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3 Commits
d081728bb3 ... 81423a8ad3

Author SHA1 Message Date
cbs
81423a8ad3 取货高度 2025-05-26 09:05:03 +08:00
cbs
5507e49ff7 socket连接 2025-05-22 17:19:04 +08:00
cbs
dc4a221b20 充电任务优化 2025-05-22 16:23:33 +08:00
13 changed files with 200 additions and 127 deletions
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5
yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/robot/RemoteControllerProcessor.java
View File

@ -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);

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/path/PathApiImpl.java
View File

@ -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);
}

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotGenericsStatusApiImpl.java
View File

@ -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);
}
}

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

@ -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());

64
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
View File

@ -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);
}
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());

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/redis/RobotCacheLockEnum.java
View File

@ -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"),

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemService.java
View File

@ -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

54
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
View File

@ -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());
@ -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)
@ -1484,9 +1476,20 @@ 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());
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();
Object socObject = redisUtil.get(socKey);
@ -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());

68
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/AutoChargeServiceImpl.java
View File

@ -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;
@ -126,15 +136,23 @@ 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);
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);
@ -148,6 +166,7 @@ public class AutoChargeServiceImpl implements AutoChargeService {
/**
* 组装充电任务
*
* @param robots
* @param deviceInformationDOS
* @param chargeConfig
@ -157,7 +176,8 @@ 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();
@ -202,6 +222,9 @@ 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());
@ -217,6 +240,7 @@ 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());
continue;
@ -232,6 +256,7 @@ 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());
continue;
@ -247,6 +272,7 @@ 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());
continue;
@ -258,6 +284,9 @@ 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());
@ -270,6 +299,9 @@ 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());
@ -282,6 +314,9 @@ 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());
@ -290,4 +325,29 @@ public class AutoChargeServiceImpl implements AutoChargeService {
}
}
/**
* 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();
}
}

62
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
View File

@ -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;
@ -297,9 +300,6 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
}
@Override
public void sendChargeTaskToPP(List<RobotChargeLogDO> logs, List<RobotTaskDetailDO> taskDetailDOS,
List<RobotInformationDO> robots) {
@ -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
*/

1
yudao-module-system/yudao-module-system-biz/src/main/resources/application-dev.yaml
View File

@ -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

5
yudao-module-system/yudao-module-system-biz/src/main/resources/application-local.yaml
View File

@ -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

1
yudao-module-system/yudao-module-system-biz/src/main/resources/application-test.yaml
View File

@ -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