取货高度

yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/robot/RemoteControllerProcessor.java

@@ -77,7 +77,8 @@ public class RemoteControllerProcessor {
         remoteControllerSocketDTO.setControllerPort(cockpitPort);
         Socket socket = new Socket();
         try {
-            socket.connect(new InetSocketAddress(cockpitIp, cockpitPort), 1000);
+            socket.setKeepAlive(true);
+            socket.connect(new InetSocketAddress(cockpitIp, cockpitPort), 500);
             remoteControllerSocketDTO.setSocket(socket);
         } catch (IOException e) {
             log.error("添加socket失败 :{}", e);
@@ -153,6 +154,8 @@ public class RemoteControllerProcessor {
         if (socket == null || socket.isClosed()) {
             try {
                 socket = new Socket();
+                log.info("连接新的的socket");
+                socket.setKeepAlive(true);
                 socket.connect(new InetSocketAddress(cockpitIp, cockpit.getControllerPort()), 1000);
             } catch (IOException e) {
                 log.error("连接socket出现异常 :{}", cockpitIp);

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

@@ -137,6 +137,7 @@ public class PathApiImpl implements PathApi {
     @Override
     public void graphMatchData(String message) {
         TenantContextHolder.setTenantId(1L);
+        log.info("匹配路网的消息 :{}",message);
         pathPlanningService.graphMatchData(message);
     }
 

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

@@ -43,6 +43,9 @@ public class RobotGenericsStatusApiImpl implements RobotGenericsStatusApi {
         if (ObjectUtil.isNotEmpty(batSoc)) {
             String[] split = batSoc.split("\\.");
             batSoc = split[1].substring(0,2);
+            if (batSoc.startsWith("0")) {
+                batSoc = batSoc.substring(1);
+            }
         redisUtil.set(socKey,batSoc);
         }
     }

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

@@ -64,7 +64,7 @@ public class RobotReactiveStatusApiImpl implements RobotReactiveStatusApi {
     @Override
     public void robotReactiveStatus(String message) {
         TenantContextHolder.setTenantId(1L);
-        log.info("切换地图 :{}",message);
+        log.info("车辆所在楼层和异常信息 :{}",message);
         RobotReactiveStatusDTO data = JSON.parseObject(message, RobotReactiveStatusDTO.class);
         String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + data.getMac();
         String robotNo = robotInformationService.getRobotNoByMac(data.getMac());

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

@@ -157,30 +157,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      * @param robotCompleteTaskDTO
      */
     private void robotTaskDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey) {
-        String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
-        RobotTaskDetailActionLogDO lastLog = setLastLogDone(robotCompleteTaskDTO.getOrderId());
 
-        if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
-            chargeDoing(robotCompleteTaskDTO, robotDoingActionKey, lastLog);
-        } else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())) {
-            RobotTaskDetailActionLogSaveReqVO logOne = new RobotTaskDetailActionLogSaveReqVO();
-            logOne.setActionMsg("车辆正在前往等待点");
-            logOne.setRobotNo(robotNo);
-            logOne.setStartTime(LocalDateTime.now());
-            logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
-            if (ObjectUtil.isNotEmpty(lastLog)) {
-                logOne.setCommandType(lastLog.getCommandType());
-                logOne.setTaskNo(lastLog.getTaskNo());
-            }
-            Long mapId = robotInformationService.getRobotMapIdByRobotNo(robotNo);
-            if (ObjectUtil.isNotEmpty(mapId)) {
-                logOne.setPositionMapId(mapId);
-            }
-            taskDetailActionLogService.createTaskDetailActionLog(logOne);
-            redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
-        } else {
-            taskDoing(robotCompleteTaskDTO, robotDoingActionKey);
-        }
+        taskDoing(robotCompleteTaskDTO, robotDoingActionKey);
 
         if ((PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
                 || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType()))
@@ -197,6 +175,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
 
         taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DOING.getType()
                 , null);
+
+        if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
+            chargeDoing(robotCompleteTaskDTO);
+        }
     }
 
     /**
@@ -243,7 +225,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
             } else if (CommandTypeEnum.WORK_DROP_OFF_GOODS.getType().equals(robotCompleteTaskDTO.getCommandStatus().getCommandType())) {
                 taskDone(robotCompleteTaskDTO);
             }
-        } else if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
+        }
+
+        if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
+            || PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
             RobotChargeLogDO build = RobotChargeLogDO
                     .builder()
                     .id(robotCompleteTaskDTO.getOrderId())
@@ -355,19 +340,10 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
      *
      * @param robotCompleteTaskDTO
      */
-    private void chargeDoing(RobotCompleteTaskDTO robotCompleteTaskDTO, String robotDoingActionKey, RobotTaskDetailActionLogDO lastLog) {
-        RobotTaskDetailActionLogSaveReqVO logOne = new RobotTaskDetailActionLogSaveReqVO();
+    private void chargeDoing(RobotCompleteTaskDTO robotCompleteTaskDTO) {
+
         RobotCommandStateDTO commandStatus = robotCompleteTaskDTO.getCommandStatus();
         Integer taskStatus = ChargeTaskStatusEnum.CHARGEING.getType();
-        if (ObjectUtil.isNotEmpty(commandStatus) && CommandTypeEnum.MOVE_POSES.getType().equals(commandStatus.getCommandType())) {
-            RobotChargeLogDO robotChargeLogDO = chargeLogMapper.selectById(robotCompleteTaskDTO.getOrderId());
-            logOne.setActionMsg("车辆正在前往充电点" + robotChargeLogDO.getDeviceNo());
-            logOne.setTaskStage(RobotTaskStageEnum.MOVE.getType());
-            taskStatus = ChargeTaskStatusEnum.DOING.getType();
-        } else if (ObjectUtil.isNotEmpty(commandStatus)) {
-            logOne.setActionMsg("车辆正在充电");
-            logOne.setTaskStage(RobotTaskStageEnum.CHARGEING.getType());
-        }
 
         //编辑地图会判断这表的状态,所以自动充电任务，移动到充电点就改为完成
         if (ObjectUtil.isNotEmpty(commandStatus) && CommandTypeEnum.MOVE_POSES.getType().equals(commandStatus.getCommandType())
@@ -375,19 +351,6 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
             taskDetailActionLogMapper.updateActionStatus(robotCompleteTaskDTO.getOrderId(), ActionStatusEnum.DONE.getType(), LocalDateTime.now());
         }
 
-        String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
-        logOne.setRobotNo(robotNo);
-        logOne.setTaskDetailId(robotCompleteTaskDTO.getOrderId());
-
-        logOne.setCommandType(lastLog.getCommandType());
-        logOne.setTaskNo(lastLog.getTaskNo());
-        logOne.setStartTime(LocalDateTime.now());
-        Long mapId = robotInformationService.getRobotMapIdByRobotNo(robotNo);
-        if (ObjectUtil.isNotEmpty(mapId)) {
-            logOne.setPositionMapId(mapId);
-        }
-        taskDetailActionLogService.createTaskDetailActionLog(logOne);
-        redisUtil.set(robotDoingActionKey, logOne.getActionMsg(), doingActionCacheTime);
         RobotChargeLogDO build = RobotChargeLogDO
                 .builder()
                 .id(robotCompleteTaskDTO.getOrderId())
@@ -470,7 +433,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.GO_RELEASE.getType());
             }
 
-        } else if (PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
+        } else if (PathTaskTypeEnum.CHARGE.getType().equals(robotCompleteTaskDTO.getOrderType())
+                || 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");
@@ -480,7 +444,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.CHARGEING.getType());
             }
 
-        } else if (PathTaskTypeEnum.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())) {
+        } else if (PathTaskTypeEnum.MOVE.getType().equals(robotCompleteTaskDTO.getOrderType())
+            || PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(robotCompleteTaskDTO.getOrderType())
+            || PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(robotCompleteTaskDTO.getOrderType())) {
             if (CommandTypeEnum.MOVE_POSES.getType().equals(commandType)) {
                 logOne.setActionMsg("车辆正在前往" + robotTaskDetailDO.getToLocationNo());
                 robotTaskDetailDO.setTaskStage(RobotTaskStageEnum.MOVE.getType());

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/redis/RobotCacheLockEnum.java

@@ -12,6 +12,7 @@ public enum RobotCacheLockEnum {
 
     TASK_NO("task:robot:no", "任务号"),
     MOVE_TASK_NO("task:robot:no:move", "移动任务号"),
+    CHARGE_TASK_NO("task:robot:no:charge", "自动充电任务号"),
     ROBOT_TASK_ADD_LOCK("robot:task:add:lock", "所有创建机器人任务的锁"),
     ROBOT_RCS_HEART_BEAT_LOCK("robot:rcs:heart:beat:lock", "RCS维持与车机心跳的锁"),
     ROBOT_STATISTICS_DURATION_LOCK("robot:statistics:duration:lock", "统计车辆工作时长的锁"),

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

@@ -114,10 +114,10 @@ public interface PositionMapItemService extends IService<PositionMapItemDO> {
 
     /**
      * 批量查询
-     * @param pointList
+     * @param ids
      * @return
      */
-    List<PositionMapItemDO> getPositionMapItemByIds(List<Long> pointList);
+    List<PositionMapItemDO> getPositionMapItemByIds(List<Long> ids);
 
     /**
      * 获取随机数id

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

@@ -144,7 +144,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     @Value("${zn.robot_config.offset_height}")
     private Double offsetHeight;
 
-    @Value("${zn.robot_config.default_tray_height:1.0}")
+    @Value("${zn.robot_config.default_tray_height:0.82}")
     private Double defaultTrayHeight;
 
     @Resource
@@ -526,12 +526,12 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             throw exception(TASK_CHECK_HAVE_DOING_TASK);
         }
 
-        List<String> commandTypes = PathTaskTypeEnum.getMistakeTaskTypes();
+        /*List<String> commandTypes = PathTaskTypeEnum.getMistakeTaskTypes();
         List<RobotTaskDetailActionLogDO> actionLogDOList = taskDetailActionLogMapper.getMistakeTaskByCommandType(commandTypes);
         if (ObjectUtil.isNotEmpty(actionLogDOList)) {
             log.info("编辑地图存在未完成的移动到等待点/自动充电任务");
             throw exception(TASK_CHECK_HAVE_DOING_TASK);
-        }
+        }*/
     }
 
     /**
@@ -548,15 +548,13 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         String robotDoingActionKey = RobotTaskChcheConstant.ROBOT_QUERY_DOING_ACTION + mac;
         redisUtil.del(robotDoingActionKey);
 
-        Long detailId = null;
-
         Map<Long, String> deviceNoMap = new HashMap<>();
         Integer robotStatus = RobotStatusEnum.DOING.getType();
         //释放ware_position_map_item的使用状态，并且将ActionLog设置为完成
         releaseMapItemUseStatus(taskAssignDTO.getRobotNo());
 
         RobotChargeLogDO robotChargeLogs = null;
-        String taskNo = "";
+
         if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getOrderType())
                 || PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getOrderType())) {
             robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getOrderId());
@@ -568,24 +566,14 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
             if (ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId())) {
                 deviceNoMap.put(robotChargeLogs.getTaskDetailId(), robotChargeLogs.getDeviceNo());
-            } else {
-                String signDate = DateUtil.date().setTimeZone(TimeZone.getTimeZone("UTC")).toString("yyyyMMdd'T'HHmmss'Z'");
-                taskNo = "AUTO_CHARGE_" + signDate;
             }
-            detailId = ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId()) ? robotChargeLogs.getTaskDetailId() : null;
-
-        } else {
-            detailId = taskAssignDTO.getOrderId();
         }
 
         chargeDone(taskAssignDTO.getRobotNo());
 
         robotInformationMapper.updateRobotListStatus(taskAssignDTO.getRobotNo(), robotStatus, taskAssignDTO.getOrderId());
 
-        if (ObjectUtil.isNotEmpty(detailId)) {
-            RobotTaskDO robotTaskDO = setTaskDoing(detailId, taskAssignDTO.getRobotNo(), deviceNoMap, taskAssignDTO.getWaitId());
-            taskNo = robotTaskDO.getTaskNo();
-        }
+        RobotTaskDO robotTaskDO = setTaskDoing(taskAssignDTO.getOrderId(), taskAssignDTO.getRobotNo(), deviceNoMap, taskAssignDTO.getWaitId());
 
         if (ObjectUtil.isNotEmpty(robotChargeLogs) && ObjectUtil.isNotEmpty(robotChargeLogs.getDeviceNo())) {
             setDeviceUseing(robotChargeLogs.getDeviceNo(), taskAssignDTO.getRobotNo());
@@ -593,11 +581,11 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
         RobotTaskDetailActionLogSaveReqVO logOne = new RobotTaskDetailActionLogSaveReqVO();
         logOne.setCommandType(taskAssignDTO.getOrderType());
-        String actionMsg = ObjectUtil.isEmpty(taskNo) ? taskAssignDTO.getRobotActionMsg() : taskAssignDTO.getRobotActionMsg() + taskNo;
+        String actionMsg = taskAssignDTO.getRobotActionMsg() + robotTaskDO.getTaskNo();
         logOne.setActionMsg(actionMsg);
         logOne.setRobotNo(taskAssignDTO.getRobotNo());
         logOne.setStartTime(LocalDateTime.now());
-        logOne.setTaskNo(taskNo);
+        logOne.setTaskNo(robotTaskDO.getTaskNo());
         logOne.setCommandId(-1L);
         logOne.setTaskDetailId(taskAssignDTO.getOrderId());
         Long mapId = robotInformationService.getRobotMapIdByRobotNo(taskAssignDTO.getRobotNo());
@@ -623,7 +611,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         }
         //前一个任务是移动到点位或者移动到等待点，需要把点位状态改为空闲
         if (ObjectUtil.isEmpty(actionLog) || (!PathTaskTypeEnum.MOVE_TO_POINT.getType().equals(actionLog.getCommandType()))
-            && !PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(actionLog.getCommandType())) {
+                && !PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(actionLog.getCommandType())) {
             return;
         }
 
@@ -736,13 +724,16 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         if (ObjectUtil.isEmpty(taskDetailDO.getRobotNo())) {
             taskDetailDO.setRobotNo(robotNo);
         }
-        if (RobotTaskTypeEnum.PARK.getType().equals(taskDetailDO.getTaskType())
-                && ObjectUtil.isNotEmpty(deviceNoMap.get(taskDetailDO.getId()))) {
+        if (ObjectUtil.isNotEmpty(deviceNoMap) && ObjectUtil.isNotEmpty(deviceNoMap.get(taskDetailDO.getId()))) {
             taskDetailDO.setToLocationNo(deviceNoMap.get(taskDetailDO.getId()));
         }
 
         if (RobotTaskTypeEnum.PARK.getType().equals(taskDetailDO.getTaskType())
                 && ObjectUtil.isNotEmpty(waitId)) {
+            PositionMapItemDO positionMapItem = positionMapItemService.getPositionMapItem(Long.valueOf(waitId));
+            if (ObjectUtil.isNotEmpty(positionMapItem)) {
+                taskDetailDO.setToLocationNo(positionMapItem.getSortNum() + "");
+            }
             taskDetailDO.setToLocationId(Long.valueOf(waitId));
         }
 
@@ -1477,6 +1468,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         if (!RobotStatusEnum.CHARGE.getType().equals(robotInformationDO.getRobotStatus())) {
             return;
         }
+
         RobotChargeLogDO robotChargeLogDO = chargeLogMapper.selectOne(new LambdaQueryWrapperX<RobotChargeLogDO>()
                 .eq(RobotChargeLogDO::getRobotNo, robotNo)
                 .orderByDesc(RobotChargeLogDO::getCreateTime)
@@ -1484,11 +1476,22 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         if (ObjectUtil.isEmpty(robotChargeLogDO) || !ChargeTaskStatusEnum.CHARGEING.getType().equals(robotChargeLogDO.getTaskStatus())) {
             return;
         }
+
+        DeviceInformationDO deviceInformationDO = deviceInformationMapper.selectOne(new LambdaQueryWrapperX<DeviceInformationDO>()
+                .eq(DeviceInformationDO::getLastUser, robotNo)
+                .eq(DeviceInformationDO::getDeviceNo, robotChargeLogDO.getDeviceNo()));
+
         log.info("结束充电任务 :{}", robotNo);
         robotChargeLogDO.setEndTime(LocalDateTime.now());
-        deviceInformationService.chargeDeviceShrink(robotChargeLogDO.getDeviceNo());
+        if (ObjectUtil.isNotEmpty(deviceInformationDO)) {
+            log.info("充电桩设置为空闲 :{}", deviceInformationDO.getDeviceNo());
+            deviceInformationService.chargeDeviceShrink(robotChargeLogDO.getDeviceNo());
+            deviceInformationDO.setDeviceUseStatus(DeviceUseStatusEnum.IDLE.getType());
+            deviceInformationDO.setLastUser(null);
+            deviceInformationMapper.updateById(deviceInformationDO);
+        }
 
-        String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC +robotInformationDO.getMacAddress();
+        String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC + robotInformationDO.getMacAddress();
         Object socObject = redisUtil.get(socKey);
 
         if (ObjectUtil.isNotEmpty(socObject)) {
@@ -1497,18 +1500,11 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         robotChargeLogDO.setTaskStatus(ChargeTaskStatusEnum.DONE.getType());
         chargeLogMapper.updateById(robotChargeLogDO);
 
-        DeviceInformationDO deviceInformationDO = deviceInformationMapper.selectOne(new LambdaQueryWrapperX<DeviceInformationDO>()
-                .eq(DeviceInformationDO::getDeviceNo, robotChargeLogDO.getDeviceNo()));
-        deviceInformationDO.setDeviceUseStatus(DeviceUseStatusEnum.IDLE.getType());
-        deviceInformationDO.setLastUser(null);
-        deviceInformationMapper.updateById(deviceInformationDO);
-        log.info("充电桩设置为空闲 :{}", deviceInformationDO.getDeviceNo());
-
         if (ObjectUtil.isEmpty(robotChargeLogDO.getTaskDetailId())) {
             return;
         }
         RobotTaskDetailDO taskDetail = taskDetailMapper.selectById(robotChargeLogDO.getTaskDetailId());
-        if (ObjectUtil.isNotEmpty(taskDetail)) {
+        if (ObjectUtil.isNotEmpty(taskDetail) && RobotTaskTypeEnum.CHARGE.getType().equals(taskDetail.getTaskType())) {
             taskDetail.setTaskStatus(RobotTaskDetailStatusEnum.DONE.getType());
             taskDetailMapper.updateById(taskDetail);
             RobotTaskDO robotTask = taskMapper.selectById(taskDetail.getRobotTaskId());

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

@@ -1,16 +1,21 @@
 package cn.iocoder.yudao.module.system.service.robot.job;
 
+import cn.hutool.core.util.IdUtil;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.json.JSONUtil;
+import cn.iocoder.yudao.framework.common.util.date.DateUtils;
+import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 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.config.vo.CommonConfigVO;
+import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotChargeLogDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
+import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
 import cn.iocoder.yudao.module.system.dal.mysql.config.CommonConfigMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
@@ -22,8 +27,10 @@ import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.config.CommandConfigTypeEnum;
 import cn.iocoder.yudao.module.system.enums.device.DeviceTypeEnum;
 import cn.iocoder.yudao.module.system.enums.device.DeviceUseStatusEnum;
+import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
 import cn.iocoder.yudao.module.system.enums.robot.*;
 import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeModelEnum;
+import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
 import cn.iocoder.yudao.module.system.service.robot.pathplanning.RobotPathPlanningService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;
@@ -37,10 +44,10 @@ import org.springframework.transaction.annotation.Transactional;
 import javax.annotation.Resource;
 
 import java.math.BigDecimal;
+import java.time.LocalDateTime;
 import java.util.*;
 import java.util.stream.Collectors;
 
-import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
 
 @Service
 @Slf4j
@@ -70,6 +77,9 @@ public class AutoChargeServiceImpl implements AutoChargeService {
     @Value("${zn.full_electricity:100}")
     private String fullElectricity;
 
+    @Value("${zn.charge-no:CHARGE}")
+    private String chargeNo;
+
     @Autowired
     private RobotPathPlanningService robotPathPlanningService;
 
@@ -89,7 +99,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
             return;
         }
 
-        CommonConfigVO chargeConfig= JSONUtil.toBean(commonConfigDO.getConfigStr(),CommonConfigVO.class);
+        CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfigDO.getConfigStr(), CommonConfigVO.class);
 
         List<RobotInformationDO> robots = robotInformationMapper.selectList(new LambdaQueryWrapperX<RobotInformationDO>()
                 .eq(RobotInformationDO::getRobotStatus, RobotStatusEnum.STAND_BY.getType())
@@ -116,7 +126,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
         List<String> chargeFullNos = new ArrayList<>();
         if (ObjectUtil.isNotEmpty(chargeConfig.getChanceCycle())) {
             //查询充满电
-            chargeFullNos = chargeLogMapper.getChargeFullRobotNos(chargeConfig.getChanceCycle(),robotNos);
+            chargeFullNos = chargeLogMapper.getChargeFullRobotNos(chargeConfig.getChanceCycle(), robotNos);
         }
 
         List<RobotTaskDetailDO> taskDetailDOS = robotTaskDetailMapper.getChargeTaskDetail();
@@ -126,28 +136,37 @@ public class AutoChargeServiceImpl implements AutoChargeService {
         }
 
         List<RobotChargeLogDO> logs = new ArrayList<>();
+        List<RobotTaskDO> tasks = new ArrayList<>();
+        List<RobotTaskDetailAddVO> taskDetails = new ArrayList<>();
         //组装充电任务
-        assembleChargeTask(robots,deviceInformationDOS,chargeConfig,chargeFullNos,logs,detailMap);
+        assembleChargeTask(robots, deviceInformationDOS, chargeConfig, chargeFullNos, logs, detailMap, tasks, taskDetails);
 
         if (ObjectUtil.isEmpty(logs)) {
             log.info("没有需要执行的充电任务");
             return;
         }
-        
-        chargeLogMapper.insertBatch(logs);
 
-        robotPathPlanningService.sendChargeTaskToPP(logs,taskDetailDOS,robots);
+        if (ObjectUtil.isNotEmpty(tasks)) {
+            robotTaskMapper.insertBatch(tasks);
+            List<RobotTaskDetailDO> bean = BeanUtils.toBean(taskDetails, RobotTaskDetailDO.class);
+            robotTaskDetailMapper.insertBatch(bean);
+        }
+
+        chargeLogMapper.insert(logs);
+
+        robotPathPlanningService.sendChargeTaskToPP(logs, taskDetailDOS, robots);
 
         //改成异步
         logs.stream().forEach(v -> {
-            String chargeModelKey = RobotTaskChcheConstant.ROBOT_CHARGE_MODEL +v.getRobotNo();
-            redisUtil.set(chargeModelKey,v.getChargeModel());
+            String chargeModelKey = RobotTaskChcheConstant.ROBOT_CHARGE_MODEL + v.getRobotNo();
+            redisUtil.set(chargeModelKey, v.getChargeModel());
         });
 
     }
 
     /**
      * 组装充电任务
+     *
      * @param robots
      * @param deviceInformationDOS
      * @param chargeConfig
@@ -157,33 +176,34 @@ public class AutoChargeServiceImpl implements AutoChargeService {
      */
     public void assembleChargeTask(List<RobotInformationDO> robots, List<DeviceInformationDO> deviceInformationDOS,
                                    CommonConfigVO chargeConfig, List<String> chargeFullNos,
-                                   List<RobotChargeLogDO> logs, Map<String, List<RobotTaskDetailDO>> detailMap) {
+                                   List<RobotChargeLogDO> logs, Map<String, List<RobotTaskDetailDO>> detailMap,
+                                   List<RobotTaskDO> tasks, List<RobotTaskDetailAddVO> taskDetails) {
         //判断机器人身上的电量少于设定的电量
         for (RobotInformationDO robot : robots) {
-            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT +robot.getMacAddress();
+            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + robot.getMacAddress();
             Object poseCache = redisUtil.get(pose2dKey);
-            RobotStatusDataPoseDTO dataPoseDTO= JSON.parseObject((String)poseCache, RobotStatusDataPoseDTO.class);
+            RobotStatusDataPoseDTO dataPoseDTO = JSON.parseObject((String) poseCache, RobotStatusDataPoseDTO.class);
 
-            String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC +robot.getMacAddress();
+            String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC + robot.getMacAddress();
             Object socObject = redisUtil.get(socKey);
 
             if (ObjectUtil.isEmpty(dataPoseDTO) || ObjectUtil.isEmpty(socObject)) {
-                log.info("当前机器人查不到电量信息,所以不执行充电 :{}",robot.getRobotNo());
+                log.info("当前机器人查不到电量信息,所以不执行充电 :{}", robot.getRobotNo());
                 continue;
             }
 
             if (ObjectUtil.isEmpty(deviceInformationDOS)) {
-                log.info("充电桩分配完成 :{}",robot.getRobotNo());
+                log.info("充电桩分配完成 :{}", robot.getRobotNo());
                 break;
             }
 
             DeviceInformationDO deviceInformationDO = deviceInformationDOS.stream()
                     .filter(v -> v.getDeviceAttribute().equals(robot.getChargeType())
-                        && robot.getFloorAreaJson().contains(v.getPositionMapId()))
+                            && robot.getFloorAreaJson().contains(v.getPositionMapId()))
                     .findFirst()
                     .orElse(new DeviceInformationDO());
             if (ObjectUtil.isEmpty(deviceInformationDO.getDeviceNo())) {
-                log.info("当前机器人查不到对应的充电桩类型、或者机器人不能在此区域充电 :{}",robot.getRobotNo());
+                log.info("当前机器人查不到对应的充电桩类型、或者机器人不能在此区域充电 :{}", robot.getRobotNo());
                 continue;
             }
 
@@ -202,9 +222,12 @@ public class AutoChargeServiceImpl implements AutoChargeService {
                     && robotRemainingElectricity.compareTo(robotFullElectricity) < 0) {
                 //充满电
                 logDo.setChargeModel(ChargeModelEnum.FULL.getType());
+                Long taskDetailId = createChargeTask(robot.getRobotNo(), tasks, taskDetails, deviceInformationDO.getPositionMapItemId(), deviceInformationDO.getDeviceNo());
+                logDo.setTaskDetailId(taskDetailId);
+                logDo.setId(logDo.getTaskDetailId());
                 logs.add(logDo);
                 deviceInformationDOS.removeIf(v -> logDo.getDeviceNo().equals(v.getDeviceNo()));
-                log.info("分配到充满电充电任务 :{} ,充电设备编号是 :{}, 任务id :{}",logDo.getRobotNo(),logDo.getDeviceNo(),logDo.getTaskDetailId());
+                log.info("分配到充满电充电任务 :{} ,充电设备编号是 :{}, 任务id :{}", logDo.getRobotNo(), logDo.getDeviceNo(), logDo.getTaskDetailId());
                 continue;
             }
 
@@ -217,8 +240,9 @@ public class AutoChargeServiceImpl implements AutoChargeService {
                     deviceInformationDOS.removeIf(v -> logDo.getDeviceNo().equals(v.getDeviceNo()));
                     logDo.setChargeModel(ChargeModelEnum.TASK.getType());
                     logDo.setTaskDetailId(robotTaskDetailDO.getId());
+                    logDo.setId(logDo.getTaskDetailId());
                     logs.add(logDo);
-                    log.info("分配到任务充电任务 :{} ,充电设备编号是 :{}, 任务id :{}",logDo.getRobotNo(),logDo.getDeviceNo(),logDo.getTaskDetailId());
+                    log.info("分配到任务充电任务 :{} ,充电设备编号是 :{}, 任务id :{}", logDo.getRobotNo(), logDo.getDeviceNo(), logDo.getTaskDetailId());
                     continue;
                 }
             }
@@ -232,8 +256,9 @@ public class AutoChargeServiceImpl implements AutoChargeService {
                     deviceInformationDOS.removeIf(v -> logDo.getDeviceNo().equals(v.getDeviceNo()));
                     logDo.setChargeModel(ChargeModelEnum.TASK.getType());
                     logDo.setTaskDetailId(robotTaskDetailDO.getId());
+                    logDo.setId(logDo.getTaskDetailId());
                     logs.add(logDo);
-                    log.info("分配到任务充电任务 :{} ,充电设备编号是 :{}, 任务id :{}",logDo.getRobotNo(),logDo.getDeviceNo(),logDo.getTaskDetailId());
+                    log.info("分配到任务充电任务 :{} ,充电设备编号是 :{}, 任务id :{}", logDo.getRobotNo(), logDo.getDeviceNo(), logDo.getTaskDetailId());
                     continue;
                 }
             }
@@ -247,8 +272,9 @@ public class AutoChargeServiceImpl implements AutoChargeService {
                     deviceInformationDOS.removeIf(v -> logDo.getDeviceNo().equals(v.getDeviceNo()));
                     logDo.setChargeModel(ChargeModelEnum.TASK.getType());
                     logDo.setTaskDetailId(robotTaskDetailDO.getId());
+                    logDo.setId(logDo.getTaskDetailId());
                     logs.add(logDo);
-                    log.info("分配到任务充电任务 :{} ,充电设备编号是 :{}, 任务id :{}",logDo.getRobotNo(),logDo.getDeviceNo(),logDo.getTaskDetailId());
+                    log.info("分配到任务充电任务 :{} ,充电设备编号是 :{}, 任务id :{}", logDo.getRobotNo(), logDo.getDeviceNo(), logDo.getTaskDetailId());
                     continue;
                 }
             }
@@ -258,9 +284,12 @@ public class AutoChargeServiceImpl implements AutoChargeService {
                 BigDecimal robotConfigElectricity = new BigDecimal(String.valueOf(robot.getAutoCharge()));
                 if (robotRemainingElectricity.compareTo(robotConfigElectricity) < 0) {
                     logDo.setChargeModel(ChargeModelEnum.AUTO.getType());
+                    Long taskDetailId = createChargeTask(robot.getRobotNo(), tasks, taskDetails, deviceInformationDO.getPositionMapItemId(), deviceInformationDO.getDeviceNo());
+                    logDo.setTaskDetailId(taskDetailId);
+                    logDo.setId(logDo.getTaskDetailId());
                     logs.add(logDo);
                     deviceInformationDOS.removeIf(v -> logDo.getDeviceNo().equals(v.getDeviceNo()));
-                    log.info("分配到自动充电任务 :{} ,充电设备编号是 :{}",logDo.getRobotNo(),logDo.getDeviceNo());
+                    log.info("分配到自动充电任务 :{} ,充电设备编号是 :{}", logDo.getRobotNo(), logDo.getDeviceNo());
                     continue;
                 }
             }
@@ -270,9 +299,12 @@ public class AutoChargeServiceImpl implements AutoChargeService {
                 BigDecimal robotConfigElectricity = new BigDecimal(String.valueOf(chargeConfig.getStartAutoCharge()));
                 if (robotRemainingElectricity.compareTo(robotConfigElectricity) < 0) {
                     logDo.setChargeModel(ChargeModelEnum.AUTO.getType());
+                    Long taskDetailId = createChargeTask(robot.getRobotNo(), tasks, taskDetails, deviceInformationDO.getPositionMapItemId(), deviceInformationDO.getDeviceNo());
+                    logDo.setTaskDetailId(taskDetailId);
+                    logDo.setId(logDo.getTaskDetailId());
                     logs.add(logDo);
                     deviceInformationDOS.removeIf(v -> logDo.getDeviceNo().equals(v.getDeviceNo()));
-                    log.info("分配到自动充电任务 :{} ,充电设备编号是 :{}",logDo.getRobotNo(),logDo.getDeviceNo());
+                    log.info("分配到自动充电任务 :{} ,充电设备编号是 :{}", logDo.getRobotNo(), logDo.getDeviceNo());
                     continue;
                 }
             }
@@ -282,12 +314,40 @@ public class AutoChargeServiceImpl implements AutoChargeService {
                 BigDecimal robotConfigElectricity = new BigDecimal(String.valueOf(chargeConfig.getChanceChargeStart()));
                 if (robotRemainingElectricity.compareTo(robotConfigElectricity) < 0) {
                     logDo.setChargeModel(ChargeModelEnum.CHANCE.getType());
+                    Long taskDetailId = createChargeTask(robot.getRobotNo(), tasks, taskDetails, deviceInformationDO.getPositionMapItemId(), deviceInformationDO.getDeviceNo());
+                    logDo.setTaskDetailId(taskDetailId);
+                    logDo.setId(logDo.getTaskDetailId());
                     logs.add(logDo);
                     deviceInformationDOS.removeIf(v -> logDo.getDeviceNo().equals(v.getDeviceNo()));
-                    log.info("分配到机会充电任务 :{} ,充电设备编号是 :{}",logDo.getRobotNo(),logDo.getDeviceNo());
+                    log.info("分配到机会充电任务 :{} ,充电设备编号是 :{}", logDo.getRobotNo(), logDo.getDeviceNo());
                 }
             }
         }
     }
 
+    /**
+     * 自动充电
+     */
+    public Long createChargeTask(String robotNo, List<RobotTaskDO> tasks, List<RobotTaskDetailAddVO> taskDetails, Long positionMapItemId, String deviceNo) {
+        RobotTaskDO task = new RobotTaskDO();
+        String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.CHARGE_TASK_NO.getKey());
+        task.setTaskNo(chargeNo + DateUtils.getYearMonthDay() + incrementByKey);
+        task.setId(IdUtil.getSnowflakeNextId());
+        task.setCycleNumber(0L);
+        task.setRemainingCycleNumber(0L);
+        task.setStartTime(LocalDateTime.now());
+
+        RobotTaskDetailAddVO detailAddVO = new RobotTaskDetailAddVO();
+        detailAddVO.setId(IdUtil.getSnowflakeNextId());
+        detailAddVO.setRobotTaskId(task.getId());
+        detailAddVO.setTaskType(RobotTaskTypeEnum.CHARGE.getType());
+        detailAddVO.setReleaseType(ReleaseTakeEnum.TO_LOCATION.getType());
+        detailAddVO.setReleaseId(positionMapItemId);
+        detailAddVO.setToLocationNo(deviceNo);
+        detailAddVO.setRobotNo(robotNo);
+        tasks.add(task);
+        taskDetails.add(detailAddVO);
+        return detailAddVO.getId();
+    }
+
 }

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

@@ -96,6 +96,9 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     @Value("${zn.move-no:MOVE}")
     private String moveTaskNo;
 
+    @Value("${zn.robot_config.default_tray_height:0.82}")
+    private Double defaultTrayHeight;
+
     @Autowired
     private RobotTaskMapper robotTaskMapper;
 
@@ -262,12 +265,12 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             detailAddVO.setTaskType(RobotTaskTypeEnum.MOVE_TO_POINT.getType());
             detailAddVO.setReleaseType(ReleaseTakeEnum.TO_LOCATION.getType());
             detailAddVO.setReleaseId(v.getId());
-            detailAddVO.setToLocationNo(sortMap.get(v.getId())+"");
+            detailAddVO.setToLocationNo(sortMap.get(v.getId()) + "");
             detailAddVO.setRobotNo(v.getRobotNo());
             taskDetails.add(detailAddVO);
 
             TaskToPathPlanningDTO pathPlanning = TaskToPathPlanningDTO.builder()
-                    .orderId(detailAddVO.getId()+"")
+                    .orderId(detailAddVO.getId() + "")
                     .orderType(PathTaskTypeEnum.MOVE_TO_WAIT.getType())
                     .priority(1l)
                     .createTime(LocalDateTime.now())
@@ -297,9 +300,6 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     }
 
 
-
-
-
     @Override
     public void sendChargeTaskToPP(List<RobotChargeLogDO> logs, List<RobotTaskDetailDO> taskDetailDOS,
                                    List<RobotInformationDO> robots) {
@@ -424,7 +424,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                 pathPlanning.setWaitIds(waitIds);
                 i++;
             } else if (RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(taskDetailDO.getTaskType())) {
-                moveToPoint(pathPlanning,taskDetailDO);
+                moveToPoint(pathPlanning, taskDetailDO);
             }
 
             if (ObjectUtil.isNotEmpty(robotDoTake) && ObjectUtil.isNotEmpty(taskDetailDO.getRobotNo())
@@ -454,9 +454,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())) {
                 pathPlanning.setTakeLocationNumber(Math.abs(locationNumberReduce - taskDetailDO.getFromLocationNumber()));
                 pathPlanning.setTakePointId(fromLocation.getMapItemId());
-                if (ObjectUtil.isNotEmpty(fromLocation.getLocationTotalHeight())) {
-                    pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTotalHeight() + ""));
-                }
+
+                pathPlanningSetTakeHeight(pathPlanning, fromLocation);
                 pathPlanning.setTakeLevel(fromLocation.getLocationStorey());
                 pathPlanning.setTakeOffsetHeight(offsetHeight);
                 if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLaneId())) {
@@ -469,11 +468,8 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())) {
                 pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
                 pathPlanning.setReleasePointId(toLocation.getMapItemId());
-                if (ObjectUtil.isNotEmpty(toLocation.getLocationStorey()) && ZeroOneEnum.ONE.getType().equals(toLocation.getLocationStorey())) {
-                    pathPlanning.setReleaseHeight(0.0);
-                }else if (ObjectUtil.isNotEmpty(toLocation.getLocationTrayHeight())) {
-                    pathPlanning.setReleaseHeight(Double.valueOf(toLocation.getLocationTrayHeight() + ""));
-                }
+
+                pathPlanningSetReleaseHeight(pathPlanning,toLocation);
                 pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
                 pathPlanning.setReleaseOffsetHeight(offsetHeight);
                 if (ObjectUtil.isNotEmpty(taskDetailDO.getToLaneId())) {
@@ -495,8 +491,52 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
         }
     }
 
+    /**
+     * 设置放货高度
+     * @param pathPlanning
+     * @param toLocation
+     */
+    private void pathPlanningSetReleaseHeight(TaskToPathPlanningDTO pathPlanning, WareHouseLocationDO toLocation) {
+        if ( ZeroOneEnum.ONE.getType().equals(toLocation.getLocationStorey())) {
+            pathPlanning.setReleaseHeight(0.0);
+            return;
+        }
+
+        WareHouseLocationDO nextLocation = locationMapper.selectOne(new LambdaQueryWrapperX<WareHouseLocationDO>()
+                .eq(WareHouseLocationDO::getId, toLocation.getMapItemId())
+                .eq(WareHouseLocationDO::getLocationStorey, toLocation.getLocationStorey()-1)
+                .last("limit 1"));
+        if (ObjectUtil.isNotEmpty(nextLocation) && ObjectUtil.isNotEmpty(nextLocation.getLocationTotalHeight())) {
+            pathPlanning.setReleaseHeight(Double.valueOf(nextLocation.getLocationTotalHeight() + ""));
+            return;
+        }
+
+        Integer locationStorey = toLocation.getLocationStorey() - 1;
+        double height = locationStorey * defaultTrayHeight;
+        log.info("放货设置默认高度 :{}",pathPlanning.getReleaseHeight());
+        pathPlanning.setReleaseHeight(height);
+    }
+
+    /**
+     * 设置取货高度
+     *
+     * @param pathPlanning
+     * @param fromLocation
+     */
+    private void pathPlanningSetTakeHeight(TaskToPathPlanningDTO pathPlanning, WareHouseLocationDO fromLocation) {
+        if (ObjectUtil.isNotEmpty(fromLocation.getLocationTotalHeight())) {
+            pathPlanning.setTakeHeight(Double.valueOf(fromLocation.getLocationTotalHeight() + ""));
+            return;
+        }
+        Integer locationStorey = fromLocation.getLocationStorey();
+        double height = locationStorey * defaultTrayHeight;
+        log.info("取货设置默认取货高度 :{}",height);
+        pathPlanning.setTakeHeight(height);
+    }
+
     /**
      * 移动到路径点
+     *
      * @param pathPlanning
      * @param taskDetailDO
      */
@@ -692,7 +732,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                 //仅取货
                 takeSetTask(list, v, fromLane, toLane, fromLocation, toLocation, toHaveFrom, fromHaveTo);
             } else if (RobotTaskTypeEnum.PARK.getType().equals(v.getTaskType())
-                || RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(v.getTaskType())) {
+                    || RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(v.getTaskType())) {
                 list.add(v);
             }
         }

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

@@ -187,6 +187,7 @@ justauth:
 zn:
   task-no: TASK #任务号开头
   move-no: MOVE #自动移动任务号开头
+  charge-no: CHARGE #自动充电任务号开头
   camera_secret_key: A2C4rv7DY012c9ef #摄像头秘钥
   do_cycle: true #是否开启循环
   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

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

@@ -222,10 +222,11 @@ map:
 zn:
   task-no: TASK #任务号开头
   move-no: MOVE #自动移动任务号开头
+  charge-no: CHARGE #自动充电任务号开头
   camera_secret_key: A2C4rv7DY012c9ef #摄像头秘钥
   do_cycle: true #是否开启循环
   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(秒)
+  robot_position_cache_time: 10000000 #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
   task_need_single: true #机器人对同一线库/点位是不是只能有一台机器人做任务 (true:一个点位/线库，只有一台机器人)
@@ -239,7 +240,7 @@ zn:
     check_sku_info: true #校验物料信息
   robot_config: #机器人取放货默认配置
     offset_height: 0.1 #叉起货需要在原来高度基础上偏移的高度
-    default_tray_height: 1.1 #默认每层高度
+    default_tray_height: 0.82 #默认每层高度
   open_rate_limiter: true #是否开启限流
   path_planning:
     task_chche_time: 1209600 #任务缓存的时间， 默认一星期

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

@@ -215,6 +215,7 @@ map:
 zn:
   task-no: TASK #任务号开头
   move-no: MOVE #自动移动任务号开头
+  charge-no: CHARGE #自动充电任务号开头
   camera_secret_key: A2C4rv7DY012c9ef #摄像头秘钥
   do_cycle: true #是否开启循环
   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