修改测试环境MQTT的IP

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

@@ -34,7 +34,9 @@ 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");
+    private static final List<String> ignoreInterfaceUrls = Arrays.asList("/rpc-api/system/task/robotStatusUpdate",
+            "/rpc-api/system/task/robotReactiveStatus",
+            "/rpc-api/system/task/updateRobotCommonStatus");
 
     @Override
     public boolean preHandle(HttpServletRequest request, HttpServletResponse response, Object handler) {

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

@@ -9,6 +9,8 @@ import org.eclipse.paho.client.mqttv3.MqttMessage;
 import org.springframework.context.annotation.Configuration;
 
 import java.nio.charset.StandardCharsets;
+import java.util.concurrent.ExecutorService;
+import java.util.concurrent.Executors;
 
 /**
  * MQTT回调
@@ -17,6 +19,9 @@ import java.nio.charset.StandardCharsets;
 @Configuration
 public class MqttCallBack implements MqttCallback {
 
+
+    private static final ExecutorService fixedThreadPool = Executors.newFixedThreadPool(10);
+
     /**
      * 与服务器断开的回调
      */
@@ -35,16 +40,19 @@ public class MqttCallBack implements MqttCallback {
      */
     @Override
     public void messageArrived(String topic, MqttMessage mqttMessage) throws Exception {
-        String msg = new String(mqttMessage.getPayload(), StandardCharsets.UTF_8);
+        fixedThreadPool.execute(() -> {
+            String msg = new String(mqttMessage.getPayload(), StandardCharsets.UTF_8);
 //        log.info("[MQTT]接收当前消息为 :{}", msg);
 
-        try {
+            try {
-            MqttService mqttService = MqttFactory.getMqttFactory(topic);
+                MqttService mqttService = MqttFactory.getMqttFactory(topic);
-            mqttService.analysisMessage(msg);
+                mqttService.analysisMessage(msg);
-        } catch (Exception e) {
+            } catch (Exception e) {
-            log.info("消费失败的消息主题 :{},消息内容 :{}", topic, msg);
+                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);
-        }
+            }
+        });
+
     }
 
     /**

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotStatusServiceImpl.java

@@ -22,7 +22,7 @@ public class RobotStatusServiceImpl implements MqttService {
      */
     @Override
     public void analysisMessage(String message) {
-//        log.info("处理RobotStatusServiceImpl的消息 :{}", message);
+        log.info("处理RobotStatusServiceImpl的消息 :{}", message);
         RobotPoseStatusDTO robotStatusData = JSON.parseObject(message, RobotPoseStatusDTO.class);
         robotStatusApi.robotStatusUpdate(robotStatusData);
     }

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

@@ -33,9 +33,9 @@ management:
 
 # MQTT
 mqtt:
-#  host: tcp://123.57.12.40:1883
+  host: tcp://123.57.12.40:1883
-  host: tcp://127.0.0.1:1883
+#  host: tcp://127.0.0.1:1883
-#  host: tcp://10.10.7.195:1883
+#  host: tcp://10.10.7.116:1883
   username: adminuser
   password: adminuser
   qos: 2

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

@@ -34,7 +34,8 @@ management:
 # MQTT
 mqtt:
 #  host: tcp://123.57.12.40:1883
-  host: tcp://10.10.100.42:1883
+#  host: tcp://10.10.100.42:1883
+  host: tcp://127.0.0.1:1883
   username: adminuser
   password: adminuser
   qos: 0

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

@@ -202,6 +202,7 @@ public interface ErrorCodeConstants {
     ErrorCode ROBOT_PORT_NOT_COMPLIANCE = new ErrorCode(1-002-034-016, "车辆端口范围在4096至65535之间");
     ErrorCode ROBOT_IP_NOT_COMPLIANCE = new ErrorCode(1-002-034-017, "请检测车辆IP是否符合规范");
     ErrorCode ROBOT_IP_OR_PORT_EMPTY = new ErrorCode(1-002-034-020, "车辆IP或者端口为空");
+    ErrorCode ROBOT_PART_AREA = new ErrorCode(1-002-034-021, "车辆选择的楼层,不包含目前车辆停靠的楼层");
 
     // ========== 机器人任务主表 1-002-035-000 ==========
     ErrorCode TASK_NOT_EXISTS = new ErrorCode(1-002-035-001, "车辆任务主表不存在");

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

@@ -98,6 +98,7 @@ public class PathApiImpl implements PathApi {
      */
     @Override
     public void ppDistributionTaskFail(String message) {
+        log.info("111111路径规划上报失败的消息");
         TenantContextHolder.setTenantId(1L);
         RobotWarnMsgSaveReqVO data = JSON.parseObject(message, RobotWarnMsgSaveReqVO.class);
         warnMsgService.createWarnMsg(data);
@@ -108,7 +109,7 @@ public class PathApiImpl implements PathApi {
 
     @Override
     public void pathPlanningMove(String message) {
-        log.info("收到路径规划路径的消息 :{}", message);
+        log.info("111111路径规划发给车机的消息 :{}", message);
         taskExecutor.execute(() -> {
             TenantContextHolder.setTenantId(1L);
             pathPlanningService.sendPosedsToRobot(message);
@@ -145,7 +146,7 @@ public class PathApiImpl implements PathApi {
     @Override
     public void graphMatchData(String message) {
         TenantContextHolder.setTenantId(1L);
-        log.info("匹配路网的消息 :{}",message);
+        log.info("111111路径规划匹配路网的消息 :{}",message);
         pathPlanningService.graphMatchData(message);
     }
 

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

@@ -30,7 +30,7 @@ public class RobotGenericsStatusApiImpl implements RobotGenericsStatusApi {
     }
 
     public void doUpdateRobotCommonStatus(RobotGenericsDataDTO robotStatusData) {
-//        log.info("车机每3秒上报其他状态信息 :{}", JSONUtil.toJsonStr(robotStatusData));
+//        log.info("111111车机每3秒上报其他状态信息 :{}", JSONUtil.toJsonStr(robotStatusData));
         if (ObjectUtil.isEmpty(robotStatusData) || ObjectUtil.isEmpty(robotStatusData.getHwStates())
                 || ObjectUtil.isEmpty(robotStatusData.getMac())) {
             log.info("参数不全 :{}", JSON.toJSONString(robotStatusData));

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

@@ -41,7 +41,7 @@ public class RobotObstaclesStatusApiImpl implements RobotObstaclesStatusApi{
 
     @Override
     public void robotObstaclesStatus(String message) {
-        log.info("障碍物状态上报 :{}" ,message);
+        log.info("111111障碍物状态上报 :{}" ,message);
 
         RobotObstaclesStatusDTO data = JSON.parseObject(message, RobotObstaclesStatusDTO.class);
         if (!data.getObstacles()) {

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

@@ -41,7 +41,7 @@ public class RobotPathStatusApiImpl implements RobotPathStatusApi {
     }
 
     private void doRobotPathStatus(String message) {
-        log.info("导航实时行为上报: {}", message);
+        log.info("111111导航实时行为上报: {}", message);
         TenantContextHolder.setTenantId(1L);
         RobotPathStatusDTO data = JSON.parseObject(message, RobotPathStatusDTO.class);
         String robotNo = robotInformationService.getRobotNoByMac(data.getMac());

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

@@ -128,7 +128,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 
     @Transactional(rollbackFor = Exception.class)
     public void doRobotDoneTask(RobotCompleteTaskDTO robotCompleteTaskDTO) {
-        log.info("机器人完成任务上报 :{}", JSON.toJSONString(robotCompleteTaskDTO));
+        log.info("111111机器人完成任务上报 :{}", JSON.toJSONString(robotCompleteTaskDTO));
         TenantContextHolder.setTenantId(1L);
         String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_QUERY_DOING_ACTION + robotCompleteTaskDTO.getMac();
 
@@ -193,7 +193,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 , null);
 
         if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
-            || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()) ) {
+                || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
             chargeDoing(robotCompleteTaskDTO);
         }
     }
@@ -206,6 +206,12 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      * @param orderId
      */
     public void sendStartDoActionToPP(RobotCommandStateDTO commandStatus, String mac, String orderId) {
+        if (ObjectUtil.isNotEmpty(commandStatus)
+                || CommandTypeEnum.WORK_PICK_UP_GOODS_MOVE_TO_CHECK.getType().equals(commandStatus.getCommandType())
+                || CommandTypeEnum.WORK_DROP_OFF_GOODS_MOVE_TO_CHECK.getType().equals(commandStatus.getCommandType())) {
+            log.info("不发作业");
+            return;
+        }
         if (ObjectUtil.isNotEmpty(commandStatus) && RobotExecutionStateConstant.DOING.equals(commandStatus.getExecutionState())
                 && !CommandTypeEnum.MOVE_POSES.getType().equals(commandStatus.getCommandType())) {
             String robotNo = robotInformationService.getRobotNoByMac(mac);
@@ -247,10 +253,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         } else if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
             RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
             if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType())) {
-                log.info("告诉路径规划任务完成 :{}, 状态: {}", robotCompleteTaskDTO.getOrderId(), PathIsReachEnum.END_WORK.getType());
+                log.info("告诉路径规划取货任务完成 :{}, 状态: {}", robotCompleteTaskDTO.getOrderId(), PathIsReachEnum.END_WORK.getType());
                 pathPlanningService.updateBehavior(String.valueOf(robotCompleteTaskDTO.getOrderId()), robotTaskDetailDO.getRobotNo()
                         , "", PathIsReachEnum.END_WORK.getType());
-                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING.getType());
+                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
                 robotTaskDetailMapper.updateById(robotTaskDetailDO);
                 return;
             } else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType())) {
@@ -260,7 +266,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 
         if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
                 || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
-            chargeLogMapper.updateChargStatusByTaskId(robotCompleteTaskDTO.getOrderId(),ChargeTaskStatusEnum.DONE.getType());
+            chargeLogMapper.updateChargStatusByTaskId(robotCompleteTaskDTO.getOrderId(), ChargeTaskStatusEnum.DONE.getType());
         }
         taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType(), LocalDateTime.now());
 
@@ -289,7 +295,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         toWareHouseLocation.setLocationLock(LocationLockEnum.YES.getType());
         toWareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.YES.getType());
         locationMapper.updateById(toWareHouseLocation);
-        pushWareLocation(toWareHouseLocation,robotCompleteTaskDTO.getMac(),ZeroOneEnum.ONE.getType());
+        pushWareLocation(toWareHouseLocation, robotCompleteTaskDTO.getMac(), ZeroOneEnum.ONE.getType());
     }
 
     /**
@@ -345,7 +351,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
         wareHouseLocationDO.setLocationLock(LocationLockEnum.YES.getType());
         wareHouseLocationDO.setLocationUseStatus(LocationUseStatusEnum.NO.getType());
         locationMapper.updateById(wareHouseLocationDO);
-        pushWareLocation(wareHouseLocationDO,robotCompleteTaskDTO.getMac(),ZeroOneEnum.ZERO.getType());
+        pushWareLocation(wareHouseLocationDO, robotCompleteTaskDTO.getMac(), ZeroOneEnum.ZERO.getType());
     }
 
     public void pushWareLocation(WareHouseLocationDO wareHouseLocationDO, String mac, Integer type) {
@@ -393,10 +399,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 //        taskService.closeTaskDetail(robotCompleteTaskDTO.getOrderId().toString(),robotCompleteTaskDTO.getMac());
         String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
 
-        String msg = "";
+        String msg = null;
+        RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
         if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())
                 || PathTaskTypeEnum.TAKE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
-            RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
             if (RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetailDO.getTaskStage())
                     || RobotTaskStageEnum.UN_START.getType().equals(robotTaskDetailDO.getTaskStage())) {
                 robotTaskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.NEW.getType());
@@ -439,8 +445,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 
         String solve = "";
         String taskNo = "";
-        if (!PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
+        if (ObjectUtil.isEmpty(msg)) {
-                && ObjectUtil.isEmpty(msg)) {
             taskNo = taskDetailService.getTaskNoByDetailId(robotCompleteTaskDTO.getOrderId());
             solve = " 并且到任务列表关闭任务 " + taskNo;
             taskDetailService.setTaskDetailError(robotCompleteTaskDTO.getOrderId());
@@ -478,7 +483,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
             setTaskDone(robotCompleteTaskDTO);
         }
 
-        chargeLogMapper.updateChargStatusByTaskId(robotCompleteTaskDTO.getOrderId(),ChargeTaskStatusEnum.CHARGEING.getType());
+        chargeLogMapper.updateChargStatusByTaskId(robotCompleteTaskDTO.getOrderId(), ChargeTaskStatusEnum.CHARGEING.getType());
     }
 
     public RobotTaskDetailDO setTaskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
@@ -513,7 +518,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      */
     private void taskDone(RobotCompleteTaskDTO robotCompleteTaskDTO) {
 
-        RobotTaskDetailDO robotTaskDetailDO  = setTaskDone(robotCompleteTaskDTO);
+        RobotTaskDetailDO robotTaskDetailDO = setTaskDone(robotCompleteTaskDTO);
 
         RobotInformationDO robotInformationDO = robotInformationMapper.selectOne(new LambdaQueryWrapperX<RobotInformationDO>()
                 .eq(RobotInformationDO::getRobotNo, robotTaskDetailDO.getRobotNo()));

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

@@ -50,7 +50,7 @@ public class RobotUpdatePalletHeightApiImpl implements RobotUpdatePalletHeightAp
     @Override
     @Transactional(rollbackFor = Exception.class)
     public void updatePalletHeight(String message) {
-        log.info("高度反馈 :{}", message);
+        log.info("111111高度反馈 :{}", message);
         TenantContextHolder.setTenantId(1L);
         RobotUpdatePalletHeightDTO data = JSON.parseObject(message, RobotUpdatePalletHeightDTO.class);
         if (RobotCommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(data.getCommandType())) {

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

@@ -34,7 +34,7 @@ public class RobotWorkStatusApiImpl implements RobotWorkStatusApi {
 
     @Override
     public void robotWorkStatus(String message) {
-        log.info("作业实时行为上报: {}", message);
+        log.info("111111作业实时行为上报: {}", message);
 
         TenantContextHolder.setTenantId(1L);
         RobotWorkStatusDTO data = JSON.parseObject(message, RobotWorkStatusDTO.class);

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

@@ -130,4 +130,11 @@ public class RobotTaskController {
         return success(true);
     }
 
+    @GetMapping("/getRobotTaskNum")
+    @Operation(summary = "获取这台车工作的任务总数")
+    @Parameter(name = "robotNo", description = "车辆编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('robot:task:getRobotTaskNum')")
+    public CommonResult<Integer> getRobotTaskNum(@RequestParam("robotNo") String robotNo) {
+        return success(taskService.getRobotTaskNum(robotNo));
+    }
 }

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

@@ -84,6 +84,7 @@ public class PositionMapItemDO extends BaseDO {
     /**
      * AGV编号
      */
+    @TableField(updateStrategy = FieldStrategy.IGNORED)
     private String robotNo;
 
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/cycle/TaskCycleMapper.java

@@ -27,4 +27,10 @@ public interface TaskCycleMapper extends BaseMapperX<TaskCycleDO> {
     }
 
     void deletByRobotTaskId(@Param("robotTaskId") Long robotTaskId);
+
+    /**
+     * 批量删除
+     * @param taskIds
+     */
+    void deletByRobotTaskIds(@Param("taskIds")  Set<Long> taskIds);
 }

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

@@ -565,6 +565,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
     public void updateBehavior(String orderId, String robotNo, String behaviorId, String isReach) {
         TaskPathPlanningDTO build = TaskPathPlanningDTO.builder().orderId(orderId).robotNo(robotNo)
                 .behaviorId(behaviorId).isReach(isReach).build();
+        log.info("111111发给PP的数据 :{}",JSON.toJSONString(build));
         commonApi.commonMethod(build, PathPlanningTopicConstant.UPDATE_BEHAVIOR);
     }
 
@@ -574,7 +575,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
      */
     @Override
     public void pathPlanningMovePose(String message) {
-        log.info("车辆即将行走的点位 :{}",message);
+        log.info("111111路径规划车辆即将行走的点位 :{}",message);
         PathPlanningMovePoseVO robotStatusData = JSON.parseObject(message, PathPlanningMovePoseVO.class);
         String mac = robotInformationService.getMacByRobotNo(robotStatusData.getRobotNo());
         String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + mac;

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

@@ -162,7 +162,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Value("${zn.is_simulation:false}")
     private Boolean isSimulation;
 
-    @Value("${zn.restore_task_restart:true}")
+    @Value("${zn.restore_task_ restart:true}")
     private Boolean restoreTaskRestart;
 
     @Value("${zn.full_electricity:95}")
@@ -369,6 +369,21 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         validateInformationExists(updateReqVO.getId());
         RobotInformationDO robotInformationDO = informationMapper.selectById(updateReqVO.getId());
 
+        if (RobotStatusEnum.STAND_BY.getType().equals(robotInformationDO.getRobotStatus()) ) {
+            PositionMapItemDO positionMapItem = positionMapItemMapper.selectOne(new LambdaQueryWrapper<PositionMapItemDO>()
+                    .eq(PositionMapItemDO::getRobotNo, robotInformationDO.getRobotNo())
+                    .eq(PositionMapItemDO::getUseStatus, UseStatusEnum.USEING.getType())
+                    .eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType())
+                    .last("limit 1"));
+            if (ObjectUtil.isNotEmpty(positionMapItem) && ObjectUtil.isEmpty(updateReqVO.getFloorAreaJson())) {
+                log.info("车辆 :{} ,停靠在 :{},",robotInformationDO.getRobotNo(), positionMapItem.getPositionMapId());
+                throw exception(ROBOT_PART_AREA);
+            }else if (ObjectUtil.isNotEmpty(positionMapItem) && ObjectUtil.isNotEmpty(updateReqVO.getFloorAreaJson())
+                && !updateReqVO.getFloorAreaJson().contains(positionMapItem.getPositionMapId())) {
+                throw exception(ROBOT_PART_AREA);
+            }
+        }
+
         RemoteControllerInformationDO remoteControllerInformation = controllerInformationMapper.selectOne(new LambdaQueryWrapper<RemoteControllerInformationDO>()
                 .eq(RemoteControllerInformationDO::getRobotNo, robotInformationDO.getRobotNo())
                 .last("limit 1"));
@@ -425,7 +440,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         checkIpAndPort(updateObj);
 
         if (!updateReqVO.getRobotNo().equals(robotInformationDO.getRobotNo())) {
-            updateRobotNo(robotInformationDO.getRobotNo(),updateReqVO.getRobotNo());
+            updateRobotNo(robotInformationDO.getRobotNo(), updateReqVO.getRobotNo());
         }
 
         informationMapper.updateById(updateObj);
@@ -483,15 +498,16 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
     /**
      * 跟新车辆编号
+     *
      * @param oldRobotNo
      * @param newRobotNo
      */
     @Transactional(rollbackFor = Exception.class)
     public void updateRobotNo(String oldRobotNo, String newRobotNo) {
 
-        deviceInformationMapper.updateRobotNo(oldRobotNo,newRobotNo);
+        deviceInformationMapper.updateRobotNo(oldRobotNo, newRobotNo);
 
-        controllerInformationMapper.updateRobotNo(oldRobotNo,newRobotNo);
+        controllerInformationMapper.updateRobotNo(oldRobotNo, newRobotNo);
 
         RobotChargeLogDO robotChargeLog = chargeLogMapper.selectOne(new LambdaQueryWrapperX<RobotChargeLogDO>()
                 .eq(RobotChargeLogDO::getRobotNo, oldRobotNo)
@@ -504,11 +520,11 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         //这表暂时不改
 //        robotWorkingHoursStatisticsMapper
-        mapStopMapper.updateRobotNo(oldRobotNo,newRobotNo);
+        mapStopMapper.updateRobotNo(oldRobotNo, newRobotNo);
 
-        moveToWaitMapper.updateRobotNo(oldRobotNo,newRobotNo);
+        moveToWaitMapper.updateRobotNo(oldRobotNo, newRobotNo);
 
-        positionMapItemMapper.updateRobotNo(oldRobotNo,newRobotNo);
+        positionMapItemMapper.updateRobotNo(oldRobotNo, newRobotNo);
     }
 
     @Override
@@ -543,6 +559,16 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         // 删除
         informationMapper.deleteById(id);
 
+        PositionMapItemDO positionMapItem = positionMapItemMapper.selectOne(new LambdaQueryWrapper<PositionMapItemDO>()
+                .eq(PositionMapItemDO::getRobotNo, robotInformationDO.getRobotNo())
+                .eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType())
+                .last("limit 1"));
+        if (ObjectUtil.isNotEmpty(positionMapItem)) {
+            positionMapItem.setRobotNo(null);
+            positionMapItem.setUseStatus(UseStatusEnum.FREE.getType());
+            positionMapItemMapper.updateById(positionMapItem);
+        }
+
         //释放暂停记录
         releaseRobotStop(robotInformationDO);
 
@@ -668,7 +694,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                 if (ObjectUtil.isNotEmpty(cargoDetected) && RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))) {
                     //说明取货完成
                     v.setCargoDetected("有货");
-                }else {
+                } else {
                     v.setCargoDetected("空车");
                 }
                 if (RobotStatisticsTypeEnum.STANDBY.getType().equals(pageReqVO.getRobotStatisticsType())
@@ -1256,7 +1282,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         } else if (PathTaskTypeEnum.RELEASE.getType().equals(actionLog.getCommandType())) {
             releaseTask(pathPlanning);
         } else if (PathTaskTypeEnum.MOVE.getType().equals(actionLog.getCommandType())
-            || PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(actionLog.getCommandType())) {
+                || PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(actionLog.getCommandType())) {
 
         }
     }
@@ -1318,7 +1344,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                 wareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.NO.getType());
                 wareHouseLocationMapper.updateById(wareHouseLocation);
             }
-        }else {
+        } else {
             takeCheck(robotTaskDetail.getFromLocationId(), robotTaskDetail.getRobotTaskId(), isRemote);
         }
         releaseCheck(robotTaskDetail.getToLocationId(), robotTaskDetail.getRobotTaskId());
@@ -1493,7 +1519,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         List<String> robotNos = robots.stream().map(RobotInformationDO::getRobotNo).collect(Collectors.toList());
 
         List<String> list = new ArrayList<>();
-        String floorArea = floor + CommonConstant.SYMBOL  + area;
+        String floorArea = floor + CommonConstant.SYMBOL + area;
         Map<Object, Object> hmget = redisUtil.hmget(floorArea);
         if (ObjectUtil.isEmpty(hmget)) {
             return new ArrayList<>();

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

@@ -246,6 +246,7 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
     public void setTaskDetailError(Long id) {
         RobotTaskDetailDO robotTaskDetailDO = new RobotTaskDetailDO();
         robotTaskDetailDO.setId(id);
+        robotTaskDetailDO.setTaskStatus(RobotTaskStatusEnum.Exc.getType());
         robotTaskDetailDO.setOccurError(ZeroOneEnum.ONE.getType());
         taskDetailMapper.updateById(robotTaskDetailDO);
     }

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

@@ -115,4 +115,11 @@ public interface RobotTaskService extends IService<RobotTaskDO> {
      * @param robotNo
      */
     void chargeDone(String robotNo);
+
+    /**
+     * 查询车辆的工作总数
+     * @param robotNo
+     * @return
+     */
+    Integer getRobotTaskNum(String robotNo);
 }

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

@@ -512,6 +512,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
         taskDetailMapper.updateById(taskDetailDOS);
 
+        taskCycleMapper.deletByRobotTaskId(robotTaskDO.getId());
+
         if (ObjectUtil.isNotEmpty(locationIds)) {
             locationMapper.releaseLocationLockList(locationIds, robotTaskDO.getId()
                     , LocationLockEnum.YES.getType());
@@ -536,13 +538,11 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                 robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType());
             }*/
             //因为机器人如果正在抬叉取货，这时把任务取消，如果货叉刚好伸到托盘底下，还是需要人为控制
-            robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType());
+//            robotInformationDO.setRobotTaskModel(RobotTaskModelEnum.REJECTION.getType());
             robotInformationDO.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
         }
 
         informationMapper.updateById(robotInformationDOS);
-
-        taskCycleMapper.deletByRobotTaskId(robotTaskDO.getId());
     }
 
     @Override
@@ -582,7 +582,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
      */
     @Override
     public void assignTasks(String message) {
-        log.info("PP分配任务,开始更新任务状态 :{}", message);
+        log.info("111111PP路径规划分配任务,开始更新任务状态 :{}", message);
         TaskAssignDTO taskAssignDTO = JSON.parseObject(message, TaskAssignDTO.class);
 
         String mac = robotInformationService.getMacByRobotNo(taskAssignDTO.getRobotNo());
@@ -818,6 +818,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         taskDetailMapper.updateById(taskDetailDO);
         RobotTaskDO task = new RobotTaskDO();
         task.setId(taskDetailDO.getRobotTaskId());
+        task.setStartTime(LocalDateTime.now());
         task.setTaskStatus(RobotTaskStatusEnum.DOING.getType());
         taskMapper.updateById(task);
         String taskNo = taskDetailMapper.getTaskNoByDetailId(detailId);
@@ -1622,6 +1623,15 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         }
     }
 
+    @Override
+    public Integer getRobotTaskNum(String robotNo) {
+        List<RobotTaskDetailDO> taskDetailDOS = taskDetailMapper.selectList(new LambdaQueryWrapperX<RobotTaskDetailDO>()
+                .eq(RobotTaskDetailDO::getRobotNo, robotNo)
+                .ne(RobotTaskDetailDO::getTaskStatus, RobotTaskStatusEnum.NEW.getType()));
+
+        return ObjectUtil.isEmpty(taskDetailDOS) ? 0 : taskDetailDOS.size();
+    }
+
     /**
      * 任务日志分页
      *

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

@@ -7,6 +7,7 @@ import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
+import cn.iocoder.yudao.module.system.dal.mysql.cycle.TaskCycleMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
@@ -59,6 +60,9 @@ public class CycleServiceImpl implements CycleService {
 
     @Resource
     private RobotTaskService robotTaskService;
+
+    @Resource
+    private TaskCycleMapper taskCycleMapper;
     /**
      * 创建循环任务
      */
@@ -120,6 +124,7 @@ public class CycleServiceImpl implements CycleService {
         taskDetailMap.forEach((k,v) ->{
             robotTaskService.addCycle(k,v);
         });
+        taskCycleMapper.deletByRobotTaskIds(taskIds);
     }
 
     private List<RobotTaskDetailDO> getTaskDetailData(RobotTaskDO taskData, Map<Long,

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

@@ -205,6 +205,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             return;
         }
 
+        Map<Long, Long> sortMap = positionMapItems.stream().collect(Collectors.toMap(PositionMapItemDO::getId, PositionMapItemDO::getSortNum));
+
         List<String> inStopPointRobotNos = new ArrayList<>();
         for (PositionMapItemDO positionMapItem : positionMapItems) {
             if (UseStatusEnum.USEING.getType().equals(positionMapItem.getUseStatus()) && ObjectUtil.isNotEmpty(positionMapItem.getRobotNo())) {
@@ -285,8 +287,6 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             return;
         }
 
-        Map<Long, Long> sortMap = positionMapItems.stream().collect(Collectors.toMap(PositionMapItemDO::getId, PositionMapItemDO::getSortNum));
-
         //机器人不能行走的区域
         List<TaskRobotNoLimittationAreaDTO> robotNoLimitationArea = getRobotNoLimitationArea(robots);
         Map<String, TaskRobotNoLimittationAreaDTO> robotNoLimittationAreaDTOMap =
@@ -484,15 +484,15 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + mac;
             Object cargoDetected = redisUtil.get(cargoDetectedKey);
             log.info("传感器是否按下 :{}", cargoDetected);
-            if (ObjectUtil.isEmpty(cargoDetected) || (RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))
+           /* if (ObjectUtil.isNotEmpty(cargoDetected) && (RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))
                     && !RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType()))) {
                 log.info("车机上报传感器为空,  或者 被按下且任务非仅放货任务 :{} ,任务id ：{}", taskDetailDO.getRobotNo(), taskDetailDO.getId());
                 continue;
-            } else if (!RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))
+            } else if (ObjectUtil.isNotEmpty(cargoDetected) && !RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))
                     && RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType())) {
                 log.info("仅放货任务,传感器未被按下，所以不执行任务 :{}, 任务id ：{}", taskDetailDO.getRobotNo(), taskDetailDO.getId());
                 continue;
-            }
+            }*/
 
             List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = null;
             if (ObjectUtil.isEmpty(taskDetailDO.getRobotNo())) {
@@ -550,7 +550,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         }
 
         if (ObjectUtil.isNotEmpty(pathPlanningList)) {
-            log.info("作业任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
+            log.info("111111作业任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
             commonApi.commonMethod(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
         }
     }
@@ -578,7 +578,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
         Integer locationStorey = toLocation.getLocationStorey() - 1;
         double height = locationStorey * defaultTrayHeight;
-        log.info("放货设置默认高度 :{}", pathPlanning.getReleaseHeight());
+        log.info("放货设置默认高度 :{}", height);
         pathPlanning.setReleaseHeight(height);
     }
 

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

@@ -12,4 +12,12 @@
     <delete id="deletByRobotTaskId">
         delete from robot_task_cycle where robot_task_id = #{robotTaskId}
     </delete>
+    <delete id="deletByRobotTaskIds">
+        delete from robot_task_cycle
+               where robot_task_id in
+        <foreach collection="taskIds" item="robotTaskId" index="index" open="(" close=")"
+                 separator=",">
+            #{robotTaskId}
+        </foreach>
+    </delete>
 </mapper>