yudao-framework/yudao-spring-boot-starter-web/src/main/java/cn/iocoder/yudao/framework/banner/core/BannerApplicationRunner.java

@@ -29,6 +29,22 @@ public class BannerApplicationRunner implements ApplicationRunner {
                     "https://cloud.iocoder.cn",
                     "https://t.zsxq.com/02Yf6M7Qn");
 
+            // 数据报表
+            System.out.println("[报表模块 yudao-module-report 教程][参考 https://cloud.iocoder.cn/report/ 开启]");
+            // 工作流
+            System.out.println("[工作流模块 yudao-module-bpm 教程][参考 https://cloud.iocoder.cn/bpm/ 开启]");
+            // 商城系统
+            System.out.println("[商城系统 yudao-module-mall 教程][参考 https://cloud.iocoder.cn/mall/build/ 开启]");
+            // ERP 系统
+            System.out.println("[ERP 系统 yudao-module-erp - 教程][参考 https://cloud.iocoder.cn/erp/build/ 开启]");
+            // CRM 系统
+            System.out.println("[CRM 系统 yudao-module-crm - 教程][参考 https://cloud.iocoder.cn/crm/build/ 开启]");
+            // 微信公众号
+            System.out.println("[微信公众号 yudao-module-mp 教程][参考 https://cloud.iocoder.cn/mp/build/ 开启]");
+            // 支付平台
+            System.out.println("[支付系统 yudao-module-pay - 教程][参考 https://cloud.iocoder.cn/pay/build/ 开启]");
+            // AI 大模型
+            System.out.println("[AI 大模型 yudao-module-ai - 教程][参考 https://cloud.iocoder.cn/ai/build/ 开启]");
         });
     }
 

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/dto/PositionMapLineDTO.java

@@ -102,18 +102,16 @@ public class PositionMapLineDTO {
     @Schema(description = "终点高")
     private Double endHigh;
 
-    @Schema(description = "车头朝向(0:正正 1:正反 2:反正 3:反反 4正随 5随正 6随反 7反随 8随随) 如果是单向的话 0代表正 1代表反 2代表随意", example = "15890")
+    @Schema(description = "车头朝向(0:正正 1:正反 2:反正 3:反反)", example = "15890")
     private Integer toward;
 
-    @Schema(description = "发送给路径规划 车头朝向(0正 1反 2随)", example = "15890")
+    @Schema(description = "发送给路径规划 车头朝向(0正 1反)", example = "15890")
     private Integer ppToward;
 
 
     /**
      * 双向车道 反向行走变更车头朝向
      *
-     * 车头朝向(0:正正 1:正反 2:反正 3:反反  4正随 5随正 6随反 7反随 8随随
-     *
      * @param toward
      * @return
      */
@@ -126,48 +124,6 @@ public class PositionMapLineDTO {
             return 0;
         } else if (toward == 3) {
             return 1;
-        } else if (toward == 4) {
-            return 2;
-        } else if (toward == 5) {
-            return 0;
-        } else if (toward == 6) {
-            return 1;
-        } else if (toward == 7) {
-            return 2;
-        } else if (toward == 8) {
-            return 2;
-        } else {
-            return 0;
-        }
-    }
-
-    /**
-     * 双向车道 反向行走变更车头朝向
-     *
-     * 车头朝向(0:正正 1:正反 2:反正 3:反反  4正随 5随正 6随反 7反随 8随随
-     *
-     * @param toward
-     * @return
-     */
-    public Integer changeTowardFirst(Integer toward) {
-        if (toward == 0) {
-            return 0;
-        } else if (toward == 1) {
-            return 0;
-        } else if (toward == 2) {
-            return 1;
-        } else if (toward == 3) {
-            return 1;
-        } else if (toward == 4) {
-            return 0;
-        } else if (toward == 5) {
-            return 2;
-        } else if (toward == 6) {
-            return 2;
-        } else if (toward == 7) {
-            return 1;
-        } else if (toward == 8) {
-            return 2;
         } else {
             return 0;
         }

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

@@ -1,9 +0,0 @@
-package cn.iocoder.yudao.module.mqtt.api.task.dto;
-
-import lombok.Data;
-
-@Data
-public class RobotSimulationPoseDTO {
-    private String commandType;
-    private RobotSimulationPoseDataDTO pose2d;
-}

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

@@ -1,10 +0,0 @@
-package cn.iocoder.yudao.module.mqtt.api.task.dto;
-
-import lombok.Data;
-
-@Data
-public class RobotSimulationPoseDataDTO {
-    private Double x;
-    private Double y;
-    private Double yaw;
-}

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

@@ -43,7 +43,7 @@ public class MqttCallBack implements MqttCallback {
             mqttService.analysisMessage(msg);
         } catch (Exception e) {
             log.info("消费失败的消息主题 :{},消息内容 :{}", topic, msg);
-            log.info("消费消息异常 :{}", e);
+            log.info("消费消息异常 :{}", e.getMessage());
         }
     }
 

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

@@ -37,8 +37,7 @@ mqtt:
   password: adminuser
   qos: 0
   clientId: mqttx_b82345a52
-  # 表示允许同时在传输中的最大消息数量
+  maxInflight: 10
-  maxInflight: 1000
   timeout: 10
   keepalive: 20
 

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

@@ -37,8 +37,7 @@ mqtt:
   password: adminuser
   qos: 2
   clientId: mqttx_b82345a52
-  # 表示允许同时在传输中的最大消息数量
+  maxInflight: 10
-  maxInflight: 1000
   timeout: 10
   keepalive: 20
 

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

@@ -37,8 +37,7 @@ mqtt:
   password: adminuser
   qos: 0
   clientId: mqttx_b82345a52
-  # 表示允许同时在传输中的最大消息数量
+  maxInflight: 10
-  maxInflight: 1000
   timeout: 10
   keepalive: 20
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java

@@ -83,7 +83,6 @@ public class PathApiImpl implements PathApi {
     public void ppDistributionTaskFail(String message) {
         TenantContextHolder.setTenantId(1L);
         warnMsgService.addWarnMsg(message);
-        warnMsgService.sendWarnMsgToWebsocket(message);
     }
 
     @Override

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

@@ -269,8 +269,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      */
     @Transactional(rollbackFor = Exception.class)
     public void closeTask(RobotCompleteTaskDTO robotCompleteTaskDTO) {
-        PPCloseOrder(robotCompleteTaskDTO);
+        /*PPCloseOrder(robotCompleteTaskDTO);
-//        taskService.closeTaskDetail(robotCompleteTaskDTO.getOrderId().toString(),robotCompleteTaskDTO.getMac());
+        taskService.closeTaskDetail(robotCompleteTaskDTO.getOrderId().toString(),robotCompleteTaskDTO.getMac());*/
         String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
 
         //先不释放库位状态
@@ -302,19 +302,12 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                     DeviceUseStatusEnum.IDLE.getType(), ZeroOneEnum.ZERO.getType());
         }*/
 
-        String solve = "";
-        if (!PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())
-            && !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;
-        }
-
         RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(4)
                 .warnCode(robotCompleteTaskDTO.getStatusCode())
                 .robotNo(robotNo)
                 .warnType(RobotWarnType.ROBOT_WARN.getType())
                 .warnMsg(robotNo + "_" + robotCompleteTaskDTO.getMessage())
-                .warnSolve(robotCompleteTaskDTO.getSolution() + solve)
+                .warnSolve(robotCompleteTaskDTO.getSolution())
                 .build();
         warnMsgMapper.insert(warnMsg);
 

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

@@ -1,23 +0,0 @@
-package cn.iocoder.yudao.module.system.config;
-
-import cn.iocoder.yudao.module.system.service.tool.ToolsService;
-import lombok.extern.slf4j.Slf4j;
-import org.springframework.boot.ApplicationArguments;
-import org.springframework.boot.ApplicationRunner;
-import org.springframework.stereotype.Component;
-
-import javax.annotation.Resource;
-
-
-@Slf4j
-@Component
-public class SystemApplicationRunner implements ApplicationRunner {
-
-    @Resource
-    private ToolsService toolsService;
-
-    @Override
-    public void run(ApplicationArguments args) {
-        toolsService.simulationPose();
-    }
-}

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

@@ -24,9 +24,4 @@ public class RobotTopicConstant {
      * 让机器人同步告警码值映射的topic （拼接mac地址）
      */
     public static String WARN_WAIT_TIME_TOPIC = "WARN_WAIT_TIME";
-
-    /**
-     * 仿真初始化点位信息
-     */
-    public static String ROBOT_COMMAND_TOPIC = "ROBOT_COMMAND_";
 }

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

@@ -102,6 +102,6 @@ public class PositionMapLineDTO {
     @Schema(description = "终点高")
     private BigDecimal endHigh;
 
-    @Schema(description = "车头朝向(0:正正 1:正反 2:反正 3:反反 4正随 5随正 6随反 7反随 8随随")
+    @Schema(description = "车头朝向( 0:正正 1:正反 2:反正 3:反反)")
     private Integer toward;
 }

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

@@ -114,7 +114,7 @@ public class PositionMapLinePageReqVO extends PageParam {
     private LocalDateTime[] createTime;
 
 
-    @Schema(description = "车头朝向(0:正正 1:正反 2:反正 3:反反 4正随 5随正 6随反 7反随 8随随", example = "15890")
+    @Schema(description = "车头朝向( 0:正正 1:正反 2:反正 3:反反)", example = "15890")
     private Integer toward;
 
 }

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

@@ -130,8 +130,8 @@ public class PositionMapLineRespVO {
     @ExcelProperty("创建时间")
     private LocalDateTime createTime;
 
-    @Schema(description = "车头朝向(0:正正 1:正反 2:反正 3:反反 4正随 5随正 6随反 7反随 8随随", example = "15890")
+    @Schema(description = "车头朝向( 0:正正 1:正反 2:反正 3:反反)", example = "15890")
-    @ExcelProperty("车头朝向(0:正正 1:正反 2:反正 3:反反 4正随 5随正 6随反 7反随 8随随")
+    @ExcelProperty("车头朝向( 0:正正 1:正反 2:反正 3:反反)")
     private Integer toward;
 
 }

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

@@ -112,7 +112,7 @@ public class PositionMapLineSaveReqVO {
     private BigDecimal reverseSpeedLimit;
 
 
-    @Schema(description = "车头朝向(0:正正 1:正反 2:反正 3:反反 4正随 5随正 6随反 7反随 8随随 如果是单向的话 0代表正 1代表反 2代表随意", example = "15890")
+    @Schema(description = "车头朝向( 0:正正 1:正反 2:反正 3:反反)", example = "15890")
     private Integer toward;
 
 }

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

@@ -47,12 +47,4 @@ public class ToolsController {
     public CommonResult<String> updateWarnCode() {
         return success(toolsService.updateWarnCode());
     }
-
-    @PostMapping("/robot/simulationPose")
-    @Operation(summary = "机器人---仿真环境--初始化点位")
-    @PermitAll
-    public CommonResult<String> simulationPose() {
-        toolsService.simulationPose();
-        return success("同步完成");
-    }
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapLineDO.java

@@ -169,7 +169,7 @@ public class PositionMapLineDO extends BaseDO {
     private BigDecimal reverseSpeedLimit;
 
     /**
-     * 车头朝向(0:正正 1:正反 2:反正 3:反反 4正随 5随正 6随反 7反随 8随随 如果是单向的话 0代表正 1代表反 2代表随意
+     * 车头朝向(0:正正 1:正反 2:反正 3:反反)
      */
     private Integer toward;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java

@@ -142,22 +142,4 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
      * @param areaId
      */
     void updateLocationAreaNameEmptyByAreaId(@Param("areaId") Long areaId);
-
-    /**
-     * 查询此库位的上层, 是否有货
-     * @param mapItemId
-     * @param locationStorey
-     * @return
-     */
-    List<WareHouseLocationDO> queryUpperLevelsByMapItemId(@Param("mapItemId") Long mapItemId,
-                                                          @Param("locationStorey") Integer locationStorey);
-
-    /**
-     * 查询此库位的下层，是否没货
-     * @param mapItemId
-     * @param locationStorey
-     * @return
-     */
-    List<WareHouseLocationDO> queryLowerLevelsByMapItemId(@Param("mapItemId") Long mapItemId,
-                                                          @Param("locationStorey") Integer locationStorey);
 }

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

@@ -122,11 +122,4 @@ public interface RobotTaskDetailMapper extends BaseMapperX<RobotTaskDetailDO> {
      * @return
      */
     List<RobotTaskDetailDO> getDoingTaskDetailByLocationIds(@Param("ids") List<Long> ids);
-
-    /**
-     * 查询任务明细对应的任务编号
-     * @param taskDetailId
-     * @return
-     */
-    String getTaskNoByDetailId(@Param("taskDetailId") Long taskDetailId);
 }

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

@@ -9,8 +9,7 @@ public enum RobotCommandTypeEnum {
     MOVE_POSES("MOVE_POSES","移动"),
     WORK_START_CHARGE("WORK_START_CHARGE","充电"),
     WORD_PICK_UP_GOODS("WORD_PICK_UP_GOODS","取货"),
-    WORD_DROP_OFF_GOODS("WORD_DROP_OFF_GOODS","放货"),
+    WORD_DROP_OFF_GOODS("WORD_DROP_OFF_GOODS","放货");
-    MOVE_POSE("MOVE_POSE","仿真移动点位");
     /**
      * 类型
      */

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

@@ -37,7 +37,6 @@ import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
-import com.google.gson.Gson;
 import com.serotonin.modbus4j.ModbusMaster;
 import com.serotonin.modbus4j.exception.ModbusInitException;
 import com.serotonin.modbus4j.exception.ModbusTransportException;
@@ -144,19 +143,11 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
         if (ObjectUtil.isNotEmpty(updateObj.getPositionMapItemId())) {
             PositionMapItemDO positionMapItem = positionMapItemService.getPositionMapItem(updateObj.getPositionMapItemId());
             String dataJson = positionMapItem.getDataJson();
-            /*DeviceInformationDataJsonDTO data = JSON.parseObject(dataJson, DeviceInformationDataJsonDTO.class);
+            DeviceInformationDataJsonDTO data = JSON.parseObject(dataJson, DeviceInformationDataJsonDTO.class);
             data.setDeviceType(updateObj.getDeviceType());
             data.setDeviceNo(updateObj.getDeviceNo());
-            data.setMapImageUrl(updateObj.getMapImageUrl());*/
+            data.setMapImageUrl(updateObj.getMapImageUrl());
-
+            positionMapItem.setDataJson(JSON.toJSONString(data));
-            Gson gson = new Gson();
-            Map<Object,Object> map = new HashMap();
-            map = gson.fromJson(dataJson, map.getClass());
-            map.put("deviceType",updateObj.getDeviceType());
-            map.put("deviceNo",updateObj.getDeviceNo());
-            map.put("mapImageUrl",updateObj.getMapImageUrl());
-
-            positionMapItem.setDataJson(JSON.toJSONString(map));
             positionMapItemService.updateById(positionMapItem);
         }
 

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

@@ -205,12 +205,10 @@ public class PathPlanningServiceImpl implements PathPlanningService {
 
         List<PositionMapLineDTO> list = new ArrayList<>();
         for (PositionMapLineDTO positionMapLineDO : positionMapLineDOS) {
+            list.add(positionMapLineDO);
             if (DirectionEnum.ONE_WAY.getType().equals(positionMapLineDO.getDirection())) {
-                positionMapLineDO.setPpToward(positionMapLineDO.getToward());
+                positionMapLineDO.setPpToward(positionMapLineDO.changeToward(positionMapLineDO.getToward()));
-                list.add(positionMapLineDO);
             } else {
-                positionMapLineDO.setPpToward(positionMapLineDO.changeTowardFirst(positionMapLineDO.getToward()));
-                list.add(positionMapLineDO);
                 list.add(setPositionMapLineDTOData(positionMapLineDO));
             }
         }
@@ -282,12 +280,10 @@ public class PathPlanningServiceImpl implements PathPlanningService {
 
         List<PositionMapLineDTO> list = new ArrayList<>();
         for (PositionMapLineDTO positionMapLineDO : positionMapLineDOS) {
+            list.add(positionMapLineDO);
             if (DirectionEnum.ONE_WAY.getType().equals(positionMapLineDO.getDirection())) {
-                positionMapLineDO.setPpToward(positionMapLineDO.getToward());
+                positionMapLineDO.setPpToward(positionMapLineDO.changeToward(positionMapLineDO.getToward()));
-                list.add(positionMapLineDO);
             } else {
-                positionMapLineDO.setPpToward(positionMapLineDO.changeTowardFirst(positionMapLineDO.getToward()));
-                list.add(positionMapLineDO);
                 list.add(setPositionMapLineDTOData(positionMapLineDO));
             }
         }
@@ -537,7 +533,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
                 .expansionZoneAfter(positionMapLineDO.getExpansionZoneFront())
                 .expansionZoneLeft(positionMapLineDO.getExpansionZoneRight())
                 .expansionZoneRight(positionMapLineDO.getExpansionZoneLeft())
-                .ppToward(positionMapLineDO.changeToward(positionMapLineDO.getToward()))
+                .toward(positionMapLineDO.changeToward(positionMapLineDO.getToward()))
                 .build();
         return build;
     }
@@ -552,12 +548,10 @@ public class PathPlanningServiceImpl implements PathPlanningService {
 
         List<PositionMapLineDTO> list = new ArrayList<>();
         for (PositionMapLineDTO positionMapLineDO : positionMapLineDOS) {
+            list.add(positionMapLineDO);
             if (DirectionEnum.ONE_WAY.getType().equals(positionMapLineDO.getDirection())) {
-                positionMapLineDO.setPpToward(positionMapLineDO.getToward());
+                positionMapLineDO.setPpToward(positionMapLineDO.changeToward(positionMapLineDO.getToward()));
-                list.add(positionMapLineDO);
             } else {
-                positionMapLineDO.setPpToward(positionMapLineDO.changeTowardFirst(positionMapLineDO.getToward()));
-                list.add(positionMapLineDO);
                 list.add(setPositionMapLineDTOData(positionMapLineDO));
             }
         }

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

@@ -301,7 +301,8 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
 
     @Override
     public void emergencyStopOrRecovery(Long id) {
-        // todo 先获取当前地图上的所有AGV信息
+        // 先获取当前地图上的所有AGV信息
+
     }
 
     @Override

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

@@ -80,11 +80,4 @@ public interface RobotTaskDetailService {
      * @return
      */
     List<RobotTaskDetailDO> getDoingTaskDetailByLocationIds(List<Long> ids);
-
-    /**
-     * 获取任务编号
-     * @param orderId
-     * @return
-     */
-    String getTaskNoByDetailId(Long orderId);
 }

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

@@ -168,9 +168,4 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
     public List<RobotTaskDetailDO> getDoingTaskDetailByLocationIds(List<Long> ids) {
         return taskDetailMapper.getDoingTaskDetailByLocationIds(ids);
     }
-
-    @Override
-    public String getTaskNoByDetailId(Long taskDetailId) {
-        return taskDetailMapper.getTaskNoByDetailId(taskDetailId);
-    }
 }

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

@@ -91,6 +91,8 @@ import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
 @Validated
 public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTaskDO> implements RobotTaskService {
 
+    private final String RESULT = "SUCCESS";
+
     @Resource
     private RobotTaskMapper taskMapper;
 
@@ -177,9 +179,10 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         //获取库位id
         RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_ADD_LOCK.getKey());
 
+        String addResult = "";
         if (lock.tryLock(60l, TimeUnit.MINUTES)) {
             try {
-                addTask(createReqVO);
+                addResult = addTask(createReqVO);
             } finally {
                 lock.unlock();
             }
@@ -187,6 +190,10 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             throw exception(REDISSON_NOT_OBTAIN_LOCK);
         }
 
+        if (!RESULT.equals(addResult)) {
+            throw exception0(TASK_CHECK_EXCEPTION.getCode(), addResult);
+        }
+
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder().operateAction("创建任务 " + createReqVO.getTaskNo())
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
@@ -250,7 +257,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
      * @param createReqVO
      */
     @Transactional(rollbackFor = Exception.class)
-    public void addTask(RobotTaskSaveReqVO createReqVO) {
+    public String addTask(RobotTaskSaveReqVO createReqVO) {
         RobotTaskDO task = BeanUtils.toBean(createReqVO, RobotTaskDO.class);
         taskMapper.insert(task);
 
@@ -293,6 +300,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                 && ZeroOneEnum.ONE.getType().equals(createReqVO.getDoCycle().intValue())) {
             addCycle(task.getId(), createReqVO.getTaskDetailList());
         }
+
+        return RESULT;
     }
 
     @Transactional(rollbackFor = Exception.class)
@@ -1017,7 +1026,6 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                 log.error("此点位存在取货任务 :{}", locationDO.getLocationNo());
                 throw exception0(TASK_CREATE_FAIL.getCode(), "此库位存在取货任务 " + locationDO.getLocationNo());
             }
-            checkToLocationNoneTask(locationDO);
             releaseMapItemIds.add(locationDO.getMapItemId());
         } else {
             if (ReleaseTakeEnum.TO_LANE.getType().equals(robotTaskVo.getReleaseType()) && ObjectUtil.isEmpty(laneIds)
@@ -1047,18 +1055,6 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         }
     }
 
-    /**
-     * 校验放货库位的下一层是否没任务
-     * @param locationDO
-     */
-    private void checkToLocationNoneTask(WareHouseLocationDO locationDO) {
-        List<WareHouseLocationDO> locations = locationMapper.queryLowerLevelsByMapItemId(locationDO.getMapItemId(),locationDO.getLocationStorey());
-        if (ObjectUtil.isNotEmpty(locations)) {
-            log.error("此放货库位的下层库位无货,请先放下层库位 :{}", locationDO.getLocationNo());
-            throw exception0(TASK_CREATE_FAIL.getCode(), "此放货库位的下层库位无货,请先放下层库位 " + locationDO.getLocationNo());
-        }
-    }
-
     /**
      * 设置取货库位
      *
@@ -1090,7 +1086,6 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                 log.error("此取货库位没库存 :{}", locationDO.getLocationNo());
                 throw exception0(TASK_CREATE_FAIL.getCode(), "此取货库位没库存 " + locationDO.getLocationNo());
             }
-            checkFromLocationNoneTask(locationDO);
             takeMapItemIds.add(locationDO.getMapItemId());
         } else {
             WareHouseLocationDO wareHouseLocationDO =
@@ -1110,19 +1105,6 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         }
     }
 
-    /**
-     * 校验取货库位的上层是否存在未取的箱子
-     * @param locationDO
-     */
-    private void checkFromLocationNoneTask(WareHouseLocationDO locationDO) {
-
-        List<WareHouseLocationDO> locations = locationMapper.queryUpperLevelsByMapItemId(locationDO.getMapItemId(),locationDO.getLocationStorey());
-        if (ObjectUtil.isNotEmpty(locations)) {
-            log.error("此取货库位的上层库位有货,请先取上层库位的货物 :{}", locationDO.getLocationNo());
-            throw exception0(TASK_CREATE_FAIL.getCode(), "此取货库位的上层库位有货,请先取上层库位的货物 " + locationDO.getLocationNo());
-        }
-    }
-
     /**
      * 取放
      *

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

@@ -115,9 +115,6 @@ public class RobotWarnMsgServiceImpl extends ServiceImpl<RobotWarnMsgMapper, Rob
 
     @Override
     public void addWarnMsg(String message) {
-        if (message.length() > 200 ) {
-            message = message.substring(0,200);
-        }
         RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(4)
                 .warnCode("PP")
                 .robotNo("")

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

@@ -12,6 +12,4 @@ public interface ToolsService {
     String closeTaskDetail(String taskDetailId);
 
     String updateWarnCode();
-
-    void simulationPose();
 }

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

@@ -2,11 +2,8 @@ package cn.iocoder.yudao.module.system.service.tool;
 
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.json.JSONUtil;
-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.RobotAcceptTaskDTO;
-import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO;
-import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDataDTO;
 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.constant.path.PathPlanningTopicConstant;
@@ -15,30 +12,21 @@ import cn.iocoder.yudao.module.system.controller.admin.config.dto.TaskOrderConfi
 import cn.iocoder.yudao.module.system.controller.admin.config.vo.CommonConfigVO;
 import cn.iocoder.yudao.module.system.controller.admin.tool.dto.CleanAgvDTO;
 import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
-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.RobotInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnMsgDO;
 import cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnMsgMapper;
 import cn.iocoder.yudao.module.system.enums.config.CommandConfigTypeEnum;
-import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotWarnType;
-import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
-import cn.iocoder.yudao.module.system.service.config.CommonConfigService;
-import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
-import cn.iocoder.yudao.module.system.service.positionmap.PositionMapService;
 import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
 import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.beans.factory.annotation.Value;
 import org.springframework.stereotype.Service;
 import org.springframework.validation.annotation.Validated;
 
 import javax.annotation.Resource;
-import java.util.ArrayList;
 import java.util.Arrays;
 import java.util.List;
 
@@ -65,18 +53,6 @@ public class ToolsServiceImpl implements ToolsService {
     @Autowired
     private RobotInformationService robotInformationService;
 
-    @Resource
-    private PositionMapItemService positionMapItemService;
-
-    /*@Resource
-    private CommonConfigService configService;*/
-
-    @Resource
-    private PositionMapService positionMapService;
-
-    @Value("${zn.is_simulation:false}")
-    private Boolean isSimulation;
-
     /**
      * 发送时间、优先级、距离的权重给PP
      *
@@ -180,70 +156,6 @@ public class ToolsServiceImpl implements ToolsService {
         return "同步完成";
     }
 
-    @Override
-    public void simulationPose() {
-        if (!isSimulation) {
-            log.info("非仿真环境不需要同步默认的节点数据");
-        }
-
-        TenantContextHolder.setTenantId(1L);
-
-//        CommonConfigDO config = configService.getConfig(CommandConfigTypeEnum.SIMULATION_CONFIG.getType().longValue());
-
-        CommonConfigDO config = configMapper.selectOne(new LambdaQueryWrapper<CommonConfigDO>()
-                .eq(CommonConfigDO::getConfigType, CommandConfigTypeEnum.SIMULATION_CONFIG.getType().longValue()));
-
-        PositionMapDO positionMap = null;
-        if (ObjectUtil.isEmpty(config) || ObjectUtil.isEmpty(config.getConfigStr())) {
-            List<PositionMapDO> maps = positionMapService.getAllMap();
-            if (ObjectUtil.isEmpty(maps)) {
-                return;
-            }
-            positionMap = maps.get(0);
-        } else {
-            positionMap = positionMapService.getPositionMap(Long.valueOf(config.getConfigStr()));
-        }
-        if (ObjectUtil.isEmpty(positionMap)) {
-            log.info("仿真环境没有地图信息");
-            return;
-        }
-
-        List<RobotInformationDO> robots = robotInformationService.getAllRobot();
-
-        if (ObjectUtil.isEmpty(robots)) {
-            log.info("仿真环境没有机器人信息");
-            return;
-        }
-
-        List<PositionMapItemDO> itemDOList = new ArrayList<>();
-        List<PositionMapItemDO> items = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.WAIT.getType());
-        if (ObjectUtil.isEmpty(items) || items.size() < robots.size()) {
-            List<PositionMapItemDO> itemPoses = positionMapItemService.getPositionMapItemByMapAndType(positionMap.getId(), PositionMapItemEnum.PATH.getType());
-            itemDOList.addAll(itemPoses);
-        } else {
-            itemDOList = items;
-        }
-
-
-        int i = 0;
-        for (RobotInformationDO robot : robots) {
-            RobotSimulationPoseDataDTO poseData = new RobotSimulationPoseDataDTO();
-            RobotSimulationPoseDTO simulationPoseDTO = new RobotSimulationPoseDTO();
-            if (itemDOList.size() <= i) {
-                continue;
-            }
-
-            poseData.setX(Double.valueOf(itemDOList.get(i).getActualLocationX()));
-            poseData.setY(Double.valueOf(itemDOList.get(i).getActualLocationY()));
-            poseData.setYaw(Double.valueOf(itemDOList.get(i).getLocationYaw()));
-            simulationPoseDTO.setPose2d(poseData);
-            simulationPoseDTO.setCommandType(RobotCommandTypeEnum.MOVE_POSE.getType());
-            commonApi.commonMethod(simulationPoseDTO, RobotTopicConstant.ROBOT_COMMAND_TOPIC + robot.getMacAddress());
-            log.info("仿真环境发送机器人默认点位信息");
-            i++;
-        }
-    }
-
 
     public void addWarnMsg() {
         RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(4)

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

@@ -187,24 +187,8 @@ justauth:
 zn:
   task-no: ZN #任务号开头
   do_cycle: true #是否开启循环
-  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
+  init_height: 0.0 #初始化高度
-  robot_position_cache_time: 10 #机器人上报点位存储时间(秒)
+  scan_height: 0.4 #扫描高度
-  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
+  parm: 5000 #等待时间
-  full_electricity: 100 #机器人充满电的电量
+  lift_height: 0.1 #抬高托盘高度
-  task_need_single: false #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)
+  move_height: 0.1 #行走高度
-  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)
-  robot_doing_action: # 机器人正在做的动作
-    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
-    release_location_number_config: 50 #同一组序号，越大越先执行
-    priority_config: 50 #优先级
-  task: #任务相关的配置
-    check_sku_info: true #校验物料信息
-  robot_config: #机器人取放货默认配置
-    offset_height: 0.1 #叉起货需要在原来高度基础上偏移的高度
-    default_tray_height: 1.1 #默认每层高度
-  open_rate_limiter: true #是否开启限流
-  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

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

@@ -226,7 +226,7 @@ zn:
   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
   full_electricity: 100 #机器人充满电的电量
-  task_need_single: false #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)
+  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)
   robot_doing_action: # 机器人正在做的动作
     action_entity_cache_time: 172800 #机器人所有动作缓存时间 8小时
@@ -242,8 +242,3 @@ zn:
   open_rate_limiter: true #是否开启限流
   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
-
-logging:
-  file:
-    name: D:/project/rcs/logs/${spring.application.name}.log

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

@@ -217,7 +217,8 @@ zn:
   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
   full_electricity: 100 #机器人充满电的电量
-  task_need_single: false #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)
+  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)
   robot_doing_action: # 机器人正在做的动作
     action_entity_cache_time: 172800 #机器人所有动作缓存时间 8小时
@@ -230,10 +231,6 @@ zn:
   robot_config: #机器人取放货默认配置
     offset_height: 0.1 #叉起货需要在原来高度基础上偏移的高度
     default_tray_height: 1.1 #默认每层高度
-  open_rate_limiter: true #是否开启限流
-  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
 
 logging:
   file:

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

@@ -542,7 +542,6 @@
         from
             ware_house_location t1
         <where>
-            t1.deleted = '0'
             <if test= " locationUseStatus != null ">
                 AND t1.location_use_status = #{locationUseStatus}
             </if>
@@ -841,8 +840,6 @@
         </foreach>
         and t2.location_number &lt; t1.location_number
         and t2.location_use_status = '1'
-        and t1.deleted = '0'
-        and t2.deleted = '0'
         and t2.id not in
         <foreach collection="locationIds" item="id" index="index" open="(" close=")"
                  separator=",">
@@ -852,35 +849,4 @@
         limit 1
     </select>
 
-
-    <select id="queryUpperLevelsByMapItemId"
-            resultType="cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO">
-        select
-            <include refid="base_sql"></include>
-        from
-            ware_house_location
-        <where>
-            deleted = '0'
-            and map_item_id = #{mapItemId}
-            and location_storey &gt; #{locationStorey}
-            and location_use_status = '1'
-            and location_lock = '1'
-        </where>
-    </select>
-
-    <select id="queryLowerLevelsByMapItemId"
-            resultType="cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO">
-        select
-            <include refid="base_sql"></include>
-        from
-            ware_house_location
-        <where>
-            deleted = '0'
-            and map_item_id = #{mapItemId}
-            and location_storey &lt; #{locationStorey}
-            and location_use_status = '0'
-            and location_lock = '1'
-        </where>
-    </select>
-
 </mapper>

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

@@ -272,20 +272,6 @@
     </select>
 
 
-    <select id="getTaskNoByDetailId" resultType="java.lang.String">
-        select
-            distinct
-            t1.task_no
-        from
-            robot_task t1 left join robot_task_detail t2
-            on t1.id = t2.robot_task_id
-        where
-            t2.id = #{taskDetailId}
-            and t1.deleted = '0'
-            and t2.deleted = '0'
-    </select>
-
-
     <!--通过主键修改数据-->
     <update id="updateRobotDetailById">
         update robot_task_detail