refactor(robot): 重构机器人状态数据处理逻辑

- 引入 RobotStatisticsTypeEnum 枚举类，用于机器人统计类型
- 添加 ArrayList 导入，用于数据处理- 修改 RobotStatusApiImpl 中的数据处理逻辑，优化数据合并和请求处理

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

@@ -0,0 +1,61 @@
+package cn.iocoder.yudao.module.system.api.robot;
+
+import cn.hutool.core.map.MapUtil;
+import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Component;
+
+import javax.annotation.PreDestroy;
+import javax.annotation.Resource;
+import java.util.Map;
+import java.util.concurrent.ConcurrentHashMap;
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
+
+@Component
+@Slf4j
+public class RequestProcessor {
+    private final ConcurrentHashMap<String, ConcurrentHashMap<String, String>> cache = new ConcurrentHashMap<>();
+    private final ScheduledExecutorService scheduler = Executors.newScheduledThreadPool(1);
+
+    @Resource
+    public WebSocketSenderApi webSocketSenderApi;
+
+    public RequestProcessor() {
+        // 每秒执行一次 - 处理并发送数据 - 避免数据丢失
+        scheduler.scheduleAtFixedRate(this::processAndSend, 1, 1, TimeUnit.SECONDS);
+    }
+
+    public void handleRequest(String map, String mac, String data) {
+        cache.computeIfAbsent(map, k -> new ConcurrentHashMap<>()).put(mac, data);
+    }
+
+
+    private void processAndSend() {
+        Map<String, ConcurrentHashMap<String, String>> snapshot = new ConcurrentHashMap<>(cache); // 创建快照
+        cache.clear(); // 先清理缓存
+        for (Map.Entry<String, ConcurrentHashMap<String, String>> entry : snapshot.entrySet()) {
+            if (!MapUtil.isEmpty(entry.getValue())) {
+                sendData(entry.getKey(), entry.getValue());
+            }
+        }
+    }
+
+    private void sendData(String map, Map<String, String> data) {
+        // -- 发送给对应的websocket
+//        System.out.println("key:" + map + "发送数据：" + data);
+        log.info("key:" + map + "发送数据：" + data);
+        webSocketSenderApi.sendObject(map, "map_push", data);
+    }
+
+    public void shutdown() {
+        scheduler.shutdown();
+    }
+
+    @PreDestroy
+    public void destroy() {
+        // 在Bean销毁前关闭去啊
+        shutdown();
+    }
+}

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

@@ -19,6 +19,7 @@ import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
+import org.springframework.scheduling.annotation.Async;
 import org.springframework.validation.annotation.Validated;
 import org.springframework.web.bind.annotation.RestController;
 
@@ -28,6 +29,8 @@ import java.util.List;
 import java.util.Map;
 import java.util.stream.Collectors;
 
+import static cn.iocoder.yudao.module.system.config.SystemJobConfiguration.NOTIFY_THREAD_POOL_TASK_EXECUTOR;
+
 @Slf4j
 @RestController // 提供 RESTful API 接口，给 Feign 调用
 @Validated
@@ -48,12 +51,20 @@ public class RobotStatusApiImpl implements RobotStatusApi {
     @Value("${zn.robot_position_cache_time:600}")
     private Long robotPositionCacheTime;
 
+    @Value("${zn.robot_error_level_time:30}")
+    private Long robotErrorLevelTime;
+
+    @Resource
+    private RequestProcessor processor;
+
     /**
      * 更新机器人点位/异常/能否做任务
+     *
      * @param robotStatusDataDTO
      * @return
      */
     @Override
+    @Async(NOTIFY_THREAD_POOL_TASK_EXECUTOR)
     public void robotStatusUpdate(RobotStatusDTO robotStatusDataDTO) {
         TenantContextHolder.setTenantId(1L);
         if (ObjectUtil.isEmpty(robotStatusDataDTO) || ObjectUtil.isEmpty(robotStatusDataDTO.getMac())) {
@@ -61,26 +72,31 @@ public class RobotStatusApiImpl implements RobotStatusApi {
             return;
         }
 
-        String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS +robotStatusDataDTO.getMac();
+        String taskStatusKey = RobotTaskChcheConstant.ROBOT_TASK_STATUS + robotStatusDataDTO.getMac();
-        String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED +robotStatusDataDTO.getMac();
+        String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + robotStatusDataDTO.getMac();
-        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +robotStatusDataDTO.getMac();
+        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robotStatusDataDTO.getMac();
-        redisUtil.set(taskStatusKey, robotStatusDataDTO.getData().getTask_status(),robotPositionCacheTime);
+        redisUtil.set(taskStatusKey, robotStatusDataDTO.getData().getTask_status(), robotPositionCacheTime);
-        redisUtil.set(cargoDetectedKey,robotStatusDataDTO.getData().getCargo_detected(),robotPositionCacheTime);
+        redisUtil.set(cargoDetectedKey, robotStatusDataDTO.getData().getCargo_detected(), robotPositionCacheTime);
 
         Object object = redisUtil.get(pose2dKey);
-        RobotStatusDataPoseDTO robotStatusDataPoseDTO= JSONUtil.toBean((String)object, RobotStatusDataPoseDTO.class);
+        RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
         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.setFloor(robotStatusDataDTO.getData().getFloor_zone().getFloor());
-        robotStatusDataPoseDTO.setArea(robotStatusDataDTO.getData().getPose2d().getArea());
+        robotStatusDataPoseDTO.setArea(robotStatusDataDTO.getData().getFloor_zone().getArea());
-        redisUtil.set(pose2dKey,JSON.toJSONString(robotStatusDataPoseDTO),robotPositionCacheTime);
+        redisUtil.set(pose2dKey, JSON.toJSONString(robotStatusDataPoseDTO), robotPositionCacheTime);
+
+        // 合并请求 - 这里接受到的数据都丢给 RequestProcessor - 再整合数据通过WebSocket丢给前端
+        processor.handleRequest(robotStatusDataPoseDTO.getFloor() + "_" + robotStatusDataPoseDTO.getArea(),
+                robotStatusDataDTO.getMac(), JSONUtil.toJsonStr(robotStatusDataDTO.getData().getPose2d()));
+
 
         if (ObjectUtil.isNotNull(robotStatusDataDTO.getData().getErr_code())) {
             List<RobotStatusDataErrorDTO> errCode = robotStatusDataDTO.getData().getErr_code();
             String robotNo = robotInformationService.getRobotNoByMac(robotStatusDataDTO.getMac());
             if (ObjectUtil.isNull(robotNo)) {
-                log.info("查不到机器人编号 :{}",robotStatusDataDTO.getMac());
+                log.info("查不到机器人编号 :{}", robotStatusDataDTO.getMac());
                 return;
             }
 
@@ -88,7 +104,7 @@ public class RobotStatusApiImpl implements RobotStatusApi {
                     errCode.stream().map(RobotStatusDataErrorDTO::getError_code).collect(Collectors.toList());
             List<RobotWarnCodeMappingDO> robotWarnCodeMappingDOS =
                     warnCodeMappingMapper.selectList(new LambdaQueryWrapper<RobotWarnCodeMappingDO>()
-                    .in(RobotWarnCodeMappingDO::getWarnCode, warnCodes));
+                            .in(RobotWarnCodeMappingDO::getWarnCode, warnCodes));
             if (ObjectUtil.isEmpty(robotWarnCodeMappingDOS)) {
                 log.info("查不对应编号的告警信息 :{}", JSON.toJSONString(warnCodes));
                 return;
@@ -99,10 +115,20 @@ public class RobotStatusApiImpl implements RobotStatusApi {
 
             List<RobotWarnMsgDO> warnMsgDOS = new ArrayList<>();
 
+            //机器人异常等级
+            String errorLevelKey = RobotTaskChcheConstant.ROBOT_ERROR_LEVEL + robotStatusDataDTO.getMac();
+            Object errorLevel = redisUtil.get(errorLevelKey);
+
+            Integer level = ObjectUtil.isEmpty(errorLevel) ? 0 : Integer.valueOf(errorLevel.toString());
+
             for (RobotStatusDataErrorDTO robotStatusData : errCode) {
+                if (level.intValue() < Integer.valueOf(robotStatusData.getCode_level()).intValue()) {
+                    level = Integer.valueOf(robotStatusData.getCode_level());
+                }
+
                 List<RobotWarnCodeMappingDO> mappingDOS = warnCodeMapping.get(robotStatusData.getError_code());
                 if (ObjectUtil.isEmpty(mappingDOS)) {
-                    log.info("当前告警类型查不到对应的告警信息 :{}",robotStatusData.getError_code());
+                    log.info("当前告警类型查不到对应的告警信息 :{}", robotStatusData.getError_code());
                     continue;
                 }
                 RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(Integer.valueOf(robotStatusData.getCode_level()))
@@ -114,10 +140,11 @@ public class RobotStatusApiImpl implements RobotStatusApi {
                         .build();
                 warnMsgDOS.add(warnMsg);
             }
+            redisUtil.set(errorLevelKey, level, robotErrorLevelTime);
+
             warnMsgMapper.insertBatch(warnMsgDOS);
         }
     }
 
 
-
 }

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

@@ -22,4 +22,7 @@ public class RobotTaskChcheConstant {
 
     //机器人充电模式 1:自动充电、2:机会充电、3:充满电  (拼接的是机器人编号)
     public static String ROBOT_CHARGE_MODEL = "robot:information:charge:model";
+
+    //机器人异常等级 (拼接的是mac地址)
+    public static String ROBOT_ERROR_LEVEL = "robot:information:error:level";
 }

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

@@ -82,8 +82,8 @@ public class HouseAreaController {
     @GetMapping("/getHouseAreaList")
     @Operation(summary = "获得全部库区")
     @PreAuthorize("@ss.hasPermission('ware:house-area:query')")
-    public CommonResult<List<HouseAreaRespVO>> getHouseAreaList() {
+    public CommonResult<List<HouseAreaRespVO>> getHouseAreaList(@RequestParam Long positionMapId) {
-        List<HouseAreaDO> list = houseAreaService.getHouseAreaList();
+        List<HouseAreaDO> list = houseAreaService.getHouseAreaList(positionMapId);
         return success(BeanUtils.toBean(list, HouseAreaRespVO.class));
     }
 

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

@@ -2,6 +2,7 @@ package cn.iocoder.yudao.module.system.controller.admin.information;
 
 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.dto.StatisticsInformationDTO;
 import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationRespVO;
 import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationSaveReqVO;
@@ -116,4 +117,18 @@ public class DeviceInformationController {
         return success(map);
     }
 
+    @GetMapping("/deviceNumber")
+    @Operation(summary = "统计设备数量")
+    public CommonResult<List<StatisticsInformationDTO>> getDeviceNumber() {
+        List<StatisticsInformationDTO> list = informationService.getDeviceNumber();
+        return success(list);
+    }
+
+    @GetMapping("/getInformationList")
+    @Operation(summary = "获得所有设备信息(含最后通讯时间)")
+    @PreAuthorize("@ss.hasPermission('device:information:query')")
+    public CommonResult<List<DeviceInformationRespVO>> getInformationList(@Valid DeviceInformationPageReqVO pageReqVO) {
+        List<DeviceInformationDO> list = informationService.getInformationList(pageReqVO);
+        return success(BeanUtils.toBean(list, DeviceInformationRespVO.class));
+    }
 }

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

@@ -0,0 +1,13 @@
+package cn.iocoder.yudao.module.system.controller.admin.information.dto;
+
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+@Data
+public class StatisticsInformationDTO {
+    @Schema(description = "设备类型 字典device_type", example = "2")
+    private Integer deviceType;
+
+    @Schema(description = "设备数量", example = "2")
+    private Integer number = 0;
+}

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

@@ -35,6 +35,7 @@ public class DeviceInformationPageReqVO extends PageParam {
     @Schema(description = "深度")
     private BigDecimal locationDeep;
 
+    //1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机
     @Schema(description = "设备类型 字典device_type", example = "2")
     private Integer deviceType;
 

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

@@ -42,6 +42,7 @@ public class DeviceInformationRespVO {
     @ExcelProperty("深度")
     private BigDecimal locationDeep;
 
+    //1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机
     @Schema(description = "设备类型 字典device_type", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
     @ExcelProperty("设备类型 字典device_type")
     private Integer deviceType;

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

@@ -35,6 +35,7 @@ public class DeviceInformationSaveReqVO {
     @Schema(description = "深度")
     private BigDecimal locationDeep;
 
+    //1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机
     @Schema(description = "设备类型 字典device_type", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
     @NotNull(message = "设备类型不能为空")
     private Integer deviceType;

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/path/PathPlanningController.java

@@ -0,0 +1,37 @@
+package cn.iocoder.yudao.module.system.controller.admin.path;
+
+import cn.iocoder.yudao.framework.common.pojo.CommonResult;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotInformationSaveReqVO;
+import cn.iocoder.yudao.module.system.service.path.PathPlanningService;
+import io.swagger.v3.oas.annotations.Operation;
+import io.swagger.v3.oas.annotations.tags.Tag;
+import org.springframework.security.access.prepost.PreAuthorize;
+import org.springframework.validation.annotation.Validated;
+import org.springframework.web.bind.annotation.PutMapping;
+import org.springframework.web.bind.annotation.RequestBody;
+import org.springframework.web.bind.annotation.RequestMapping;
+import org.springframework.web.bind.annotation.RestController;
+
+import javax.annotation.Resource;
+import javax.validation.Valid;
+
+import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
+
+@Tag(name = "管理后台 - 同步信息给路径规划")
+@RestController
+@RequestMapping("/system/path/planning")
+@Validated
+public class PathPlanningController {
+
+    @Resource
+    private PathPlanningService pathPlanningService;
+
+    @PutMapping("/synchronousPoint")
+    @Operation(summary = "同步全部的点位信息")
+    @PreAuthorize("@ss.hasPermission('robot:information:synchronousPoint')")
+    public CommonResult<String> synchronousPoint() {
+        pathPlanningService.synchronousPoint();
+        return success("同步完成");
+    }
+
+}

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

@@ -6,7 +6,6 @@ import cn.iocoder.yudao.framework.common.pojo.PageParam;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils;
-import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
@@ -18,7 +17,6 @@ import org.springframework.validation.annotation.Validated;
 import org.springframework.web.bind.annotation.*;
 
 import javax.annotation.Resource;
-import javax.annotation.security.PermitAll;
 import javax.servlet.http.HttpServletResponse;
 import javax.validation.Valid;
 import java.io.IOException;
@@ -36,8 +34,6 @@ public class RobotInformationController {
 
     @Resource
     private RobotInformationService informationService;
-    @Resource
-    private WebSocketSenderApi webSocketSenderApi;
 
     @PostMapping("/create")
     @Operation(summary = "创建车辆信息")
@@ -46,14 +42,6 @@ public class RobotInformationController {
         return success(informationService.createInformation(createReqVO));
     }
 
-    @PostMapping("/test")
-    @PermitAll
-    @Operation(summary = "测试")
-    public CommonResult<Boolean> test(@RequestParam String id, @RequestParam String msg) {
-        webSocketSenderApi.sendObject(id,"map_push", msg);
-        return success(true);
-    }
-
     @PutMapping("/update")
     @Operation(summary = "更新车辆信息")
     @PreAuthorize("@ss.hasPermission('robot:information:update')")
@@ -124,4 +112,12 @@ public class RobotInformationController {
         return success(BeanUtils.toBean(result, RobotInformationRespVO.class));
     }
 
+    @GetMapping("/list")
+    @Operation(summary = "获得车辆信息分页")
+    @PreAuthorize("@ss.hasPermission('robot:information:list')")
+    public CommonResult<PageResult<RobotInformationPageRespVO>> getRobotList(@Valid RobotInformationPageReqVO pageReqVO) {
+        pageReqVO.setPageSize(300);
+        PageResult<RobotInformationPageRespVO> pageResult = informationService.getInformationPage(pageReqVO);
+        return success(BeanUtils.toBean(pageResult, RobotInformationPageRespVO.class));
+    }
 }

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

@@ -33,6 +33,9 @@ public class RobotInformationPageReqVO extends PageParam {
     @Schema(description = "mac地址")
     private String macAddress;
 
+    @Schema(description = "车辆状态类型(待命:standby, 任务中:inTask, 锁定:doLock, 离线:offline, 充电中:charge, 故障:fault)")
+    private String robotStatisticsType;
+
     @Schema(description = "上传图片附件", example = "https://www.iocoder.cn")
     private String url;
 

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

@@ -36,8 +36,24 @@ public class RobotInformationPageRespVO {
     @ExcelProperty("电量")
     private String electricity;
 
-    @Schema(description = "状态（0：待命、1：任务中、2：锁定、3：离线、4:充电中、5:故障）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @Schema(description = "在线状态/离线状态（0：离线、1：在线）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
-    @ExcelProperty("状态（0：待命、1：任务中、2：锁定、3：离线、4:充电中、5:故障）")
+    @ExcelProperty("在线状态/离线状态（0：离线、1：在线）")
+    private Integer onlineStatus = 0;
+
+    @Schema(description = "车机状态（0：空闲、1：锁定、2:异常）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @ExcelProperty("车机状态（0：空闲、1：锁定、2:异常）")
+    private Integer robotEssenceStatus = 0;
+
+    @Schema(description = "任务状态（0：待命中、1：处理中、2:充电中）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @ExcelProperty("任务状态（0：待命中、1：处理中、2:充电中）")
+    private Integer robotTaskStatus = 0;
+
+    @Schema(description = "异常等级(0,1,2,3,4)", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @ExcelProperty("异常等级(0,1,2,3,4)")
+    private Integer robotCodeLevel = 0;
+
+    @Schema(description = "AGV状态（0：暂停且无任务、1：暂停(有处理中的任务)、2：任务中、3：待命）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
+    @ExcelProperty("AGV状态（0：暂停且无任务、1：暂停(有处理中的任务)、2：任务中、3：待命）")
     private Integer robotStatus;
 
     @Schema(description = "自动充电电量")
@@ -58,7 +74,7 @@ public class RobotInformationPageRespVO {
     @Schema(description = "mac地址")
     private String macAddress;
 
-    @Schema(description = "任务模式（0：拒收任务、1：正常）")
+    @Schema(description = "任务模式（0：拒收任务(锁定)、1：正常）")
     private Integer robotTaskModel;
 
     @Schema(description = "楼层/区域(json)")

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

@@ -59,6 +59,7 @@ public class DeviceInformationDO extends BaseDO {
      */
     private BigDecimal locationDeep;
     /**
+     * 1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机
      * 设备类型 字典device_type
      */
     private Integer deviceType;

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

@@ -10,9 +10,10 @@ import lombok.Getter;
 @Getter
 @AllArgsConstructor
 public enum CommandConfigTypeEnum {
-    ONE(1); //充电设置(页面)
+    CHARG_CONFIG(1,"充电设置(页面)");
     /**
      * 类型
      */
     private final Integer type;
+    private final String msg;
 }

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

@@ -8,7 +8,7 @@ import lombok.Getter;
 public enum DeviceTypeEnum {
 
     CHARGING_STATION(1, "充电桩"),
-    Conveyor_line(2, "输送线"),
+    CONVEYOR_LINE(2, "输送线"),
     PALLETIZER(3, "码垛机"),
     AUTOMATIC_DOOR(4, "自动门"),
     HOIST(5, "提升机"),

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

@@ -0,0 +1,22 @@
+package cn.iocoder.yudao.module.system.enums.device;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+@Getter
+@AllArgsConstructor
+public enum PictureConfigEnum {
+
+    DEFAULT(1, "默认图片"),
+    UPLOAD(2, "上传图片"),
+    NOT_DISPLAY(3, "不显示图片");
+
+    /**
+     * 类型
+     */
+    private final Integer type;
+    /**
+     * 说明
+     */
+    private final String msg;
+}

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

@@ -0,0 +1,25 @@
+package cn.iocoder.yudao.module.system.enums.robot.information;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+/**
+ * 车辆分页-车辆状态
+ */
+@Getter
+@AllArgsConstructor
+public enum RobotStatisticsTypeEnum {
+
+    STANDBY("standby","待命"),
+    INTASK("inTask","任务中"),
+    DOLOCK("doLock","锁定"),
+    OFFLINE("offline","离线"),
+    CHARGE("charge","充电中"),
+    FAULT("fault","故障");
+    /**
+     * 类型
+     */
+    private final String type;
+    private final String msg;
+
+}

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

@@ -64,5 +64,5 @@ public interface HouseAreaService {
      * 获得全部库区
      * @return
      */
-    List<HouseAreaDO> getHouseAreaList();
+    List<HouseAreaDO> getHouseAreaList(Long positionMapId);
 }

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

@@ -14,7 +14,6 @@ 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;
@@ -157,10 +156,10 @@ public class HouseAreaServiceImpl implements HouseAreaService {
     }
 
     @Override
-    public List<HouseAreaDO> getHouseAreaList() {
+    public List<HouseAreaDO> getHouseAreaList(Long positionMapId) {
-        List<HouseAreaDO> list = houseAreaMapper.selectList(new LambdaQueryWrapper<HouseAreaDO>()
+        return houseAreaMapper.selectList(new LambdaQueryWrapper<HouseAreaDO>()
+                .eq(HouseAreaDO::getPositionMapId, positionMapId)
                 .orderByAsc(HouseAreaDO::getId));
-        return list;
     }
 
 }

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

@@ -3,6 +3,7 @@ package cn.iocoder.yudao.module.system.service.information;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 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.dto.StatisticsInformationDTO;
 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;
@@ -92,4 +93,17 @@ public interface DeviceInformationService {
      * @return
      */
     Map<Integer, List<DeviceInformationDO>> classification();
+
+    /**
+     * 统计设备
+     * @return
+     */
+    List<StatisticsInformationDTO> getDeviceNumber();
+
+    /**
+     * 查看全部设备
+     * @param pageReqVO
+     * @return
+     */
+    List<DeviceInformationDO> getInformationList(@Valid DeviceInformationPageReqVO pageReqVO);
 }

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

@@ -8,11 +8,16 @@ 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.dto.StatisticsInformationDTO;
 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.dict.DictDataDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
+import cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper;
 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.enums.device.PictureConfigEnum;
+import cn.iocoder.yudao.module.system.service.dict.DictDataService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import lombok.extern.slf4j.Slf4j;
@@ -45,6 +50,9 @@ public class DeviceInformationServiceImpl implements DeviceInformationService {
     @Resource
     private DeviceInformationMapper informationMapper;
 
+    @Resource
+    private DictDataService dictDataService;
+
     @Resource
     private GrpcServiceApi grpcServiceApi;
 
@@ -59,6 +67,17 @@ public class DeviceInformationServiceImpl implements DeviceInformationService {
         if (ObjectUtil.isNotEmpty(pageResult.getList())) {
             throw exception(INFORMATION_MAC_EXIST);
         }
+
+        //默认图片
+        if (PictureConfigEnum.DEFAULT.getType().equals(createReqVO.getPictureConfig())) {
+            List<DictDataDO> deviceType = dictDataService.getDictDataListByDictType("device_type");
+            DictDataDO dictDataDO = deviceType.stream()
+                    .filter(v -> Integer.valueOf(v.getValue()).equals(createReqVO.getDeviceType()))
+                    .findFirst()
+                    .orElse(new DictDataDO());
+            createReqVO.setUrl(dictDataDO.getRemark());
+        }
+
         // 插入
         DeviceInformationDO information = BeanUtils.toBean(createReqVO, DeviceInformationDO.class);
         information.setDeviceStatus(1);
@@ -191,6 +210,67 @@ public class DeviceInformationServiceImpl implements DeviceInformationService {
 
         return collect;
     }
+
+    /**
+     * 统计设备
+     * @return
+     */
+    @Override
+    public List<StatisticsInformationDTO> getDeviceNumber() {
+        List<DeviceInformationDO> deviceInformationDOS = informationMapper.selectList(new LambdaQueryWrapper<DeviceInformationDO>());
+        if (ObjectUtil.isEmpty(deviceInformationDOS)) {
+            return new ArrayList<>();
+        }
+
+        List<StatisticsInformationDTO> list = deviceInformationDOS.stream()
+                .filter(v -> ObjectUtil.isNotEmpty(v.getDeviceType()))
+                .collect(Collectors.groupingBy(DeviceInformationDO::getDeviceType))
+                .entrySet().stream()
+                .map(v -> {
+                    Integer key = v.getKey();
+                    int number = v.getValue().size();
+                    StatisticsInformationDTO statisticsInformationDTO = new StatisticsInformationDTO();
+                    statisticsInformationDTO.setDeviceType(key);
+                    statisticsInformationDTO.setNumber(number);
+                    return statisticsInformationDTO;
+                }).collect(Collectors.toList());
+
+        return list;
+    }
+
+    @Override
+    public List<DeviceInformationDO> getInformationList(DeviceInformationPageReqVO dto) {
+
+        List<DeviceInformationDO> deviceInformationDOS = informationMapper.selectList(new LambdaQueryWrapper<DeviceInformationDO>()
+                .like(dto.getDeviceNo() != null, DeviceInformationDO::getDeviceNo, dto.getDeviceNo())
+                .eq(dto.getDeviceType() != null, DeviceInformationDO::getDeviceType, dto.getDeviceType())
+        );
+
+        if (ObjectUtil.isEmpty(deviceInformationDOS)) {
+            return new ArrayList<>();
+        }
+
+        // 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());
+            }
+        }
+
+        return deviceInformationDOS;
+    }
+
     @Override
     public void mapBindDeviceInfo(MapBindDeviceInfoDTO dto) {
         DeviceInformationDO deviceInformationDO = informationMapper.selectById(dto.getDeviceInfoId());

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

@@ -0,0 +1,5 @@
+package cn.iocoder.yudao.module.system.service.path;
+
+public interface PathPlanningService {
+    void synchronousPoint();
+}

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

@@ -0,0 +1,22 @@
+package cn.iocoder.yudao.module.system.service.path;
+
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+import org.springframework.validation.annotation.Validated;
+
+/**
+ * 同步信息给车辆
+ */
+@Slf4j
+@Service
+public class PathPlanningServiceImpl implements PathPlanningService {
+
+
+    /**
+     * 同步全部的点位信息
+     */
+    @Override
+    public void synchronousPoint() {
+
+    }
+}

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

@@ -1,12 +1,12 @@
 package cn.iocoder.yudao.module.system.service.robot;
 
-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.robot.vo.*;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 
+import javax.validation.Valid;
+import java.util.List;
+
 /**
  * 车辆信息 Service 接口
  *
@@ -54,27 +54,30 @@ public interface RobotInformationService {
 
     /**
      * 统计车辆待命/任务中/离线
+     *
      * @return
      */
     RobotInformationStatisticsVO statisticsInformation();
 
     /**
      * 查询能正常使用的车辆
+     *
      * @return
      */
     List<RobotInformationDO> getCanUseRobot();
 
     /**
      * 查询所有车辆
+     *
      * @return
      */
     List<RobotInformationDO> getAllRobot();
 
     /**
      * 查询机器人编号
+     *
      * @param mac
      * @return
      */
     String getRobotNoByMac(String mac);
-
 }

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

@@ -3,6 +3,8 @@ package cn.iocoder.yudao.module.system.service.robot;
 import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.json.JSONUtil;
+import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
@@ -15,16 +17,16 @@ 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.enums.robot.information.RobotStatisticsTypeEnum;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import org.springframework.stereotype.Service;
-import javax.annotation.Resource;
 import org.springframework.validation.annotation.Validated;
 
-import java.util.*;
+import javax.annotation.Resource;
-import cn.iocoder.yudao.framework.common.pojo.PageResult;
+import java.util.ArrayList;
-import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
+import java.util.List;
-
+import java.util.Set;
 
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
 import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
@@ -105,7 +107,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
         // 更新
         RobotInformationDO updateObj = BeanUtils.toBean(updateReqVO, RobotInformationDO.class);
         informationMapper.updateById(updateObj);
-        redisUtil.set(RobotTaskChcheConstant.ROBOT_GET_ROBOTNO_BY_MAC + updateObj.getMacAddress(),updateObj.getRobotNo());
+        redisUtil.set(RobotTaskChcheConstant.ROBOT_GET_ROBOTNO_BY_MAC + updateObj.getMacAddress(), updateObj.getRobotNo());
     }
 
     @Override
@@ -150,65 +152,108 @@ public class RobotInformationServiceImpl implements RobotInformationService {
         targetList.stream().forEach(v -> {
             setMsgAndRobotStatus(v);
         });
-        dataPage.setList(targetList);
+
+        if (ObjectUtil.isNotEmpty(pageReqVO.getRobotStatisticsType())) {
+            List<RobotInformationPageRespVO> resultList = new ArrayList<>();
+            for (RobotInformationPageRespVO v : targetList) {
+                if (RobotStatisticsTypeEnum.STANDBY.getType().equals(pageReqVO.getRobotStatisticsType())
+                        && v.getRobotTaskStatus().equals(0)) {
+                    resultList.add(v);
+                    continue;
+                }
+
+                if (RobotStatisticsTypeEnum.INTASK.getType().equals(pageReqVO.getRobotStatisticsType())
+                        && v.getRobotTaskStatus().equals(1)) {
+                    resultList.add(v);
+                    continue;
+                }
+
+                if (RobotStatisticsTypeEnum.CHARGE.getType().equals(pageReqVO.getRobotStatisticsType())
+                        && v.getRobotTaskStatus().equals(2)) {
+                    resultList.add(v);
+                    continue;
+                }
+
+                if (RobotStatisticsTypeEnum.DOLOCK.getType().equals(pageReqVO.getRobotStatisticsType())
+                        && v.getRobotEssenceStatus().equals(1)) {
+                    resultList.add(v);
+                    continue;
+                }
+
+                if (RobotStatisticsTypeEnum.OFFLINE.getType().equals(pageReqVO.getRobotStatisticsType())
+                        && v.getOnlineStatus().equals(1)) {
+                    resultList.add(v);
+                    continue;
+                }
+
+                if (RobotStatisticsTypeEnum.FAULT.getType().equals(pageReqVO.getRobotStatisticsType())
+                        && v.getRobotEssenceStatus().equals(2)) {
+                    resultList.add(v);
+                }
+            }
+            dataPage.setList(resultList);
+        } else {
+            dataPage.setList(targetList);
+        }
 
         return dataPage;
     }
 
     /**
      * 设置状态和信息
+     *
      * @param v
      */
     private void setMsgAndRobotStatus(RobotInformationPageRespVO v) {
-        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +v.getMacAddress();
+        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + v.getMacAddress();
         Object object = redisUtil.get(pose2dKey);
-        RobotStatusDataPoseDTO robotStatusDataPoseDTO= JSONUtil.toBean((String)object, RobotStatusDataPoseDTO.class);
+        RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
 
-        String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_QUERY_DOING_ACTION +v.getMacAddress();
+        String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_QUERY_DOING_ACTION + v.getMacAddress();
         Object action = redisUtil.get(robotDoingActionKey);
 
         if (ObjectUtil.isNotEmpty(object) && ObjectUtil.isNotEmpty(robotStatusDataPoseDTO)) {
             v.setElectricity(robotStatusDataPoseDTO.getBat_soc());
             v.setFloor(robotStatusDataPoseDTO.getFloor());
             v.setArea(robotStatusDataPoseDTO.getArea());
+        } else if (ObjectUtil.isEmpty(object)) {
+            //离线
+            v.setOnlineStatus(1);
         }
 
-        if (RobotTaskModelEnum.REJECTION.getType().equals(v.getRobotTaskModel())) {
+        v.setRobotEssenceStatus(v.getRobotTaskModel());
-            v.setRobotStatus(RobotInformationPageStatusEnum.DOLOCK.getType());
+        //设置异常
-            v.setMsg("车辆已经锁定");
+        String errorLevelKey = RobotTaskChcheConstant.ROBOT_ERROR_LEVEL + v.getMacAddress();
-        }else if (ObjectUtil.isEmpty(object)) {
+        Object errorLevel = redisUtil.get(errorLevelKey);
-            v.setRobotStatus(RobotInformationPageStatusEnum.OFFLINE.getType());
+        if (ObjectUtil.isNotEmpty(errorLevel) && Integer.valueOf(errorLevel.toString()).intValue() >= 3) {
-            v.setMsg("车辆已经离线");
+            v.setRobotEssenceStatus(2);
-        }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>()
+        if (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())) {
-                    .eq(RobotTaskDetailDO::getRobotNo, v.getRobotNo())
+            //待命中
-                    .orderByDesc(RobotTaskDetailDO::getCreateTime)
+            v.setRobotTaskStatus(0);
-                    .last("limit 1"));
+            v.setMsg("车辆正在待命中");
-            if (ObjectUtil.isNotEmpty(robotTaskDetailDO)
+        } else if (RobotStatusEnum.CHARGE.getType().equals(v.getRobotStatus())) {
-                    && RobotTaskTypeEnum.CHARGE.getType().equals(robotTaskDetailDO.getTaskType())
+            //充电中
-                    && RobotTaskStatusEnum.DOING.getType().equals(robotTaskDetailDO.getTaskStatus())) {
+            v.setRobotTaskStatus(2);
-                v.setRobotStatus(RobotInformationPageStatusEnum.CHARGE.getType());
+            v.setMsg("车辆正在充电");
-                v.setMsg("车辆正在充电");
-            }else {
-                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(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(RobotInformationPageStatusEnum.FAULT.getType());
+            //任务中
-            v.setMsg("车辆发生异常");
+            v.setRobotTaskStatus(1);
+            if (RobotStatusEnum.DOING.getType().equals(v.getRobotStatus()) && ObjectUtil.isNotEmpty(action)) {
+                v.setRobotStatus(1);
+                CommandTypeEnum commandType = CommandTypeEnum.getCommandType(String.valueOf(action));
+                if (ObjectUtil.isNotEmpty(commandType)) {
+                    v.setMsg("车辆正在" + commandType.getMsg());
+                }
+            }
         }
 
     }
 
     /**
      * 统计车辆待命/任务中/离线
+     *
      * @return
      */
     @Override
@@ -228,13 +273,13 @@ public class RobotInformationServiceImpl implements RobotInformationService {
         Integer fault = 0;
         //0：待命、1：任务中、2：锁定、3：离线、4:充电中、5:故障
         for (RobotInformationDO v : existRobot) {
-            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +v.getMacAddress();
+            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + v.getMacAddress();
             Object object = redisUtil.get(pose2dKey);
             if (ObjectUtil.isEmpty(object)) {
                 offline++;
-            }else if (RobotTaskModelEnum.REJECTION.getType().equals(v.getRobotTaskModel())) {
+            } else if (RobotTaskModelEnum.REJECTION.getType().equals(v.getRobotTaskModel())) {
                 doLock++;
-            }else if (RobotStatusEnum.STAND_BY.getType().equals(v.getRobotStatus())) {
+            } 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>()
@@ -245,11 +290,11 @@ public class RobotInformationServiceImpl implements RobotInformationService {
                         && RobotTaskTypeEnum.CHARGE.getType().equals(robotTaskDetailDO.getTaskType())
                         && RobotTaskStatusEnum.DOING.getType().equals(robotTaskDetailDO.getTaskStatus())) {
                     charge++;
-                }else {
+                } else {
                     standby++;
                 }
 
-            }else if (RobotStatusEnum.DOING.getType().equals(v.getRobotStatus())) {
+            } else if (RobotStatusEnum.DOING.getType().equals(v.getRobotStatus())) {
                 inTask++;
             } else {
                 fault++;
@@ -266,7 +311,6 @@ public class RobotInformationServiceImpl implements RobotInformationService {
     }
 
     /**
-     *
      * @return
      */
     @Override
@@ -284,6 +328,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
 
     /**
      * 根据mac查询机器人编号
+     *
      * @param mac
      * @return
      */
@@ -302,7 +347,7 @@ public class RobotInformationServiceImpl implements RobotInformationService {
                 .eq(RobotInformationDO::getMacAddress, mac)
                 .last("limit 1"));
         if (ObjectUtil.isNotEmpty(robotInformationDO)) {
-            redisUtil.set(RobotTaskChcheConstant.ROBOT_GET_ROBOTNO_BY_MAC + mac,robotInformationDO.getRobotNo());
+            redisUtil.set(RobotTaskChcheConstant.ROBOT_GET_ROBOTNO_BY_MAC + mac, robotInformationDO.getRobotNo());
             return robotInformationDO.getRobotNo();
         }
         return "";

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

@@ -76,7 +76,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
     public void autoChargeJob() {
         TenantContextHolder.setTenantId(1L);
         CommonConfigDO commonConfigDO = configMapper.selectOne(new LambdaQueryWrapper<CommonConfigDO>()
-                .eq(CommonConfigDO::getConfigType, CommandConfigTypeEnum.ONE.getType()));
+                .eq(CommonConfigDO::getConfigType, CommandConfigTypeEnum.CHARG_CONFIG.getType()));
 
         if (ObjectUtil.isEmpty(commonConfigDO)) {
             log.info("暂未配置充电信息");

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

@@ -127,7 +127,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
         Pair<List<RobotInformationDO>, List<RobotTaskDetailDO>> pair = Pair.of(new ArrayList<>(), new ArrayList<>());
 
         CommonConfigDO commonConfigDO = configMapper.selectOne(new LambdaQueryWrapper<CommonConfigDO>()
-                .eq(CommonConfigDO::getConfigType, CommandConfigTypeEnum.ONE.getType()));
+                .eq(CommonConfigDO::getConfigType, CommandConfigTypeEnum.CHARG_CONFIG.getType()));
         CommonConfigVO chargeConfig= JSONUtil.toBean(commonConfigDO.getConfigStr(),CommonConfigVO.class);
         LocalDateTime now = LocalDateTime.now();
         if ((ObjectUtil.isNotEmpty(chargeConfig.getScheduleChargeEndTime()) &&

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

@@ -58,7 +58,7 @@ spring:
       primary: master
       datasource:
         master:
-          url: jdbc:mysql://47.97.8.94:3306/zn_wcs?useSSL=false&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true&nullCatalogMeansCurrent=true&rewriteBatchedStatements=true # MySQL Connector/J 8.X 连接的示例
+          url: jdbc:mysql://47.97.8.94:3306/zn_wcs?useSSL=false&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true&nullCatalogMeansCurrent=true&rewriteBatchedStatements=true&allowMultiQueries=true # MySQL Connector/J 8.X 连接的示例
           #          url: jdbc:mysql://127.0.0.1:3306/ruoyi-vue-pro?useSSL=true&allowPublicKeyRetrieval=true&useUnicode=true&characterEncoding=UTF-8&serverTimezone=Asia/Shanghai&rewriteBatchedStatements=true # MySQL Connector/J 5.X 连接的示例
           #          url: jdbc:postgresql://127.0.0.1:5432/ruoyi-vue-pro # PostgreSQL 连接的示例
           #          url: jdbc:oracle:thin:@127.0.0.1:1521:xe # Oracle 连接的示例
@@ -72,7 +72,7 @@ spring:
         #          password: SYSDBA # DM 连接的示例
         slave: # 模拟从库，可根据自己需要修改
           lazy: true # 开启懒加载，保证启动速度
-          url: jdbc:mysql://47.97.8.94:3306/zn_wcs?useSSL=false&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true&nullCatalogMeansCurrent=true&rewriteBatchedStatements=true
+          url: jdbc:mysql://47.97.8.94:3306/zn_wcs?useSSL=false&serverTimezone=Asia/Shanghai&allowPublicKeyRetrieval=true&nullCatalogMeansCurrent=true&rewriteBatchedStatements=true&allowMultiQueries=true
           username: root
           password: yhtkj@2024!
 
@@ -227,6 +227,7 @@ 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: 10 #机器人上报点位存储时间
+  robot_position_cache_time: 10 #机器人上报点位存储时间(秒)
   cycle_do_auto_move: true #存在循环的任务，是否开启自动移库. true:存在循环任务，开启自动移库; false：有循环任务不自动移库
   full_electricity: 100 #机器人充满电的电量
+  robot_error_level_time: 30 #机器人异常存储时间(秒)