Merge remote-tracking branch 'origin/dev' into cbs

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

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

@@ -36,6 +36,7 @@ public class ApiAccessLogInterceptor implements HandlerInterceptor {
 
     private static final List<String> ignoreInterfaceUrls = Arrays.asList("/rpc-api/system/task/robotStatusUpdate",
             "/rpc-api/system/task/robotReactiveStatus",
+            "/rpc-api/infra/websocket/send",
             "/rpc-api/system/task/updateRobotCommonStatus");
 
     @Override

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/common/CommonApi.java

@@ -18,11 +18,11 @@ public interface CommonApi {
 
     String PREFIX = ApiConstants.PREFIX + "/config";
 
-    @PostMapping(PREFIX + "/commonMethod")
+   /* @PostMapping(PREFIX + "/commonMethod")
     @Operation(summary = "公共方法")
     void commonMethod(@RequestBody Object obj,  @RequestParam("topic") String topic);
 
     @PostMapping(PREFIX + "/commonMethodStr")
     @Operation(summary = "公共方法")
-    void commonMethodStr(@RequestParam("str") String str,  @RequestParam("topic") String topic);
+    void commonMethodStr(@RequestParam("str") String str,  @RequestParam("topic") String topic);*/
 }

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

@@ -35,4 +35,10 @@ public class RobotDimensionsDTO {
     @Schema(description = "偏移量")
     private Double robotOffset;
 
+    @Schema(description = "检测点最短距离")
+    private Double checkShortestDistance;
+
+    @Schema(description = "检测点最长距离")
+    private Double checkLongestDistance;
+
 }

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/path/task/TaskToPathPlanningDTO.java

@@ -33,7 +33,7 @@ public class TaskToPathPlanningDTO {
     private Long takeLocationNumber;
 
     @Schema(description = "取货任务的终点id")
-    private Long takePointId;
+    private String takePointId;
 
     //线库: LINE + 线库号
     //普通库位: POINT + 点位号
@@ -44,7 +44,7 @@ public class TaskToPathPlanningDTO {
     private Long releaseLocationNumber;
 
     @Schema(description = "放货任务的终点id")
-    private Long releasePointId;
+    private String releasePointId;
 
     @Schema(description = "优先级(不同的组编号时:越大越先执行, 相同组编号时:组序号越大的越先执行)")
     private Long priority;

yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/config/server/TCPServerApplicationRunner.java

@@ -44,7 +44,7 @@ public class TCPServerApplicationRunner  implements ApplicationRunner {
                             System.out.println(new String(bytes,0,len));
                             OutputStream os= socket.getOutputStream();
                             //响应给客户端
-                            os.write("收到谢谢".getBytes());
+                            os.write("socket :".getBytes());
                             socket.close();
                         } catch (IOException e) {
                             e.printStackTrace();

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

@@ -329,4 +329,7 @@ public interface ErrorCodeConstants {
 
     // ========== 车辆工作时长统计 1_002_058_001 ==========
     ErrorCode ROBOT_WORKING_HOURS_STATISTICS_NOT_EXISTS = new ErrorCode(1_002_058_001, "车辆工作时长统计不存在");
+
+    // ========== 库位类型 1_002_059_001 ==========
+    ErrorCode HOUSE_LOCATION_TYPE_NOT_EXISTS = new ErrorCode(1_002_059_001, "库位类型不存在");
 }

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

@@ -388,7 +388,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 .id(robotCompleteTaskDTO.getOrderId().toString())
                 .build();
 //        commonApi.commonMethod(closePathPlanting, PathPlanningTopicConstant.KILL_TASK);
-        mqttUtils.pub(PathPlanningTopicConstant.KILL_TASK,JSON.toJSONString(closePathPlanting));
+        mqttUtils.pub(PathPlanningTopicConstant.KILL_TASK, JSON.toJSONString(closePathPlanting));
         log.info("通知PP把任务取消 :{}", robotCompleteTaskDTO.getOrderId());
     }
 
@@ -424,9 +424,11 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 robotTaskDetailDO.setOccurError(ZeroOneEnum.ZERO.getType());
                 robotTaskDetailMapper.updateById(robotTaskDetailDO);
                 String taskNo = taskDetailService.getTaskNoByDetailId(robotCompleteTaskDTO.getOrderId());
-                msg = robotNo + "_" + "车辆发生异常,重新分配其他车辆执行此任务" + taskNo;
+                msg = robotNo + "_" + "车辆发生异常,重新分配其他车辆执行此任务" + taskNo + " - " + robotCompleteTaskDTO.getOrderId();
             }
         }
+
+
         //先不释放库位状态
         /*if (RobotTaksOrderTypeEnum.TASK.getType().equals(robotCompleteTaskDTO.getOrderType())) {
             RobotTaskDetailDO robotTaskDetailDO = closeTaskDetail(robotCompleteTaskDTO.getOrderId());
@@ -581,12 +583,12 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getFromLocationNo() + "取货");
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_TAKE.getType());
             } else if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(commandType)) {
-                logOne.setActionMsg("车辆正在取货");
+                logOne.setActionMsg("车辆正在取货" + robotTaskDetailDO.getFromLocationNo());
                 if (!RobotTaskStageEnum.GO_RELEASE.getType().equals(taskStage)) {
                     robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING.getType());
                 }
             } else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(commandType)) {
-                logOne.setActionMsg("车辆正在放货");
+                logOne.setActionMsg("车辆正在放货" + robotTaskDetailDO.getToLocationNo());
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING.getType());
             } else if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) {
                 logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo() + "放货");
@@ -599,10 +601,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 || PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
             RobotChargeLogDO robotChargeLogDO = chargeLogMapper.selectById(robotCompleteTaskDTO.getOrderId());
             if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) {
-                logOne.setActionMsg("车辆正在前往" + robotChargeLogDO.getDeviceNo() + "充电");
+                logOne.setActionMsg("车辆正在前往 " + robotChargeLogDO.getDeviceNo() + "充电");
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.MOVE.getType());
             } else {
-                logOne.setActionMsg("车辆正在充电");
+                logOne.setActionMsg("车辆正在充电 " + robotChargeLogDO.getDeviceNo());
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.CHARGEING.getType());
             }
 
@@ -623,7 +625,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getFromLocationNo() + "取货");
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_TAKE.getType());
             } else if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(commandType)) {
-                logOne.setActionMsg("车辆正在取货");
+                logOne.setActionMsg("车辆正在取货" + robotTaskDetailDO.getFromLocationNo());
                 if (!RobotTaskStageEnum.DONE.getType().equals(taskStage)) {
                     robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING.getType());
                 }
@@ -634,7 +636,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo() + "放货");
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
             } else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(commandType)) {
-                logOne.setActionMsg("车辆正在放货");
+                logOne.setActionMsg("车辆正在放货"+ robotTaskDetailDO.getToLocationNo());
                 if (!RobotTaskStageEnum.DONE.getType().equals(taskStage)) {
                     robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING.getType());
                 }

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

@@ -34,4 +34,6 @@ public class ZnConfigConstant {
     private Boolean sendRobotInitPose;
     private Integer synchronousAllMapNode;
     private Boolean taskNotCheck;
+    private Double checkShortestDistance;
+    private Double checkLongestDistance;
 }

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

@@ -0,0 +1,105 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselocation;
+
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationTypePageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationTypeRespVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationTypeSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationTypeDO;
+import cn.iocoder.yudao.module.system.service.houselocation.WareHouseLocationTypeService;
+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 - 库位类型")
+@RestController
+@RequestMapping("/system/ware/house-location-type")
+@Validated
+public class WareHouseLocationTypeController {
+
+    @Resource
+    private WareHouseLocationTypeService houseLocationTypeService;
+
+    @PostMapping("/create")
+    @Operation(summary = "创建库位类型")
+    @PreAuthorize("@ss.hasPermission('ware:house-location-type:create')")
+    public CommonResult<Long> createHouseLocationType(@Valid @RequestBody WareHouseLocationTypeSaveReqVO createReqVO) {
+        return success(houseLocationTypeService.createHouseLocationType(createReqVO));
+    }
+
+    @PutMapping("/update")
+    @Operation(summary = "更新库位类型")
+    @PreAuthorize("@ss.hasPermission('ware:house-location-type:update')")
+    public CommonResult<Boolean> updateHouseLocationType(@Valid @RequestBody WareHouseLocationTypeSaveReqVO updateReqVO) {
+        houseLocationTypeService.updateHouseLocationType(updateReqVO);
+        return success(true);
+    }
+
+    @DeleteMapping("/delete")
+    @Operation(summary = "删除库位类型")
+    @Parameter(name = "id", description = "编号", required = true)
+    @PreAuthorize("@ss.hasPermission('ware:house-location-type:delete')")
+    public CommonResult<Boolean> deleteHouseLocationType(@RequestParam("id") Long id) {
+        houseLocationTypeService.deleteHouseLocationType(id);
+        return success(true);
+    }
+
+    @GetMapping("/get")
+    @Operation(summary = "获得库位类型")
+    @Parameter(name = "id", description = "编号", required = true, example = "1024")
+    @PreAuthorize("@ss.hasPermission('ware:house-location-type:query')")
+    public CommonResult<WareHouseLocationTypeRespVO> getHouseLocationType(@RequestParam("id") Long id) {
+        WareHouseLocationTypeDO houseLocationType = houseLocationTypeService.getHouseLocationType(id);
+        return success(BeanUtils.toBean(houseLocationType, WareHouseLocationTypeRespVO.class));
+    }
+
+    @GetMapping("/getList")
+    @Operation(summary = "获得库位类型集合")
+    @PreAuthorize("@ss.hasPermission('ware:house-location-type:getList')")
+    public CommonResult<List<WareHouseLocationTypeRespVO>> getHouseLocationTypeList() {
+        List<WareHouseLocationTypeDO> list = houseLocationTypeService.getHouseLocationTypeList();
+        return success(BeanUtils.toBean(list, WareHouseLocationTypeRespVO.class));
+    }
+
+    @GetMapping("/page")
+    @Operation(summary = "获得库位类型分页")
+    @PreAuthorize("@ss.hasPermission('ware:house-location-type:query')")
+    public CommonResult<PageResult<WareHouseLocationTypeRespVO>> getHouseLocationTypePage(@Valid WareHouseLocationTypePageReqVO pageReqVO) {
+        PageResult<WareHouseLocationTypeDO> pageResult = houseLocationTypeService.getHouseLocationTypePage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, WareHouseLocationTypeRespVO.class));
+    }
+
+    @GetMapping("/export-excel")
+    @Operation(summary = "导出库位类型 Excel")
+    @PreAuthorize("@ss.hasPermission('ware:house-location-type:export')")
+    @ApiAccessLog(operateType = EXPORT)
+    public void exportHouseLocationTypeExcel(@Valid WareHouseLocationTypePageReqVO pageReqVO,
+              HttpServletResponse response) throws IOException {
+        pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
+        List<WareHouseLocationTypeDO> list = houseLocationTypeService.getHouseLocationTypePage(pageReqVO).getList();
+        // 导出 Excel
+        ExcelUtils.write(response, "库位类型.xls", "数据", WareHouseLocationTypeRespVO.class,
+                        BeanUtils.toBean(list, WareHouseLocationTypeRespVO.class));
+    }
+
+}

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

@@ -111,4 +111,7 @@ public class WareHouseLocationPageReqVO extends PageParam {
     @Schema(description = "ware_position_map的id", example = "1")
     private Long mapId;
 
+    @Schema(description = "库位类型表的id")
+    private Long locationTypeId;
+
 }

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

@@ -144,4 +144,8 @@ public class WareHouseLocationRespVO {
     @Schema(description = "ware_position_map_item的id", example = "1")
     @ExcelProperty("ware_position_map_item的id")
     private Long mapItemId;
+
+    @Schema(description = "库位类型表的id")
+    @ExcelProperty("库位类型表的id")
+    private Long locationTypeId;
 }

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

@@ -1,5 +1,6 @@
 package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
 
+import com.alibaba.excel.annotation.ExcelProperty;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 
@@ -103,4 +104,7 @@ public class WareHouseLocationSaveReqVO {
 
     @Schema(description = "ware_position_map的id", example = "1")
     private Long mapId;
+
+    @Schema(description = "库位类型表的id")
+    private Long locationTypeId;
 }

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

@@ -0,0 +1,40 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselocation.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 - 库位类型分页 Request VO")
+@Data
+@EqualsAndHashCode(callSuper = true)
+@ToString(callSuper = true)
+public class WareHouseLocationTypePageReqVO extends PageParam {
+
+    @Schema(description = "库位类型名称", example = "赵六")
+    private String typeName;
+
+    @Schema(description = "排序,越大越靠前")
+    private Integer locationSort;
+
+    @Schema(description = "宽度,单位厘米")
+    private String locationWide;
+
+    @Schema(description = "深度,单位厘米")
+    private String locationDeep;
+
+    @Schema(description = "高,单位厘米")
+    private String locationHeight;
+
+    @Schema(description = "载重,单位公斤")
+    private String locationLoad;
+
+    @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/houselocation/vo/WareHouseLocationTypeRespVO.java

@@ -0,0 +1,47 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselocation.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 - 库位类型 Response VO")
+@Data
+@ExcelIgnoreUnannotated
+public class WareHouseLocationTypeRespVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "8811")
+    @ExcelProperty("主键ID")
+    private Long id;
+
+    @Schema(description = "库位类型名称", example = "赵六")
+    @ExcelProperty("库位类型名称")
+    private String typeName;
+
+    @Schema(description = "排序,越大越靠前")
+    @ExcelProperty("排序,越大越靠前")
+    private Integer locationSort;
+
+    @Schema(description = "宽度,单位厘米")
+    @ExcelProperty("宽度,单位厘米")
+    private String locationWide;
+
+    @Schema(description = "深度,单位厘米")
+    @ExcelProperty("深度,单位厘米")
+    private String locationDeep;
+
+    @Schema(description = "高,单位厘米")
+    @ExcelProperty("高,单位厘米")
+    private String locationHeight;
+
+    @Schema(description = "载重,单位公斤")
+    @ExcelProperty("载重,单位公斤")
+    private String locationLoad;
+
+    @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/houselocation/vo/WareHouseLocationTypeSaveReqVO.java

@@ -0,0 +1,33 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.*;
+import java.util.*;
+import javax.validation.constraints.*;
+
+@Schema(description = "管理后台 - 库位类型新增/修改 Request VO")
+@Data
+public class WareHouseLocationTypeSaveReqVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "8811")
+    private Long id;
+
+    @Schema(description = "库位类型名称", example = "赵六")
+    private String typeName;
+
+    @Schema(description = "排序,越大越靠前")
+    private Integer locationSort;
+
+    @Schema(description = "宽度,单位厘米")
+    private String locationWide;
+
+    @Schema(description = "深度,单位厘米")
+    private String locationDeep;
+
+    @Schema(description = "高,单位厘米")
+    private String locationHeight;
+
+    @Schema(description = "载重,单位公斤")
+    private String locationLoad;
+
+}

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

@@ -163,4 +163,21 @@ public class RobotInformationController {
     public CommonResult<List<String>> getRobotByFloorAndArea(@RequestParam("floor") String floor, @RequestParam("area") String area) {
         return success(informationService.getRobotByFloorAndArea(floor,area));
     }
+
+
+    @PostMapping("/stopRobot")
+    @Operation(summary = "暂停车辆")
+    @PreAuthorize("@ss.hasPermission('robot:information:stopRobot')")
+    public CommonResult<Boolean> stopRobot(@RequestParam("robotNo") String robotNo) {
+        informationService.stopRobot(robotNo);
+        return success(true);
+    }
+
+    @PostMapping("/continueRobot")
+    @Operation(summary = "恢复车辆")
+    @PreAuthorize("@ss.hasPermission('robot:information:continueRobot')")
+    public CommonResult<Boolean> continueRobot(@RequestParam("robotNo") String robotNo) {
+        informationService.continueRobot(robotNo);
+        return success(true);
+    }
 }

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

@@ -100,4 +100,7 @@ public class RobotInformationPageRespVO {
 
     @Schema(description = "车辆是否有货")
     private String cargoDetected;
+
+    @Schema(description = "车辆是否暂停 :  1:已暂停,  其他:未暂停， ")
+    private Integer isStop;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationDO.java

@@ -2,6 +2,7 @@ package cn.iocoder.yudao.module.system.dal.dataobject.houselocation;
 
 import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
 import com.baomidou.mybatisplus.annotation.*;
+import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.*;
 
 import java.math.BigDecimal;
@@ -163,4 +164,9 @@ public class WareHouseLocationDO extends BaseDO {
      * ware_position_map_item的id
      */
     private Long mapItemId;
+
+    /**
+     * 库位类型表的id
+     */
+    private Long locationTypeId;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseLocationTypeDO.java

@@ -0,0 +1,55 @@
+package cn.iocoder.yudao.module.system.dal.dataobject.houselocation;
+
+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;
+
+/**
+ * 库位类型 DO
+ *
+ * @author 陈宾顺
+ */
+@TableName("ware_house_location_type")
+@KeySequence("ware_house_location_type_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 WareHouseLocationTypeDO extends BaseDO {
+
+    /**
+     * 主键ID
+     */
+    @TableId
+    private Long id;
+    /**
+     * 库位类型名称
+     */
+    private String typeName;
+    /**
+     * 排序,越大越靠前
+     */
+    private Integer locationSort;
+    /**
+     * 宽度,单位厘米
+     */
+    private String locationWide;
+    /**
+     * 深度,单位厘米
+     */
+    private String locationDeep;
+    /**
+     * 高,单位厘米
+     */
+    private String locationHeight;
+    /**
+     * 载重,单位公斤
+     */
+    private String locationLoad;
+
+}

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

@@ -0,0 +1,32 @@
+package cn.iocoder.yudao.module.system.dal.mysql.houselocation;
+
+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.houselocation.vo.WareHouseLocationTypePageReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationTypeDO;
+import org.apache.ibatis.annotations.Mapper;
+
+/**
+ * 库位类型 Mapper
+ *
+ * @author 陈宾顺
+ */
+@Mapper
+public interface WareHouseLocationTypeMapper extends BaseMapperX<WareHouseLocationTypeDO> {
+
+    default PageResult<WareHouseLocationTypeDO> selectPage(WareHouseLocationTypePageReqVO reqVO) {
+        return selectPage(reqVO, new LambdaQueryWrapperX<WareHouseLocationTypeDO>()
+                .likeIfPresent(WareHouseLocationTypeDO::getTypeName, reqVO.getTypeName())
+                .eqIfPresent(WareHouseLocationTypeDO::getLocationSort, reqVO.getLocationSort())
+                .eqIfPresent(WareHouseLocationTypeDO::getLocationWide, reqVO.getLocationWide())
+                .eqIfPresent(WareHouseLocationTypeDO::getLocationDeep, reqVO.getLocationDeep())
+                .eqIfPresent(WareHouseLocationTypeDO::getLocationHeight, reqVO.getLocationHeight())
+                .eqIfPresent(WareHouseLocationTypeDO::getLocationLoad, reqVO.getLocationLoad())
+                .betweenIfPresent(WareHouseLocationTypeDO::getCreateTime, reqVO.getCreateTime())
+                .orderByDesc(WareHouseLocationTypeDO::getId));
+    }
+
+}

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

@@ -9,7 +9,9 @@ import lombok.Getter;
 @Getter
 @AllArgsConstructor
 public enum RobotStatusEnum {
-    LAST_TASK_IS_TAKE(1,"上一个任务是仅取货(这是一个过渡状态,数据库没有这种状态)"),
+    LAST_TASK_IS_TAKE(-1,"上一个任务是仅取货(这是一个过渡状态,数据库没有这种状态)"),
+    STOP_FREE(0,"暂停且待命中"),
+    STOP_DOING(1,"暂停且任务中"),
     DOING(2,"任务中"),
     STAND_BY(3,"待命"),
     CHARGE(4,"充电中");
@@ -18,4 +20,13 @@ public enum RobotStatusEnum {
      */
     private final Integer type;
     private final String msg;
+
+    public static String getMsg(Integer type) {
+        for (RobotStatusEnum item : RobotStatusEnum.values()) {
+            if (item.getType().equals(type)) {
+                return item.getMsg();
+            }
+        }
+        return "";
+    }
 }

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

@@ -13,8 +13,8 @@ public enum RobotCommandTypeEnum {
     WORK_DROP_OFF_GOODS("WORK_DROP_OFF_GOODS","放货"),
     MOVE_POSE("MOVE_POSE","仿真移动点位"),
     MODE("MODE","远遥/RCS模式切换"),
-    EMERGENCY_STOP("EMERGENCY_STOP","急停车辆"),
+    PAUSE("PAUSE","急停车辆"),
-    RECOVERY("RECOVERY","恢复车辆");
+    CONTINUE("CONTINUE","恢复车辆");
     /**
      * 类型
      */

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

@@ -16,7 +16,9 @@ public enum RobotTaskStageEnum {
     CHARGEING(7L,"待执行正在充电"),
     CLOSE(8L,"任务已取消"),
     MANUALLY_COMPLETED(9L,"人工完成"),
-    EXCEPTION(10L,"异常");
+    EXCEPTION(10L,"异常"),
+    TAKEING_EXCEPTION(11L,"取货异常"),
+    RELEASEING_EXCEPTION(12L,"放货异常");
     /**
      * 类型
      */

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/schedul/RcsMapScheduled.java

@@ -40,7 +40,7 @@ public class RcsMapScheduled {
     private static final ExecutorService FIXED_THREAD_POOL = Executors.newFixedThreadPool(10);
 
     // 这个方法将每200毫秒执行一次
-    @Scheduled(fixedDelay = 100, timeUnit = TimeUnit.MILLISECONDS)
+    @Scheduled(fixedDelay = 150, timeUnit = TimeUnit.MILLISECONDS)
     public void executeTask() {
         FIXED_THREAD_POOL.execute(this::sendRobotInformationToRcsMap);
     }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseLocationTypeService.java

@@ -0,0 +1,63 @@
+package cn.iocoder.yudao.module.system.service.houselocation;
+
+import java.util.*;
+import javax.validation.*;
+
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationTypePageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationTypeSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationTypeDO;
+import com.baomidou.mybatisplus.extension.service.IService;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.pojo.PageParam;
+
+/**
+ * 库位类型 Service 接口
+ *
+ * @author 陈宾顺
+ */
+public interface WareHouseLocationTypeService extends IService<WareHouseLocationTypeDO> {
+
+    /**
+     * 创建库位类型
+     *
+     * @param createReqVO 创建信息
+     * @return 编号
+     */
+    Long createHouseLocationType(@Valid WareHouseLocationTypeSaveReqVO createReqVO);
+
+    /**
+     * 更新库位类型
+     *
+     * @param updateReqVO 更新信息
+     */
+    void updateHouseLocationType(@Valid WareHouseLocationTypeSaveReqVO updateReqVO);
+
+    /**
+     * 删除库位类型
+     *
+     * @param id 编号
+     */
+    void deleteHouseLocationType(Long id);
+
+    /**
+     * 获得库位类型
+     *
+     * @param id 编号
+     * @return 库位类型
+     */
+    WareHouseLocationTypeDO getHouseLocationType(Long id);
+
+    /**
+     * 获得库位类型分页
+     *
+     * @param pageReqVO 分页查询
+     * @return 库位类型分页
+     */
+    PageResult<WareHouseLocationTypeDO> getHouseLocationTypePage(WareHouseLocationTypePageReqVO pageReqVO);
+
+    /**
+     * 获取所有库位类型
+     * @return
+     */
+    List<WareHouseLocationTypeDO> getHouseLocationTypeList();
+}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseLocationTypeServiceImpl.java

@@ -0,0 +1,88 @@
+package cn.iocoder.yudao.module.system.service.houselocation;
+
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationTypePageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationTypeSaveReqVO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationTypeDO;
+import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationTypeMapper;
+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 com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
+
+
+import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
+import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.HOUSE_LOCATION_TYPE_NOT_EXISTS;
+
+/**
+ * 库位类型 Service 实现类
+ *
+ * @author 陈宾顺
+ */
+@Service
+@Validated
+public class WareHouseLocationTypeServiceImpl extends ServiceImpl<WareHouseLocationTypeMapper, WareHouseLocationTypeDO> implements WareHouseLocationTypeService {
+
+    @Resource
+    private WareHouseLocationTypeMapper houseLocationTypeMapper;
+
+    @Override
+    public Long createHouseLocationType(WareHouseLocationTypeSaveReqVO createReqVO) {
+        // 插入
+        WareHouseLocationTypeDO houseLocationType = BeanUtils.toBean(createReqVO, WareHouseLocationTypeDO.class);
+        houseLocationTypeMapper.insert(houseLocationType);
+        // 返回
+        return houseLocationType.getId();
+    }
+
+    @Override
+    public void updateHouseLocationType(WareHouseLocationTypeSaveReqVO updateReqVO) {
+        // 校验存在
+        validateHouseLocationTypeExists(updateReqVO.getId());
+        // 更新
+        WareHouseLocationTypeDO updateObj = BeanUtils.toBean(updateReqVO, WareHouseLocationTypeDO.class);
+        houseLocationTypeMapper.updateById(updateObj);
+    }
+
+    @Override
+    public void deleteHouseLocationType(Long id) {
+        // 校验存在
+        validateHouseLocationTypeExists(id);
+        // 删除
+        houseLocationTypeMapper.deleteById(id);
+    }
+
+    private void validateHouseLocationTypeExists(Long id) {
+        if (houseLocationTypeMapper.selectById(id) == null) {
+            throw exception(HOUSE_LOCATION_TYPE_NOT_EXISTS);
+        }
+    }
+
+    @Override
+    public WareHouseLocationTypeDO getHouseLocationType(Long id) {
+        return houseLocationTypeMapper.selectById(id);
+    }
+
+    @Override
+    public PageResult<WareHouseLocationTypeDO> getHouseLocationTypePage(WareHouseLocationTypePageReqVO pageReqVO) {
+        return houseLocationTypeMapper.selectPage(pageReqVO);
+    }
+
+    /**
+     * 获取所有库位类型
+     * @return
+     */
+    @Override
+    public List<WareHouseLocationTypeDO> getHouseLocationTypeList() {
+        return houseLocationTypeMapper.selectList(new LambdaQueryWrapper<WareHouseLocationTypeDO>()
+                .orderByDesc(WareHouseLocationTypeDO::getLocationSort));
+    }
+
+}

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

@@ -85,9 +85,6 @@ import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.PATH_PLANN
 @Service
 public class PathPlanningServiceImpl implements PathPlanningService {
 
-    private static final double PI = Math.PI;
-
-
     @Resource
     private PositionMapLineMapper positionMapLineMapper;
 
@@ -462,9 +459,7 @@ public class PathPlanningServiceImpl implements PathPlanningService {
 
     @Override
     public void robotDimensions() {
-        List<RobotDimensionsDTO> list = informationMapper.selectRobotDimensions();
+        robotInformationService.sendRobotConfigToPP();
-//        commonApi.commonMethod(list, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
-        mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS,JSON.toJSONString(list));
     }
 
     /**

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

@@ -6,6 +6,7 @@ import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
+import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO;
 import cn.iocoder.yudao.module.system.api.path.PathApi;
 import cn.iocoder.yudao.module.system.api.remote.dto.RemoteRobotDTO;
@@ -418,7 +419,7 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
         // 先获取当前地图上的所有AGV信息
         PositionMapDO positionMapDO = positionMapMapper.selectById(id);
 
-        RobotSimulationPoseDTO robotSimulationPose = new RobotSimulationPoseDTO();
+        RobotAcceptTaskDTO robotSimulationPose = new RobotAcceptTaskDTO();
 
         List<String> robotNos = new ArrayList<>();
         String str = "";
@@ -426,8 +427,8 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
         //暂停
         if (ZeroOneEnum.ONE.getType().equals(type)) {
             robotNos = informationService.getRobotByFloorAndArea(String.valueOf(positionMapDO.getFloor()), positionMapDO.getArea());
-            robotSimulationPose.setCommandType(RobotCommandTypeEnum.EMERGENCY_STOP.getType());
+            robotSimulationPose.setExecutionType(RobotCommandTypeEnum.PAUSE.getType());
-            str = RobotCommandTypeEnum.EMERGENCY_STOP.getMsg();
+            str = RobotCommandTypeEnum.PAUSE.getMsg();
             if (isRemote) {
                 mapStr = "远遥一键暂停 " + mapStr;
             } else {
@@ -446,8 +447,8 @@ public class PositionMapServiceImpl extends ServiceImpl<PositionMapMapper, Posit
         } else {
             //恢复
             robotNos = robotMapStopService.getStopRobotNoByMapIds(id);
-            robotSimulationPose.setCommandType(RobotCommandTypeEnum.RECOVERY.getType());
+            robotSimulationPose.setExecutionType(RobotCommandTypeEnum.CONTINUE.getType());
-            str = RobotCommandTypeEnum.RECOVERY.getMsg();
+            str = RobotCommandTypeEnum.CONTINUE.getMsg();
             if (isRemote) {
                 mapStr = "远遥一键恢复 " + mapStr;
             } else {

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

@@ -1,6 +1,7 @@
 package cn.iocoder.yudao.module.system.service.robot;
 
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
@@ -186,7 +187,7 @@ public interface RobotInformationService extends IService<RobotInformationDO> {
      * @param robotNos
      * @param str
      */
-    void sendEmergencyStopOrRecoveryToRobot(RobotSimulationPoseDTO robotSimulationPose, List<String> robotNos, String str);
+    void sendEmergencyStopOrRecoveryToRobot(RobotAcceptTaskDTO robotSimulationPose, List<String> robotNos, String str);
 
     /**
      * 查询机器人处理中的任务
@@ -255,4 +256,10 @@ public interface RobotInformationService extends IService<RobotInformationDO> {
      * @return
      */
     Long getRobotMapIdByRobotNo(String robotNo);
+
+    void sendRobotConfigToPP();
+
+    void stopRobot(String robotNo);
+
+    void continueRobot(String robotNo);
 }

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

@@ -10,14 +10,13 @@ import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
-import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
 import cn.iocoder.yudao.module.mqtt.api.path.dto.RobotDimensionsDTO;
 import cn.iocoder.yudao.module.mqtt.api.path.task.TaskRobotNoLimittationAreaDTO;
 import cn.iocoder.yudao.module.mqtt.api.path.task.TaskToPathPlanningDTO;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotRcsHeartBeatDTO;
-import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO;
 import cn.iocoder.yudao.module.mqtt.enums.task.ExecutionTypeEnum;
+import cn.iocoder.yudao.module.system.api.path.vo.RobotClosePathPlantingDTO;
 import cn.iocoder.yudao.module.system.api.robot.processor.RequestProcessor;
 import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
@@ -77,6 +76,7 @@ import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogServic
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
 import cn.iocoder.yudao.module.system.service.robot.camera.RobotCameraService;
+import cn.iocoder.yudao.module.system.service.robot.mapstop.RobotMapStopService;
 import cn.iocoder.yudao.module.system.service.robot.pathplanning.RobotPathPlanningService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import cn.iocoder.yudao.module.system.util.redis.RedissonUtils;
@@ -86,7 +86,7 @@ import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import lombok.extern.slf4j.Slf4j;
 import org.redisson.api.RLock;
 import org.springframework.beans.factory.annotation.Autowired;
-import org.springframework.beans.factory.annotation.Value;
+import org.springframework.context.annotation.Lazy;
 import org.springframework.stereotype.Service;
 import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
@@ -181,12 +181,16 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Autowired
     private ZnConfigConstant znConfigConstant;
 
+    @Resource
+    @Lazy
+    private RobotMapStopService mapStopService;
+
     @Override
     @Transactional(rollbackFor = Exception.class)
     public Long createInformation(RobotInformationSaveReqVO createReqVO) {
 
         RobotInformationDO existRobotInformationDO =
-                informationMapper.selectByMacAndIdNotIn(createReqVO.getMacAddress(),null);
+                informationMapper.selectByMacAndIdNotIn(createReqVO.getMacAddress(), null);
         if (ObjectUtil.isNotEmpty(existRobotInformationDO)) {
             throw exception(ROBOT_MAC_ADDRESS_EXISTS);
         }
@@ -239,9 +243,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
 
-        List<RobotDimensionsDTO> list = informationMapper.selectRobotDimensions();
+        sendRobotConfigToPP();
-//        commonApi.commonMethod(list, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
-        mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS, JSON.toJSONString(list));
 
         redisUtil.del(key);
         // 返回
@@ -340,6 +342,48 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         return positionMap.getId();
     }
 
+    @Override
+    public void sendRobotConfigToPP() {
+        List<RobotDimensionsDTO> robotDimensionsList = informationMapper.selectRobotDimensions();
+        if (ObjectUtil.isNotEmpty(robotDimensionsList)) {
+            for (RobotDimensionsDTO robotDimensionsDTO : robotDimensionsList) {
+                robotDimensionsDTO.setCheckShortestDistance(znConfigConstant.getCheckShortestDistance());
+                robotDimensionsDTO.setCheckLongestDistance(znConfigConstant.getCheckLongestDistance());
+            }
+        }
+        mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS, JSON.toJSONString(robotDimensionsList));
+    }
+
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public void stopRobot(String robotNo) {
+        RobotInformationDO robotInformationDO = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
+                .eq(RobotInformationDO::getRobotNo, robotNo)
+                .last("limit 1"));
+
+        RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO();
+        robotTask.setOrderId(robotInformationDO.getTaskDetailId()+"");
+        robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + robotInformationDO.getMacAddress());
+        robotTask.setExecutionType(ExecutionTypeEnum.PAUSE.getType());
+        mqttUtils.pub(robotTask.getTopic(), JSON.toJSONString(robotTask));
+        mapStopService.rcsStopRobotAddLog(robotNo);
+    }
+
+    @Override
+    @Transactional(rollbackFor = Exception.class)
+    public void continueRobot(String robotNo) {
+        RobotInformationDO robotInformationDO = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
+                .eq(RobotInformationDO::getRobotNo, robotNo)
+                .last("limit 1"));
+
+        RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO();
+        robotTask.setOrderId(robotInformationDO.getTaskDetailId()+"");
+        robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + robotInformationDO.getMacAddress());
+        robotTask.setExecutionType(ExecutionTypeEnum.CONTINUE.getType());
+        mqttUtils.pub(robotTask.getTopic(), JSON.toJSONString(robotTask));
+        mapStopService.rcsDeleteStopRobotAddLog(robotNo);
+    }
+
 
     /**
      * 校验IP地址是否合法
@@ -357,6 +401,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     public void updateInformation(RobotInformationSaveReqVO updateReqVO) {
         // 校验存在
         validateInformationExists(updateReqVO.getId());
+        String str = "";
         RobotInformationDO robotInformationDO = informationMapper.selectById(updateReqVO.getId());
 
         if (RobotStatusEnum.STAND_BY.getType().equals(robotInformationDO.getRobotStatus())) {
@@ -390,9 +435,16 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             }
         }
 
+        if (RobotStatusEnum.STOP_FREE.getType().equals(updateReqVO.getRobotStatus())
+                || RobotStatusEnum.STOP_DOING.getType().equals(updateReqVO.getRobotStatus())) {
+            updateReqVO.setRobotStatus(robotInformationDO.getRobotStatus());
+        }else if (!updateReqVO.getRobotStatus().equals(robotInformationDO.getRobotStatus())) {
+            str = str + " 修改车辆状态: " +RobotStatusEnum.getMsg(updateReqVO.getRobotStatus());
+        }
+
         if (!updateReqVO.getRobotNo().equals(robotInformationDO.getRobotNo())) {
             RobotInformationDO existRobotInformationDO =
-                    informationMapper.selectByRobotNoAndIdNotIn(updateReqVO.getRobotNo(),updateReqVO.getId());
+                    informationMapper.selectByRobotNoAndIdNotIn(updateReqVO.getRobotNo(), updateReqVO.getId());
             if (ObjectUtil.isNotEmpty(existRobotInformationDO)) {
                 throw exception(ROBOT_ROBOT_NO_EXISTS);
             }
@@ -400,7 +452,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         if (!updateReqVO.getMacAddress().equals(robotInformationDO.getMacAddress())) {
             RobotInformationDO existRobotInformationDO =
-                    informationMapper.selectByMacAndIdNotIn(updateReqVO.getMacAddress(),updateReqVO.getId());
+                    informationMapper.selectByMacAndIdNotIn(updateReqVO.getMacAddress(), updateReqVO.getId());
             if (ObjectUtil.isNotEmpty(existRobotInformationDO)) {
                 throw exception(ROBOT_MAC_ADDRESS_EXISTS);
             }
@@ -445,7 +497,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         redisUtil.del(key);
 
-        String str = "";
+
         if (!robotInformationDO.getRobotTaskModel().equals(updateReqVO.getRobotTaskModel())
                 && RobotTaskModelEnum.REJECTION.getType().equals(updateReqVO.getRobotTaskModel())) {
             str = ",且设置车辆锁定";
@@ -480,9 +532,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
 
-        List<RobotDimensionsDTO> robotDimensions = informationMapper.selectRobotDimensions();
+        sendRobotConfigToPP();
-//        commonApi.commonMethod(robotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
-        mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS, JSON.toJSONString(robotDimensions));
     }
 
     /**
@@ -561,9 +611,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         //释放暂停记录
         releaseRobotStop(robotInformationDO);
 
-        List<RobotDimensionsDTO> robotDimensions = informationMapper.selectRobotDimensions();
+        sendRobotConfigToPP();
-//        commonApi.commonMethod(robotDimensions, PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS);
-        mqttUtils.pub(PathPlanningTopicConstant.SEND_ROBOT_DIMENSIONS, JSON.toJSONString(robotDimensions));
 
         String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + robotInformationDO.getMacAddress();
         redisUtil.del(pose2dKey);
@@ -593,9 +641,9 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         if (ObjectUtil.isEmpty(robotMapStops)) {
             return;
         }
-        RobotSimulationPoseDTO robotSimulationPose = new RobotSimulationPoseDTO();
+        RobotAcceptTaskDTO robotSimulationPose = new RobotAcceptTaskDTO();
-        robotSimulationPose.setCommandType(RobotCommandTypeEnum.RECOVERY.getType());
+        robotSimulationPose.setExecutionType(RobotCommandTypeEnum.CONTINUE.getType());
-        List<String> robotNoList = Arrays.asList(robotInformationDO.getRobotNo());
+        List<String> robotNoList = Collections.singletonList(robotInformationDO.getRobotNo());
         sendEmergencyStopOrRecoveryToRobot(robotSimulationPose, robotNoList, "删除车辆时恢复车辆");
         mapStopMapper.deleteRobotMapStopByRobotNos(robotNoList);
 
@@ -671,8 +719,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         List<RobotInformationDO> list = pageResult.getList();
         List<RobotInformationPageRespVO> targetList = BeanUtil.copyToList(list, RobotInformationPageRespVO.class);
 
+        List<RobotMapStopDO> allRobotMapStops = mapStopService.getAllRobotMapStops(ZeroOneEnum.ONE.getType());
+        List<String> stopRobotNos = new ArrayList<>();
+        if (ObjectUtil.isNotEmpty(allRobotMapStops)) {
+            stopRobotNos = allRobotMapStops.stream().map(RobotMapStopDO::getRobotNo).collect(Collectors.toList());
+        }
+
         for (RobotInformationPageRespVO v : targetList) {
-            setMsgAndRobotStatus(v, pageReqVO.getRobotStatisticsType());
+            setMsgAndRobotStatus(v,stopRobotNos);
         }
 
         if (ObjectUtil.isNotEmpty(pageReqVO.getRobotStatisticsType())) {
@@ -735,7 +789,12 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
      *
      * @param v
      */
-    private void setMsgAndRobotStatus(RobotInformationPageRespVO v, String robotStatisticsType) {
+    private void setMsgAndRobotStatus(RobotInformationPageRespVO v,List<String> stopRobotNos) {
+
+        if (ObjectUtil.isNotEmpty(stopRobotNos) && stopRobotNos.contains(v.getRobotNo())) {
+            v.setIsStop(ZeroOneEnum.ONE.getType());
+        }
+
         String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + v.getMacAddress();
         Object object = redisUtil.get(pose2dKey);
         RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
@@ -1171,6 +1230,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
                     TASK_ASSIGN_OTHER_ROBOT.getMsg() + actionLog.getRobotNo());
         }
 
+        RobotInformationDO robotInformationDO = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
+                .eq(RobotInformationDO::getRobotNo, robotNo)
+                .last("limit 1"));
+
+        if (RobotTaskModelEnum.REJECTION.getType().equals(robotInformationDO.getRobotTaskModel())) {
+            throw exception(ROBOT_REJECTION);
+        }
+
         String mac = getMacByRobotNo(robotNo);
         robotCloseTaskDetail(actionLog.getTaskDetailId() + "", mac, actionLog.getCommandType());
 
@@ -1180,18 +1247,17 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         CleanAgvDTO build = CleanAgvDTO.builder().robotNo(robotNo).build();
 //        commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
-        mqttUtils.pub(PathPlanningTopicConstant.CLEAN_AGV, JSON.toJSONString(build));
+//        mqttUtils.pub(PathPlanningTopicConstant.CLEAN_AGV, JSON.toJSONString(build));
+
+        RobotClosePathPlantingDTO closePathPlanting = RobotClosePathPlantingDTO.builder()
+                .robotNo(robotNo)
+                .id(actionLog.getTaskDetailId() + "")
+                .build();
+//        commonApi.commonMethod(closePathPlanting, PathPlanningTopicConstant.KILL_TASK);
+        mqttUtils.pub(PathPlanningTopicConstant.KILL_TASK, JSON.toJSONString(closePathPlanting));
 
         Object o = checkTaskDetailExist(actionLog.getTaskDetailId());
 
-        RobotInformationDO robotInformationDO = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
-                .eq(RobotInformationDO::getRobotNo, robotNo)
-                .last("limit 1"));
-
-        if (RobotTaskModelEnum.REJECTION.getType().equals(robotInformationDO.getRobotTaskModel())) {
-            throw exception(ROBOT_REJECTION);
-        }
-
         /*String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robotInformationDO.getMacAddress();
         Object taskStatus = redisUtil.get(taskStatusKey);
         if (ObjectUtil.isEmpty(taskStatus) || !RobotStatusCodeConstant.CAN_DO_TASK.equals(Boolean.parseBoolean(String.valueOf(taskStatus)))) {
@@ -1306,7 +1372,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     public RobotTaskDetailDO checkTaskDone(String id) {
         RobotTaskDetailDO robotTaskDetail = taskDetailMapper.selectById(id);
         if (RobotTaskStageEnum.DONE.getType().equals(robotTaskDetail.getTaskStage())
-                || RobotTaskStageEnum.MANUALLY_COMPLETED.getType().equals(robotTaskDetail.getTaskStage())  ) {
+                || RobotTaskStageEnum.MANUALLY_COMPLETED.getType().equals(robotTaskDetail.getTaskStage())) {
             throw exception(ROBOT_LAST_TASK_NO_EXISTS);
         }
         return robotTaskDetail;
@@ -1323,6 +1389,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         if (RobotTaskStageEnum.UN_START.getType().equals(robotTaskDetail.getTaskStage())
                 || RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetail.getTaskStage())
+                || RobotTaskStageEnum.TAKEING_EXCEPTION.getType().equals(robotTaskDetail.getTaskStage())
                 || RobotTaskStageEnum.TAKEING.getType().equals(robotTaskDetail.getTaskStage())) {
             return;
         }
@@ -1335,10 +1402,11 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             //说明取货完成
             takeDone(pathPlanning, robotTaskDetail);
         } else if (RobotTaskStageEnum.GO_RELEASE.getType().equals(robotTaskDetail.getTaskStage())
-                || RobotTaskStageEnum.RELEASEING.getType().equals(robotTaskDetail.getTaskStage())) {
+                || RobotTaskStageEnum.RELEASEING.getType().equals(robotTaskDetail.getTaskStage())
+                || RobotTaskStageEnum.RELEASEING_EXCEPTION.getType().equals(robotTaskDetail.getTaskStage())) {
             takeDone(pathPlanning, robotTaskDetail);
         } else if (RobotTaskStageEnum.CLOSE.getType().equals(robotTaskDetail.getTaskStage())
-                || RobotTaskStageEnum.EXCEPTION.getType().equals(robotTaskDetail.getTaskStage()) ) {
+                || RobotTaskStageEnum.EXCEPTION.getType().equals(robotTaskDetail.getTaskStage())) {
             WareHouseLocationDO wareHouseLocation = wareHouseLocationMapper.selectById(robotTaskDetail.getFromLocationId());
             if (ZeroOneEnum.ZERO.getType().equals(wareHouseLocation.getLocationUseStatus())) {
                 takeDone(pathPlanning, robotTaskDetail);
@@ -1465,7 +1533,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         }
 
         pathPlanning.setReleaseGroupId("POINT_" + deviceInformationDO.getPositionMapItemId());
-        pathPlanning.setReleasePointId(deviceInformationDO.getPositionMapItemId());
+        pathPlanning.setReleasePointId(deviceInformationDO.getPositionMapItemId() + "");
     }
 
     /**
@@ -1570,13 +1638,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
      * @param str
      */
     @Override
-    public void sendEmergencyStopOrRecoveryToRobot(RobotSimulationPoseDTO robotSimulationPose, List<String> robotNos, String str) {
+    public void sendEmergencyStopOrRecoveryToRobot(RobotAcceptTaskDTO robotSimulationPose, List<String> robotNos, String str) {
-        for (String robotNo : robotNos) {
+        List<RobotInformationDO> robotInformationDOS = informationMapper.selectList(new LambdaQueryWrapperX<RobotInformationDO>()
-            String mac = getMacByRobotNo(robotNo);
+                .in(RobotInformationDO::getRobotNo, robotNos));
-//            commonApi.commonMethod(robotSimulationPose, RobotTopicConstant.ROBOT_COMMAND_TOPIC + mac);
+        for (RobotInformationDO robotInformationDO : robotInformationDOS) {
-            mqttUtils.pub(RobotTopicConstant.ROBOT_COMMAND_TOPIC + mac, JSON.toJSONString(robotSimulationPose));
+            robotSimulationPose.setOrderId(robotInformationDO.getTaskDetailId()+"");
+            mqttUtils.pub(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + robotInformationDO.getMacAddress(), JSON.toJSONString(robotSimulationPose));
             UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
-                    .operateAction(str + robotNo)
+                    .operateAction(str + robotInformationDO.getRobotNo())
                     .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
             userOperationLogService.createUserOperationLog(operationLog);
         }

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

@@ -250,9 +250,24 @@ public class RobotTaskDetailServiceImpl implements RobotTaskDetailService {
 
     @Override
     public void setTaskDetailError(Long id) {
+        RobotTaskDetailDO detailDO = taskDetailMapper.selectById(id);
         RobotTaskDetailDO robotTaskDetailDO = new RobotTaskDetailDO();
         robotTaskDetailDO.setId(id);
-        robotTaskDetailDO.setTaskStatus(RobotTaskStatusEnum.Exc.getType());
+        if (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(detailDO.getTaskType())) {
+            if (RobotTaskStageEnum.UN_START.getType().equals(detailDO.getTaskStage())
+                    || RobotTaskStageEnum.GO_TAKE.getType().equals(detailDO.getTaskStage())
+                    || RobotTaskStageEnum.TAKEING.getType().equals(detailDO.getTaskStage())) {
+                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING_EXCEPTION.getType());
+            }else {
+                robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING_EXCEPTION.getType());
+            }
+        } else if(RobotTaskTypeEnum.TAKE.getType().equals(detailDO.getTaskType())) {
+            robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.TAKEING_EXCEPTION.getType());
+        }else if(RobotTaskTypeEnum.RELEASE.getType().equals(detailDO.getTaskType())) {
+            robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.RELEASEING_EXCEPTION.getType());
+        }else {
+            robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.EXCEPTION.getType());
+        }
         robotTaskDetailDO.setOccurError(ZeroOneEnum.ONE.getType());
         taskDetailMapper.updateById(robotTaskDetailDO);
     }

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

@@ -8,7 +8,6 @@ import cn.iocoder.yudao.module.system.controller.admin.robot.mapstop.RobotMapSto
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotMapStopDO;
 import com.baomidou.mybatisplus.extension.service.IService;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
-import cn.iocoder.yudao.framework.common.pojo.PageParam;
 
 /**
  * 车辆(地图)急停记录 Service 接口
@@ -127,4 +126,8 @@ public interface RobotMapStopService extends IService<RobotMapStopDO> {
      * @return
      */
     List<RobotMapStopDO> getStopRobotNoByRobotNoList(List<String> robotNos);
+
+    void rcsStopRobotAddLog(String robotNo);
+
+    void rcsDeleteStopRobotAddLog(String robotNo);
 }

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

@@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.service.robot.mapstop;
 import cn.hutool.core.util.ObjectUtil;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
+import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotSimulationPoseDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
@@ -186,9 +187,9 @@ public class RobotMapStopServiceImpl extends ServiceImpl<RobotMapStopMapper, Rob
             throw exception(ROBOT_ALREADY_STOP);
         }
 
-        RobotSimulationPoseDTO robotSimulationPose = new RobotSimulationPoseDTO();
+        RobotAcceptTaskDTO robotSimulationPose = new RobotAcceptTaskDTO();
-        robotSimulationPose.setCommandType(RobotCommandTypeEnum.EMERGENCY_STOP.getType());
+        robotSimulationPose.setExecutionType(RobotCommandTypeEnum.PAUSE.getType());
-        List<String> list = Arrays.asList(robotNo);
+        List<String> list = Collections.singletonList(robotNo);
         informationService.sendEmergencyStopOrRecoveryToRobot(robotSimulationPose, list, "远遥暂停车辆");
 
         String mac = informationService.getMacByRobotNo(robotNo);
@@ -240,9 +241,9 @@ public class RobotMapStopServiceImpl extends ServiceImpl<RobotMapStopMapper, Rob
             }
         }
 
-        RobotSimulationPoseDTO robotSimulationPose = new RobotSimulationPoseDTO();
+        RobotAcceptTaskDTO robotSimulationPose = new RobotAcceptTaskDTO();
-        robotSimulationPose.setCommandType(RobotCommandTypeEnum.RECOVERY.getType());
+        robotSimulationPose.setExecutionType(RobotCommandTypeEnum.CONTINUE.getType());
-        List<String> list = Arrays.asList(robotNo);
+        List<String> list = Collections.singletonList(robotNo);
         informationService.sendEmergencyStopOrRecoveryToRobot(robotSimulationPose, list, "远遥恢复车辆");
 
         deleteRobotMapStopByRobotNos(list);
@@ -271,5 +272,43 @@ public class RobotMapStopServiceImpl extends ServiceImpl<RobotMapStopMapper, Rob
                 .in(RobotMapStopDO::getRobotNo, robotNos));
     }
 
+    @Override
+    public void rcsStopRobotAddLog(String robotNo) {
+        String mac = informationService.getMacByRobotNo(robotNo);
+        List<String> list = Collections.singletonList(robotNo);
+        String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + mac;
+        Object o = redisUtil.get(floorAreaKey);
+
+        Long id = -1l;
+        if (ObjectUtil.isNotEmpty(o)) {
+            FloorZoneDTO floorZone = JSON.parseObject((String) o, FloorZoneDTO.class);
+            PositionMapDO positionMap = positionMapMapper.selectOne(new LambdaQueryWrapperX<PositionMapDO>()
+                    .eq(PositionMapDO::getFloor, floorZone.getFloor())
+                    .eq(PositionMapDO::getArea, floorZone.getArea()));
+            if (ObjectUtil.isNotEmpty(positionMap)) {
+                id = positionMap.getId();
+            }
+        }
+
+        createRobotMapStop(id, list);
+    }
+
+    @Override
+    public void rcsDeleteStopRobotAddLog(String robotNo) {
+        List<RobotMapStopDO> stopRobotNoByRobotNo = getStopRobotNoByRobotNo(robotNo);
+        if (ObjectUtil.isEmpty(stopRobotNoByRobotNo) ){
+            return;
+        }
+        Long mapId = stopRobotNoByRobotNo.get(0).getPositionMapId();
+        deleteRobotMapStopByRobotNos(Collections.singletonList(robotNo));
+        List<RobotMapStopDO> positionMapItems = mapStopMapper.selectList(new LambdaQueryWrapperX<RobotMapStopDO>()
+                .eq(RobotMapStopDO::getStopType, ZeroOneEnum.ONE.getType())
+                .eq(RobotMapStopDO::getPositionMapId, mapId));
+        if (ObjectUtil.isNotEmpty(positionMapItems)) {
+            return;
+        }
+        mapStopMapper.deleteRobotMapStopByMapId(mapId);
+    }
+
 
 }

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

@@ -59,6 +59,8 @@ import java.util.*;
 import java.util.function.Function;
 import java.util.stream.Collectors;
 
+import static org.codehaus.groovy.runtime.DefaultGroovyMethods.collect;
+
 @Service
 @Validated
 @Slf4j
@@ -505,7 +507,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
             if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())) {
                 pathPlanning.setTakeLocationNumber(Math.abs(znConfigConstant.getLocationNumberReduce() - taskDetailDO.getFromLocationNumber()));
-                pathPlanning.setTakePointId(fromLocation.getMapItemId());
+                pathPlanning.setTakePointId(fromLocation.getMapItemId()+"");
 
                 pathPlanningSetTakeHeight(pathPlanning, fromLocation);
                 pathPlanning.setTakeLevel(fromLocation.getLocationStorey());
@@ -519,7 +521,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
             if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())) {
                 pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
-                pathPlanning.setReleasePointId(toLocation.getMapItemId());
+                pathPlanning.setReleasePointId(toLocation.getMapItemId()+"");
 
                 pathPlanningSetReleaseHeight(pathPlanning, toLocation);
                 pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
@@ -596,7 +598,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
      */
     private void moveToPoint(TaskToPathPlanningDTO pathPlanning, RobotTaskDetailDO taskDetailDO) {
         pathPlanning.setReleaseLocationNumber(1l);
-        pathPlanning.setReleasePointId(taskDetailDO.getReleaseId());
+        pathPlanning.setReleasePointId(taskDetailDO.getReleaseId()+"");
         pathPlanning.setReleaseGroupId("POINT_" + taskDetailDO.getReleaseId());
     }
 
@@ -736,30 +738,16 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         }
 
         //取货线库
-        Map<Long, RobotTaskDetailDO> fromLaneMap = detailDOS.stream()
+        Map<Long, RobotTaskDetailDO>  fromLaneMap = getFromLaneMap(detailDOS);
-                .filter(v -> ObjectUtil.isNotEmpty(v.getFromLaneId()))
-                .collect(Collectors.groupingBy(RobotTaskDetailDO::getFromLaneId,
-                        Collectors.collectingAndThen(Collectors.minBy(Comparator.comparingLong(RobotTaskDetailDO::getFromLocationNumber)), Optional::get)));
 
         //放货线库
-        Map<Long, RobotTaskDetailDO> toLaneMap = detailDOS.stream()
+        Map<Long, RobotTaskDetailDO>  toLaneMap = getToLaneMap(detailDOS);
-                .filter(v -> ObjectUtil.isNotEmpty(v.getToLaneId()))
-                .collect(Collectors.groupingBy(RobotTaskDetailDO::getToLaneId,
-                        Collectors.collectingAndThen(Collectors.maxBy(Comparator.comparingLong(RobotTaskDetailDO::getToLocationNumber)), Optional::get)));
 
         //取货点位--最小
-        Map<Long, Long> fromLocationMap = detailDOS.stream()
+        Map<Long, Long>  fromLocationMap = getFromLocationMap(detailDOS);
-                .filter(v -> ObjectUtil.isNotEmpty(v.getFromMapItemId()))
-                .collect(Collectors.groupingBy(RobotTaskDetailDO::getFromMapItemId,
-                        Collectors.collectingAndThen(Collectors.minBy(Comparator.comparingLong(RobotTaskDetailDO::getFromLocationNumber)),
-                                a -> a.isPresent() ? a.get().getFromLocationNumber() : null)));
 
         //放货点位--最大
-        Map<Long, Long> toLocationMap = detailDOS.stream()
+        Map<Long, Long>  toLocationMap =getToLocationMap(detailDOS);
-                .filter(v -> ObjectUtil.isNotEmpty(v.getToMapItemId()))
-                .collect(Collectors.groupingBy(RobotTaskDetailDO::getToMapItemId,
-                        Collectors.collectingAndThen(Collectors.maxBy(Comparator.comparingLong(RobotTaskDetailDO::getToLocationNumber)),
-                                a -> a.isPresent() ? a.get().getToLocationNumber() : null)));
 
         //返回的数据
         List<RobotTaskDetailDO> list = new ArrayList<>();
@@ -796,6 +784,55 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         return list;
     }
 
+    private Map<Long, Long> getToLocationMap(List<RobotTaskDetailDO> detailDOS) {
+        List<RobotTaskDetailDO> collect = detailDOS.stream()
+                .filter(v -> ObjectUtil.isNotEmpty(v.getToMapItemId()))
+                .collect(Collectors.toList());
+        if (ObjectUtil.isEmpty(collect)) {
+            return new HashMap<>();
+        }
+        return collect.stream().collect(Collectors.groupingBy(RobotTaskDetailDO::getToMapItemId,
+                        Collectors.collectingAndThen(Collectors.maxBy(Comparator.comparingLong(RobotTaskDetailDO::getToLocationNumber)),
+                                a -> a.isPresent() ? a.get().getToLocationNumber() : null)));
+    }
+
+    private Map<Long, Long> getFromLocationMap(List<RobotTaskDetailDO> detailDOS) {
+        List<RobotTaskDetailDO> collect = detailDOS.stream()
+                .filter(v -> ObjectUtil.isNotEmpty(v.getFromMapItemId()))
+                .collect(Collectors.toList());
+        if (ObjectUtil.isEmpty(collect)) {
+            return new HashMap<>();
+        }
+        return collect.stream().collect(Collectors.groupingBy(RobotTaskDetailDO::getFromMapItemId,
+                        Collectors.collectingAndThen(Collectors.minBy(Comparator.comparingLong(RobotTaskDetailDO::getFromLocationNumber)),
+                                a -> a.isPresent() ? a.get().getFromLocationNumber() : null)));
+    }
+
+    private Map<Long, RobotTaskDetailDO> getToLaneMap(List<RobotTaskDetailDO> detailDOS) {
+
+        List<RobotTaskDetailDO> collect = detailDOS.stream()
+                .filter(v -> ObjectUtil.isNotEmpty(v.getToLaneId()))
+                .collect(Collectors.toList());
+        if (ObjectUtil.isEmpty(collect)) {
+            return new HashMap<>();
+        }
+        return collect.stream().collect(Collectors.groupingBy(RobotTaskDetailDO::getToLaneId,
+                        Collectors.collectingAndThen(Collectors.maxBy(Comparator.comparingLong(RobotTaskDetailDO::getToLocationNumber)), Optional::get)));
+    }
+
+    private Map<Long, RobotTaskDetailDO> getFromLaneMap(List<RobotTaskDetailDO> detailDOS) {
+        List<RobotTaskDetailDO> collect = detailDOS.stream()
+                .filter(v -> ObjectUtil.isNotEmpty(v.getFromLaneId()))
+                .collect(Collectors.toList());
+        if (ObjectUtil.isEmpty(collect)) {
+            return new HashMap<>();
+        }
+
+        return collect.stream()
+                .collect(Collectors.groupingBy(RobotTaskDetailDO::getFromLaneId,
+                        Collectors.collectingAndThen(Collectors.minBy(Comparator.comparingLong(RobotTaskDetailDO::getFromLocationNumber)), Optional::get)));
+    }
+
 
     /**
      * 仅取货设置任务

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

@@ -212,6 +212,8 @@ zn:
   send_robot_init_pose: true # 是否为发送默认的车辆所在地图和点位
   synchronous_all_map_node: 500 # 点位信息每次发送的数据量
   task_not_check: true # 创建任务不校验
+  check_shortest_distance: 1.5 # 检测点最短距离
+  check_longest_distance: 3.0 # 检测点最长距离
 
 
 #海康威视的相关配置

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

@@ -247,6 +247,8 @@ zn:
   send_robot_init_pose: true # 是否为发送默认的车辆所在地图和点位
   synchronous_all_map_node: 500 # 点位信息每次发送的数据量
   task_not_check: true # 创建任务不校验
+  check_shortest_distance: 1.5 # 检测点最短距离
+  check_longest_distance: 3.0 # 检测点最长距离
 
 logging:
   file:

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

@@ -240,6 +240,8 @@ zn:
   send_robot_init_pose: true # 是否为发送默认的车辆所在地图和点位
   synchronous_all_map_node: 500 # 点位信息每次发送的数据量
   task_not_check: true # 创建任务不校验
+  check_shortest_distance: 1.5 # 检测点最短距离
+  check_longest_distance: 3.0 # 检测点最长距离
 
 #海康威视的相关配置
 isc:

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationTypeMapper.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.houselocation.WareHouseLocationTypeMapper">
+
+    <!--
+        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/robot/RobotTaskDetailMapper.xml

@@ -346,7 +346,7 @@
             t1.deleted = '0'
             and t2.deleted = '0'
             and t2.occur_error = '1'
-            and ((t2.task_type = '1' and t2.task_stage in ('2','3','4')) or (t2.task_type = '6') or (t2.task_type = '5' and t2.task_stage = '2'))
+            and ((t2.task_type = '1' and t2.task_stage in ('1','2','3','4')) or (t2.task_type = '6') or (t2.task_type = '5' and t2.task_stage = '2'))
             and t2.task_status = '1'
             and t1.task_status = '1'
             <if test="pageReqVO.robotNo != null and pageReqVO.robotNo != ''">