime s = LocalDateTime.of(now.getYear(), now.getMonth(), now.getDayOfMonth(),
@@ -103,12 +107,12 @@ public class CommonConfigServiceImpl implements CommonConfigService {
         CommonConfigDO updateObj = BeanUtils.toBean(updateReqVO, CommonConfigDO.class);
 
         if (ZeroOneEnum.ONE.getType().equals(updateReqVO.getConfigType())) {
-            CommonConfigVO chargeConfig= JSONUtil.toBean(updateReqVO.getConfigStr(),CommonConfigVO.class);
+            CommonConfigVO chargeConfig = JSONUtil.toBean(updateReqVO.getConfigStr(), CommonConfigVO.class);
             //一次
             if (ZeroOneEnum.ZERO.getType().equals(chargeConfig.getEveryDay())
                     && ObjectUtil.isNotEmpty(chargeConfig.getScheduleChargeStartTime())) {
-                setOnceStartTimeConfig(updateObj,chargeConfig);
+                setOnceStartTimeConfig(updateObj, chargeConfig);
-            }else if(ZeroOneEnum.ONE.getType().equals(chargeConfig.getEveryDay()) ) {
+            } else if (ZeroOneEnum.ONE.getType().equals(chargeConfig.getEveryDay())) {
                 JSONObject jsonObject = new JSONObject(updateObj.getConfigStr());
                 jsonObject.put("onceStartTime", "");
                 jsonObject.put("onceEndTime", "");

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

@@ -121,7 +121,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
             relatedPathNode.setType(PathTypeEnum.INIT.getType());
             relatedPathNode.setControl_nodes(positionMapItemSynDTOS);
 
-            pathPlanningApi.synchronousLineObject(relatedPathNode, PathPlanningTopicConstant.SYNCHRONOUS_ALL_ITEM);
+            pathPlanningApi.synchronousLineObject(relatedPathNode, PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_NODE);
         }
 
     }
@@ -166,7 +166,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         relatedPathNode.setArea(positionMapDO.getArea());
         relatedPathNode.setControl_nodes(list);
 
-        pathPlanningApi.synchronousLineObject(relatedPathNode, PathPlanningTopicConstant.ADD_MAP_POINT);
+        pathPlanningApi.synchronousLineObject(relatedPathNode, PathPlanningTopicConstant.ADD_MAP_LINE);
     }
 
     /**
@@ -195,7 +195,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         ids.add(data.getId());
         relatedPathNode.setIds(ids);
 
-        pathPlanningApi.synchronousLineObject(relatedPathNode, PathPlanningTopicConstant.DELETE_MAP_POINT);
+        pathPlanningApi.synchronousLineObject(relatedPathNode, PathPlanningTopicConstant.DELETE_MAP_LINE);
 
     }
 
@@ -240,7 +240,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         relatedPathNode.setType(PathTypeEnum.UPDATE.getType());
         relatedPathNode.setControl_nodes(list);
 
-        pathPlanningApi.synchronousLineObject(relatedPathNode, PathPlanningTopicConstant.UPDATE_MAP_POINT);
+        pathPlanningApi.synchronousLineObject(relatedPathNode, PathPlanningTopicConstant.UPDATE_MAP_LINE);
     }
 
     /**
@@ -279,7 +279,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         PositionMapItemPathDTO.setType(PathTypeEnum.ADD.getType());
         PositionMapItemPathDTO.setControl_nodes(Arrays.asList(build));
 
-        pathPlanningApi.synchronousLineObject(PositionMapItemPathDTO, PathPlanningTopicConstant.ADD_MAP_ITEM);
+        pathPlanningApi.synchronousLineObject(PositionMapItemPathDTO, PathPlanningTopicConstant.ADD_MAP_NODE);
     }
 
     /**
@@ -312,7 +312,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         PositionMapItemPathDTO.setType(PathTypeEnum.DELETE.getType());
         PositionMapItemPathDTO.setIds(Arrays.asList(data.getId()));
 
-        pathPlanningApi.synchronousLineObject(PositionMapItemPathDTO, PathPlanningTopicConstant.DELETE_MAP_ITEM);
+        pathPlanningApi.synchronousLineObject(PositionMapItemPathDTO, PathPlanningTopicConstant.DELETE_MAP_NODE);
     }
 
     @Override
@@ -347,7 +347,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
         PositionMapItemPathDTO.setType(PathTypeEnum.UPDATE.getType());
         PositionMapItemPathDTO.setControl_nodes(Arrays.asList(build));
 
-        pathPlanningApi.synchronousLineObject(PositionMapItemPathDTO, PathPlanningTopicConstant.UPDATE_MAP_ITEM);
+        pathPlanningApi.synchronousLineObject(PositionMapItemPathDTO, PathPlanningTopicConstant.UPDATE_MAP_NODE);
     }
 
     public PositionMapLineDTO setPositionMapLineDTOData(PositionMapLineDTO positionMapLineDO) {
@@ -391,7 +391,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
 
             relatedPathNode.setControl_nodes(list);
 
-            pathPlanningApi.synchronousPointToPP(relatedPathNode, PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_POINT);
+            pathPlanningApi.synchronousPointToPP(relatedPathNode, PathPlanningTopicConstant.SYNCHRONOUS_ALL_MAP_LINE);
         });
     }
 

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

@@ -24,6 +24,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMappe
 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.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.config.CommandConfigTypeEnum;
 import cn.iocoder.yudao.module.system.enums.robot.*;
 import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeModelEnum;
@@ -34,6 +35,7 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import lombok.extern.slf4j.Slf4j;
 import org.apache.commons.lang3.tuple.ImmutablePair;
 import org.apache.commons.lang3.tuple.Pair;
+import org.bouncycastle.pqc.crypto.util.PQCOtherInfoGenerator;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
@@ -116,7 +118,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
 
 //        List<RobotTaskDetailDO> cycleTaskDetails =  robotTaskMapper.getCycleTaskDetails();
         //任务下发给机器人
-        distributeTasks(robots,taskDetailDOS);
+        distributeTasks(robots, taskDetailDOS);
     }
 
     /**
@@ -125,24 +127,21 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
     @Override
     @Transactional(rollbackFor = Exception.class)
     public Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> getRobotAndTaskDetails() {
+        TenantContextHolder.setTenantId(1L);
         Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> pair = Pair.of(new ArrayList<>(), new ArrayList<>());
 
         CommonConfigDO commonConfigDO = configMapper.selectOne(new LambdaQueryWrapper<CommonConfigDO>()
                 .eq(CommonConfigDO::getConfigType, CommandConfigTypeEnum.CHARG_CONFIG.getType()));
-        CommonConfigVO chargeConfig= JSONUtil.toBean(commonConfigDO.getConfigStr(),CommonConfigVO.class);
+
-        LocalDateTime now = LocalDateTime.now();
+        Boolean needDoCharge = needDoCharge(commonConfigDO);
-        if ((ObjectUtil.isNotEmpty(chargeConfig.getScheduleChargeEndTime()) &&
+        if (needDoCharge) {
-                (ObjectUtil.isNotEmpty(chargeConfig.getScheduleChargeStartTime())))
+            log.info("所有机器人都需要去执行充电任务");
-                && (now.isBefore(chargeConfig.getScheduleChargeEndTime()) && now.isAfter(chargeConfig.getScheduleChargeStartTime()))) {
-            log.info("充电时间,不派发任务");
             return pair;
         }
 
-        TenantContextHolder.setTenantId(1L);
         List<RobotInformationDO> robots = robotInformationMapper.selectList(new LambdaQueryWrapperX<RobotInformationDO>()
-                .in(RobotInformationDO::getRobotStatus, RobotStatusEnum.STAND_BY.getType(),RobotStatusEnum.CHARGE.getType())
+                .in(RobotInformationDO::getRobotStatus, RobotStatusEnum.STAND_BY.getType(), RobotStatusEnum.CHARGE.getType())
-                .eq(RobotInformationDO::getRobotTaskModel, RobotTaskModelEnum.NORMAL.getType())
+                .eq(RobotInformationDO::getRobotTaskModel, RobotTaskModelEnum.NORMAL.getType()));
-                .orderByDesc(RobotInformationDO::getUpdateTime));
 
         if (robots.isEmpty()) {
             log.info("暂无空闲的机器人");
@@ -150,8 +149,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         }
 
         for (RobotInformationDO robot : robots) {
-            String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS +robot.getMacAddress();
+            String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robot.getMacAddress();
-            String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED +robot.getMacAddress();
+            String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robot.getMacAddress();
             Object taskStatus = redisUtil.get(taskStatusKey);
             if (ObjectUtil.isEmpty(taskStatus) || RobotStatusCodeConstant.TASK_STATUS_RUNNING.equals(taskStatus.toString())) {
                 robot.setRobotStatus(RobotStatusEnum.DOING.getType());
@@ -164,9 +163,10 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                 continue;
             }
             //手动充电的机器人状态是待命
+            //自动充电的车子，电量到达设定的阀值，也能执行充电任务
             if (ChargeTypeEnum.AUTOMATIC.getType().equals(robot.getChargeType())
                     && RobotStatusEnum.CHARGE.getType().equals(robot.getRobotStatus())) {
-                setRobotStatus(commonConfigDO,robot);
+                setRobotStatus(commonConfigDO, robot);
             }
         }
 
@@ -175,23 +175,37 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                 .collect(Collectors.toList());
 
         if (robots.isEmpty()) {
-            log.info("暂无可用的机器人");
+            log.info("暂无可用的机器人,可能正在充电,可能机器人有任务");
             return pair;
         }
 
-
         //拼接任务id
-        List<Long> detailDongIds = robotTaskDetailMapper.getDoingTaskIds();
+        /*List<Long> detailDongIds = robotTaskDetailMapper.getDoingTaskIds();
-        List<Long> montageTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.YES.getType(),detailDongIds);
+        List<Long> montageTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.YES.getType(), detailDongIds);
         //不拼接的任务id
-        List<Long> singleTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.NO.getType(),new ArrayList<>());
+        List<Long> singleTaskIds = robotTaskMapper.getUnDoAndDoingTaskIds(MontageTaskEnum.NO.getType(), new ArrayList<>());*/
+
+        List<RobotTaskDO> taskDOList = robotTaskMapper.selectList(new LambdaQueryWrapper<RobotTaskDO>()
+                .in(RobotTaskDO::getTaskStatus, RobotTaskStatusEnum.DOING.getType(), RobotTaskStatusEnum.NEW.getType()));
+
+        //拼接
+        List<Long> montageTaskIds =taskDOList.stream()
+                .filter(v -> MontageTaskEnum.YES.getType().equals(v.getMontageTask()))
+                .map(RobotTaskDO::getId)
+                .collect(Collectors.toList());
+
+        //不拼接
+        List<Long> singleTaskIds =taskDOList.stream()
+                .filter(v -> MontageTaskEnum.YES.getType().equals(v.getMontageTask()))
+                .map(RobotTaskDO::getId)
+                .collect(Collectors.toList());
 
         if (ObjectUtil.isEmpty(montageTaskIds) && ObjectUtil.isEmpty(singleTaskIds)) {
             log.info("暂无需要处理的主任务");
             return pair;
         }
 
-        List<RobotTaskDetailDO> taskDetailDOS = getTaskDetail(montageTaskIds,singleTaskIds);
+        List<RobotTaskDetailDO> taskDetailDOS = getTaskDetail(montageTaskIds, singleTaskIds);
 
         if (taskDetailDOS.isEmpty()) {
             log.info("暂无需要处理的明细任务");
@@ -200,24 +214,51 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         return ImmutablePair.of(robots, taskDetailDOS);
     }
 
+    /**
+     * true 需要去充电
+     *
+     * @param commonConfigDO
+     * @return
+     */
+    public Boolean needDoCharge(CommonConfigDO commonConfigDO) {
+        if (ObjectUtil.isEmpty(commonConfigDO) || ObjectUtil.isEmpty(commonConfigDO.getConfigStr())) {
+            return false;
+        }
+
+        CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfigDO.getConfigStr(), CommonConfigVO.class);
+        LocalDateTime now = LocalDateTime.now();
+
+        if (ZeroOneEnum.ZERO.getType().equals(chargeConfig.getEveryDay())
+                && now.isAfter(chargeConfig.getOnceStartTime()) && now.isBefore(chargeConfig.getOnceEndTime())) {
+            return true;
+        } else if (ZeroOneEnum.ONE.getType().equals(chargeConfig.getEveryDay())
+                && now.isBefore(chargeConfig.getScheduleChargeEndTime())
+                && now.isAfter(chargeConfig.getScheduleChargeStartTime())) {
+            return true;
+        }
+
+        return false;
+    }
+
     /**
      * 设置机器人的状态
+     *
      * @param commonConfigDO
      * @param robot
      */
     private void setRobotStatus(CommonConfigDO commonConfigDO, RobotInformationDO robot) {
-        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +robot.getMacAddress();
+        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robot.getMacAddress();
-        String chargeModelKey = RobotTaskChcheConstant.ROBOT_CHARGE_MODEL +robot.getRobotNo();
+        String chargeModelKey = RobotTaskChcheConstant.ROBOT_CHARGE_MODEL + robot.getRobotNo();
         Object chargeModelCache = redisUtil.get(chargeModelKey);
         Object poseCache = redisUtil.get(pose2dKey);
-        RobotStatusDataPoseDTO dataPoseDTO= JSON.parseObject((String)poseCache, RobotStatusDataPoseDTO.class);
+        RobotStatusDataPoseDTO dataPoseDTO = JSON.parseObject((String) poseCache, RobotStatusDataPoseDTO.class);
-        log.info("机器人编号:{} ,信息: {}",robot.getRobotNo(),JSON.toJSONString(dataPoseDTO));
+        log.info("机器人编号:{} ,信息: {}", robot.getRobotNo(), JSON.toJSONString(dataPoseDTO));
 
         if (ObjectUtil.isEmpty(commonConfigDO) || ObjectUtil.isEmpty(poseCache) || ObjectUtil.isEmpty(dataPoseDTO.getBat_soc())) {
             return;
         }
 
-        CommonConfigVO chargeConfig=JSONUtil.toBean(commonConfigDO.getConfigStr(),CommonConfigVO.class);
+        CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfigDO.getConfigStr(), CommonConfigVO.class);
 
         //车子剩余电量
         BigDecimal robotRemainingElectricity = new BigDecimal(dataPoseDTO.getBat_soc());
@@ -242,14 +283,15 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
 
     /**
      * 获取明细
-     * @param montageTaskIds
+     *
-     * @param singleTaskIds
+     * @param montageTaskIds 拼接
+     * @param singleTaskIds 不拼接
      * @return
      */
     private List<RobotTaskDetailDO> getTaskDetail(List<Long> montageTaskIds, List<Long> singleTaskIds) {
         if (ObjectUtil.isNotEmpty(montageTaskIds) && ObjectUtil.isEmpty(singleTaskIds)) {
             return robotTaskDetailMapper.getMontageUnDoTask(montageTaskIds);
-        } else if (ObjectUtil.isEmpty(montageTaskIds) && ObjectUtil.isNotEmpty(singleTaskIds) ) {
+        } else if (ObjectUtil.isEmpty(montageTaskIds) && ObjectUtil.isNotEmpty(singleTaskIds)) {
             return robotTaskDetailMapper.getSingleUnDoTask(singleTaskIds);
         }
         return robotTaskDetailMapper.getUnDoTaskDetail(montageTaskIds, singleTaskIds);
@@ -257,6 +299,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
 
     /**
      * 下发任务给机器人
+     *
      * @param robots
      * @param taskDetailDOS
      */
@@ -279,7 +322,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             RobotTaskTypeEnum robotTaskType = RobotTaskTypeEnum.getRobotTaskType(taskDetailDO.getTaskType());
             switch (robotTaskType) {
                 case TAKE_RELEASE:
-                    doTakeReleaseDistribute(taskDetailDO, robots,robotTaskDOS,taskIds,updateTaskDetails,robotNos,doingLocationIds);
+                    doTakeReleaseDistribute(taskDetailDO, robots, robotTaskDOS, taskIds, updateTaskDetails, robotNos, doingLocationIds);
                     break;
                 /*case PARK:
                     doParkDistribute(taskDetailDO, robots,robotTaskDOS);
@@ -326,12 +369,13 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             robotTaskDetailMapper.updateBatch(updateTaskDetails);
         }
         if (ObjectUtil.isNotEmpty(robotNos)) {
-            robotInformationMapper.updateRobotListStatus(robotNos,RobotStatusEnum.DOING.getType());
+            robotInformationMapper.updateRobotListStatus(robotNos, RobotStatusEnum.DOING.getType());
         }
     }
 
     /**
      * 检测托盘类型
+     *
      * @param taskDetailDO
      * @param robots
      * @param robotTaskDOS
@@ -344,6 +388,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
 
     /**
      * 扫描码
+     *
      * @param taskDetailDO
      * @param robots
      * @param robotTaskDOS
@@ -356,6 +401,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
 
     /**
      * 仅放货
+     *
      * @param taskDetailDO
      * @param robots
      * @param robotTaskDOS
@@ -368,6 +414,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
 
     /**
      * 取放货
+     *
      * @param taskDetailDO
      * @param robots
      * @param robotTaskDOS
@@ -380,6 +427,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
 
     /**
      * 移动
+     *
      * @param taskDetailDO
      * @param robots
      * @param robotTaskDOS
@@ -395,7 +443,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                     .map(RobotInformationDO::getMacAddress)
                     .findFirst()
                     .orElse("");
-            if (ObjectUtil.isEmpty(macAddress) ) {
+            if (ObjectUtil.isEmpty(macAddress)) {
                 return;
             }
         } else {
@@ -406,7 +454,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         RobotAcceptTaskDTO robotTaskDO = new RobotAcceptTaskDTO();
         robotTaskDO.setOrder_id(taskDetailDO.getId().toString());
         robotTaskDO.setOrder_type("出库");//未定
-        robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC+macAddress);
+        robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC + macAddress);
 
         //1
         RobotAcceptTaskData taskOne = new RobotAcceptTaskData();
@@ -434,11 +482,12 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         robotTaskDO.setData(data);
         robotTaskDOS.add(robotTaskDO);
 
-        updateTaskStatus(robotNo,taskDetailDO);
+        updateTaskStatus(robotNo, taskDetailDO);
     }
 
     /**
      * 充电
+     *
      * @param taskDetailDO
      * @param robots
      * @param robotTaskDOS
@@ -451,6 +500,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
 
     /**
      * 停车
+     *
      * @param taskDetailDO
      * @param robots
      * @param robotTaskDOS
@@ -466,7 +516,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                     .map(RobotInformationDO::getMacAddress)
                     .findFirst()
                     .orElse("");
-            if (ObjectUtil.isEmpty(macAddress) ) {
+            if (ObjectUtil.isEmpty(macAddress)) {
                 return;
             }
         }
@@ -474,7 +524,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         RobotAcceptTaskDTO robotTaskDO = new RobotAcceptTaskDTO();
         robotTaskDO.setOrder_id(taskDetailDO.getId().toString());
         robotTaskDO.setOrder_type("出库");//未定
-        robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC+macAddress);
+        robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC + macAddress);
 
         RobotAcceptTaskData taskOne = new RobotAcceptTaskData();
         taskOne.setSerial("1");
@@ -490,28 +540,29 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         final String mac = macAddress;
         robots.removeIf(v -> v.getMacAddress().equals(mac));
 
-        updateTaskStatus(robotNo,taskDetailDO);
+        updateTaskStatus(robotNo, taskDetailDO);
 
     }
 
     /**
      * 取放货
+     *
      * @param taskDetailDO
      * @param robots
      * @param robotTaskDOS
      */
     @Transactional(rollbackFor = Exception.class)
     public void doTakeReleaseDistribute(RobotTaskDetailDO taskDetailDO, List<RobotInformationDO> robots,
-                                         List<RobotAcceptTaskDTO> robotTaskDOS,Set<Long> taskIdSet,
+                                        List<RobotAcceptTaskDTO> robotTaskDOS, Set<Long> taskIdSet,
                                         List<RobotTaskDetailDO> updateTaskDetail, Set<String> robotNos
-                                        ,Set<Long> doingLocationIds) {
+            , Set<Long> doingLocationIds) {
         WareHouseLocationDO query = WareHouseLocationDO.builder().id(taskDetailDO.getFromLocationId()).build();
         WareHouseLocationDO fromLocation = locationMapper.queryAllByLimit(query);
 
         WareHouseLocationDO toQuery = WareHouseLocationDO.builder().id(taskDetailDO.getToLocationId()).build();
         WareHouseLocationDO toLocation = locationMapper.queryAllByLimit(toQuery);
 
-        Pair<String,String> pair = getMadAddressRobotNo(taskDetailDO,robots,fromLocation,toLocation);
+        Pair<String, String> pair = getMadAddressRobotNo(taskDetailDO, robots, fromLocation, toLocation);
         String macAddress = pair.getLeft();
         String robotNo = pair.getRight();
 
@@ -521,11 +572,11 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         }
 
         // 取货/放货 校验有没有其他库位挡住
-        Boolean fromCanMove = checkCanMove(fromLocation,doingLocationIds);
+        Boolean fromCanMove = checkCanMove(fromLocation, doingLocationIds);
         if (!fromCanMove) {
             return;
         }
-        Boolean toCanMove = checkCanMove(toLocation,doingLocationIds);
+        Boolean toCanMove = checkCanMove(toLocation, doingLocationIds);
         if (!toCanMove) {
             return;
         }
@@ -533,7 +584,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         RobotAcceptTaskDTO robotTaskDO = new RobotAcceptTaskDTO();
         robotTaskDO.setOrder_id(taskDetailDO.getId().toString());
         robotTaskDO.setOrder_type("出库");//未定
-        robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC+macAddress);
+        robotTaskDO.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC + macAddress);
 
         //1
         RobotAcceptTaskData taskOne = new RobotAcceptTaskData();
@@ -590,7 +641,6 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         taskSeven.setCommand_type(CommandTypeEnum.MOVE_TO_PALLET_POSE.getType());
 
 
-
         //8
         RobotAcceptTaskData taskEigth = new RobotAcceptTaskData();
         taskEigth.setSerial("7");
@@ -620,7 +670,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                 .laneId(-2l)
                 .build();
         List<WareHouseLocationDO> releaseStockList =
-                locationMapper.selectLocations(ware,new ArrayList<>(),new HashSet<>());
+                locationMapper.selectLocations(ware, new ArrayList<>(), new HashSet<>());
         for (WareHouseLocationDO wareHouseLocationDO : releaseStockList) {
             Pose2ds pose = positionMapItemMapper.selectByLocationId(wareHouseLocationDO.getId());
             pose2dsNight.add(pose);
@@ -720,6 +770,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
 
     /**
      * 校验当前库位能否取放
+     *
      * @param fromLocation
      * @return false : 有货，不能移动  ；  true: 没货， 能移动
      */
@@ -734,7 +785,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                     .collect(Collectors.toList());
             if (ObjectUtil.isNotEmpty(locationDOS)) {
                 // todo 后续记录到异常表
-                log.info("普通库位--库位上有其他货物, 库位号:{} ,无法进行移动 :{}",fromLocation.getLocationNo() ,locationDOS);
+                log.info("普通库位--库位上有其他货物, 库位号:{} ,无法进行移动 :{}", fromLocation.getLocationNo(), locationDOS);
                 return false;
             }
         } else {
@@ -750,7 +801,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
                     .collect(Collectors.toList());
             if (ObjectUtil.isNotEmpty(wareHouseLocationDOS)) {
                 // todo 后续记录到异常表
-                log.info("线库-当前库位上有其他货物, 库位号:{}，无法进行移动 :{}",fromLocation.getLocationNo() ,wareHouseLocationDOS);
+                log.info("线库-当前库位上有其他货物, 库位号:{}，无法进行移动 :{}", fromLocation.getLocationNo(), wareHouseLocationDOS);
                 return false;
             }
         }
@@ -780,7 +831,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             macAddress = robotInformationDO.getMacAddress();
             robotNo = robotInformationDO.getRobotNo();
         }
-        Pair<String,String> pair = new ImmutablePair<>(macAddress,robotNo);
+        Pair<String, String> pair = new ImmutablePair<>(macAddress, robotNo);
         return pair;
     }
 

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

@@ -1,14 +1,20 @@
 package cn.iocoder.yudao.module.system.service.robot.pathplanning;
 
+import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.mqtt.api.task.RobotTaskApi;
+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.mysql.config.CommonConfigMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
 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.service.robot.job.DistributeTasksService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
+import lombok.extern.slf4j.Slf4j;
+import org.apache.commons.lang3.tuple.Pair;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
@@ -16,9 +22,11 @@ import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
 
 import javax.annotation.Resource;
+import java.util.List;
 
 @Service
 @Validated
+@Slf4j
 public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     @Autowired
     private RobotInformationMapper robotInformationMapper;
@@ -63,6 +71,9 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     @Resource
     private RedisUtil redisUtil;
 
+    @Autowired
+    private DistributeTasksService distributeTasksService;
+
     /**
      * 下发任务给PP
      */
@@ -70,6 +81,20 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     @Transactional(rollbackFor = Exception.class)
     public void sendTaskToPP() {
         TenantContextHolder.setTenantId(1L);
+        Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> robotAndTaskDetails =
+                distributeTasksService.getRobotAndTaskDetails();
+
+        List<RobotInformationDO> robots = robotAndTaskDetails.getLeft();
+        if (ObjectUtil.isEmpty(robots)) {
+            return;
+        }
+
+        List<RobotTaskDetailDO> taskDetailDOS = robotAndTaskDetails.getRight();
+        if (ObjectUtil.isEmpty(taskDetailDOS)) {
+            log.info("--不存在需要执行的任务--");
+            return;
+        }
+
 
 
     }