线上加点

yudao-framework/yudao-spring-boot-starter-web/src/main/java/cn/iocoder/yudao/framework/apilog/core/interceptor/ApiAccessLogInterceptor.java

@@ -14,6 +14,7 @@ import org.springframework.web.servlet.HandlerInterceptor;
 import javax.servlet.http.HttpServletRequest;
 import javax.servlet.http.HttpServletResponse;
 import java.lang.reflect.Method;
+import java.util.Arrays;
 import java.util.List;
 import java.util.Map;
 import java.util.Optional;
@@ -33,6 +34,8 @@ public class ApiAccessLogInterceptor implements HandlerInterceptor {
 
     private static final String ATTRIBUTE_STOP_WATCH = "ApiAccessLogInterceptor.StopWatch";
 
+    private static final List<String> ignoreInterfaceUrls = Arrays.asList("/rpc-api/system/task/robotStatusUpdate","/rpc-api/system/task/updateRobotCommonStatus");
+
     @Override
     public boolean preHandle(HttpServletRequest request, HttpServletResponse response, Object handler) {
         // 记录 HandlerMethod，提供给 ApiAccessLogFilter 使用
@@ -45,9 +48,9 @@ public class ApiAccessLogInterceptor implements HandlerInterceptor {
         if (!SpringUtils.isProd()) {
             Map<String, String> queryString = ServletUtils.getParamMap(request);
             String requestBody = ServletUtils.isJsonRequest(request) ? ServletUtils.getBody(request) : null;
-            if (CollUtil.isEmpty(queryString) && StrUtil.isEmpty(requestBody)) {
+            if (CollUtil.isEmpty(queryString) && StrUtil.isEmpty(requestBody) && !ignoreInterfaceUrls.contains(request.getRequestURI())) {
                 log.info("[preHandle][开始请求 URL({}) 无参数]", request.getRequestURI());
-            } else {
+            } else if( !ignoreInterfaceUrls.contains(request.getRequestURI())) {
                 log.info("[preHandle][开始请求 URL({}) 参数({})]", request.getRequestURI(),
                         StrUtil.blankToDefault(requestBody, queryString.toString()));
             }
@@ -67,8 +70,10 @@ public class ApiAccessLogInterceptor implements HandlerInterceptor {
         if (!SpringUtils.isProd()) {
             StopWatch stopWatch = (StopWatch) request.getAttribute(ATTRIBUTE_STOP_WATCH);
             stopWatch.stop();
-            log.info("[afterCompletion][完成请求 URL({}) 耗时({} ms)]",
-                    request.getRequestURI(), stopWatch.getTotalTimeMillis());
+            if( !ignoreInterfaceUrls.contains(request.getRequestURI())) {
+                log.info("[afterCompletion][完成请求 URL({}) 耗时({} ms)]",
+                        request.getRequestURI(), stopWatch.getTotalTimeMillis());
+            }
         }
     }
 
@@ -94,7 +99,7 @@ public class ApiAccessLogInterceptor implements HandlerInterceptor {
                 return;
             }
             // 打印结果
-            System.out.printf("\tController 方法路径：%s(%s.java:%d)\n", clazz.getName(), clazz.getSimpleName(), lineNumber.get());
+//            System.out.printf("\tController 方法路径：%s(%s.java:%d)\n", clazz.getName(), clazz.getSimpleName(), lineNumber.get());
         } catch (Exception ignore) {
             // 忽略异常。原因：仅仅打印，非重要逻辑
         }

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttFactory.java

@@ -98,7 +98,7 @@ public class MqttFactory {
         MqttConnectOptions options = new MqttConnectOptions();
         // 是否清空session，设置false表示服务器会保留客户端的连接记录（订阅主题，qos）,客户端重连之后能获取到服务器在客户端断开连接期间推送的消息
         // 设置为true表示每次连接服务器都是以新的身份
-        options.setCleanSession(true);
+        options.setCleanSession(false);
         // 设置连接用户名
         options.setUserName(factory.config.getUsername());
         // 设置连接密码

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

@@ -31,7 +31,7 @@ management:
 
 # MQTT
 mqtt:
-#  host: tcp://192.168.0.54:1883
+#  host: tcp://123.57.12.40:1883
   host: tcp://127.0.0.1:1883
   username: adminuser
   password: adminuser

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

@@ -193,6 +193,7 @@ public interface ErrorCodeConstants {
     ErrorCode ROBOT_NOT_FOUND_WAIT_ITEM = new ErrorCode(1-002-034-006, "没有空闲的停车点");
     ErrorCode ROBOT_NOT_FOUND_FREE_CHARGING_STATION = new ErrorCode(1-002-034-007, "没有空闲的充电桩");
     ErrorCode ROBOT_HAVE_DOING_TASK = new ErrorCode(1-002-034-010, "车辆有处理中的任务,不允许修改/删除车辆编号和Mac地址");
+    ErrorCode ROBOT_REJECTION = new ErrorCode(1-002-034-011, "车辆已锁定");
 
     // ========== 机器人任务主表 1-002-035-000 ==========
     ErrorCode TASK_NOT_EXISTS = new ErrorCode(1-002-035-001, "机器人任务主表不存在");
@@ -203,7 +204,7 @@ public interface ErrorCodeConstants {
     ErrorCode TASK_CHECK_ID_EXCEPTION = new ErrorCode(1-002-035-006, "请输入ID");
     ErrorCode TASK_CHECK_TASK_PRIORITY = new ErrorCode(1-002-035-007, "非新单据不能修改优先级");
     ErrorCode TASK_CHECK_TASK_STATUS = new ErrorCode(1-002-035-100, "任务已完成");
-    ErrorCode TASK_CHECK_UPDATE_STATUS = new ErrorCode(1-002-035-101, "任务更新失败");
+    ErrorCode TASK_CHECK_HAVE_DOING_TASK = new ErrorCode(1-002-035-101, "存在未完成的任务,无法更新地图信息");
     ErrorCode TASK_CHECK_EXIST_NO = new ErrorCode(1-002-035-102, "任务号已存在");
     ErrorCode TASK_TYPE_UN_EXIST = new ErrorCode(1-002-035-103, "找不到对应的任务类型");
     ErrorCode TASK_TAKE_LOCATION_EMPTY = new ErrorCode(1-002-035-104, "取货库位没有库存");

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

@@ -7,6 +7,7 @@ import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
 import cn.iocoder.yudao.module.system.api.path.vo.RobotClosePathPlantingDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotCommandStateDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotCompleteTaskDTO;
+import cn.iocoder.yudao.module.system.constant.CommonConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotExecutionStateConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
@@ -36,6 +37,7 @@ import cn.iocoder.yudao.module.system.service.wait.MoveToWaitService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;
 import lombok.extern.slf4j.Slf4j;
+import org.slf4j.MDC;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
 import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
@@ -46,6 +48,7 @@ import org.springframework.web.bind.annotation.RestController;
 import javax.annotation.Resource;
 import java.time.LocalDateTime;
 import java.util.List;
+import java.util.UUID;
 
 @Slf4j
 @RestController // 提供 RESTful API 接口，给 Feign 调用
@@ -116,6 +119,11 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         TenantContextHolder.setTenantId(1L);
         String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_QUERY_DOING_ACTION + robotCompleteTaskDTO.getMac();
 
+        if (ObjectUtil.isEmpty(robotCompleteTaskDTO.getOrderId())) {
+            log.info("没有任务id :{}",JSON.toJSONString(robotCompleteTaskDTO));
+            return;
+        }
+
         if (!RobotStatusCodeEnum.SUCCESS.getType().equals(robotCompleteTaskDTO.getStatusCode())) {
             log.info("车机上报异常 :{}", JSON.toJSONString(robotCompleteTaskDTO));
             closeTask(robotCompleteTaskDTO);//todo 取不了和放不了的异常
@@ -222,7 +230,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         } else if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
             RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
             if (RobotTaskStageEnum.TAKEING.getType().equals(robotTaskDetailDO.getTaskStage())) {
-                log.info("告诉路径规划任务完成 :{}, 状态: {}",robotCompleteTaskDTO.getOrderId(),PathIsReachEnum.END_WORK.getType());
+                log.info("告诉路径规划任务完成 :{}, 状态: {}", robotCompleteTaskDTO.getOrderId(), PathIsReachEnum.END_WORK.getType());
                 pathPlanningService.updateBehavior(String.valueOf(robotCompleteTaskDTO.getOrderId()), robotTaskDetailDO.getRobotNo()
                         , "", PathIsReachEnum.END_WORK.getType());
             } else if (RobotTaskStageEnum.RELEASEING.getType().equals(robotTaskDetailDO.getTaskStage())) {
@@ -299,8 +307,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 
         String solve = "";
         if (!PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())
-            && !PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()) ) {
-            String taskNo= taskDetailService.getTaskNoByDetailId(robotCompleteTaskDTO.getOrderId());
+                && !PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
+            String taskNo = taskDetailService.getTaskNoByDetailId(robotCompleteTaskDTO.getOrderId());
             solve = " 并且到任务列表关闭任务 " + taskNo;
         }
 
@@ -344,6 +352,12 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
             logOne.setTaskStage(RobotTaskStageEnum.CHARGEING.getType());
         }
 
+        //编辑地图会判断这表的状态,所以自动充电任务，移动到充电点就改为完成
+        if (ObjectUtil.isNotEmpty(commandStatus) && CommandTypeEnum.MOVE_POSES.getType().equals(commandStatus.getCommandType())
+                && RobotExecutionStateConstant.DONE.equals(commandStatus.getExecutionState())) {
+            taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType(), LocalDateTime.now());
+        }
+
         String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
         logOne.setRobotNo(robotNo);
         logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
@@ -474,6 +488,13 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
             }
         }
 
+        //编辑地图会判断这表的状态,所以自动充电任务，移动到充电点就改为完成
+        if (ObjectUtil.isNotEmpty(commandStatus) && CommandTypeEnum.MOVE_POSES.getType().equals(commandStatus.getCommandType())
+                && RobotExecutionStateConstant.DONE.equals(commandStatus.getExecutionState())
+                && PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
+            taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType(), LocalDateTime.now());
+        }
+
         String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
         logOne.setRobotNo(robotNo);
         logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
@@ -522,10 +543,15 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      * @return
      */
     @Override
-    @Transactional(rollbackFor = Exception.class)
     public void robotDoneTask(RobotCompleteTaskDTO robotCompleteTaskDTO) {
         taskExecutor.execute(() -> {
-            doRobotDoneTask(robotCompleteTaskDTO);
+            String requestId = UUID.randomUUID().toString().replace("-","");;
+            MDC.put(CommonConstant.REQUEST_ID, requestId);
+            try {
+                doRobotDoneTask(robotCompleteTaskDTO);
+            } finally {
+                MDC.clear();
+            }
         });
     }
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mdc/MDCFilter.java

@@ -0,0 +1,42 @@
+package cn.iocoder.yudao.module.system.config.mdc;
+
+import cn.iocoder.yudao.module.system.constant.CommonConstant;
+import org.slf4j.MDC;
+import org.springframework.stereotype.Component;
+
+import javax.servlet.*;
+import java.io.IOException;
+import java.util.UUID;
+
+/**
+ * 在日志上下文增加参数，在日志中可以打印该参数，如RequestId，则日志配置：%d{yyyy-MM-dd HH:mm:ss.SSS} [%X{RequestId}] [%thread] %-5level %logger{36} - %msg%n
+ * 则 RequestId 会打印在中括号里，%X{参数名}  是格式
+ *
+ * 该bean自动被注册，默认的mapping是/*，参考文档
+ *
+ * 如果需要复杂点的配置，例如多个Filter的顺序、mapping路径的指定，可以在@Configuration类里使用@Bean来产生所需的bean，产生的过程即可指定顺序和mapping路径
+ *
+ */
+@Component
+public class MDCFilter implements Filter {
+
+    @Override
+    public void init(FilterConfig filterConfig) throws ServletException {
+    }
+
+    @Override
+    public void doFilter(ServletRequest request, ServletResponse response, FilterChain chain) throws IOException, ServletException {
+        String requestId = UUID.randomUUID().toString().replace("-","");;
+        MDC.put(CommonConstant.REQUEST_ID, requestId);
+        try {
+            chain.doFilter(request, response);
+        } finally {
+            MDC.clear();
+        }
+    }
+
+    @Override
+    public void destroy() {
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/mdc/MDCJobAopConfig.java

@@ -0,0 +1,40 @@
+package cn.iocoder.yudao.module.system.config.mdc;
+
+
+import lombok.extern.slf4j.Slf4j;
+import org.aspectj.lang.JoinPoint;
+import org.aspectj.lang.annotation.After;
+import org.aspectj.lang.annotation.Aspect;
+import org.aspectj.lang.annotation.Before;
+import org.aspectj.lang.annotation.Pointcut;
+import org.slf4j.MDC;
+import org.springframework.stereotype.Component;
+
+import java.util.UUID;
+
+@Slf4j
+@Aspect
+@Component
+public class MDCJobAopConfig {
+    private static final String REQUEST_ID = "requestId";
+
+    /**
+     * xxl-job 切点
+     */
+    @Pointcut("@annotation(com.xxl.job.core.handler.annotation.XxlJob)")
+    public void pointCutExecution() {}
+
+    @Before("pointCutExecution()")
+    public void doBefore(JoinPoint point) {
+        // 增加xxl-job任务的链式日志id
+        MDC.put(REQUEST_ID, UUID.randomUUID().toString().replace("-", ""));
+    }
+
+    @After("pointCutExecution()")
+    public void doAfter(JoinPoint point) {
+        // xxl-job任务结束，MDC移除
+        MDC.remove(REQUEST_ID);
+    }
+
+
+}

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

@@ -0,0 +1,9 @@
+package cn.iocoder.yudao.module.system.constant;
+
+
+public class CommonConstant {
+    /**
+     * MDC请求常亮
+     */
+    public static final String REQUEST_ID = "requestId";
+}

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

@@ -11,11 +11,17 @@ import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
 import cn.iocoder.yudao.module.system.api.path.PathApi;
 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.dto.PositionMapItemNodeDTO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemRespVO;
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemSaveReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLineSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO;
 import cn.iocoder.yudao.module.system.handler.mapnode.NodeProcessingContext;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
+import cn.iocoder.yudao.module.system.service.positionmap.PositionMapLineService;
+import cn.iocoder.yudao.module.system.service.robot.RobotTaskService;
 import com.baomidou.mybatisplus.core.toolkit.IdWorker;
 import io.swagger.v3.oas.annotations.Operation;
 import io.swagger.v3.oas.annotations.Parameter;
@@ -43,12 +49,19 @@ public class PositionMapItemController {
 
     @Resource
     private PositionMapItemService positionMapItemService;
+
     @Resource
     private NodeProcessingContext nodeProcessingContext;
 
     @Resource
     private UserOperationLogService userOperationLogService;
 
+    @Resource
+    private PositionMapLineService positionMapLineService;
+
+    @Resource
+    private RobotTaskService taskService;
+
     @Resource
     private PathApi pathApi;
 
@@ -56,6 +69,8 @@ public class PositionMapItemController {
     @PostMapping("/batchSaveOrEditOrDel")
     @Operation(summary = "批量新增编辑删除节点")
     public CommonResult<Boolean> batchSaveOrEditOrDel(@RequestParam Long positionMapId, @Valid @RequestBody List<NodeBaseDTO> nodeBaseDTOS) {
+        //校验是否存在未完成的任务
+        taskService.checkHaveDoingTask();
         // -- 这里使用策略模式 - 根据各个类型区分 - 如果需要新增类型，新增策略实现类即可 - 如果不需要关联存储具体的表，直接将json存储到dataJson字段即可
         Map<Integer, List<NodeBaseDTO>> map = nodeBaseDTOS.stream().collect(Collectors.groupingBy(NodeBaseDTO::getType));
         // -- 获取到对应地图的所有点位
@@ -109,4 +124,30 @@ public class PositionMapItemController {
                 .eqIfPresent(PositionMapItemDO::getLaneId, laneId));
         return success(BeanUtils.toBean(list, PositionMapItemRespVO.class));
     }
+
+    @GetMapping("/getUUid")
+    @Operation(summary = "获取id")
+    @PreAuthorize("@ss.hasPermission('system:position-map-item:getUUid')")
+    public CommonResult<Long> getUUid() {
+        Long id = positionMapItemService.getUUid();
+        return success(id);
+    }
+
+    @PostMapping("/lineAddItem")
+    @Operation(summary = "线上加点保存点位")
+    @PreAuthorize("@ss.hasPermission('system:position-map-item:lineAddItem')")
+    public CommonResult<Boolean> lineAddItem(@Valid @RequestBody List<PositionMapItemNodeDTO> list) {
+
+        PositionMapItemSaveReqVO positionMapItem = BeanUtils.toBean(list.get(0), PositionMapItemSaveReqVO.class);
+        positionMapItemService.createPositionMapItem(positionMapItem);
+
+        positionMapLineService.deletePositionMapLine(list.get(0).getOldLineId());
+        List<PositionMapLineSaveReqVO> positionMapLines = list.get(0).getPositionMapLines();
+        List<PositionMapLineDO> lineList = BeanUtils.toBean(positionMapLines, PositionMapLineDO.class);
+        for (PositionMapLineDO positionMapLineDO : lineList) {
+            positionMapLineDO.setPositionMapId(positionMapItem.getPositionMapId());
+        }
+        positionMapLineService.batchSaveLines(lineList);
+        return success(true);
+    }
 }

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

@@ -0,0 +1,58 @@
+package cn.iocoder.yudao.module.system.controller.admin.positionmap.dto;
+
+import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLineSaveReqVO;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+import java.util.List;
+
+@Schema(description = "仓库点位地图子表")
+@Data
+public class PositionMapItemNodeDTO {
+
+    @Schema(description = "id")
+    private Long id;
+
+    @Schema(description = "仓库点位地图表id")
+    private Long positionMapId;
+
+    @Schema(description = "库区id(自定义)")
+    private Long areaId;
+
+    @Schema(description = "巷道id(自定义)")
+    private Long laneId;
+
+    @Schema(description = "坐标x轴")
+    private String locationX;
+
+    @Schema(description = "坐标y轴")
+    private String locationY;
+
+    @Schema(description = "实际坐标x轴")
+    private String actualLocationX;
+
+    @Schema(description = "实际坐标y轴")
+    private String actualLocationY;
+
+    @Schema(description = "点位自增排序")
+    private Long sortNum;
+
+    @Schema(description = "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", example = "1")
+    private Integer type;
+
+    @Schema(description = "对应各个类型的独有属性Json格式 例如（{库位长度:1,库位宽度:2,库位方向:单向}）", example = "1")
+    private String dataJson;
+
+    @Schema(description = "排序的位置,越大越优先堆放")
+    private Long locationNumber;
+
+    @Schema(description = " 弧度")
+    private String locationYaw;
+
+    @Schema(description = "旧的线id")
+    private Long oldLineId;
+
+    @Schema(description = "新的路线")
+    private List<PositionMapLineSaveReqVO> positionMapLines;
+
+}

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

@@ -33,21 +33,23 @@ public class TaskAssignDTO {
      */
     public String getRobotActionMsg() {
         if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(orderType)) {
-            return "机器人分配到取放货任务";
+            return "机器人分配到取放货任务 ";
         }if (PathTaskTypeEnum.CHARGE.getType().equals(orderType)) {
-            return "机器人分配到充电任务";
+            return "机器人分配到充电任务 ";
         }if (PathTaskTypeEnum.MOVE.getType().equals(orderType)) {
-            return "机器人分配到移动任务";
+            return "机器人分配到移动任务 ";
         }if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(orderType)) {
-            return "机器人分配移动到等待点的任务";
+            return "机器人分配移动到等待点的任务 ";
         }if (PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(orderType)) {
-            return "机器人分配停车任务";
+            return "机器人分配停车任务 ";
         }if (PathTaskTypeEnum.TAKE.getType().equals(orderType)) {
-            return "机器人分配到仅取货任务";
+            return "机器人分配到仅取货任务 ";
         }if (PathTaskTypeEnum.RELEASE.getType().equals(orderType)) {
-            return "机器人分配到仅放货任务";
+            return "机器人分配到仅放货任务 ";
         }if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(orderType)) {
-            return "机器人分配到自动充电任务";
+            return "机器人分配到自动充电任务 ";
+        }if (PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(orderType)) {
+            return "机器人分配到移动到点位任务 ";
         }
         return "未知任务";
     }

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

@@ -56,4 +56,10 @@ public class RobotInformationPageReqVO extends PageParam {
     @Schema(description = "robot_task_detail的id")
     private Long taskDetailId;
 
+    @Schema(description = "车辆IP")
+    private String robotIp;
+
+    @Schema(description = "车辆端口")
+    private Long robotPort;
+
 }

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

@@ -90,4 +90,10 @@ public class RobotInformationPageRespVO {
     @Schema(description = "robot_task_detail的id")
     private Long taskDetailId;
 
+    @Schema(description = "车辆IP")
+    private String robotIp;
+
+    @Schema(description = "车辆端口")
+    private Long robotPort;
+
 }

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

@@ -84,4 +84,10 @@ public class RobotInformationRespVO {
     @Schema(description = "robot_task_detail的id")
     private Long taskDetailId;
 
+    @Schema(description = "车辆IP")
+    private String robotIp;
+
+    @Schema(description = "车辆端口")
+    private Long robotPort;
+
 }

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

@@ -2,9 +2,11 @@ package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
 
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
+import org.hibernate.validator.constraints.Range;
 
 import javax.validation.constraints.NotEmpty;
 import javax.validation.constraints.NotNull;
+import javax.validation.constraints.Size;
 import java.util.Set;
 
 @Schema(description = "管理后台 - 车辆信息新增/修改 Request VO")
@@ -50,4 +52,12 @@ public class RobotInformationSaveReqVO {
 
     @Schema(description = "robot_task_detail的id")
     private Long taskDetailId;
+
+    @Schema(description = "车辆IP")
+    @Size(min = 0, max = 20, message = "车辆IP长度超过限制")
+    private String robotIp;
+
+    @Schema(description = "车辆端口")
+    @Range(min = 0, max = 6, message = "车辆端口长度超过限制")
+    private Long robotPort;
 }

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

@@ -78,4 +78,14 @@ public class RobotInformationDO extends BaseDO {
      */
     private Long taskDetailId;
 
+    /**
+     * 车辆IP
+     */
+    private String robotIp;
+
+    /**
+     * 车辆端口
+     */
+    private Long robotPort;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/log/RobotTaskDetailActionLogMapper.java

@@ -9,6 +9,7 @@ import org.apache.ibatis.annotations.Mapper;
 import org.apache.ibatis.annotations.Param;
 
 import java.time.LocalDateTime;
+import java.util.List;
 
 /**
  * 车辆动作记录 Mapper
@@ -40,4 +41,11 @@ public interface RobotTaskDetailActionLogMapper extends BaseMapperX<RobotTaskDet
     void updateActionStatus(@Param("taskDetailId") Long taskDetailId,
                             @Param("actionStatus") int actionStatus,
                             @Param("time") LocalDateTime time);
+
+    /**
+     * 获取未完成的任务
+     * @param commandTypes
+     * @return
+     */
+    List<RobotTaskDetailActionLogDO> getMistakeTaskByCommandType(@Param("commandTypes") List<String> commandTypes);
 }

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

@@ -4,20 +4,23 @@ import cn.iocoder.yudao.module.system.enums.robot.RobotTaskTypeEnum;
 import lombok.AllArgsConstructor;
 import lombok.Getter;
 
+import java.util.ArrayList;
+import java.util.List;
+
 /**
  * 下发路径规划的任务类型
  */
 @Getter
 @AllArgsConstructor
 public enum PathTaskTypeEnum {
-    TAKE_RELEASE("TAKE_RELEASE","取放货"),
+    TAKE_RELEASE("TAKE_RELEASE","取放货任务"),
     CHARGE("CHARGE","充电任务"),
     MOVE("MOVE","移动任务"),//移动到库位
     MOVE_TO_WAIT("MOVE_TO_WAIT","移动到等待点(没任务时去等待点)"),
     MOVE_TO_WAIT_STOP("MOVE_TO_WAIT_STOP","停车任务"),
-    MOVE_TO_POINT("MOVE_TO_POINT","移动到路径点"),
-    TAKE("TAKE","仅取货"),
-    RELEASE("RELEASE","仅放货"),
+    MOVE_TO_POINT("MOVE_TO_POINT","移动到路径点任务"),
+    TAKE("TAKE","仅取货任务"),
+    RELEASE("RELEASE","仅放货任务"),
     AUTO_CHARGE("AUTO_CHARGE","自动充电");
     /**
      * 类型
@@ -50,4 +53,15 @@ public enum PathTaskTypeEnum {
             return AUTO_CHARGE.getType();
         }
     }
+
+    /**
+     * 获取非任务的类型
+     * @return
+     */
+    public static List<String> getMistakeTaskTypes() {
+        List<String> list = new ArrayList<>();
+        list.add(MOVE_TO_WAIT.getType());
+        list.add(AUTO_CHARGE.getType());
+        return list;
+    }
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/HouseLocationStrategyImpl.java

@@ -93,9 +93,9 @@ public class HouseLocationStrategyImpl implements NodeProcessingStrategy {
         List<List<WareHouseLocationDO>> list = CollectionUtils.compareLists(oldList, newList,
                 (oldVal, newVal) -> ObjectUtil.equal(oldVal.getId(), newVal.getId()));
 
-        if (isNotEmpty(list.get(2))) {
+        /*if (isNotEmpty(list.get(2))) {
             checkLocationHaveDoingTask(list);
-        }
+        }*/
 
         houseLocationService.batchSaveOrEditOrDel(positionMapId, list);
     }

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

@@ -64,9 +64,7 @@ public class RobotJob {
         if (lock.tryLock()){
             try {
                 robotTaskAutoMoveService.distributeAutoMoveJob();
-            } catch (Exception e) {
-                log.error("下发自动移库任务出现异常 :{}",e);
-            } finally {
+            }  finally {
                 lock.unlock();
             }
         }else {
@@ -85,9 +83,7 @@ public class RobotJob {
             try {
                 log.info("----下发自动充电任务----");
                 autoChargeService.autoChargeJob();
-            } catch (Exception e) {
-                log.error("下发自动充电任务出现异常 :{}",e);
-            } finally {
+            }  finally {
                 lock.unlock();
             }
         }else {
@@ -108,9 +104,7 @@ public class RobotJob {
             try {
                 log.info("----下发任务给路径规划----");
                 robotPathPlanningService.sendTaskToPP();
-            } catch (Exception e) {
-                log.error("下发任务给路径规划现异常 :{}",e);
-            } finally {
+            }  finally {
                 lock.unlock();
             }
         }else {
@@ -133,9 +127,7 @@ public class RobotJob {
             try {
                 log.info("----创建循环任务----");
                 cycleService.cycleTaskJob();
-            } catch (Exception e) {
-                log.error("创建循环任务异常 :{}", e);
-            } finally {
+            }  finally {
                 lock.unlock();
             }
         }else {
@@ -146,7 +138,7 @@ public class RobotJob {
 
 
     /**
-     * 维护车机心跳
+     * 维护车机心跳(废弃  目前车机没这功能)
      */
 //    @XxlJob("RcsHeartBeat")
     @TenantJob
@@ -158,9 +150,7 @@ public class RobotJob {
                 log.info("----维护车机心跳----");
                 TenantContextHolder.setTenantId(1L);
                 informationService.rcsHeartBeat();
-            } catch (Exception e) {
-                log.error("维护车机心跳异常 :{}", e);
-            } finally {
+            }  finally {
                 lock.unlock();
             }
         }else {

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

@@ -524,6 +524,13 @@ public class PathPlanningServiceImpl implements PathPlanningService {
             simulationRobotPoseDTO.setLocationYaw(itemDOList.get(i).getLocationYaw());
             simulationRobotPoseDTO.setFloor(positionMap.getFloor()+"");
             simulationRobotPoseDTO.setArea(positionMap.getArea());
+
+            String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + robot.getMacAddress();
+            FloorZoneDTO floorZoneDTO = new FloorZoneDTO();
+            floorZoneDTO.setFloor(simulationRobotPoseDTO.getFloor());
+            floorZoneDTO.setArea(simulationRobotPoseDTO.getArea());
+            redisUtil.set(floorAreaKey, JSON.toJSONString(floorZoneDTO));
+
             simulationList.add(simulationRobotPoseDTO);
             i++;
         }
@@ -548,6 +555,15 @@ public class PathPlanningServiceImpl implements PathPlanningService {
                 .expansionZoneLeft(positionMapLineDO.getExpansionZoneRight())
                 .expansionZoneRight(positionMapLineDO.getExpansionZoneLeft())
                 .ppToward(positionMapLineDO.changeToward(positionMapLineDO.getToward()))
+                .method(positionMapLineDO.getMethod())
+                .actualEndControlX(positionMapLineDO.getActualBeginControlX())
+                .actualEndControlY(positionMapLineDO.getActualBeginControlY())
+                .actualBeginControlX(positionMapLineDO.getActualEndControlX())
+                .actualBeginControlY(positionMapLineDO.getActualEndControlY())
+                .actualEndPointX(positionMapLineDO.getActualStartPointX())
+                .actualEndPointY(positionMapLineDO.getActualStartPointY())
+                .actualStartPointX(positionMapLineDO.getActualEndPointX())
+                .actualStartPointY(positionMapLineDO.getActualEndPointY())
                 .build();
         return build;
     }

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

@@ -118,4 +118,11 @@ public interface PositionMapItemService extends IService<PositionMapItemDO> {
      * @return
      */
     List<PositionMapItemDO> getPositionMapItemByIds(List<Long> pointList);
+
+    /**
+     * 获取随机数id
+     * @return
+     */
+    Long getUUid();
+
 }

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

@@ -1,15 +1,19 @@
 package cn.iocoder.yudao.module.system.service.positionmap;
 
+import cn.hutool.core.util.IdUtil;
 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.robot.RobotTaskChcheConstant;
+import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionMapConditionDTO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
 import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
+import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import org.springframework.stereotype.Service;
@@ -37,11 +41,18 @@ public class PositionMapItemServiceImpl extends ServiceImpl<PositionMapItemMappe
     @Resource
     private RedisUtil redisUtil;
 
+    @Resource
+    private UserOperationLogService userOperationLogService;
+
     @Override
     public Long createPositionMapItem(PositionMapItemSaveReqVO createReqVO) {
         // 插入
         PositionMapItemDO positionMapItem = BeanUtils.toBean(createReqVO, PositionMapItemDO.class);
         positionMapItemMapper.insert(positionMapItem);
+
+        UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder().operateAction("添加路径点 " + positionMapItem.getSortNum())
+                .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
+        userOperationLogService.createUserOperationLog(operationLog);
         // 返回
         return positionMapItem.getId();
     }
@@ -149,4 +160,9 @@ public class PositionMapItemServiceImpl extends ServiceImpl<PositionMapItemMappe
                 .in(PositionMapItemDO::getId, idList));
     }
 
+    @Override
+    public Long getUUid() {
+        return IdUtil.getSnowflakeNextId();
+    }
+
 }

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

@@ -62,4 +62,10 @@ public interface PositionMapLineService extends IService<PositionMapLineDO> {
      * @param list
      */
     void batchSaveOrEditOrDel(List<List<PositionMapLineDO>> list);
+
+    /**
+     * 批量添加
+     * @param lineList
+     */
+    void batchSaveLines(List<PositionMapLineDO> lineList);
 }

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

@@ -78,4 +78,9 @@ public class PositionMapLineServiceImpl extends ServiceImpl<PositionMapLineMappe
         }
     }
 
+    @Override
+    public void batchSaveLines(List<PositionMapLineDO> lineList) {
+        positionMapLineMapper.insertBatch(lineList);
+    }
+
 }

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

@@ -12,6 +12,7 @@ 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.path.PathPlanningApi;
+import cn.iocoder.yudao.module.mqtt.api.path.dto.RobotDimensionsDTO;
 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.dto.RobotAcceptTaskDTO;
@@ -162,6 +163,9 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Value("${zn.is_simulation:false}")
     private Boolean isSimulation;
 
+    @Value("${zn.restore_task_restart:true}")
+    private Boolean restoreTaskRestart;
+
     @Override
     public Long createInformation(RobotInformationSaveReqVO createReqVO) {
         //判断mac地址是否重复
@@ -203,6 +207,11 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                 .operateAction("新增车辆 " + createReqVO.getRobotNo())
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
+
+        List<RobotDimensionsDTO> list = informationMapper.selectRobotDimensions();
+        pathPlanningApi.synchronousLineObject(list, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
+
+        redisUtil.del(key);
         // 返回
         return information.getId();
     }
@@ -243,14 +252,16 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         // 更新
         RobotInformationDO updateObj = BeanUtils.toBean(updateReqVO, RobotInformationDO.class);
         informationMapper.updateById(updateObj);
-        redisUtil.set(RobotTaskChcheConstant.ROBOT_GET_ROBOTNO_BY_MAC + updateObj.getMacAddress(), updateObj.getRobotNo());
-        redisUtil.set(RobotTaskChcheConstant.ROBOT_GET_MAC_BY_NO + updateObj.getRobotNo(), updateObj.getMacAddress());
         // 更新AGV于地图关系表 -----
         List<List<Long>> list = CollectionUtils.compareLists(
                 (CollUtil.isEmpty(robotInformationDO.getFloorAreaJson()) ? Collections.emptyList() : new ArrayList<>(robotInformationDO.getFloorAreaJson())),
                 (CollUtil.isEmpty(updateReqVO.getFloorAreaJson()) ? Collections.emptyList() : new ArrayList<>(updateReqVO.getFloorAreaJson())),
                 ObjectUtil::equal);
         informationMapAssociationService.saveOrUpdateOrDel(updateReqVO.getId(), list);
+        redisUtil.set(RobotTaskChcheConstant.ROBOT_GET_ROBOTNO_BY_MAC + updateObj.getMacAddress(), updateObj.getRobotNo());
+        redisUtil.set(RobotTaskChcheConstant.ROBOT_GET_MAC_BY_NO + updateObj.getRobotNo(), updateObj.getMacAddress());
+
+        redisUtil.del(key);
 
         String str = "";
         if (!robotInformationDO.getRobotTaskModel().equals(updateReqVO.getRobotTaskModel())
@@ -265,6 +276,9 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                 .operateAction("更新车辆信息" + str)
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
+
+        List<RobotDimensionsDTO> RobotDimensions = informationMapper.selectRobotDimensions();
+        pathPlanningApi.synchronousLineObject(RobotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
     }
 
     @Override
@@ -289,6 +303,11 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         userOperationLogService.createUserOperationLog(operationLog);
         // 删除
         informationMapper.deleteById(id);
+
+        List<RobotDimensionsDTO> RobotDimensions = informationMapper.selectRobotDimensions();
+        pathPlanningApi.synchronousLineObject(RobotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
+
+        redisUtil.del(key);
     }
 
     private void validateInformationExists(Long id) {
@@ -792,8 +811,8 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
 
-        CleanAgvDTO build = CleanAgvDTO.builder().robotNo(robotNo).build();
-        commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
+        /*CleanAgvDTO build = CleanAgvDTO.builder().robotNo(robotNo).build();
+        commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);*/
         RobotTaskDetailActionLogDO actionLog = taskDetailActionLogService.getLastTaskByRobotNo(robotNo);
         if (ObjectUtil.isEmpty(actionLog)) {
             throw exception(ROBOT_LAST_TASK_NO_EXISTS);
@@ -817,6 +836,10 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                 .eq(RobotInformationDO::getRobotNo, robotNo)
                 .last("limit 1"));
 
+        if (RobotTaskModelEnum.REJECTION.getType().equals(robotInformationDO.getRobotTaskModel())) {
+            throw exception(ROBOT_REJECTION);
+        }
+
         String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robotInformationDO.getMacAddress();
         Object taskStatus = redisUtil.get(taskStatusKey);
         if (ObjectUtil.isEmpty(taskStatus) || !RobotStatusCodeConstant.CAN_DO_TASK.equals(Boolean.parseBoolean(String.valueOf(taskStatus)))) {
@@ -831,14 +854,13 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             try {
                 resendToPP(pathPlanning,actionLog);
 
-
-                if (PathTaskTypeEnum.CHARGE.getType().equals(pathPlanning.getOrderType())
+                /*if (PathTaskTypeEnum.CHARGE.getType().equals(pathPlanning.getOrderType())
                         || PathTaskTypeEnum.AUTO_CHARGE.getType().equals(pathPlanning.getOrderType())) {
                     robotInformationDO.setRobotStatus(RobotStatusEnum.CHARGE.getType());
                 }else {
                     robotInformationDO.setRobotStatus(RobotStatusEnum.DOING.getType());
                 }
-                informationMapper.updateById(robotInformationDO);
+                informationMapper.updateById(robotInformationDO);*/
             } finally {
                 lock.unlock();
             }
@@ -863,7 +885,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = Arrays.asList(taskRobotNoLimittationAreaDTO);
         pathPlanning.setRobotNoLimitationAreaDTOS(robotNoLimitions);
 
-        if (!isSimulation) {
+        if (!isSimulation || !restoreTaskRestart) {
             resendToPPData(pathPlanning,actionLog,robotInformationDO);
         }
 

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

@@ -104,4 +104,9 @@ public interface RobotTaskService extends IService<RobotTaskDO> {
      * @param mac
      */
     void closeTaskDetail(String id, String mac, String orderType);
+
+    /**
+     * 校验是否存在未完成的任务
+     */
+    void checkHaveDoingTask();
 }

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

@@ -301,6 +301,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     @Transactional(rollbackFor = Exception.class)
     public void addTask(RobotTaskSaveReqVO createReqVO) {
         RobotTaskDO task = BeanUtils.toBean(createReqVO, RobotTaskDO.class);
+        task.setRemainingCycleNumber(task.getCycleNumber());
         taskMapper.insert(task);
 
         List<Long> laneIds = new ArrayList<>();
@@ -363,11 +364,11 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             }
 
             if (ReleaseTakeEnum.TO_LANE.getType().equals(detailAddVO.getReleaseType())) {
-                laneIds.add(detailAddVO.getTakeId());
+                laneIds.add(detailAddVO.getReleaseId());
             } else if (ReleaseTakeEnum.TO_AREA.getType().equals(detailAddVO.getReleaseType())) {
-                areaIds.add(detailAddVO.getTakeId());
+                areaIds.add(detailAddVO.getReleaseId());
             } else if (ReleaseTakeEnum.TO_LOCATION.getType().equals(detailAddVO.getReleaseType())) {
-                locationIds.add(detailAddVO.getTakeId());
+                locationIds.add(detailAddVO.getReleaseId());
             }
         }
 
@@ -505,6 +506,26 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         commonApi.commonMethod(robotTask, robotTask.getTopic());
     }
 
+    /**
+     * 校验是否存在未完成的任务
+     */
+    @Override
+    public void checkHaveDoingTask() {
+        List<RobotTaskDO> taskDOS = taskMapper.selectList(new LambdaQueryWrapper<RobotTaskDO>()
+                .in(RobotTaskDO::getTaskStatus, RobotTaskStatusEnum.NEW.getType(), RobotTaskStatusEnum.DOING.getType()));
+        if (ObjectUtil.isNotEmpty(taskDOS)) {
+            log.info("编辑地图存在未完成的任务");
+            throw exception(TASK_CHECK_HAVE_DOING_TASK);
+        }
+
+        List<String> commandTypes = PathTaskTypeEnum.getMistakeTaskTypes();
+        List<RobotTaskDetailActionLogDO> actionLogDOList = taskDetailActionLogMapper.getMistakeTaskByCommandType(commandTypes);
+        if (ObjectUtil.isNotEmpty(actionLogDOList)) {
+            log.info("编辑地图存在未完成的移动到等待点/自动充电任务");
+            throw exception(TASK_CHECK_HAVE_DOING_TASK);
+        }
+    }
+
     /**
      * PP分配任务
      *
@@ -568,7 +589,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
         RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
         logOne.setCommandType(taskAssignDTO.getOrderType());
-        logOne.setActionMsg(taskAssignDTO.getRobotActionMsg());
+        String actionMsg = ObjectUtil.isEmpty(taskNo) ? taskAssignDTO.getRobotActionMsg() : taskAssignDTO.getRobotActionMsg() + taskNo;
+        logOne.setActionMsg(actionMsg);
         logOne.setRobotNo(taskAssignDTO.getRobotNo());
         logOne.setStartTime(LocalDateTime.now());
         logOne.setTaskNo(taskNo);
@@ -582,6 +604,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
     /**
      * 释放ware_position_map_item的使用状态
+     *
      * @param robotNo
      */
     private void releaseMapItemUseStatus(String robotNo) {
@@ -710,7 +733,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         }
 
         taskDetailMapper.updateById(taskDetailDO);
-        RobotTaskDO task = taskMapper.selectById(taskDetailDO.getRobotTaskId());
+        RobotTaskDO task = new RobotTaskDO();
+        task.setId(taskDetailDO.getRobotTaskId());
         task.setTaskStatus(RobotTaskStatusEnum.DOING.getType());
         taskMapper.updateById(task);
         return task;

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

@@ -208,3 +208,4 @@ zn:
   path_planning:
     task_chche_time: 604800 #任务缓存的时间， 默认一星期
   is_simulation: true # 是否为仿真环境
+  restore_task_restart: true # 恢复任务是否全部重新执行  true:全部重新开始

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

@@ -243,6 +243,7 @@ zn:
   path_planning:
     task_chche_time: 604800 #任务缓存的时间， 默认一星期
   is_simulation: true # 是否为仿真环境
+  restore_task_restart: true # 恢复任务是否全部重新执行  true:全部重新开始
 
 logging:
   file:

yudao-module-system/yudao-module-system-biz/src/main/resources/logback-spring.xml

@@ -4,7 +4,7 @@
     <!-- 变量 yudao.info.base-package，基础业务包 -->
     <springProperty scope="context" name="yudao.info.base-package" source="yudao.info.base-package"/>
     <!-- 格式化输出：%d 表示日期，%X{tid} SkWalking 链路追踪编号，%thread 表示线程名，%-5level：级别从左显示 5 个字符宽度，%msg：日志消息，%n是换行符 -->
-    <property name="PATTERN_DEFAULT" value="%d{${LOG_DATEFORMAT_PATTERN:-yyyy-MM-dd HH:mm:ss.SSS}} | %highlight(${LOG_LEVEL_PATTERN:-%5p} ${PID:- }) | %boldYellow(%thread [%tid]) %boldGreen(%-40.40logger{39}) | %m%n${LOG_EXCEPTION_CONVERSION_WORD:-%wEx}"/>
+    <property name="PATTERN_DEFAULT" value="%d{${LOG_DATEFORMAT_PATTERN:-yyyy-MM-dd HH:mm:ss.SSS}} | %X{requestId} | %highlight(${LOG_LEVEL_PATTERN:-%5p} ${PID:- }) | %boldYellow(%thread [%tid]) %boldGreen(%-40.40logger{39}) | %m%n${LOG_EXCEPTION_CONVERSION_WORD:-%wEx}"/>
 
     <!-- 控制台 Appender -->
     <appender name="STDOUT" class="ch.qos.logback.core.ConsoleAppender">　　　　　

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

@@ -188,7 +188,7 @@
     tray_info, location_enable, location_lock, location_use_status, location_x, location_y, location_wide,
     location_deep, location_height, location_default_height, location_total_height, location_tray_height,
     location_storey, location_type, location_number, creator, create_time, updater, update_time, deleted, tenant_id
-    from zn_wcs.ware_house_location
+    from ware_house_location
     </select>
     <!--统计总行数-->
     <select id="count" resultType="java.lang.Long">
@@ -775,6 +775,7 @@
                 where
                     sort_num like concat('%', #{locationNo}, '%')
                 and deleted = '0'
+                and type != '2'
             </when>
         </choose>
     </select>

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

@@ -26,6 +26,8 @@
         <result property="updateTime" column="update_time" jdbcType="TIMESTAMP"/>
         <result property="deleted" column="deleted" jdbcType="INTEGER"/>
         <result property="taskDetailId" column="task_detail_id" jdbcType="INTEGER"/>
+        <result property="robotIp" column="robot_ip" jdbcType="VARCHAR"/>
+        <result property="robotPort" column="robot_port" jdbcType="INTEGER"/>
     </resultMap>
 
     <!--查询单个-->
@@ -45,7 +47,9 @@
            update_time,
            deleted,
            tenant_id,
-           task_detail_id
+           task_detail_id,
+           robot_ip,
+           robot_port
     </sql>
 
     <!--查询指定行数据-->
@@ -93,6 +97,12 @@
             <if test="taskDetailId != null">
                 and task_detail_id = #{taskDetailId}
             </if>
+            <if test="robotIp != null">
+                and robot_ip = #{robotIp}
+            </if>
+            <if test="robotPort != null">
+                and robot_port = #{robotPort}
+            </if>
             <if test="1==1">
                 and deleted = '0'
             </if>
@@ -103,105 +113,10 @@
     <select id="queryAll" resultMap="BaseResultMap">
     select
     id, robot_model_id, robot_model_number, robot_no, robot_task_model, mac_address, url, robot_status, creator,
-    create_time, updater, update_time, deleted, tenant_id,task_detail_id
-    from zn_wcs.robot_information
-    </select>
-    <!--统计总行数-->
-    <select id="count" resultType="java.lang.Long">
-        select count(1)
-        from robot_information
-        <where>
-            <if test="id != null">
-                and id = #{id}
-            </if>
-            <if test="robotModelId != null">
-                and robot_model_id = #{robotModelId}
-            </if>
-            <if test="robotModelNumber != null and robotModelNumber != ''">
-                and robot_model_number = #{robotModelNumber}
-            </if>
-            <if test="robotNo != null and robotNo != ''">
-                and robot_no = #{robotNo}
-            </if>
-            <if test="robotTaskModel != null">
-                and robot_task_model = #{robotTaskModel}
-            </if>
-            <if test="macAddress != null and macAddress != ''">
-                and mac_address = #{macAddress}
-            </if>
-            <if test="url != null and url != ''">
-                and url = #{url}
-            </if>
-            <if test="robotStatus != null">
-                and robot_status = #{robotStatus}
-            </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>
+    create_time, updater, update_time, deleted, tenant_id,task_detail_id,robot_ip,robot_port
+    from robot_information
     </select>
 
-    <!--通过主键修改数据-->
-    <update id="doUpdateById">
-        update robot_information
-        <set>
-            <if test="robotModelId != null">
-                robot_model_id = #{robotModelId},
-            </if>
-            <if test="robotModelNumber != null and robotModelNumber != ''">
-                robot_model_number = #{robotModelNumber},
-            </if>
-            <if test="robotNo != null and robotNo != ''">
-                robot_no = #{robotNo},
-            </if>
-            <if test="robotTaskModel != null">
-                robot_task_model = #{robotTaskModel},
-            </if>
-            <if test="macAddress != null and macAddress != ''">
-                mac_address = #{macAddress},
-            </if>
-            <if test="url != null and url != ''">
-                url = #{url},
-            </if>
-            <if test="robotStatus != null">
-                robot_status = #{robotStatus},
-            </if>
-            <if test="creator != null and creator != ''">
-                creator = #{creator},
-            </if>
-            <if test="createTime != null">
-                create_time = #{createTime},
-            </if>
-            <if test="updater != null and updater != ''">
-                updater = #{updater},
-            </if>
-            <if test="updateTime != null">
-                update_time = #{updateTime},
-            </if>
-            <if test="deleted != null">
-                deleted = #{deleted},
-            </if>
-            <if test="tenantId != null">
-                tenant_id = #{tenantId},
-            </if>
-        </set>
-        where id = #{id}
-    </update>
 
     <update id="updateRobotStatus">
         update

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

@@ -19,4 +19,21 @@
             task_detail_id = #{taskDetailId}
         and command_id = '-1'
     </update>
+    <select id="getMistakeTaskByCommandType"
+            resultType="cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO">
+        select
+            *
+        from
+            robot_task_detail_action_log
+        where
+            command_id = '-1'
+        and deleted = '0'
+        and action_status in ('0','1')
+        and create_time >= DATE_SUB(NOW(), INTERVAL 1 DAY)
+        and command_type in
+        <foreach collection="commandTypes" item="commandType" index="index" open="(" close=")"
+                 separator=",">
+            #{commandType}
+        </foreach>
+    </select>
 </mapper>

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

@@ -148,7 +148,7 @@
     id, montage_task, montage_number, sku_info, sku_batch, sku_number, priority, other_msg, do_cycle, do_move_all,
     cycle_number, remaining_cycle_number, task_no, task_status, task_stage, start_time, end_time, creator, create_time,
     updater, update_time, deleted, tenant_id
-    from zn_wcs.robot_task
+    from robot_task
     </select>
     <!--统计总行数-->
     <select id="count" resultType="java.lang.Long">