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5 Commits
adfb5dc8ba ... 5bb04952be

Author SHA1 Message Date
cbs
5bb04952be 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
 2025-02-08 17:51:23 +08:00
cbs
3665002ba1 参数配置 2025-02-08 17:31:08 +08:00
cbs
740e725637 上传文件、循环任务关闭自动移库 2025-02-07 17:08:37 +08:00
cbs
faabc4151b 设备信息 2025-02-06 17:31:18 +08:00
cbs
afccb0e06b 修改车辆信息 2025-02-06 14:53:34 +08:00
62 changed files with 1044 additions and 77 deletions
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9
yudao-module-infra/yudao-module-infra-biz/src/main/java/cn/iocoder/yudao/module/infra/controller/admin/file/FileController.java
View File

@ -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));
}
}

54
yudao-module-infra/yudao-module-infra-biz/src/main/java/cn/iocoder/yudao/module/infra/controller/admin/file/vo/file/BusinessFileVO.java Normal file
View File

@ -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 ;
}

11
yudao-module-infra/yudao-module-infra-biz/src/main/java/cn/iocoder/yudao/module/infra/service/file/FileService.java
View File

@ -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;
}

76
yudao-module-infra/yudao-module-infra-biz/src/main/java/cn/iocoder/yudao/module/infra/service/file/FileServiceImpl.java
View File

@ -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;
}
}

3
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
View File

@ -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");
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotStatusApiImpl.java
View File

@ -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())) {

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/device/DeviceChcheConstant.java Normal file
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@ -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";
}

95
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/config/CommonConfigController.java Normal file
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@ -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));
}
}

28
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/config/vo/CommonConfigPageReqVO.java Normal file
View File

@ -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;
}

31
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/config/vo/CommonConfigRespVO.java Normal file
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@ -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;
}

26
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/config/vo/CommonConfigSaveReqVO.java Normal file
View File

@ -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;
}

37
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/config/vo/CommonConfigVO.java Normal file
View File

@ -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;
}

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/housearea/HouseAreaController.java
View File

@ -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));
}
}

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselane/WareHouseLaneController.java
View File

@ -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));
}
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseLocationController.java
View File

@ -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));
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationRespVO.java
View File

@ -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;
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/DeviceInformationController.java
View File

@ -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);
}
}

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java
View File

@ -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;

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java
View File

@ -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;

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java
View File

@ -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;

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapController.java
View File

@ -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);
}
}

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotModelController.java
View File

@ -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);
}
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotWarnCodeMappingController.java
View File

@ -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 {

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/RobotWarnMsgController.java
View File

@ -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 {

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationPageReqVO.java
View File

@ -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;

18
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationPageRespVO.java
View File

@ -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;
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationRespVO.java
View File

@ -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;
}

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotInformationSaveReqVO.java
View File

@ -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;
}

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotModelPageReqVO.java
View File

@ -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;
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotModelRespVO.java
View File

@ -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;

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotModelSaveReqVO.java
View File

@ -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;
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotPositionMapVO.java
View File

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

39
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/config/CommonConfigDO.java Normal file
View File

@ -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;
}

9
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java
View File

@ -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
*/

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotInformationDO.java
View File

@ -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;
}

10
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotModelDO.java
View File

@ -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;
}

28
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/config/CommonConfigMapper.java Normal file
View File

@ -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));
}
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java
View File

@ -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())

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotInformationMapper.java
View File

@ -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())

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotWarnMsgMapper.java
View File

@ -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())

19
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/config/CommandConfigTypeEnum.java Normal file
View File

@ -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;
}

24
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceStatusEnum.java Normal file
View File

@ -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;
}

23
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotInformationPageStatusEnum.java Normal file
View File

@ -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;
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/RobotStatusEnum.java
View File

@ -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

18
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/ZeroOneEnum.java Normal file
View File

@ -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;
}

55
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/config/CommonConfigService.java Normal file
View File

@ -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);
}

78
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/config/CommonConfigServiceImpl.java Normal file
View File

@ -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);
}
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/housearea/HouseAreaService.java
View File

@ -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();
}

9
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/housearea/HouseAreaServiceImpl.java
View File

@ -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;
}
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationService.java
View File

@ -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();
}

72
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java
View File

@ -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());

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapService.java
View File

@ -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();
}

25
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapServiceImpl.java
View File

@ -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;
}
}

27
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
View File

@ -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)) {
v.setRobotStatus(3);
v.setMsg("车辆已经离线");
}else if (RobotTaskModelEnum.REJECTION.getType().equals(v.getRobotTaskModel())) {
v.setRobotStatus(2);
if (RobotTaskModelEnum.REJECTION.getType().equals(v.getRobotTaskModel())) {
v.setRobotStatus(RobotInformationPageStatusEnum.DOLOCK.getType());
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");
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotModelService.java
View File

@ -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();
}

11
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotModelServiceImpl.java
View File

@ -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;
}
}

17
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
View File

@ -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 =
createReqVO.getTaskDetailList().stream().map(v -> v.getReleaseType())
.collect(Collectors.toSet());
Set<Integer> takeTypeList =
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);
for (RobotTaskDetailAddVO robotTaskDetailAddVO : createReqVO.getTaskDetailList()) {
if (ReleaseTakeEnum.TO_LOCATION.getType().equals(robotTaskDetailAddVO.getTakeType())
|| ReleaseTakeEnum.TO_LOCATION.getType().equals(robotTaskDetailAddVO.getReleaseType())) {
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())) {

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
View File

@ -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(toLocation.getAreaId()))
&& v.getFloorAreaJson().contains(fromLocation.getMapId())
&& v.getFloorAreaJson().contains(toLocation.getMapId()))
.findFirst()
.orElse(new RobotInformationDO());
macAddress = robotInformationDO.getMacAddress();

104
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/RobotTaskAutoMoveServiceImpl.java
View File

@ -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
RobotInformationDO robotInformationDO = robots.stream()
.filter(v ->
ObjectUtil.isNotEmpty(v.getMacAddress())
&& v.getFloorAreaJson().contains(wareHouseLocationDO.getAreaId())
&& v.getFloorAreaJson().contains(emptyLocations.get(0).getAreaId()))
.findFirst()
.orElse(new RobotInformationDO());
if (ObjectUtil.isEmpty(robotInformationDO) || ObjectUtil.isEmpty(robotInformationDO.getRobotNo())) {
continue;
for (WareHouseLocationDO emptyLocation : emptyLocations) {
// 校验机器人工作区域
RobotInformationDO robotInformationDO = robots.stream()
.filter(v ->
ObjectUtil.isNotEmpty(v.getMacAddress())
&& v.getFloorAreaJson().contains(wareHouseLocationDO.getMapId())
&& v.getFloorAreaJson().contains(emptyLocation.getMapId()))
.findFirst()
.orElse(new RobotInformationDO());
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)) {
List<WareHouseLocationDO> wareHouseLocationDOS = locationMapper.selectLocationByList(locations);
if (ObjectUtil.isNotEmpty(wareHouseLocationDOS)) {
Pair<RobotTaskDetailDO, List<WareHouseLocationDO>> pair = Pair.of(robotTaskDetail, wareHouseLocationDOS);
result.add(pair);
}
if (ObjectUtil.isEmpty(locations)) {
continue;
}
List<WareHouseLocationDO> wareHouseLocationDOS = locationMapper.selectLocationByList(locations);
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));
}
}

3
yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
View File

@ -227,4 +227,5 @@ zn:
lift_height: 0.1 #抬高托盘高度
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
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

12
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/config/CommonConfigMapper.xml Normal file
View File

@ -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>

1
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationMapper.xml
View File

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