Merge branch 'dev' into cbs

# Conflicts:
#	yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseLocationController.java
#	yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java
#	yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationService.java
#	yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java
#	yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java

yudao-module-infra/yudao-module-infra-biz/src/main/java/cn/iocoder/yudao/module/infra/controller/admin/file/FileController.java

@@ -99,4 +99,13 @@ public class FileController {
         return success(BeanUtils.toBean(pageResult, FileRespVO.class));
     }
 
+    @PostMapping("/businessUpload")
+    @Operation(summary = "上传业务类型附件【如：工作日/周报附件】")
+//    @OperateLog(logArgs = false) // 上传文件，没有记录操作日志的必要
+    @PermitAll
+    public CommonResult<BusinessFileVO> businessUpload(@RequestParam("uploadFiles") MultipartFile file) throws Exception {
+        return success(fileService.createBusinessReturnFile(file));
+    }
+
+
 }

yudao-module-infra/yudao-module-infra-biz/src/main/java/cn/iocoder/yudao/module/infra/controller/admin/file/vo/file/BusinessFileVO.java

@@ -0,0 +1,54 @@
+package cn.iocoder.yudao.module.infra.controller.admin.file.vo.file;
+
+import cn.iocoder.yudao.module.infra.dal.dataobject.file.FileConfigDO;
+import lombok.Data;
+
+@Data
+public class BusinessFileVO {
+    /**
+     * 编号，数据库自增
+     */
+    private Long id;
+
+    /**
+     * 业务类型
+     * 1 日志附件 2 签名附件 3 头像 5 考勤附件 6 人脸照片
+     */
+    private Long businessType;
+    /**
+     * 配置编号
+     *
+     * 关联 {@link FileConfigDO#getId()}
+     */
+    private Long configId;
+    /**
+     * 原文件名
+     */
+    private String name;
+    /**
+     * 路径，即文件名
+     */
+    private String path;
+    /**
+     * 访问地址
+     */
+    private String url;
+    /**
+     * 文件的 MIME 类型，例如 "application/octet-stream"
+     */
+    private String type;
+    /**
+     * 文件大小
+     */
+    private Integer size;
+
+    /**
+     * 上传人ID
+     */
+    private Long uploadUserId ;
+
+    /**
+     * 流程实例编号
+     */
+    private String businessInstanceId ;
+}

yudao-module-infra/yudao-module-infra-biz/src/main/java/cn/iocoder/yudao/module/infra/service/file/FileService.java

@@ -1,10 +1,14 @@
 package cn.iocoder.yudao.module.infra.service.file;
 
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.module.infra.controller.admin.file.vo.file.BusinessFileVO;
 import cn.iocoder.yudao.module.infra.controller.admin.file.vo.file.FileCreateReqVO;
 import cn.iocoder.yudao.module.infra.controller.admin.file.vo.file.FilePageReqVO;
 import cn.iocoder.yudao.module.infra.controller.admin.file.vo.file.FilePresignedUrlRespVO;
 import cn.iocoder.yudao.module.infra.dal.dataobject.file.FileDO;
+import org.springframework.web.multipart.MultipartFile;
+
+import java.io.IOException;
 
 /**
  * 文件 Service 接口
@@ -63,4 +67,11 @@ public interface FileService {
      */
     FilePresignedUrlRespVO getFilePresignedUrl(String path) throws Exception;
 
+    /**
+     *
+     * @param file
+     * @param businessType
+     * @return
+     */
+    BusinessFileVO createBusinessReturnFile(MultipartFile file) throws IOException;
 }

yudao-module-infra/yudao-module-infra-biz/src/main/java/cn/iocoder/yudao/module/infra/service/file/FileServiceImpl.java

@@ -1,10 +1,14 @@
 package cn.iocoder.yudao.module.infra.service.file;
 
+import cn.hutool.core.io.IoUtil;
+import cn.hutool.core.io.file.FileNameUtil;
 import cn.hutool.core.lang.Assert;
 import cn.hutool.core.util.StrUtil;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.io.FileUtils;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
+import cn.iocoder.yudao.module.infra.controller.admin.file.vo.file.BusinessFileVO;
 import cn.iocoder.yudao.module.infra.controller.admin.file.vo.file.FileCreateReqVO;
 import cn.iocoder.yudao.module.infra.controller.admin.file.vo.file.FilePageReqVO;
 import cn.iocoder.yudao.module.infra.controller.admin.file.vo.file.FilePresignedUrlRespVO;
@@ -15,9 +19,12 @@ import cn.iocoder.yudao.module.infra.framework.file.core.client.s3.FilePresigned
 import cn.iocoder.yudao.module.infra.framework.file.core.utils.FileTypeUtils;
 import lombok.SneakyThrows;
 import org.springframework.stereotype.Service;
+import org.springframework.web.multipart.MultipartFile;
 
 import javax.annotation.Resource;
 
+import java.io.IOException;
+
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
 import static cn.iocoder.yudao.module.infra.enums.ErrorCodeConstants.FILE_NOT_EXISTS;
 
@@ -114,4 +121,73 @@ public class FileServiceImpl implements FileService {
                 object -> object.setConfigId(fileClient.getId()));
     }
 
+    @Override
+    @SneakyThrows
+    public BusinessFileVO createBusinessReturnFile(MultipartFile file) {
+        Long userId = SecurityFrameworkUtils.getLoginUserId();
+        long timestamp = System.currentTimeMillis();
+
+        String[] fileInfo = new String[4];
+        String name = file.getOriginalFilename();
+        String path = null;
+        byte[] content = IoUtil.readBytes(file.getInputStream());
+
+        // 计算默认的 path 名
+        String type = FileTypeUtils.getMineType(content, name);
+
+        StrUtil.isEmpty(path);//path = FileUtils.generatePath(content, name);
+        path = userId + "_" + timestamp;
+        String beginPath = name.replace(".", "_");
+        path = beginPath + "_" + path + "." + FileNameUtil.extName(name);
+        // 如果 name 为空，则使用 path 填充
+        if (StrUtil.isEmpty(name)) {
+            name = path;
+        }
+
+        // 上传到文件存储器
+        FileClient client = fileConfigService.getMasterFileClient();
+        Assert.notNull(client, "客户端(master) 不能为空");
+        String url = client.upload(content, path, type);
+
+        // 保存到数据库
+        BusinessFileVO fileDo = new BusinessFileVO();
+        fileDo.setConfigId(client.getId());
+        fileDo.setName(name);
+        fileDo.setPath(path);
+        fileDo.setUrl(url);
+        fileDo.setType(type);
+        fileDo.setSize(content.length);
+        fileDo.setUploadUserId(userId);
+
+
+        //如果业务类型是2 ，说明是保存用户签名图片，那么将用户ID存入businessInstanceId中
+        /*if( businessType == 2) {
+            //先查询当前用户，是否存有签名，如果没有新增，如果存在，则更新url，并删除infra_file_content中对应的记录
+            BusinessFileDO businessFileDO = businessFileMapper.selectOneByBusinessInstanceId(businessType, userId.toString()) ;
+            if (businessFileDO == null) {
+                fileDo.setBusinessInstanceId(userId+"") ;
+                businessFileMapper.insert(fileDo);
+            }else {
+                client.delete(businessFileDO.getPath());
+                businessFileDO.setConfigId(client.getId());
+                businessFileDO.setName(name);
+                businessFileDO.setPath(path);
+                businessFileDO.setUrl(url);
+                businessFileDO.setType(type);
+                businessFileDO.setSize(content.length);
+                businessFileDO.setUploadUserId(userId);
+                businessFileDO.setBusinessType(businessType) ;
+                businessFileMapper.updateById(businessFileDO) ;
+                fileDo = businessFileDO ;
+            }
+        }else {
+            businessFileMapper.insert(fileDo);
+        }*/
+
+        fileInfo[0] = name;
+        fileInfo[1] = fileDo.getUrl();
+        fileInfo[2] = fileDo.getType();
+        return fileDo;
+    }
+
 }

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

@@ -223,4 +223,7 @@ public interface ErrorCodeConstants {
     // ========== 机器人告警码值映射 1_002_041_001 ==========
     ErrorCode WARN_CODE_MAPPING_NOT_EXISTS = new ErrorCode(1_002_041_001, "机器人告警码值映射不存在");
 
+    // ========== 通用配置 1_002_042_001  ==========
+    ErrorCode CONFIG_NOT_EXISTS = new ErrorCode(1_002_042_001 , "通用配置不存在");
+
 }

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

@@ -72,6 +72,8 @@ public class RobotStatusApiImpl implements RobotStatusApi {
         robotStatusDataPoseDTO.setX(robotStatusDataDTO.getData().getPose2d().getX());
         robotStatusDataPoseDTO.setY(robotStatusDataDTO.getData().getPose2d().getY());
         robotStatusDataPoseDTO.setYaw(robotStatusDataDTO.getData().getPose2d().getYaw());
+        robotStatusDataPoseDTO.setFloor(robotStatusDataDTO.getData().getPose2d().getFloor());
+        robotStatusDataPoseDTO.setArea(robotStatusDataDTO.getData().getPose2d().getArea());
         redisUtil.set(pose2dKey,JSON.toJSONString(robotStatusDataPoseDTO),robotPositionCacheTime);
 
         if (ObjectUtil.isNotNull(robotStatusDataDTO.getData().getErr_code())) {

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

@@ -0,0 +1,6 @@
+package cn.iocoder.yudao.module.system.constant.device;
+
+public class DeviceChcheConstant {
+    //设备最后通讯时间
+    public static String DEVICE_LAST_TIME = "device:last:time";
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/config/CommonConfigController.java

@@ -0,0 +1,95 @@
+package cn.iocoder.yudao.module.system.controller.admin.config;
+
+import cn.iocoder.yudao.module.system.controller.admin.config.vo.*;
+import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
+import cn.iocoder.yudao.module.system.service.config.CommonConfigService;
+import org.springframework.web.bind.annotation.*;
+import javax.annotation.Resource;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.security.access.prepost.PreAuthorize;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import io.swagger.v3.oas.annotations.Parameter;
+import io.swagger.v3.oas.annotations.Operation;
+
+import javax.validation.constraints.*;
+import javax.validation.*;
+import javax.servlet.http.*;
+import java.util.*;
+import java.io.IOException;
+
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.pojo.CommonResult;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
+
+import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils;
+
+import cn.iocoder.yudao.framework.apilog.core.annotation.ApiAccessLog;
+import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.*;
+
+
+@Tag(name = "管理后台 - 通用配置")
+@RestController
+@RequestMapping("/system/common/config")
+@Validated
+public class CommonConfigController {
+
+    @Resource
+    private CommonConfigService configService;
+
+    @PostMapping("/create")
+    @Operation(summary = "创建通用配置")
+    @PreAuthorize("@ss.hasPermission('common:config:create')")
+    public CommonResult<Long> createConfig(@Valid @RequestBody CommonConfigSaveReqVO createReqVO) {
+        return success(configService.createConfig(createReqVO));
+    }
+
+    @PutMapping("/update")
+    @Operation(summary = "更新通用配置")
+    @PreAuthorize("@ss.hasPermission('common:config:update')")
+    public CommonResult<Boolean> updateConfig(@Valid @RequestBody CommonConfigSaveReqVO updateReqVO) {
+        configService.updateConfig(updateReqVO);
+        return success(true);
+    }
+
+    @DeleteMapping("/delete")
+    @Operation(summary = "删除通用配置")
+    @Parameter(name = "id", description = "编号", required = true)
+    @PreAuthorize("@ss.hasPermission('common:config:delete')")
+    public CommonResult<Boolean> deleteConfig(@RequestParam("id") Long id) {
+        configService.deleteConfig(id);
+        return success(true);
+    }
+
+    @GetMapping("/get")
+    @Operation(summary = "获得通用配置")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('common:config:query')")
+    public CommonResult<CommonConfigDO> getConfig(@RequestParam("configType") Long configType) {
+        CommonConfigDO config = configService.getConfig(configType);
+        return success(config);
+    }
+
+    @GetMapping("/page")
+    @Operation(summary = "获得通用配置分页")
+    @PreAuthorize("@ss.hasPermission('common:config:query')")
+    public CommonResult<PageResult<CommonConfigRespVO>> getConfigPage(@Valid CommonConfigPageReqVO pageReqVO) {
+        PageResult<CommonConfigDO> pageResult = configService.getConfigPage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, CommonConfigRespVO.class));
+    }
+
+    @GetMapping("/export-excel")
+    @Operation(summary = "导出通用配置 Excel")
+    @PreAuthorize("@ss.hasPermission('common:config:export')")
+    @ApiAccessLog(operateType = EXPORT)
+    public void exportConfigExcel(@Valid CommonConfigPageReqVO pageReqVO,
+              HttpServletResponse response) throws IOException {
+        pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
+        List<CommonConfigDO> list = configService.getConfigPage(pageReqVO).getList();
+        // 导出 Excel
+        ExcelUtils.write(response, "通用配置.xls", "数据", CommonConfigRespVO.class,
+                        BeanUtils.toBean(list, CommonConfigRespVO.class));
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/config/vo/CommonConfigPageReqVO.java

@@ -0,0 +1,28 @@
+package cn.iocoder.yudao.module.system.controller.admin.config.vo;
+
+import lombok.*;
+import java.util.*;
+import io.swagger.v3.oas.annotations.media.Schema;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import org.springframework.format.annotation.DateTimeFormat;
+import java.time.LocalDateTime;
+
+import static cn.iocoder.yudao.framework.common.util.date.DateUtils.FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND;
+
+@Schema(description = "管理后台 - 通用配置分页 Request VO")
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+public class CommonConfigPageReqVO extends PageParam {
+
+    @Schema(description = "类型（1:参数配置、2：备用）", example = "1")
+    private Integer configType;
+
+    @Schema(description = "配置信息")
+    private String configStr;
+
+    @Schema(description = "创建时间")
+    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
+    private LocalDateTime[] createTime;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/config/vo/CommonConfigRespVO.java

@@ -0,0 +1,31 @@
+package cn.iocoder.yudao.module.system.controller.admin.config.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import org.springframework.format.annotation.DateTimeFormat;
+import java.time.LocalDateTime;
+import com.alibaba.excel.annotation.*;
+
+@Schema(description = "管理后台 - 通用配置 Response VO")
+@Data
+@ExcelIgnoreUnannotated
+public class CommonConfigRespVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "22456")
+    @ExcelProperty("主键ID")
+    private Long id;
+
+    @Schema(description = "类型（1:参数配置、2：备用）", requiredMode = Schema.RequiredMode.REQUIRED, example = "1")
+    @ExcelProperty("类型（1:参数配置、2：备用）")
+    private Integer configType;
+
+    @Schema(description = "配置信息")
+    @ExcelProperty("配置信息")
+    private String configStr;
+
+    @Schema(description = "创建时间", requiredMode = Schema.RequiredMode.REQUIRED)
+    @ExcelProperty("创建时间")
+    private LocalDateTime createTime;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/config/vo/CommonConfigSaveReqVO.java

@@ -0,0 +1,26 @@
+package cn.iocoder.yudao.module.system.controller.admin.config.vo;
+
+import cn.iocoder.yudao.framework.common.exception.ErrorCode;
+import cn.iocoder.yudao.framework.common.exception.enums.ServiceErrorCodeRange;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+
+import java.io.Serializable;
+import java.util.*;
+import javax.validation.constraints.*;
+
+@Schema(description = "管理后台 - 通用配置新增/修改 Request VO")
+@Data
+public class CommonConfigSaveReqVO implements Serializable {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "22456")
+    private Long id;
+
+    //查看 CommandConfigTypeEnum
+    @Schema(description = "类型（1:参数配置、2：备用）", requiredMode = Schema.RequiredMode.REQUIRED, example = "1")
+    private Integer configType;
+
+    @Schema(description = "配置信息")
+    private String configStr;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/config/vo/CommonConfigVO.java

@@ -0,0 +1,37 @@
+package cn.iocoder.yudao.module.system.controller.admin.config.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+import java.time.LocalDateTime;
+
+/**
+ * 参数设置
+ */
+@Data
+public class CommonConfigVO {
+
+    @Schema(description = "自动充电电量-充电-阀值")
+    private Integer startAutoCharge;
+
+    @Schema(description = "自动充电电量-离开-阀值")
+    private Integer endAutoCharge;
+
+    @Schema(description = "机会充电电量-充电-阀值")
+    private Integer chanceChargeStart;
+
+    @Schema(description = "机会充电电量-离开-阀值")
+    private Integer chanceChargeEnd;
+
+    @Schema(description = "定时充电时段-开始时间")
+    private LocalDateTime chargeStartTime;
+
+    @Schema(description = "定时充电时段-结束时间")
+    private LocalDateTime chargeEndTime;
+
+    @Schema(description = "冲满电周期")
+    private Integer chanceCycle;
+
+    @Schema(description = "遇障告警设置-等待时间")
+    private Integer warnWaitTime;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/housearea/HouseAreaController.java

@@ -79,4 +79,12 @@ public class HouseAreaController {
                         BeanUtils.toBean(list, HouseAreaRespVO.class));
     }
 
+    @GetMapping("/getHouseAreaList")
+    @Operation(summary = "获得全部库区")
+    @PreAuthorize("@ss.hasPermission('ware:house-area:query')")
+    public CommonResult<List<HouseAreaRespVO>> getHouseAreaList() {
+        List<HouseAreaDO> list = houseAreaService.getHouseAreaList();
+        return success(BeanUtils.toBean(list, HouseAreaRespVO.class));
+    }
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselane/WareHouseLaneController.java

@@ -54,4 +54,12 @@ public class WareHouseLaneController {
                 .eq(WareHouseLaneDO::getPositionMapId, positionMapId));
         return success(BeanUtils.toBean(list, WareHouseLaneRespVO.class));
     }
+
+    @GetMapping("/getHouseLaneList")
+    @Operation(summary = "获得所有线库列表")
+    public CommonResult<List<WareHouseLaneRespVO>> getHouseLaneList() {
+        List<WareHouseLaneDO> list = houseLaneService.list(new LambdaQueryWrapperX<WareHouseLaneDO>()
+                .orderByAsc(WareHouseLaneDO::getId));
+        return success(BeanUtils.toBean(list, WareHouseLaneRespVO.class));
+    }
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseLocationController.java

@@ -80,10 +80,10 @@ public class WareHouseLocationController {
         return success(BeanUtils.toBean(list, WareHouseLocationRespVO.class));
     }
 
-    @GetMapping("/page")
+    @PostMapping("/page")
     @Operation(summary = "获得库位分页")
     @PreAuthorize("@ss.hasPermission('ware:house-location:query')")
-    public CommonResult<PageResult<WareHouseLocationRespVO>> getHouseLocationPage(@Valid WareHouseLocationPageReqVO pageReqVO) {
+    public CommonResult<PageResult<WareHouseLocationRespVO>> getHouseLocationPage(@Valid @RequestBody WareHouseLocationPageReqVO pageReqVO) {
         PageResult<WareHouseLocationDO> pageResult = houseLocationService.getHouseLocationPage(pageReqVO);
         return success(BeanUtils.toBean(pageResult, WareHouseLocationRespVO.class));
     }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationRespVO.java

@@ -140,4 +140,8 @@ public class WareHouseLocationRespVO {
     @Schema(description = "ware_position_map的id", example = "1")
     @ExcelProperty("ware_position_map的id")
     private Long mapId;
+
+    @Schema(description = "ware_position_map_item的id", example = "1")
+    @ExcelProperty("ware_position_map_item的id")
+    private Long mapItemId;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/DeviceInformationController.java

@@ -109,4 +109,11 @@ public class DeviceInformationController {
                         BeanUtils.toBean(list, DeviceInformationRespVO.class));
     }
 
+    @GetMapping("/classification")
+    @Operation(summary = "获得设备信息分类列表")
+    public CommonResult<Map<Integer,List<DeviceInformationDO>>> classification() {
+        Map<Integer,List<DeviceInformationDO>> map = informationService.classification();
+        return success(map);
+    }
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java

@@ -41,6 +41,9 @@ public class DeviceInformationPageReqVO extends PageParam {
     @Schema(description = "设备编号")
     private String deviceNo;
 
+    @Schema(description = "设备位置")
+    private String deviceLocation;
+
     @Schema(description = "mac地址")
     private String macAddress;
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java

@@ -50,6 +50,10 @@ public class DeviceInformationRespVO {
     @ExcelProperty("设备编号")
     private String deviceNo;
 
+    @Schema(description = "设备位置")
+    @ExcelProperty("设备位置")
+    private String deviceLocation;
+
     @Schema(description = "mac地址")
     @ExcelProperty("mac地址")
     private String macAddress;

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java

@@ -41,6 +41,9 @@ public class DeviceInformationSaveReqVO {
     @Schema(description = "设备编号")
     private String deviceNo;
 
+    @Schema(description = "设备位置")
+    private String deviceLocation;
+
     @Schema(description = "mac地址")
     private String macAddress;
 

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

@@ -89,4 +89,12 @@ public class PositionMapController {
     public void downloadFile(HttpServletResponse response) throws IOException {
         positionMapService.downloadFile(response);
     }
+
+    @GetMapping("/getAllMap")
+    @Operation(summary = "获得楼层对应的区域集合")
+    @PreAuthorize("@ss.hasPermission('system:position-map:getAllMap')")
+    public CommonResult<Map<Integer, List<PositionMapDO>>> getAllMap() {
+        Map<Integer, List<PositionMapDO>> list = positionMapService.getAllMap();
+        return success(list);
+    }
 }

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

@@ -91,4 +91,12 @@ public class RobotModelController {
                         BeanUtils.toBean(list, RobotModelRespVO.class));
     }
 
+    @GetMapping("/getAllModel")
+    @Operation(summary = "获得车辆类型分页")
+    @PreAuthorize("@ss.hasPermission('robot:model:getAllModel')")
+    public CommonResult<List<RobotModelDO>> getAllModel() {
+        List<RobotModelDO> list = modelService.getAllModel();
+        return success(list);
+    }
+
 }

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

@@ -33,7 +33,7 @@ import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.*;
 
 @Tag(name = "管理后台 - 机器人告警码值映射")
 @RestController
-@RequestMapping("/robot/warn-code-mapping")
+@RequestMapping("/system/robot/warn-code-mapping")
 @Validated
 public class RobotWarnCodeMappingController {
 

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

@@ -33,7 +33,7 @@ import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.*;
 
 @Tag(name = "管理后台 - 机器人告警信息")
 @RestController
-@RequestMapping("/robot/warn-msg")
+@RequestMapping("/system/robot/warn-msg")
 @Validated
 public class RobotWarnMsgController {
 

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

@@ -27,6 +27,9 @@ public class RobotInformationPageReqVO extends PageParam {
     @Schema(description = "任务模式（0：拒收任务、1：正常）")
     private Integer robotTaskModel;
 
+    @Schema(description = "自动充电电量")
+    private Integer autoCharge;
+
     @Schema(description = "mac地址")
     private String macAddress;
 

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

@@ -5,6 +5,9 @@ import com.alibaba.excel.annotation.ExcelProperty;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 
+import javax.validation.constraints.NotNull;
+import java.util.Set;
+
 
 @Schema(description = "管理后台 - 车辆信息 Response VO")
 @Data
@@ -14,6 +17,9 @@ public class RobotInformationPageRespVO {
     @ExcelProperty("主键ID")
     private Long id;
 
+    @Schema(description = "车辆类型表id", example = "28234")
+    private Long robotModelId;
+
     @Schema(description = "车辆类型")
     @ExcelProperty("车辆类型")
     private String robotModelNumber;
@@ -34,6 +40,9 @@ public class RobotInformationPageRespVO {
     @ExcelProperty("状态（0：待命、1：任务中、2：锁定、3：离线、4:充电中、5:故障）")
     private Integer robotStatus;
 
+    @Schema(description = "自动充电电量")
+    private Integer autoCharge;
+
     @Schema(description = "楼层")
     @ExcelProperty("楼层")
     public String floor;
@@ -46,10 +55,13 @@ public class RobotInformationPageRespVO {
     @ExcelProperty("信息")
     public String msg;
 
+    @Schema(description = "mac地址")
     private String macAddress;
-    /**
+
-     * 任务模式（0：拒收任务、1：正常）
+    @Schema(description = "任务模式（0：拒收任务、1：正常）")
-     */
     private Integer robotTaskModel;
 
+    @Schema(description = "楼层/区域(json)")
+    private Set<Long> floorAreaJson;
+
 }

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

@@ -62,5 +62,9 @@ public class RobotInformationRespVO {
     @ExcelProperty("电量")
     private String electricity;
 
+    @Schema(description = "自动充电电量")
+    @ExcelProperty("自动充电电量")
+    private Integer autoCharge;
+
 
 }

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

@@ -1,5 +1,6 @@
 package cn.iocoder.yudao.module.system.controller.admin.robot.vo;
 
+import com.alibaba.excel.annotation.ExcelProperty;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 
@@ -19,7 +20,6 @@ public class RobotInformationSaveReqVO {
     private Long robotModelId;
 
     @Schema(description = "车辆类型")
-    @NotEmpty(message = "车辆类型不能为空")
     private String robotModelNumber;
 
     @Schema(description = "AGV编号")
@@ -43,4 +43,7 @@ public class RobotInformationSaveReqVO {
     @NotEmpty(message = "楼层/区域不能为空")
     private Set<Long> floorAreaJson;
 
+    @Schema(description = "自动充电电量")
+    private Integer autoCharge;
+
 }

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

@@ -28,4 +28,9 @@ public class RobotModelPageReqVO extends PageParam {
     @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
     private LocalDateTime[] createTime;
 
+    @Schema(description = "上传图片附件", example = "https://www.iocoder.cn")
+    private String url;
+
+    @Schema(description = "是否自动充电（0:手动充电,1:自动充电）")
+    private Integer autoCharge;
 }

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

@@ -20,6 +20,13 @@ public class RobotModelRespVO {
     @ExcelProperty("车辆类型")
     private String robotModelNumber;
 
+    @Schema(description = "上传图片附件", example = "https://www.iocoder.cn")
+    @ExcelProperty("上传图片附件")
+    private String url;
+
+    @Schema(description = "是否自动充电（0:手动充电,1:自动充电）")
+    private Integer autoCharge;
+
     @Schema(description = "偏移量")
     @ExcelProperty("偏移量")
     private String robotOffset;

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

@@ -19,4 +19,10 @@ public class RobotModelSaveReqVO {
     @Schema(description = "偏移量")
     private String robotOffset;
 
+    @Schema(description = "上传图片附件", example = "https://www.iocoder.cn")
+    private String url;
+
+    @Schema(description = "是否自动充电（0:手动充电,1:自动充电）")
+    private Integer autoCharge;
+
 }

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

@@ -7,6 +7,10 @@ import lombok.Data;
  */
 @Data
 public class RobotPositionMapVO {
+    /**
+     * ware_position_map的id
+     */
+    private Long id;
     /**
      * 楼层
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/config/CommonConfigDO.java

@@ -0,0 +1,39 @@
+package cn.iocoder.yudao.module.system.dal.dataobject.config;
+
+import lombok.*;
+import java.util.*;
+import java.time.LocalDateTime;
+import java.time.LocalDateTime;
+import com.baomidou.mybatisplus.annotation.*;
+import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
+
+/**
+ * 通用配置 DO
+ *
+ * @author 陈宾顺
+ */
+@TableName("common_config")
+@KeySequence("common_config_seq") // 用于 Oracle、PostgreSQL、Kingbase、DB2、H2 数据库的主键自增。如果是 MySQL 等数据库，可不写。
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+@Builder
+@NoArgsConstructor
+@AllArgsConstructor
+public class CommonConfigDO extends BaseDO {
+
+    /**
+     * 主键ID
+     */
+    @TableId(type = IdType.ASSIGN_ID)
+    private Long id;
+    /**
+     * 类型（1:参数配置、2：备用）
+     */
+    private Integer configType;
+    /**
+     * 配置信息
+     */
+    private String configStr;
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java

@@ -1,6 +1,11 @@
 package cn.iocoder.yudao.module.system.dal.dataobject.information;
 
 import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
+import com.baomidou.mybatisplus.annotation.IdType;
+import com.baomidou.mybatisplus.annotation.KeySequence;
+import com.baomidou.mybatisplus.annotation.TableId;
+import com.baomidou.mybatisplus.annotation.TableName;
+import io.swagger.v3.oas.annotations.media.Schema;
 import com.baomidou.mybatisplus.annotation.*;
 import lombok.*;
 
@@ -61,6 +66,10 @@ public class DeviceInformationDO extends BaseDO {
      * 设备编号
      */
     private String deviceNo;
+    /**
+     * 设备位置
+     */
+    private String deviceLocation;
     /**
      * mac地址
      */

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

@@ -1,6 +1,7 @@
 package cn.iocoder.yudao.module.system.dal.dataobject.robot;
 
 import cn.iocoder.yudao.framework.mybatis.core.type.JsonLongSetTypeHandler;
+import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 import com.baomidou.mybatisplus.annotation.*;
 import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
@@ -61,4 +62,9 @@ public class RobotInformationDO extends BaseDO {
     @TableField(typeHandler = JsonLongSetTypeHandler.class)
     private Set<Long> floorAreaJson;
 
+    /**
+     * 自动充电电量
+     */
+    private Integer autoCharge;
+
 }

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

@@ -37,4 +37,14 @@ public class RobotModelDO extends BaseDO {
      */
     private String robotOffset;
 
+    /**
+     * 上传图片附件
+     */
+    private String url;
+
+    /**
+     * 是否自动充电（0:手动充电,1:自动充电）
+     */
+    private Integer autoCharge;
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/config/CommonConfigMapper.java

@@ -0,0 +1,28 @@
+package cn.iocoder.yudao.module.system.dal.mysql.config;
+
+import java.util.*;
+
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
+import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
+import cn.iocoder.yudao.module.system.controller.admin.config.vo.CommonConfigPageReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 通用配置 Mapper
+ *
+ * @author 陈宾顺
+ */
+@Mapper
+public interface CommonConfigMapper extends BaseMapperX<CommonConfigDO> {
+
+    default PageResult<CommonConfigDO> selectPage(CommonConfigPageReqVO reqVO) {
+        return selectPage(reqVO, new LambdaQueryWrapperX<CommonConfigDO>()
+                .eqIfPresent(CommonConfigDO::getConfigType, reqVO.getConfigType())
+                .eqIfPresent(CommonConfigDO::getConfigStr, reqVO.getConfigStr())
+                .betweenIfPresent(CommonConfigDO::getCreateTime, reqVO.getCreateTime())
+                .orderByDesc(CommonConfigDO::getId));
+    }
+
+}

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

@@ -28,10 +28,10 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
                 .likeIfPresent(WareHouseLocationDO::getLaneName, reqVO.getLaneName())
                 .eqIfPresent(WareHouseLocationDO::getAreaId, reqVO.getAreaId())
                 .likeIfPresent(WareHouseLocationDO::getAreaName, reqVO.getAreaName())
-                .eqIfPresent(WareHouseLocationDO::getLocationNo, reqVO.getLocationNo())
+                .likeIfPresent(WareHouseLocationDO::getLocationNo, reqVO.getLocationNo())
                 .likeIfPresent(WareHouseLocationDO::getGroupName, reqVO.getGroupName())
                 .eqIfPresent(WareHouseLocationDO::getLocationYaw, reqVO.getLocationYaw())
-                .eqIfPresent(WareHouseLocationDO::getSkuInfo, reqVO.getSkuInfo())
+                .likeIfPresent(WareHouseLocationDO::getSkuInfo, reqVO.getSkuInfo())
                 .eqIfPresent(WareHouseLocationDO::getSkuBatch, reqVO.getSkuBatch())
                 .eqIfPresent(WareHouseLocationDO::getSkuNumber, reqVO.getSkuNumber())
                 .eqIfPresent(WareHouseLocationDO::getTrayInfo, reqVO.getTrayInfo())

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

@@ -23,7 +23,7 @@ public interface RobotInformationMapper extends BaseMapperX<RobotInformationDO>
         return selectPage(reqVO, new LambdaQueryWrapperX<RobotInformationDO>()
                 .eqIfPresent(RobotInformationDO::getRobotModelId, reqVO.getRobotModelId())
                 .eqIfPresent(RobotInformationDO::getRobotModelNumber, reqVO.getRobotModelNumber())
-                .eqIfPresent(RobotInformationDO::getRobotNo, reqVO.getRobotNo())
+                .likeIfPresent(RobotInformationDO::getRobotNo, reqVO.getRobotNo())
                 .eqIfPresent(RobotInformationDO::getRobotTaskModel, reqVO.getRobotTaskModel())
                 .eqIfPresent(RobotInformationDO::getMacAddress, reqVO.getMacAddress())
                 .eqIfPresent(RobotInformationDO::getUrl, reqVO.getUrl())

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

@@ -21,7 +21,7 @@ public interface RobotWarnMsgMapper extends BaseMapperX<RobotWarnMsgDO> {
         return selectPage(reqVO, new LambdaQueryWrapperX<RobotWarnMsgDO>()
                 .eqIfPresent(RobotWarnMsgDO::getRobotNo, reqVO.getRobotNo())
                 .eqIfPresent(RobotWarnMsgDO::getWarnLevel, reqVO.getWarnLevel())
-                .eqIfPresent(RobotWarnMsgDO::getWarnCode, reqVO.getWarnCode())
+                .likeIfPresent(RobotWarnMsgDO::getWarnCode, reqVO.getWarnCode())
                 .eqIfPresent(RobotWarnMsgDO::getWarnMsg, reqVO.getWarnMsg())
                 .eqIfPresent(RobotWarnMsgDO::getWarnSolve, reqVO.getWarnSolve())
                 .betweenIfPresent(RobotWarnMsgDO::getSolveTime, reqVO.getSolveTime())

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

@@ -0,0 +1,19 @@
+package cn.iocoder.yudao.module.system.enums.config;
+
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * common_config的 config_type
+ */
+@Getter
+@AllArgsConstructor
+public enum CommandConfigTypeEnum {
+    ONE(1), //充电设置(页面)
+    TWO(2); //充满电周期对应的冲电量
+    /**
+     * 类型
+     */
+    private final Integer type;
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceStatusEnum.java

@@ -0,0 +1,24 @@
+package cn.iocoder.yudao.module.system.enums.device;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * device_information的device_status
+ */
+@Getter
+@AllArgsConstructor
+public enum DeviceStatusEnum {
+    ON_LINE(1, "在线"),
+    OFF_LINE(2, "离线"),
+    EXECPTION(3, "异常");
+
+    /**
+     * 类型
+     */
+    private final Integer type;
+    /**
+     * 说明
+     */
+    private final String msg;
+}

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

@@ -0,0 +1,23 @@
+package cn.iocoder.yudao.module.system.enums.robot;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * 车辆分页的状态
+ */
+@Getter
+@AllArgsConstructor
+public enum RobotInformationPageStatusEnum {
+    STANDBY(0),//待命
+    INTASK(1),//任务中
+    DOLOCK(2),//锁定
+    OFFLINE(3),//离线
+    CHARGE(4),//充电中
+    FAULT(5);//故障
+
+    /**
+     * 类型
+     */
+    private final Integer type;
+}

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

@@ -4,7 +4,7 @@ import lombok.AllArgsConstructor;
 import lombok.Getter;
 
 /**
- * 机器人任务的状态
+ * robot_information表的机器人任务的状态
  */
 @Getter
 @AllArgsConstructor

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

@@ -0,0 +1,18 @@
+package cn.iocoder.yudao.module.system.enums.robot;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * 0/1类型
+ */
+@Getter
+@AllArgsConstructor
+public enum ZeroOneEnum {
+    ZERO(0),//0
+    ONE(1);//1
+    /**
+     * 类型
+     */
+    private final Integer type;
+}

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

@@ -0,0 +1,55 @@
+package cn.iocoder.yudao.module.system.service.config;
+
+import java.util.*;
+import javax.validation.*;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import cn.iocoder.yudao.module.system.controller.admin.config.vo.*;
+import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
+
+/**
+ * 通用配置 Service 接口
+ *
+ * @author 陈宾顺
+ */
+public interface CommonConfigService {
+
+    /**
+     * 创建通用配置
+     *
+     * @param createReqVO 创建信息
+     * @return 编号
+     */
+    Long createConfig(@Valid CommonConfigSaveReqVO createReqVO);
+
+    /**
+     * 更新通用配置
+     *
+     * @param updateReqVO 更新信息
+     */
+    void updateConfig(@Valid CommonConfigSaveReqVO updateReqVO);
+
+    /**
+     * 删除通用配置
+     *
+     * @param id 编号
+     */
+    void deleteConfig(Long id);
+
+    /**
+     * 获得通用配置
+     *
+     * @param id 编号
+     * @return 通用配置
+     */
+    CommonConfigDO getConfig(Long configType);
+
+    /**
+     * 获得通用配置分页
+     *
+     * @param pageReqVO 分页查询
+     * @return 通用配置分页
+     */
+    PageResult<CommonConfigDO> getConfigPage(CommonConfigPageReqVO pageReqVO);
+
+}

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

@@ -0,0 +1,78 @@
+package cn.iocoder.yudao.module.system.service.config;
+
+import cn.iocoder.yudao.module.system.controller.admin.config.vo.*;
+import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
+import cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
+import org.springframework.stereotype.Service;
+import javax.annotation.Resource;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.transaction.annotation.Transactional;
+
+import java.util.*;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+
+
+import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.CONFIG_NOT_EXISTS;
+
+/**
+ * 通用配置 Service 实现类
+ *
+ * @author 陈宾顺
+ */
+@Service
+@Validated
+public class CommonConfigServiceImpl implements CommonConfigService {
+
+    @Resource
+    private CommonConfigMapper configMapper;
+
+    @Override
+    public Long createConfig(CommonConfigSaveReqVO createReqVO) {
+        // 插入
+        CommonConfigDO config = BeanUtils.toBean(createReqVO, CommonConfigDO.class);
+        configMapper.insert(config);
+        // 返回
+        return config.getId();
+    }
+
+    @Override
+    public void updateConfig(CommonConfigSaveReqVO updateReqVO) {
+        // 校验存在
+        validateConfigExists(updateReqVO.getId());
+        // 更新
+        CommonConfigDO updateObj = BeanUtils.toBean(updateReqVO, CommonConfigDO.class);
+        configMapper.updateById(updateObj);
+    }
+
+    @Override
+    public void deleteConfig(Long id) {
+        // 校验存在
+        validateConfigExists(id);
+        // 删除
+        configMapper.deleteById(id);
+    }
+
+    private void validateConfigExists(Long id) {
+        if (configMapper.selectById(id) == null) {
+            throw exception(CONFIG_NOT_EXISTS);
+        }
+    }
+
+    @Override
+    public CommonConfigDO getConfig(Long configType) {
+        CommonConfigDO commonConfigDO = configMapper.selectOne(new LambdaQueryWrapper<CommonConfigDO>()
+                .eq(CommonConfigDO::getConfigType, configType));
+        return commonConfigDO;
+    }
+
+    @Override
+    public PageResult<CommonConfigDO> getConfigPage(CommonConfigPageReqVO pageReqVO) {
+        return configMapper.selectPage(pageReqVO);
+    }
+
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/housearea/HouseAreaService.java

@@ -6,6 +6,7 @@ import cn.iocoder.yudao.module.system.controller.admin.housearea.vo.HouseAreaSav
 import cn.iocoder.yudao.module.system.dal.dataobject.housearea.HouseAreaDO;
 
 import javax.validation.Valid;
+import java.util.List;
 
 /**
  * 库区 Service 接口
@@ -58,4 +59,10 @@ public interface HouseAreaService {
      * @param createReqVO
      */
     void createOrEditOrDel(@Valid HouseAreaSaveReqVO createReqVO);
+
+    /**
+     * 获得全部库区
+     * @return
+     */
+    List<HouseAreaDO> getHouseAreaList();
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/housearea/HouseAreaServiceImpl.java

@@ -14,9 +14,11 @@ import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.PositionM
 import cn.iocoder.yudao.module.system.dal.dataobject.housearea.HouseAreaDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotModelDO;
 import cn.iocoder.yudao.module.system.dal.mysql.housearea.HouseAreaMapper;
 import cn.iocoder.yudao.module.system.service.houselocation.HouseLocationService;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import org.springframework.stereotype.Service;
 import org.springframework.validation.annotation.Validated;
 
@@ -154,4 +156,11 @@ public class HouseAreaServiceImpl implements HouseAreaService {
         }
     }
 
+    @Override
+    public List<HouseAreaDO> getHouseAreaList() {
+        List<HouseAreaDO> list = houseAreaMapper.selectList(new LambdaQueryWrapper<HouseAreaDO>()
+                .orderByAsc(HouseAreaDO::getId));
+        return list;
+    }
+
 }

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

@@ -9,6 +9,7 @@ import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformati
 
 import javax.validation.Valid;
 import java.util.List;
+import java.util.Map;
 
 /**
  * 设备信息 Service 接口
@@ -85,4 +86,10 @@ public interface DeviceInformationService {
      * @param dto
      */
     void mapBindDeviceInfo(@Valid MapBindDeviceInfoDTO dto);
+
+    /**
+     * 获得设备信息分类列表
+     * @return
+     */
+    Map<Integer, List<DeviceInformationDO>> classification();
 }

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

@@ -5,12 +5,15 @@ 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.module.grpc.api.GrpcServiceApi;
+import cn.iocoder.yudao.module.system.constant.device.DeviceChcheConstant;
 import cn.iocoder.yudao.module.system.controller.admin.information.dto.DeviceInformationDTO;
 import cn.iocoder.yudao.module.system.controller.admin.information.dto.MapBindDeviceInfoDTO;
 import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
 import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
+import cn.iocoder.yudao.module.system.enums.device.DeviceStatusEnum;
+import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
@@ -19,7 +22,9 @@ import org.springframework.validation.annotation.Validated;
 
 import javax.annotation.Resource;
 import java.time.LocalDateTime;
-import java.util.List;
+import java.time.format.DateTimeFormatter;
+import java.util.*;
+import java.util.stream.Collectors;
 
 import static cn.hutool.core.collection.CollUtil.isNotEmpty;
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
@@ -43,6 +48,9 @@ public class DeviceInformationServiceImpl implements DeviceInformationService {
     @Resource
     private GrpcServiceApi grpcServiceApi;
 
+    @Resource
+    private RedisUtil redisUtil;
+
     @Override
     public Long createInformation(DeviceInformationSaveReqVO createReqVO) {
         DeviceInformationPageReqVO pageReqVO = new DeviceInformationPageReqVO();
@@ -54,7 +62,6 @@ public class DeviceInformationServiceImpl implements DeviceInformationService {
         // 插入
         DeviceInformationDO information = BeanUtils.toBean(createReqVO, DeviceInformationDO.class);
         information.setDeviceStatus(1);
-        information.setDeviceLastTime(LocalDateTime.now());
         informationMapper.insert(information);
         // 返回
         return information.getId();
@@ -85,7 +92,24 @@ public class DeviceInformationServiceImpl implements DeviceInformationService {
 
     @Override
     public DeviceInformationDO getInformation(Long id) {
-        return informationMapper.selectById(id);
+        // 校验存在
+        validateInformationExists(id);
+        DeviceInformationDO deviceInformationDO = informationMapper.selectById(id);
+        String deviceKey = DeviceChcheConstant.DEVICE_LAST_TIME +deviceInformationDO.getMacAddress();
+        Object object = redisUtil.get(deviceKey);
+        if (ObjectUtil.isEmpty(object)) {
+            deviceInformationDO.setDeviceStatus(DeviceStatusEnum.OFF_LINE.getType());
+            return deviceInformationDO;
+        }
+        try {
+            DateTimeFormatter df = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
+            LocalDateTime curTimeLDT = LocalDateTime.parse((String)object, df);
+            deviceInformationDO.setDeviceLastTime(curTimeLDT);
+            deviceInformationDO.setDeviceStatus(DeviceStatusEnum.ON_LINE.getType());
+        } catch (Exception e) {
+            log.info("查询设备最后通讯时间异常 :{}",e.getMessage());
+        }
+        return deviceInformationDO;
     }
 
     @Override
@@ -125,6 +149,48 @@ public class DeviceInformationServiceImpl implements DeviceInformationService {
         );
     }
 
+    /**
+     * 获得设备信息分类列表
+     * @return
+     */
+    @Override
+    public Map<Integer, List<DeviceInformationDO>> classification() {
+        List<DeviceInformationDO> deviceInformationDOS = informationMapper.selectList(new LambdaQueryWrapper<DeviceInformationDO>());
+        if (ObjectUtil.isEmpty(deviceInformationDOS)) {
+            return new HashMap<>();
+        }
+
+        // todo 需要设置设备通讯的时间
+        for (DeviceInformationDO deviceInformationDO : deviceInformationDOS) {
+            String deviceKey = DeviceChcheConstant.DEVICE_LAST_TIME +deviceInformationDO.getMacAddress();
+            Object object = redisUtil.get(deviceKey);
+            if (ObjectUtil.isEmpty(object)) {
+                deviceInformationDO.setDeviceStatus(DeviceStatusEnum.OFF_LINE.getType());
+                continue;
+            }
+            try {
+                DateTimeFormatter df = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
+                LocalDateTime curTimeLDT = LocalDateTime.parse((String)object, df);
+                deviceInformationDO.setDeviceLastTime(curTimeLDT);
+                deviceInformationDO.setDeviceStatus(DeviceStatusEnum.ON_LINE.getType());
+            } catch (Exception e) {
+                log.info("查询设备最后通讯时间异常 :{}",e.getMessage());
+            }
+        }
+
+        Map<Integer, List<DeviceInformationDO>> collect =
+                deviceInformationDOS.stream()
+                        .collect(Collectors.groupingBy(DeviceInformationDO::getDeviceType));
+
+        ArrayList<Map.Entry<Integer, List<DeviceInformationDO>>> list = new ArrayList<Map.Entry<Integer, List<DeviceInformationDO>>>(collect.entrySet());
+        Collections.sort(list, new Comparator<Map.Entry<Integer,  List<DeviceInformationDO>>>() {
+            public int compare(Map.Entry<Integer,  List<DeviceInformationDO>> o1, Map.Entry<Integer,  List<DeviceInformationDO>> o2) {
+                return o1.getKey().compareTo(o2.getKey()); // 按照值排序
+            }
+        });
+
+        return collect;
+    }
     @Override
     public void mapBindDeviceInfo(MapBindDeviceInfoDTO dto) {
         DeviceInformationDO deviceInformationDO = informationMapper.selectById(dto.getDeviceInfoId());

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

@@ -10,6 +10,8 @@ import org.springframework.web.multipart.MultipartFile;
 import javax.servlet.http.HttpServletResponse;
 import javax.validation.Valid;
 import java.io.IOException;
+import java.util.List;
+import java.util.Map;
 
 /**
  * 仓库点位地图 Service 接口
@@ -87,4 +89,10 @@ public interface PositionMapService extends IService<PositionMapDO> {
      * @param area
      */
     String downloadPngBase64(Integer floor, String area);
+
+    /**
+     * 获得所有仓库点位地图Map
+     * @return
+     */
+    Map<Integer, List<PositionMapDO>> getAllMap();
 }

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

@@ -1,11 +1,13 @@
 package cn.iocoder.yudao.module.system.service.positionmap;
 
 import cn.hutool.core.util.ObjUtil;
+import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
@@ -31,6 +33,7 @@ import java.nio.file.Files;
 import java.nio.file.Path;
 import java.nio.file.Paths;
 import java.util.*;
+import java.util.stream.Collectors;
 import java.util.zip.ZipEntry;
 import java.util.zip.ZipOutputStream;
 
@@ -295,5 +298,27 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
         return encodedString;
     }
 
+    @Override
+    public Map<Integer, List<PositionMapDO>> getAllMap() {
+        List<PositionMapDO> positionMapDOS = positionMapMapper.selectList(new LambdaQueryWrapperX<PositionMapDO>()
+                .orderByAsc(PositionMapDO::getFloor));
+
+        if (ObjectUtil.isEmpty(positionMapDOS)) {
+            return new HashMap<>();
+        }
+
+        Map<Integer, List<PositionMapDO>> collect =
+                positionMapDOS.stream()
+                        .collect(Collectors.groupingBy(PositionMapDO::getFloor));
+
+        ArrayList<Map.Entry<Integer, List<PositionMapDO>>> list = new ArrayList<Map.Entry<Integer, List<PositionMapDO>>>(collect.entrySet());
+        Collections.sort(list, new Comparator<Map.Entry<Integer,  List<PositionMapDO>>>() {
+            public int compare(Map.Entry<Integer,  List<PositionMapDO>> o1, Map.Entry<Integer,  List<PositionMapDO>> o2) {
+                return o1.getKey().compareTo(o2.getKey()); // 按照值排序
+            }
+        });
+
+        return collect;
+    }
 
 }

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

@@ -8,9 +8,11 @@ import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotModelDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
+import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotModelMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
 import cn.iocoder.yudao.module.system.enums.robot.*;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
@@ -46,6 +48,9 @@ public class RobotInformationServiceImpl implements RobotInformationService {
     @Resource
     private RobotTaskDetailMapper taskDetailMapper;
 
+    @Resource
+    private RobotModelMapper modelMapper;
+
     @Resource
     private RedisUtil redisUtil;
 
@@ -65,6 +70,9 @@ public class RobotInformationServiceImpl implements RobotInformationService {
         if (ObjectUtil.isNotEmpty(existRobotNo)) {
             throw exception(ROBOT_ROBOT_NO_EXISTS);
         }
+        RobotModelDO robotModelDO = modelMapper.selectById(createReqVO.getRobotModelId());
+        createReqVO.setRobotModelNumber(robotModelDO.getRobotModelNumber());
+        createReqVO.setUrl(robotModelDO.getUrl());
         // 插入
         RobotInformationDO information = BeanUtils.toBean(createReqVO, RobotInformationDO.class);
         informationMapper.insert(information);
@@ -97,6 +105,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
         // 更新
         RobotInformationDO updateObj = BeanUtils.toBean(updateReqVO, RobotInformationDO.class);
         informationMapper.updateById(updateObj);
+        redisUtil.set(RobotTaskChcheConstant.ROBOT_NO_MAPPING_MAC + updateObj.getMacAddress(),updateObj.getRobotNo());
     }
 
     @Override
@@ -164,12 +173,12 @@ public class RobotInformationServiceImpl implements RobotInformationService {
             v.setArea(robotStatusDataPoseDTO.getArea());
         }
 
-        if (ObjectUtil.isEmpty(object)) {
+        if (RobotTaskModelEnum.REJECTION.getType().equals(v.getRobotTaskModel())) {
-            v.setRobotStatus(3);
+            v.setRobotStatus(RobotInformationPageStatusEnum.DOLOCK.getType());
-            v.setMsg("车辆已经离线");
-        }else if (RobotTaskModelEnum.REJECTION.getType().equals(v.getRobotTaskModel())) {
-            v.setRobotStatus(2);
             v.setMsg("车辆已经锁定");
+        }else if (ObjectUtil.isEmpty(object)) {
+            v.setRobotStatus(RobotInformationPageStatusEnum.OFFLINE.getType());
+            v.setMsg("车辆已经离线");
         }else if (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())) {
             //查看机器人最后做的任务是不是充电
             RobotTaskDetailDO robotTaskDetailDO = taskDetailMapper.selectOne(new LambdaQueryWrapper<RobotTaskDetailDO>()
@@ -179,20 +188,20 @@ public class RobotInformationServiceImpl implements RobotInformationService {
             if (ObjectUtil.isNotEmpty(robotTaskDetailDO)
                     && RobotTaskTypeEnum.CHARGE.getType().equals(robotTaskDetailDO.getTaskType())
                     && RobotTaskStatusEnum.DOING.getType().equals(robotTaskDetailDO.getTaskStatus())) {
-                v.setRobotStatus(4);
+                v.setRobotStatus(RobotInformationPageStatusEnum.CHARGE.getType());
                 v.setMsg("车辆正在充电");
             }else {
-                v.setRobotStatus(0);
+                v.setRobotStatus(RobotInformationPageStatusEnum.STANDBY.getType());
                 v.setMsg("车辆正在待命");
             }
         }else if (RobotStatusEnum.DOING.getType().equals(v.getRobotStatus()) && ObjectUtil.isNotEmpty(action)) {
-            v.setRobotStatus(1);
+            v.setRobotStatus(RobotInformationPageStatusEnum.INTASK.getType());
             CommandTypeEnum commandType = CommandTypeEnum.getCommandType(String.valueOf(action));
             if (ObjectUtil.isNotEmpty(commandType)) {
                 v.setMsg("车辆正在"+commandType.getMsg());
             }
         } else {
-            v.setRobotStatus(5);
+            v.setRobotStatus(RobotInformationPageStatusEnum.FAULT.getType());
             v.setMsg("车辆发生异常");
         }
 

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

@@ -6,6 +6,7 @@ import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotModelSaveRe
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotModelDO;
 
 import javax.validation.Valid;
+import java.util.List;
 
 /**
  * 车辆类型 Service 接口
@@ -52,4 +53,5 @@ public interface RobotModelService {
      */
     PageResult<RobotModelDO> getModelPage(RobotModelPageReqVO pageReqVO);
 
+    List<RobotModelDO> getAllModel();
 }

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

@@ -5,12 +5,17 @@ import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotModelPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotModelSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotModelDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotModelMapper;
+import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import org.springframework.stereotype.Service;
 import org.springframework.validation.annotation.Validated;
 
 import javax.annotation.Resource;
 
+import java.util.Collections;
+import java.util.List;
+
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
 import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.MODEL_NOT_EXISTS;
 
@@ -70,4 +75,10 @@ public class RobotModelServiceImpl implements RobotModelService {
         return modelMapper.selectPage(pageReqVO);
     }
 
+    @Override
+    public List<RobotModelDO> getAllModel() {
+        List<RobotModelDO> robotModelDOS = modelMapper.selectList(new LambdaQueryWrapper<RobotModelDO>());
+        return robotModelDOS;
+    }
+
 }

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

@@ -129,15 +129,11 @@ public class RobotTaskServiceImpl implements RobotTaskService {
         }
         //搬空任务只能选择线库或者区域
         if (MoveAllEnum.YES.getType().equals(createReqVO.getDoMoveAll())) {
-            Set<Integer> releaseTypeList =
+            for (RobotTaskDetailAddVO robotTaskDetailAddVO : createReqVO.getTaskDetailList()) {
-                    createReqVO.getTaskDetailList().stream().map(v -> v.getReleaseType())
+                if (ReleaseTakeEnum.TO_LOCATION.getType().equals(robotTaskDetailAddVO.getTakeType())
-                            .collect(Collectors.toSet());
+                    || ReleaseTakeEnum.TO_LOCATION.getType().equals(robotTaskDetailAddVO.getReleaseType())) {
-            Set<Integer> takeTypeList =
+                    throw exception(TASK_ONLY_CHOOSE_LOCATION);
-                    createReqVO.getTaskDetailList().stream().map(v -> v.getTakeType())
+                }
-                            .collect(Collectors.toSet());
-            if (releaseTypeList.contains(ReleaseTakeEnum.TO_LOCATION.getType())
-                    || takeTypeList.contains(ReleaseTakeEnum.TO_LOCATION.getType())) {
-                throw exception(TASK_ONLY_CHOOSE_LOCATION);
             }
         }
         //校验机器人是否禁用
@@ -164,6 +160,7 @@ public class RobotTaskServiceImpl implements RobotTaskService {
                 throw exception(TASK_CHECK_EXIST_NO);
             }
         }
+
     }
 
     /**
@@ -175,8 +172,6 @@ public class RobotTaskServiceImpl implements RobotTaskService {
         RobotTaskDO task = BeanUtils.toBean(createReqVO, RobotTaskDO.class);
         taskMapper.insert(task);
 
-        // todo 更新数据库顺序 后续改为xxl-job一致
-
         //查找库位
         List<Long> locationIds = new ArrayList<>();
         if (MoveAllEnum.NO.getType().equals(createReqVO.getDoMoveAll())) {

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

@@ -90,6 +90,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
     @Transactional(rollbackFor = Exception.class)
     public void distributeTasks() {
 
+        TenantContextHolder.setTenantId(1L);
         Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> robotAndTaskDetails = getRobotAndTaskDetails();
         List<RobotInformationDO> robots = robotAndTaskDetails.getLeft();
         if (ObjectUtil.isEmpty(robots)) {
@@ -101,6 +102,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             return;
         }
 
+//        List<RobotTaskDetailDO> cycleTaskDetails =  robotTaskMapper.getCycleTaskDetails();
         //任务下发给机器人
         distributeTasks(robots,taskDetailDOS);
     }
@@ -705,8 +707,8 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             RobotInformationDO robotInformationDO = robots.stream()
                     .filter(v ->
                             ObjectUtil.isNotEmpty(v.getMacAddress())
-                            && v.getFloorAreaJson().contains(fromLocation.getAreaId())
+                            && v.getFloorAreaJson().contains(fromLocation.getMapId())
-                            && v.getFloorAreaJson().contains(toLocation.getAreaId()))
+                            && v.getFloorAreaJson().contains(toLocation.getMapId()))
                     .findFirst()
                     .orElse(new RobotInformationDO());
             macAddress = robotInformationDO.getMacAddress();

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

@@ -9,6 +9,7 @@ import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskAutoMov
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskAutoMoveDO;
+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.houselocation.WareHouseLocationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
@@ -76,6 +77,9 @@ public class RobotTaskAutoMoveServiceImpl implements RobotTaskAutoMoveService {
     @Value("${zn.lane_auto_move:true}")
     private Boolean laneAutoMove;
 
+    @Value("${zn.cycle_do_auto_move:true}")
+    private Boolean cycleDoAutoMove;
+
     @Override
     public Long createTaskAutoMove(RobotTaskAutoMoveSaveReqVO createReqVO) {
         // 插入
@@ -125,6 +129,18 @@ public class RobotTaskAutoMoveServiceImpl implements RobotTaskAutoMoveService {
     @Transactional(rollbackFor = Exception.class)
     public void distributeAutoMoveJob() {
         TenantContextHolder.setTenantId(1L);
+
+        //todo 有循环的任务，是否要关闭自动移库的功能.做成配置
+        if (!cycleDoAutoMove) {
+            RobotTaskDO robotTaskDO = robotTaskMapper.selectOne(new LambdaQueryWrapperX<RobotTaskDO>()
+                    .in(RobotTaskDO::getTaskStatus, RobotTaskStatusEnum.NEW.getType(), RobotTaskStatusEnum.DOING.getType())
+                    .eq(RobotTaskDO::getDoCycle, ZeroOneEnum.ONE.getType()));
+            if (ObjectUtil.isNotEmpty(robotTaskDO)) {
+                log.info("存在循环的任务,不开启自动移库功能 :{}",robotTaskDO.getTaskNo());
+                return;
+            }
+        }
+
         Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> robotAndTaskDetails =
                 distributeTasksService.getRobotAndTaskDetails();
 
@@ -200,8 +216,8 @@ public class RobotTaskAutoMoveServiceImpl implements RobotTaskAutoMoveService {
             return result;
         }
 
+        Set<Long> doingLocationIds = new HashSet<>();
         for (RobotTaskDetailDO robotTaskDetailDO : details) {
-            Set<Long> doingLocationIds = new HashSet<>();
             if (ObjectUtil.isNotEmpty(robotTaskDetailDO.getFromLocationId())) {
                 doingLocationIds.add(robotTaskDetailDO.getFromLocationId());
             }
@@ -211,6 +227,8 @@ public class RobotTaskAutoMoveServiceImpl implements RobotTaskAutoMoveService {
             if (ObjectUtil.isEmpty(doingLocationIds)) {
                 continue;
             }
+            //目前仅取一个
+            // todo 等将来能控制好多台车机同时往一个点位取，再调整成同时取一个点位的多个库位
             List<WareHouseLocationDO> locationDOS = locationMapper.selectNeedMoveLocation(doingLocationIds);
             if (ObjectUtil.isEmpty(locationDOS)) {
                 log.info("暂无需要自动移库的库位 :{}" ,JSON.toJSONString(robotTaskDetailDO));
@@ -260,36 +278,38 @@ public class RobotTaskAutoMoveServiceImpl implements RobotTaskAutoMoveService {
                 if (ObjectUtil.isEmpty(robots) || ObjectUtil.isEmpty(emptyLocations)) {
                     return list;
                 }
-                // 校验机器人工作区域
+                for (WareHouseLocationDO emptyLocation : emptyLocations) {
-                RobotInformationDO robotInformationDO = robots.stream()
+                    // 校验机器人工作区域
-                        .filter(v ->
+                    RobotInformationDO robotInformationDO = robots.stream()
-                                ObjectUtil.isNotEmpty(v.getMacAddress())
+                            .filter(v ->
-                                        && v.getFloorAreaJson().contains(wareHouseLocationDO.getAreaId())
+                                    ObjectUtil.isNotEmpty(v.getMacAddress())
-                                        && v.getFloorAreaJson().contains(emptyLocations.get(0).getAreaId()))
+                                            && v.getFloorAreaJson().contains(wareHouseLocationDO.getMapId())
-                        .findFirst()
+                                            && v.getFloorAreaJson().contains(emptyLocation.getMapId()))
-                        .orElse(new RobotInformationDO());
+                            .findFirst()
-                if (ObjectUtil.isEmpty(robotInformationDO) || ObjectUtil.isEmpty(robotInformationDO.getRobotNo())) {
+                            .orElse(new RobotInformationDO());
-                    continue;
+                    if (ObjectUtil.isEmpty(robotInformationDO) || ObjectUtil.isEmpty(robotInformationDO.getRobotNo())) {
+                        continue;
+                    }
+
+                    RobotTaskAutoMoveDO autoMoveDO = new RobotTaskAutoMoveDO();
+                    autoMoveDO.setRobotTaskDetailId(detailDO.getId());
+                    autoMoveDO.setRobotTaskId(detailDO.getRobotTaskId());
+                    autoMoveDO.setFromLocationId(wareHouseLocationDO.getId());
+                    autoMoveDO.setFromLocationNo(wareHouseLocationDO.getLocationNo());
+                    autoMoveDO.setToLocationId(emptyLocation.getId());
+                    autoMoveDO.setToLocationNo(emptyLocation.getLocationNo());
+                    autoMoveDO.setFromLaneId(wareHouseLocationDO.getLaneId());
+                    autoMoveDO.setTaskStatus(AutoMoveTaskStatusEnum.DOING.getType());
+                    autoMoveDO.setPriority(wareHouseLocationDO.getLocationNumber());
+                    autoMoveDO.setRobotNo(robotInformationDO.getRobotNo());
+                    autoMoveDO.setTaskType(AutoMoveTaskTypeEnum.AUTO_MOVE.getType());
+                    autoMoveDO.setMoveType(AutoMoveTypeEnum.GO.getType());
+                    autoMoveDO.setStartTime(LocalDateTime.now());
+                    list.add(autoMoveDO);
+
+                    robots.removeIf(v -> v.getRobotNo().equals(autoMoveDO.getRobotNo()));
+                    emptyLocations.removeIf(v -> v.getId().equals(autoMoveDO.getToLocationId()));
                 }
-
-                RobotTaskAutoMoveDO autoMoveDO = new RobotTaskAutoMoveDO();
-                autoMoveDO.setRobotTaskDetailId(detailDO.getId());
-                autoMoveDO.setRobotTaskId(detailDO.getRobotTaskId());
-                autoMoveDO.setFromLocationId(wareHouseLocationDO.getId());
-                autoMoveDO.setFromLocationNo(wareHouseLocationDO.getLocationNo());
-                autoMoveDO.setToLocationId(emptyLocations.get(0).getId());
-                autoMoveDO.setToLocationNo(emptyLocations.get(0).getLocationNo());
-                autoMoveDO.setFromLaneId(wareHouseLocationDO.getLaneId());
-                autoMoveDO.setTaskStatus(AutoMoveTaskStatusEnum.DOING.getType());
-                autoMoveDO.setPriority(wareHouseLocationDO.getLocationNumber());
-                autoMoveDO.setRobotNo(robotInformationDO.getRobotNo());
-                autoMoveDO.setTaskType(AutoMoveTaskTypeEnum.AUTO_MOVE.getType());
-                autoMoveDO.setMoveType(AutoMoveTypeEnum.GO.getType());
-                autoMoveDO.setStartTime(LocalDateTime.now());
-                list.add(autoMoveDO);
-
-                robots.removeIf(v -> v.getRobotNo().equals(autoMoveDO.getRobotNo()));
-                emptyLocations.removeIf(v -> v.getId().equals(autoMoveDO.getToLocationId()));
             }
 
         }
@@ -358,7 +378,7 @@ public class RobotTaskAutoMoveServiceImpl implements RobotTaskAutoMoveService {
         Map<Long, List<RobotTaskDetailDO>> detailMaps =
                 details.stream().collect(Collectors.groupingBy(RobotTaskDetailDO::getFromLaneId));
         //查找每一个线库最小的一个库位
-
+        // todo 等将来能控制好多台车机同时往一个线库取，再调整成同时取一个线库的多个库位
         for (Map.Entry<Long, List<RobotTaskDetailDO>> detaiMap : detailMaps.entrySet()) {
             List<WareHouseLocationDO> locations = new ArrayList<>();
             RobotTaskDetailDO robotTaskDetail = detaiMap.getValue()
@@ -367,18 +387,26 @@ public class RobotTaskAutoMoveServiceImpl implements RobotTaskAutoMoveService {
             if (ObjectUtil.isNotEmpty(robotTaskDetail) && ObjectUtil.isNotEmpty(robotTaskDetail.getLocationNumber())) {
                 WareHouseLocationDO location = WareHouseLocationDO.builder().locationNumber(robotTaskDetail.getLocationNumber())
                         .locationUseStatus(LocationUseStatusEnum.YES.getType())
-                        .locationLock(LocationLockEnum.YES.getType())
+//                        .locationLock(LocationLockEnum.YES.getType())
                         .laneId(detaiMap.getKey()).build();
                 locations.add(location);
             }
 
             log.info("查询是否需要执行移库任务的线库id和对应的排序位置 :{}", JSON.toJSONString(locations));
-            if (ObjectUtil.isNotEmpty(locations)) {
+            if (ObjectUtil.isEmpty(locations)) {
-                List<WareHouseLocationDO> wareHouseLocationDOS = locationMapper.selectLocationByList(locations);
+                continue;
-                if (ObjectUtil.isNotEmpty(wareHouseLocationDOS)) {
+            }
-                    Pair<RobotTaskDetailDO, List<WareHouseLocationDO>> pair = Pair.of(robotTaskDetail, wareHouseLocationDOS);
+            List<WareHouseLocationDO> wareHouseLocationDOS = locationMapper.selectLocationByList(locations);
-                    result.add(pair);
+            if (ObjectUtil.isEmpty(wareHouseLocationDOS)) {
-                }
+                continue;
+            }
+            WareHouseLocationDO wareHouseLocationDO = wareHouseLocationDOS.get(0);
+            if (LocationEnableEnum.YES.getType().equals(wareHouseLocationDO.getLocationEnable())
+                && LocationLockEnum.YES.getType().equals(wareHouseLocationDO.getLocationLock())) {
+                Pair<RobotTaskDetailDO, List<WareHouseLocationDO>> pair = Pair.of(robotTaskDetail, Lists.newArrayList(wareHouseLocationDO));
+                result.add(pair);
+            }else {
+                log.info("线库--此库位被锁定或者禁用,无法执行移库 :{}",JSON.toJSONString(wareHouseLocationDO));
             }
         }
 

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

@@ -228,3 +228,4 @@ zn:
   move_height: 0.1 #行走高度
   lane_auto_move: true #线库是否自动移库 true:线库执行自动移库 、false：线库关闭执行自动移库
   robot_position_cache_time: 600 #机器人上报点位存储时间
+  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

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/config/CommonConfigMapper.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
+<mapper namespace="cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper">
+
+    <!--
+        一般情况下，尽可能使用 Mapper 进行 CRUD 增删改查即可。
+        无法满足的场景，例如说多表关联查询，才使用 XML 编写 SQL。
+        代码生成器暂时只生成 Mapper XML 文件本身，更多推荐 MybatisX 快速开发插件来生成查询。
+        文档可见：https://www.iocoder.cn/MyBatis/x-plugins/
+     -->
+
+</mapper>

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

@@ -755,6 +755,7 @@
             #{id}
         </foreach>
         order by t2.location_number asc
+        limit 1
     </select>
 
 </mapper>