yudao-gateway/src/main/resources/application.yaml

@@ -230,7 +230,3 @@ knife4j:
 yudao:
   info:
     version: 1.0.0
-
-spring:
-  codec:
-    max-in-memory-size: 20MB

yudao-module-mqtt/yudao-module-mqtt-api/src/main/java/cn/iocoder/yudao/module/mqtt/api/task/dto/RobotAcceptTaskDTO.java

@@ -16,5 +16,5 @@ public class RobotAcceptTaskDTO {
     //PAUSE(停止)、CONTINUE（继续）、DEFAULT（执行）、CANCEL（取消）
     private String executionType = ExecutionTypeEnum.DEFAULT.getType();
 
-//    private List<RobotAcceptTaskData> data;
+    private List<RobotAcceptTaskData> data;
 }

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

@@ -174,7 +174,7 @@ public interface ErrorCodeConstants {
 
     // ========== 库区 1-002-031-000 ==========
     ErrorCode HOUSE_AREA_NOT_EXISTS = new ErrorCode(1-002-031-001, "库区不存在");
-    ErrorCode DUPLICATE_RESERVOIR_NAME = new ErrorCode(1-002-031-002, "物料区域名称重复");
+    ErrorCode DUPLICATE_RESERVOIR_NAME = new ErrorCode(1-002-031-002, "库区名称重复");
 
     // ========== 库位 1-002-032-000 ==========
     ErrorCode HOUSE_LOCATION_NOT_EXISTS = new ErrorCode(1-002-032-001, "库位不存在");
@@ -187,10 +187,6 @@ public interface ErrorCodeConstants {
     ErrorCode ROBOT_INFORMATION_NOT_EXISTS = new ErrorCode(1-002-034-001, "车辆信息不存在");
     ErrorCode ROBOT_MAC_ADDRESS_EXISTS = new ErrorCode(1-002-034-002, "MAC地址重复");
     ErrorCode ROBOT_ROBOT_NO_EXISTS = new ErrorCode(1-002-034-003, "机器人编号重复");
-    ErrorCode ROBOT_LAST_TASK_NO_EXISTS = new ErrorCode(1-002-034-004, "机器人前一个任务不存在或已经完成");
-    ErrorCode ROBOT_LAST_TASK_DELETE = new ErrorCode(1-002-034-005, "超过限制的时间,无法继续执行前一个任务");
-    ErrorCode ROBOT_NOT_FOUND_WAIT_ITEM = new ErrorCode(1-002-034-006, "没有空闲的停车点");
-    ErrorCode ROBOT_NOT_FOUND_FREE_CHARGING_STATION = new ErrorCode(1-002-034-007, "没有空闲的充电桩");
 
     // ========== 机器人任务主表 1-002-035-000 ==========
     ErrorCode TASK_NOT_EXISTS = new ErrorCode(1-002-035-001, "机器人任务主表不存在");
@@ -204,12 +200,6 @@ public interface ErrorCodeConstants {
     ErrorCode TASK_CHECK_UPDATE_STATUS = new ErrorCode(1-002-035-101, "订单更新失败");
     ErrorCode TASK_CHECK_EXIST_NO = new ErrorCode(1-002-035-102, "订单号已存在");
     ErrorCode TASK_TYPE_UN_EXIST = new ErrorCode(1-002-035-103, "找不到对应的任务类型");
-    ErrorCode TASK_TAKE_LOCATION_EMPTY = new ErrorCode(1-002-035-104, "取货库位没有库存");
-    ErrorCode TASK_TAKE_LOCATION_UPPER_LEVELS_NOT_EMPTY = new ErrorCode(1-002-035-105, "取货库位上层不为空");
-    ErrorCode TASK_RELEASE_LOCATION_NOT_EMPTY = new ErrorCode(1-002-035-106, "放货库位不为空");
-    ErrorCode TASK_RELEASE_LOCATION_LOWER_LEVELS_EMPTY = new ErrorCode(1-002-035-107, "放货库位下层为空");
-    ErrorCode TASK_TAKE_LOCATION_HAVE_OTHER_TASK = new ErrorCode(1-002-035-108, "取货库位已经分配了其他任务");
-    ErrorCode TASK_RELEASE_LOCATION_HAVE_OTHER_TASK = new ErrorCode(1-002-035-109, "放货库位已经分配了其他任务");
 
     // ========== 机器人任务明细 1-002-036-000 ==========
     ErrorCode TASK_DETAIL_NOT_EXISTS = new ErrorCode(1-002-036-001, "机器人任务明细不存在");
@@ -260,6 +250,4 @@ public interface ErrorCodeConstants {
     ErrorCode OPERATION_LOG_NOT_EXISTS = new ErrorCode(1_002_049_001, "机器人动作记录不存在");
     // ========== 用户操作记录 1_002_050_001 ==========
     ErrorCode USER_OPERATION_LOG_NOT_EXISTS = new ErrorCode(1_002_050_001, "用户操作记录不存在");
-    // ========== 车辆衔接任务 1_002_051_001 ==========
-    ErrorCode TASK_PROCEED_NOT_EXISTS = new ErrorCode(1_002_051_001, "车辆衔接任务不存在");
 }

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

@@ -49,9 +49,10 @@ public class RobotGenericsStatusApiImpl implements RobotGenericsStatusApi {
         RobotStatusDataPoseDTO robotStatusDataPoseDTO= JSONUtil.toBean((String)object, RobotStatusDataPoseDTO.class);
         String batSoc = robotStatusData.getHwStates().getBatSoc();
         if (ObjectUtil.isNotEmpty(batSoc)) {
-            String[] split = batSoc.split("\\.");
+            BigDecimal a = new BigDecimal(batSoc);
-            batSoc = split[1].substring(0,2);
+            BigDecimal b = new BigDecimal("100");
-            robotStatusDataPoseDTO.setBatSoc(batSoc);
+            BigDecimal multiply = a.multiply(b);
+            robotStatusDataPoseDTO.setBatSoc(multiply.toString());
         }
 
         redisUtil.set(pose2dKey,JSON.toJSONString(robotStatusDataPoseDTO),robotPositionCacheTime);

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/config/aop/SystemRateLimiterAspect.java

@@ -75,7 +75,7 @@ public class SystemRateLimiterAspect {
             obj = joinPoint.proceed();
         } else {
             // 请求过于频繁
-//            logger.info("请求过于频繁 ：{}", key);
+            logger.info("请求过于频繁 ：{}", key);
         }
         return obj;
     }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/constant/path/PathPlanningChcheConstant.java

@@ -1,9 +0,0 @@
-package cn.iocoder.yudao.module.system.constant.path;
-
-/**
- * 路径规划相关缓存
- */
-public class PathPlanningChcheConstant {
-    //发送给路径规划的任务 (拼接的是任务id)
-    public static String PATH_PLANNING_TASK = "path:planning:task";
-}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/auth/vo/AuthRegisterReqVO.java

@@ -16,7 +16,7 @@ public class AuthRegisterReqVO {
 
     @Schema(description = "用户账号", requiredMode = Schema.RequiredMode.REQUIRED, example = "yudao")
     @NotBlank(message = "用户账号不能为空")
-    @Pattern(regexp = "^[a-zA-Z0-9]{4,30}$", message = "用户名称由 数字、字母 组成")
+    @Pattern(regexp = "^[a-zA-Z0-9]{4,30}$", message = "用户账号由 数字、字母 组成")
     @Size(min = 4, max = 30, message = "用户账号长度为 4-30 个字符")
     private String username;
 

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

@@ -3,7 +3,6 @@ package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
 import io.swagger.v3.oas.annotations.media.Schema;
 import lombok.Data;
 
-import javax.validation.constraints.Size;
 import java.math.BigDecimal;
 
 @Schema(description = "管理后台 - 库位新增/修改 Request VO")
@@ -35,7 +34,6 @@ public class WareHouseLocationSaveReqVO {
     private String locationYaw;
 
     @Schema(description = "物料信息")
-    @Size(min = 0,max = 100 ,message = "物料信息长度超过限制")
     private String skuInfo;
 
     @Schema(description = "物料批次号")

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

@@ -131,13 +131,4 @@ public class DeviceInformationController {
         List<DeviceInformationRespVO> list = informationService.getInformationList(pageReqVO);
         return success(BeanUtils.toBean(list, DeviceInformationRespVO.class));
     }
-
-    @GetMapping("/getMapImageUrl")
-    @Operation(summary = "获得设备图标URL")
-    @Parameter(name = "id", description = "编号", required = true, example = "1024")
-    @PreAuthorize("@ss.hasPermission('device:information:getMapImageUrl')")
-    public CommonResult<String> getMapImageUrl(@RequestParam("deviceType") Integer deviceType) {
-        String str = informationService.getMapImageUrl(deviceType);
-        return success(str);
-    }
 }

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

@@ -41,14 +41,12 @@ public class DeviceInformationSaveReqVO {
     private Integer deviceType;
 
     @Schema(description = "设备编号")
-    @Size(min = 0, max = 50 ,message = "设备编号长度超过限制")
     private String deviceNo;
 
     @Schema(description = "设备位置")
     private String deviceLocation;
 
     @Schema(description = "mac地址")
-    @Size(min = 0, max = 50 ,message = "Mac地址长度超过限制")
     private String macAddress;
 
     @Schema(description = "设备在地图上图标")
@@ -79,11 +77,9 @@ public class DeviceInformationSaveReqVO {
     private Integer deviceAttribute;
 
     @Schema(description = "设备IP")
-    @Size(min = 0, max = 20 ,message = "设备IP长度超过限制")
     private String deviceIp;
 
     @Schema(description = "端口")
-    @Size(min = 0, max = 10 ,message = "端口长度超过限制")
     private String devicePort;
 
     @Schema(description = "最后使用者")

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

@@ -140,20 +140,4 @@ public class RobotInformationController {
         informationService.test(dto);
         return success(true);
     }
-
-    @PostMapping("/cleanTrafficManagement")
-    @Operation(summary = "清除交管")
-    @PreAuthorize("@ss.hasPermission('robot:information:cleanTrafficManagement')")
-    public CommonResult<Boolean> cleanTrafficManagement(@RequestParam("robotNo") String robotNo) {
-        informationService.cleanTrafficManagement(robotNo);
-        return success(true);
-    }
-
-    @PostMapping("/doTaskContinue")
-    @Operation(summary = "继续做任务")
-    @PreAuthorize("@ss.hasPermission('robot:information:doTaskContinue')")
-    public CommonResult<Boolean> doTaskContinue(@RequestParam("robotNo") String robotNo) {
-        informationService.doTaskContinue(robotNo);
-        return success(true);
-    }
 }

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

@@ -1,94 +0,0 @@
-package cn.iocoder.yudao.module.system.controller.admin.robot;
-
-import cn.iocoder.yudao.module.system.controller.admin.robot.proceed.*;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskProceedDO;
-import cn.iocoder.yudao.module.system.service.robot.proceed.RobotTaskProceedService;
-import org.springframework.web.bind.annotation.*;
-import javax.annotation.Resource;
-import org.springframework.validation.annotation.Validated;
-import org.springframework.security.access.prepost.PreAuthorize;
-import io.swagger.v3.oas.annotations.tags.Tag;
-import io.swagger.v3.oas.annotations.Parameter;
-import io.swagger.v3.oas.annotations.Operation;
-
-import javax.validation.*;
-import javax.servlet.http.*;
-import java.util.*;
-import java.io.IOException;
-
-import cn.iocoder.yudao.framework.common.pojo.PageParam;
-import cn.iocoder.yudao.framework.common.pojo.PageResult;
-import cn.iocoder.yudao.framework.common.pojo.CommonResult;
-import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
-import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
-
-import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils;
-
-import cn.iocoder.yudao.framework.apilog.core.annotation.ApiAccessLog;
-import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.*;
-
-
-@Tag(name = "管理后台 - 车辆衔接任务")
-@RestController
-@RequestMapping("/robot/task-proceed")
-@Validated
-public class RobotTaskProceedController {
-
-    @Resource
-    private RobotTaskProceedService taskProceedService;
-
-    @PostMapping("/create")
-    @Operation(summary = "创建车辆衔接任务")
-    @PreAuthorize("@ss.hasPermission('robot:task-proceed:create')")
-    public CommonResult<Long> createTaskProceed(@Valid @RequestBody RobotTaskProceedSaveReqVO createReqVO) {
-        return success(taskProceedService.createTaskProceed(createReqVO));
-    }
-
-    @PutMapping("/update")
-    @Operation(summary = "更新车辆衔接任务")
-    @PreAuthorize("@ss.hasPermission('robot:task-proceed:update')")
-    public CommonResult<Boolean> updateTaskProceed(@Valid @RequestBody RobotTaskProceedSaveReqVO updateReqVO) {
-        taskProceedService.updateTaskProceed(updateReqVO);
-        return success(true);
-    }
-
-    @DeleteMapping("/delete")
-    @Operation(summary = "删除车辆衔接任务")
-    @Parameter(name = "id", description = "编号", required = true)
-    @PreAuthorize("@ss.hasPermission('robot:task-proceed:delete')")
-    public CommonResult<Boolean> deleteTaskProceed(@RequestParam("id") Long id) {
-        taskProceedService.deleteTaskProceed(id);
-        return success(true);
-    }
-
-    @GetMapping("/get")
-    @Operation(summary = "获得车辆衔接任务")
-    @Parameter(name = "id", description = "编号", required = true, example = "1024")
-    @PreAuthorize("@ss.hasPermission('robot:task-proceed:query')")
-    public CommonResult<RobotTaskProceedRespVO> getTaskProceed(@RequestParam("id") Long id) {
-        RobotTaskProceedDO taskProceed = taskProceedService.getTaskProceed(id);
-        return success(BeanUtils.toBean(taskProceed, RobotTaskProceedRespVO.class));
-    }
-
-    @GetMapping("/page")
-    @Operation(summary = "获得车辆衔接任务分页")
-    @PreAuthorize("@ss.hasPermission('robot:task-proceed:query')")
-    public CommonResult<PageResult<RobotTaskProceedRespVO>> getTaskProceedPage(@Valid RobotTaskProceedPageReqVO pageReqVO) {
-        PageResult<RobotTaskProceedDO> pageResult = taskProceedService.getTaskProceedPage(pageReqVO);
-        return success(BeanUtils.toBean(pageResult, RobotTaskProceedRespVO.class));
-    }
-
-    @GetMapping("/export-excel")
-    @Operation(summary = "导出车辆衔接任务 Excel")
-    @PreAuthorize("@ss.hasPermission('robot:task-proceed:export')")
-    @ApiAccessLog(operateType = EXPORT)
-    public void exportTaskProceedExcel(@Valid RobotTaskProceedPageReqVO pageReqVO,
-              HttpServletResponse response) throws IOException {
-        pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
-        List<RobotTaskProceedDO> list = taskProceedService.getTaskProceedPage(pageReqVO).getList();
-        // 导出 Excel
-        ExcelUtils.write(response, "车辆衔接任务.xls", "数据", RobotTaskProceedRespVO.class,
-                        BeanUtils.toBean(list, RobotTaskProceedRespVO.class));
-    }
-
-}

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

@@ -1,43 +0,0 @@
-package cn.iocoder.yudao.module.system.controller.admin.robot.proceed;
-
-import lombok.*;
-import java.util.*;
-import io.swagger.v3.oas.annotations.media.Schema;
-import cn.iocoder.yudao.framework.common.pojo.PageParam;
-import org.springframework.format.annotation.DateTimeFormat;
-import java.time.LocalDateTime;
-
-import static cn.iocoder.yudao.framework.common.util.date.DateUtils.FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND;
-
-@Schema(description = "管理后台 - 车辆衔接任务分页 Request VO")
-@Data
-@EqualsAndHashCode(callSuper = true)
-@ToString(callSuper = true)
-public class RobotTaskProceedPageReqVO extends PageParam {
-
-    @Schema(description = "任务号")
-    private String taskNo;
-
-    @Schema(description = "机器人任务主表id", example = "25623")
-    private Long robotTaskId;
-
-    @Schema(description = "任务类型（1：取放货、2：停车、 3：充电、4：移动、5：仅取货、6：仅放货、7：扫描码、8：检测托盘类型）", example = "2")
-    private Integer taskType;
-
-    @Schema(description = "出现异常时的任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电)")
-    private Long taskStage;
-
-    @Schema(description = "robot_task_detail的id", example = "30327")
-    private Long taskDetailId;
-
-    @Schema(description = "首次执行的AGV编号")
-    private String robotNo;
-
-    @Schema(description = "接力的AGV编号")
-    private String proceedRobotNo;
-
-    @Schema(description = "创建时间")
-    @DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
-    private LocalDateTime[] createTime;
-
-}

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

@@ -1,51 +0,0 @@
-package cn.iocoder.yudao.module.system.controller.admin.robot.proceed;
-
-import io.swagger.v3.oas.annotations.media.Schema;
-import lombok.*;
-import java.util.*;
-import org.springframework.format.annotation.DateTimeFormat;
-import java.time.LocalDateTime;
-import com.alibaba.excel.annotation.*;
-
-@Schema(description = "管理后台 - 车辆衔接任务 Response VO")
-@Data
-@ExcelIgnoreUnannotated
-public class RobotTaskProceedRespVO {
-
-    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "2854")
-    @ExcelProperty("主键ID")
-    private Long id;
-
-    @Schema(description = "任务号")
-    @ExcelProperty("任务号")
-    private String taskNo;
-
-    @Schema(description = "机器人任务主表id", example = "25623")
-    @ExcelProperty("机器人任务主表id")
-    private Long robotTaskId;
-
-    @Schema(description = "任务类型（1：取放货、2：停车、 3：充电、4：移动、5：仅取货、6：仅放货、7：扫描码、8：检测托盘类型）", example = "2")
-    @ExcelProperty("任务类型（1：取放货、2：停车、 3：充电、4：移动、5：仅取货、6：仅放货、7：扫描码、8：检测托盘类型）")
-    private Integer taskType;
-
-    @Schema(description = "出现异常时的任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电)")
-    @ExcelProperty("出现异常时的任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电)")
-    private Long taskStage;
-
-    @Schema(description = "robot_task_detail的id", example = "30327")
-    @ExcelProperty("robot_task_detail的id")
-    private Long taskDetailId;
-
-    @Schema(description = "首次执行的AGV编号")
-    @ExcelProperty("首次执行的AGV编号")
-    private String robotNo;
-
-    @Schema(description = "接力的AGV编号")
-    @ExcelProperty("接力的AGV编号")
-    private String proceedRobotNo;
-
-    @Schema(description = "创建时间", requiredMode = Schema.RequiredMode.REQUIRED)
-    @ExcelProperty("创建时间")
-    private LocalDateTime createTime;
-
-}

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

@@ -1,37 +0,0 @@
-package cn.iocoder.yudao.module.system.controller.admin.robot.proceed;
-
-import io.swagger.v3.oas.annotations.media.Schema;
-import lombok.*;
-import java.util.*;
-import javax.validation.constraints.*;
-
-@Schema(description = "管理后台 - 车辆衔接任务新增/修改 Request VO")
-@Data
-@Builder
-public class RobotTaskProceedSaveReqVO {
-
-    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "2854")
-    private Long id;
-
-    @Schema(description = "任务号")
-    private String taskNo;
-
-    @Schema(description = "机器人任务主表id", example = "25623")
-    private Long robotTaskId;
-
-    @Schema(description = "任务类型（1：取放货、2：停车、 3：充电、4：移动、5：仅取货、6：仅放货、7：扫描码、8：检测托盘类型）", example = "2")
-    private Integer taskType;
-
-    @Schema(description = "出现异常时的任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电)")
-    private Long taskStage;
-
-    @Schema(description = "robot_task_detail的id", example = "30327")
-    private Long taskDetailId;
-
-    @Schema(description = "首次执行的AGV编号")
-    private String robotNo;
-
-    @Schema(description = "接力的AGV编号")
-    private String proceedRobotNo;
-
-}

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

@@ -24,9 +24,6 @@ public class TaskAssignDTO {
     @Schema(description = "AGV编号")
     private String robotNo;
 
-    @Schema(description = "等待点id")
-    private String waitId;
-
     /**
      * 获取机器人要做的任务描述
      * @return

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskProceedDO.java

@@ -1,59 +0,0 @@
-package cn.iocoder.yudao.module.system.dal.dataobject.robot;
-
-import lombok.*;
-import java.util.*;
-import java.time.LocalDateTime;
-import java.time.LocalDateTime;
-import com.baomidou.mybatisplus.annotation.*;
-import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
-
-/**
- * 车辆衔接任务 DO
- *
- * @author 陈宾顺
- */
-@TableName("robot_task_proceed")
-@KeySequence("robot_task_proceed_seq") // 用于 Oracle、PostgreSQL、Kingbase、DB2、H2 数据库的主键自增。如果是 MySQL 等数据库，可不写。
-@Data
-@EqualsAndHashCode(callSuper = true)
-@ToString(callSuper = true)
-@Builder
-@NoArgsConstructor
-@AllArgsConstructor
-public class RobotTaskProceedDO extends BaseDO {
-
-    /**
-     * 主键ID
-     */
-    @TableId
-    private Long id;
-    /**
-     * 任务号
-     */
-    private String taskNo;
-    /**
-     * 机器人任务主表id
-     */
-    private Long robotTaskId;
-    /**
-     * 任务类型（1：取放货、2：停车、 3：充电、4：移动、5：仅取货、6：仅放货、7：扫描码、8：检测托盘类型）
-     */
-    private Integer taskType;
-    /**
-     * 出现异常时的任务阶段(0:待执行、1：前往取货、2：取货中、3：前往放货、4：放货中、5：结束、6：移动中、7:正在充电)
-     */
-    private Long taskStage;
-    /**
-     * robot_task_detail的id
-     */
-    private Long taskDetailId;
-    /**
-     * 首次执行的AGV编号
-     */
-    private String robotNo;
-    /**
-     * 接力的AGV编号
-     */
-    private String proceedRobotNo;
-
-}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/information/DeviceInformationMapper.java

@@ -32,20 +32,7 @@ public interface DeviceInformationMapper extends BaseMapperX<DeviceInformationDO
                 .orderByDesc(DeviceInformationDO::getId));
     }
 
-    /**
-     * 更新设备使用中
-     * @param deviceNo
-     * @param deviceUseStatus
-     * @param lastUser
-     */
     void updateDeviceUseStatus(@Param("deviceNo") String deviceNo,
                                @Param("deviceUseStatus") String deviceUseStatus,
-                               @Param("lastUser") String lastUser);
+                               @Param("deviceEnable") Integer deviceEnable);
-
-    /**
-     * 设置设备空闲
-     * @param lastUser
-     */
-    void setDeviceReleaseByLastUser(@Param("lastUser") String lastUser,
-                                    @Param("deviceUseStatus") String deviceUseStatus);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/robot/RobotTaskProceedMapper.java

@@ -1,33 +0,0 @@
-package cn.iocoder.yudao.module.system.dal.mysql.robot;
-
-import java.util.*;
-
-import cn.iocoder.yudao.framework.common.pojo.PageResult;
-import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
-import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
-import cn.iocoder.yudao.module.system.controller.admin.robot.proceed.RobotTaskProceedPageReqVO;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskProceedDO;
-import org.apache.ibatis.annotations.Mapper;
-
-/**
- * 车辆衔接任务 Mapper
- *
- * @author 陈宾顺
- */
-@Mapper
-public interface RobotTaskProceedMapper extends BaseMapperX<RobotTaskProceedDO> {
-
-    default PageResult<RobotTaskProceedDO> selectPage(RobotTaskProceedPageReqVO reqVO) {
-        return selectPage(reqVO, new LambdaQueryWrapperX<RobotTaskProceedDO>()
-                .eqIfPresent(RobotTaskProceedDO::getTaskNo, reqVO.getTaskNo())
-                .eqIfPresent(RobotTaskProceedDO::getRobotTaskId, reqVO.getRobotTaskId())
-                .eqIfPresent(RobotTaskProceedDO::getTaskType, reqVO.getTaskType())
-                .eqIfPresent(RobotTaskProceedDO::getTaskStage, reqVO.getTaskStage())
-                .eqIfPresent(RobotTaskProceedDO::getTaskDetailId, reqVO.getTaskDetailId())
-                .eqIfPresent(RobotTaskProceedDO::getRobotNo, reqVO.getRobotNo())
-                .eqIfPresent(RobotTaskProceedDO::getProceedRobotNo, reqVO.getProceedRobotNo())
-                .betweenIfPresent(RobotTaskProceedDO::getCreateTime, reqVO.getCreateTime())
-                .orderByDesc(RobotTaskProceedDO::getId));
-    }
-
-}

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

@@ -24,24 +24,4 @@ public enum DeviceTypeEnum {
      * 说明
      */
     private final String msg;
-
-    public static Integer getConfigType (Integer type) {
-        if (CHARGING_STATION.type.equals(type)) {
-            return 5;
-        }if (CONVEYOR_LINE.type.equals(type)) {
-            return 6;
-        }if (PALLETIZER.type.equals(type)) {
-            return 7;
-        }if (AUTOMATIC_DOOR.type.equals(type)) {
-            return 8;
-        }if (HOIST.type.equals(type)) {
-            return 9;
-        }if (SIGNAL_LIGHT.type.equals(type)) {
-            return 10;
-        }if (BUTTON_BOX.type.equals(type)) {
-            return 11;
-        }else {
-            return 12;
-        }
-    }
 }

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

@@ -0,0 +1,26 @@
+/*
+package cn.iocoder.yudao.module.system.enums.robot.task;
+
+import lombok.AllArgsConstructor;
+import lombok.Getter;
+
+*/
+/**
+ * RobotAcceptTaskDTO的order_type
+ *//*
+
+@Getter
+@AllArgsConstructor
+public enum RobotTaksOrderTypeEnum {
+
+    AUTO_MOVE("AUTO_MOVE"), //自动移库任务
+    TASK("TASK"), //客户下发的任务
+    AUTO_CHARGE("AUTO_CHARGE"); //自动充电任务
+    */
+/**
+     * 类型
+     *//*
+
+    private final String type;
+}
+*/

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

@@ -13,8 +13,7 @@ public enum RobotTaskStageEnum {
     RELEASEING(4L,"放货中"),
     DONE(5L,"结束"),
     MOVE(6L,"移动中"),
-    CHARGEING(7L,"待执行正在充电"),
+    CHARGEING(7L,"待执行正在充电");
-    CLOSE(8L,"任务已取消");
     /**
      * 类型
      */

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

@@ -60,7 +60,7 @@ public class HouseLocationServiceImpl extends ServiceImpl<WareHouseLocationMappe
     public void updateHouseLocation(WareHouseLocationSaveReqVO updateReqVO) {
         // 校验存在
         validateHouseLocationExists(updateReqVO.getId());
-        String str = "修改库位信息 ";
+        String str = "";
         WareHouseLocationDO wareHouseLocationDO = houseLocationMapper.selectById(updateReqVO.getId());
         if (!wareHouseLocationDO.getLocationEnable().equals(updateReqVO.getLocationEnable())) {
             if (LocationEnableEnum.YES.getType().equals(updateReqVO.getLocationEnable())) {

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

@@ -130,11 +130,4 @@ public interface DeviceInformationService extends IService<DeviceInformationDO>
      * @param deviceNo
      */
     void chargeDeviceShrink(String deviceNo);
-
-    /**
-     * 获取图标URL
-     * @param deviceType
-     * @return
-     */
-    String getMapImageUrl(Integer deviceType);
 }

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

@@ -13,7 +13,6 @@ import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInfo
 import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationRespVO;
 import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInformationSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
-import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
 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.dataobject.positionmap.PositionMapDO;
@@ -23,7 +22,6 @@ import cn.iocoder.yudao.module.system.enums.device.DeviceAttributeEnum;
 import cn.iocoder.yudao.module.system.enums.device.DeviceStatusEnum;
 import cn.iocoder.yudao.module.system.enums.device.DeviceTypeEnum;
 import cn.iocoder.yudao.module.system.enums.device.PictureConfigEnum;
-import cn.iocoder.yudao.module.system.service.config.CommonConfigService;
 import cn.iocoder.yudao.module.system.service.dict.DictDataService;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
 import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
@@ -80,9 +78,6 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
     @Resource
     private RobotWarnMsgService warnMsgService;
 
-    @Resource
-    private CommonConfigService configService;
-
     @Override
     public Long createInformation(DeviceInformationSaveReqVO createReqVO) {
         // -- 先判断库里是否有相通的mac地址数据
@@ -143,12 +138,6 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
         validateInformationExists(id);
         // 删除
         informationMapper.deleteById(id);
-
-        DeviceInformationDO deviceInformationDO = informationMapper.selectById(id);
-        UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
-                .operateAction("删除设备 " + deviceInformationDO.getDeviceNo())
-                .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
-        userOperationLogService.createUserOperationLog(operationLog);
     }
 
     private void validateInformationExists(Long id) {
@@ -395,35 +384,17 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
         shrink(deviceInformationDO.getDeviceIp(), Integer.parseInt(deviceInformationDO.getDevicePort()), deviceNo);
     }
 
-    @Override
-    public String getMapImageUrl(Integer deviceType) {
-        Integer configType = DeviceTypeEnum.getConfigType(deviceType);
-        if (ObjectUtil.isEmpty(configType)) {
-            return "";
-        }
-        CommonConfigDO config = configService.getConfig(configType.longValue());
-        if (ObjectUtil.isEmpty(config)) {
-            return "";
-        }
-        return config.getConfigStr();
-    }
-
     public void shrink(String ip, int port, String deviceNo) {
         boolean success = true;
         short[] shrinkArr = {0};
         for (int i = 0; i < 3; i++) {
-            ModbusMaster asciiMaster = null;
             try {
-                asciiMaster = ModbusUtils.getMaster(ip, port);
+                ModbusMaster asciiMaster = ModbusUtils.getMaster(ip, port);
                 ModbusUtils.writeHoldingRegisters(asciiMaster, 1, 0, shrinkArr);
             } catch (ModbusInitException | ModbusTransportException e) {
                 log.info("充电设备缩回时,出现异常 :{}", ip);
                 warnMsgService.addWarnMsg(deviceNo + " 充电设备缩回失败");
                 success = false;
-            }finally {
-                if (ObjectUtil.isNotEmpty(asciiMaster)) {
-                    asciiMaster.destroy();
-                }
             }
 
             if (success) {
@@ -442,9 +413,8 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
         short[] extendArr = {1};
         short[] shrinkArr = {0};
         for (int i = 0; i < 3; i++) {
-            ModbusMaster asciiMaster = null;
             try {
-                asciiMaster = ModbusUtils.getMaster(ip, port);
+                ModbusMaster asciiMaster = ModbusUtils.getMaster(ip, port);
                 ModbusUtils.writeHoldingRegisters(asciiMaster, 1, 0, shrinkArr);
                 Thread.sleep(2500);
                 ModbusUtils.writeHoldingRegisters(asciiMaster, 1, 0, extendArr);
@@ -452,10 +422,6 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
                 log.info("充电设备伸出时,出现异常 :{}", ip);
                 warnMsgService.addWarnMsg(deviceNo + " 充电设备伸出失败");
                 success = false;
-            }finally {
-                if (ObjectUtil.isNotEmpty(asciiMaster)) {
-                    asciiMaster.destroy();
-                }
             }
 
             if (success) {

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskDetailActionLogService.java

@@ -57,11 +57,4 @@ public interface RobotTaskDetailActionLogService {
      * @param logs
      */
     void addLogInCache(List<RobotTaskDetailActionLogDO> logs);
-
-    /**
-     * 获取车辆的最后一条任务
-     * @param robotNo
-     * @return
-     */
-    RobotTaskDetailActionLogDO getLastTaskByRobotNo(String robotNo);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskDetailActionLogServiceImpl.java

@@ -1,13 +1,10 @@
 package cn.iocoder.yudao.module.system.service.log;
 
-import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.RobotTaskDetailActionLogPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.RobotTaskDetailActionLogSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
 import cn.iocoder.yudao.module.system.dal.mysql.log.RobotTaskDetailActionLogMapper;
-import cn.iocoder.yudao.module.system.enums.robot.RobotTaskStatusEnum;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;
 import org.springframework.beans.factory.annotation.Value;
@@ -94,13 +91,4 @@ public class RobotTaskDetailActionLogServiceImpl implements RobotTaskDetailActio
         }
     }
 
-    @Override
-    public RobotTaskDetailActionLogDO getLastTaskByRobotNo(String robotNo) {
-        return taskDetailActionLogMapper.selectOne(new LambdaQueryWrapperX<RobotTaskDetailActionLogDO>()
-                .eq(RobotTaskDetailActionLogDO::getRobotNo, robotNo)
-                .eq(RobotTaskDetailActionLogDO::getCommandId, -1)
-                .orderByDesc(RobotTaskDetailActionLogDO::getCreateTime)
-                .last("limit 1"));
-    }
-
 }

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

@@ -101,6 +101,4 @@ public interface PositionMapItemService extends IService<PositionMapItemDO> {
      * @return
      */
     Object getAGVPointInformation(String macAddress);
-
-    void setMapItemIdle(Long id);
 }

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

@@ -9,7 +9,6 @@ import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMa
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapItemSaveReqVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
-import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
 import org.springframework.stereotype.Service;
@@ -123,11 +122,4 @@ public class PositionMapItemServiceImpl extends ServiceImpl<PositionMapItemMappe
         }
         return redisUtil.get(pose2dKey);
     }
-
-    @Override
-    public void setMapItemIdle(Long id) {
-        PositionMapItemDO item = PositionMapItemDO.builder().id(id).useStatus(ZeroOneEnum.ZERO.getType()).build();
-        positionMapItemMapper.updateById(item);
-    }
-
 }

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

@@ -138,16 +138,4 @@ public interface RobotInformationService extends IService<RobotInformationDO> {
      * 维护车机心跳
      */
     void rcsHeartBeat();
-
-    /**
-     * 清除交管
-     * @param robotNo
-     */
-    void cleanTrafficManagement(String robotNo);
-
-    /**
-     * 继续做任务
-     * @param robotNo
-     */
-    void doTaskContinue(String robotNo);
 }

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

@@ -7,78 +7,35 @@ import cn.hutool.json.JSONUtil;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.collection.CollectionUtils;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
-import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
-import cn.iocoder.yudao.module.mqtt.api.path.PathPlanningApi;
-import cn.iocoder.yudao.module.mqtt.api.path.task.TaskRobotNoLimittationAreaDTO;
-import cn.iocoder.yudao.module.mqtt.api.path.task.TaskToPathPlanningDTO;
-import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotAcceptTaskDTO;
 import cn.iocoder.yudao.module.mqtt.api.task.dto.RobotRcsHeartBeatDTO;
-import cn.iocoder.yudao.module.mqtt.enums.task.ExecutionTypeEnum;
 import cn.iocoder.yudao.module.system.api.robot.RequestProcessor;
 import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
-import cn.iocoder.yudao.module.system.constant.path.PathPlanningChcheConstant;
-import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTopicConstant;
 import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
-import cn.iocoder.yudao.module.system.controller.admin.robot.proceed.RobotTaskProceedSaveReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.robot.vo.*;
-import cn.iocoder.yudao.module.system.controller.admin.tool.dto.CleanAgvDTO;
-import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
-import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.informationmapassociation.InformationMapAssociationDO;
-import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapDO;
-import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotModelDO;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
-import cn.iocoder.yudao.module.system.dal.dataobject.wait.MoveToWaitDO;
-import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
-import cn.iocoder.yudao.module.system.dal.mysql.information.DeviceInformationMapper;
-import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapItemMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
 import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotModelMapper;
-import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
-import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskMapper;
-import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
-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.item.PositionMapItemEnum;
-import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum;
-import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeToRobotEnum;
-import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotStatusEnum;
-import cn.iocoder.yudao.module.system.enums.robot.RobotTaskDetailStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotTaskModelEnum;
-import cn.iocoder.yudao.module.system.enums.robot.actionlog.ActionStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.information.RobotStatisticsTypeEnum;
-import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
 import cn.iocoder.yudao.module.system.service.informationmapassociation.InformationMapAssociationService;
-import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogService;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
-import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
-import cn.iocoder.yudao.module.system.service.robot.pathplanning.RobotPathPlanningService;
-import cn.iocoder.yudao.module.system.service.robot.proceed.RobotTaskProceedService;
-import cn.iocoder.yudao.module.system.service.wait.MoveToWaitService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
-import cn.iocoder.yudao.module.system.util.redis.RedissonUtils;
-import com.alibaba.fastjson.JSON;
 import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
-import lombok.extern.slf4j.Slf4j;
-import org.redisson.api.RLock;
-import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.stereotype.Service;
-import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
 
 import javax.annotation.Resource;
@@ -87,7 +44,6 @@ import java.util.function.Function;
 import java.util.stream.Collectors;
 
 import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
-import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception0;
 import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
 
 /**
@@ -97,7 +53,6 @@ import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.*;
  */
 @Service
 @Validated
-@Slf4j
 public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMapper, RobotInformationDO> implements RobotInformationService {
 
     @Resource
@@ -114,33 +69,6 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     @Resource
     private UserOperationLogService userOperationLogService;
 
-    @Resource
-    private RobotTaskDetailActionLogService taskDetailActionLogService;
-
-    @Resource
-    private DeviceInformationMapper deviceInformationMapper;
-
-    @Resource
-    private RobotTaskDetailMapper taskDetailMapper;
-
-    @Resource
-    private PositionMapItemService positionMapItemService;
-
-    @Resource
-    private MoveToWaitService moveToWaitService;
-
-    @Resource
-    private RobotTaskProceedService taskProceedService;
-
-    @Resource
-    private RobotTaskMapper taskMapper;
-
-    @Autowired
-    private RobotPathPlanningService robotPathPlanningService;
-
-    @Resource
-    private PositionMapItemMapper positionMapItemMapper;
-
     @Resource
     private RedisUtil redisUtil;
     @Resource
@@ -149,14 +77,6 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
     private InformationMapAssociationService informationMapAssociationService;
     // -- 获取所有的设备信息key
     public static final String key = RobotTaskChcheConstant.ROBOT_GET_ROBOT_INFO;
-    @Autowired
-    private WareHouseLocationMapper wareHouseLocationMapper;
-
-    @Resource
-    private PathPlanningApi pathPlanningApi;
-
-    @Resource
-    private RedissonUtils redissonUtils;
 
     @Override
     public Long createInformation(RobotInformationSaveReqVO createReqVO) {
@@ -196,7 +116,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         }
 
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
-                .operateAction("新增车辆 " + createReqVO.getRobotNo())
+                .operateAction("新增车辆 "+createReqVO.getRobotNo())
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
         // 返回
@@ -246,13 +166,13 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         if (!robotInformationDO.getRobotTaskModel().equals(updateReqVO.getRobotTaskModel())
             && RobotTaskModelEnum.REJECTION.getType().equals(updateReqVO.getRobotTaskModel())) {
             str = ",且设置车辆锁定";
-        } else if (!robotInformationDO.getRobotTaskModel().equals(updateReqVO.getRobotTaskModel())
+        }else if (!robotInformationDO.getRobotTaskModel().equals(updateReqVO.getRobotTaskModel())
                 && RobotTaskModelEnum.NORMAL.getType().equals(updateReqVO.getRobotTaskModel())) {
             str = ",且设置车辆非锁定";
         }
 
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
-                .operateAction("更新车辆信息" + str)
+                .operateAction("更新车辆信息"+str)
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
     }
@@ -266,7 +186,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         RobotInformationDO robotInformationDO = informationMapper.selectById(id);
         UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
-                .operateAction("删除车辆 " + robotInformationDO.getRobotNo())
+                .operateAction("删除车辆 "+robotInformationDO.getRobotNo())
                 .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
         userOperationLogService.createUserOperationLog(operationLog);
     }
@@ -610,12 +530,12 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         if (ObjectUtil.isNotEmpty(o)) {
             // 化作列表
             List<RobotInformationVO> list = JSONUtil.toList(o.toString(), RobotInformationVO.class);
-            return list.stream().collect(Collectors.toMap(RobotInformationVO::getMacAddress, Function.identity(), (v1, v2) -> v1));
+            return list.stream().collect(Collectors.toMap(RobotInformationVO::getMacAddress, Function.identity()));
         } else {
             List<RobotInformationDO> allRobotInfoList = this.list();
             List<RobotInformationVO> list = BeanUtil.copyToList(allRobotInfoList, RobotInformationVO.class);
             redisUtil.set(key, JSONUtil.toJsonStr(list));
-            return list.stream().collect(Collectors.toMap(RobotInformationVO::getMacAddress, Function.identity(), (v1, v2) -> v1));
+            return list.stream().collect(Collectors.toMap(RobotInformationVO::getMacAddress, Function.identity()));
         }
     }
 
@@ -701,343 +621,4 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             commonApi.commonMethod(new RobotRcsHeartBeatDTO(), topic);
         }
     }
-
-    /**
-     * 清除交管
-     *
-     * @param robotNo
-     */
-    @Override
-    @Transactional(rollbackFor = Exception.class)
-    public void cleanTrafficManagement(String robotNo) {
-        UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
-                .operateAction("清除交管 " + robotNo)
-                .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
-        userOperationLogService.createUserOperationLog(operationLog);
-        RobotTaskDetailActionLogDO log = closeTask(robotNo);
-        if (ObjectUtil.isEmpty(log)) {
-            return;
-        }
-        RobotTaskDetailDO robotTaskDetail = taskDetailMapper.selectById(log.getTaskDetailId());
-        //移动、充电任务需手动关闭
-        if (PathTaskTypeEnum.CHARGE.getType().equals(log.getCommandType())
-                || PathTaskTypeEnum.AUTO_CHARGE.getType().equals(log.getCommandType())) {
-            deviceInformationMapper.setDeviceReleaseByLastUser(robotNo, DeviceUseStatusEnum.IDLE.getType());
-        } else if (PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(log.getCommandType())) {
-            if (ObjectUtil.isNotEmpty(robotTaskDetail)) {
-                positionMapItemService.setMapItemIdle(robotTaskDetail.getToLocationId());
-            }
-        } else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(log.getCommandType())) {
-            MoveToWaitDO moveToWait = moveToWaitService.getMoveToWait(log.getTaskDetailId());
-            if (ObjectUtil.isNotEmpty(moveToWait)) {
-                positionMapItemService.setMapItemIdle(moveToWait.getPositionMapItemId());
-            }
-        } else if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(log.getCommandType())
-                || PathTaskTypeEnum.TAKE.getType().equals(log.getCommandType())
-                || PathTaskTypeEnum.RELEASE.getType().equals(log.getCommandType())) {
-            takeReleaseCleanTrafficManagement(robotTaskDetail);
-        }
-        //不释放机器人状态，怕机器人接新任务
-    }
-
-    public RobotTaskDetailActionLogDO closeTask(String robotNo) {
-        CleanAgvDTO build = CleanAgvDTO.builder().robotNo(robotNo).build();
-        commonApi.commonMethod(build, PathPlanningTopicConstant.CLEAN_AGV);
-        RobotTaskDetailActionLogDO log = taskDetailActionLogService.getLastTaskByRobotNo(robotNo);
-        if (ObjectUtil.isEmpty(log) || ActionStatusEnum.DONE.getType().equals(log.getActionStatus())) {
-            return null;
-        }
-        String mac = getMacByRobotNo(robotNo);
-        robotCloseTaskDetail(log.getTaskDetailId() + "", mac, log.getCommandType());
-        return log;
-    }
-
-    /**
-     * 继续做任务
-     *
-     * @param robotNo
-     */
-    @Override
-    public void doTaskContinue(String robotNo) {
-        UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
-                .operateAction("继续做任务 " + robotNo)
-                .nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
-        userOperationLogService.createUserOperationLog(operationLog);
-        RobotTaskDetailActionLogDO actionLog = closeTask(robotNo);
-        if (ObjectUtil.isEmpty(actionLog) || ActionStatusEnum.DONE.getType().equals(actionLog.getActionStatus())) {
-            throw exception(ROBOT_LAST_TASK_NO_EXISTS);
-        }
-
-        String key = PathPlanningChcheConstant.PATH_PLANNING_TASK + actionLog.getTaskDetailId();
-        Object o = redisUtil.get(key);
-        if (ObjectUtil.isEmpty(o)) {
-            throw exception(ROBOT_LAST_TASK_DELETE);
-        }
-
-        TaskToPathPlanningDTO pathPlanning = JSONUtil.toBean((String) o, TaskToPathPlanningDTO.class);
-
-        RLock lock = redissonUtils.getLock(RobotCacheLockEnum.ROBOT_TASK_DISTRIBUTE_LOCK.getKey());
-        String msg = "";
-        if (lock.tryLock()){
-            try {
-                resendToPP(pathPlanning,actionLog);
-            } catch (Exception e) {
-                log.error("下发任务给路径规划现异常 :{}",e);
-                msg = ObjectUtil.isNotEmpty(e.getMessage()) ? e.getMessage(): "任务下发失败";
-            } finally {
-                lock.unlock();
-            }
-        }else {
-            log.info("下发任务给路径规划未获取到锁");
-            throw exception(REDISSON_NOT_OBTAIN_LOCK);
-        }
-
-        if (ObjectUtil.isNotEmpty(msg)) {
-            throw exception0(TASK_CHECK_EXCEPTION.getCode(), msg);
-        }
-    }
-
-    /**
-     * 将任务重新发给PP
-     * @param pathPlanning
-     * @param actionLog
-     */
-    private void resendToPP(TaskToPathPlanningDTO pathPlanning, RobotTaskDetailActionLogDO actionLog) {
-        RobotInformationDO robotInformationDO = informationMapper.selectOne(new LambdaQueryWrapper<RobotInformationDO>()
-                .eq(RobotInformationDO::getRobotNo, actionLog.getRobotNo()));
-        TaskRobotNoLimittationAreaDTO taskRobotNoLimittationAreaDTO =
-                robotPathPlanningService.getRobotNoLimitationArea(Collections.singletonList(robotInformationDO)).get(0);
-
-        List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = Arrays.asList(taskRobotNoLimittationAreaDTO);
-        pathPlanning.setRobotNoLimitationAreaDTOS(robotNoLimitions);
-
-        if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(actionLog.getCommandType())
-                || PathTaskTypeEnum.MOVE_TO_WAIT_STOP.getType().equals(actionLog.getCommandType())) {
-            moveToWaitTask(pathPlanning, actionLog.getRobotNo());
-        } else if (PathTaskTypeEnum.CHARGE.getType().equals(actionLog.getCommandType())
-                || PathTaskTypeEnum.AUTO_CHARGE.getType().equals(actionLog.getCommandType())) {
-            chargeTask(pathPlanning,robotInformationDO);
-        } else if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(actionLog.getCommandType())) {
-            takeReleaseTask(pathPlanning);
-        } else if (PathTaskTypeEnum.TAKE.getType().equals(actionLog.getCommandType())) {
-            takeTask(pathPlanning);
-        }else if (PathTaskTypeEnum.RELEASE.getType().equals(actionLog.getCommandType())) {
-            releaseTask(pathPlanning);
-        }else if (PathTaskTypeEnum.MOVE.getType().equals(actionLog.getCommandType())) {
-
-        }
-
-        List<TaskToPathPlanningDTO> pathPlanningList = new ArrayList<>();
-        pathPlanningList.add(pathPlanning);
-        log.info("任务下发给PP :{}", JSON.toJSONString(pathPlanningList));
-        pathPlanningApi.synchronousLineObject(pathPlanningList, PathPlanningTopicConstant.TASK_ASSIGNMENT_REQUEST);
-    }
-
-    /**
-     * 仅放货
-     * @param pathPlanning
-     */
-    private void releaseTask(TaskToPathPlanningDTO pathPlanning) {
-        RobotTaskDetailDO robotTaskDetail = checkTaskDone(pathPlanning.getOrderId());
-        releaseCheck(robotTaskDetail.getToLocationId(), robotTaskDetail.getRobotTaskId());
-    }
-
-    /**
-     * 仅取货
-     * @param pathPlanning
-     */
-    private void takeTask(TaskToPathPlanningDTO pathPlanning) {
-        RobotTaskDetailDO robotTaskDetail = checkTaskDone(pathPlanning.getOrderId());
-        takeCheck(robotTaskDetail.getFromLocationId(),robotTaskDetail.getRobotTaskId());
-    }
-
-    public RobotTaskDetailDO checkTaskDone(String id){
-        RobotTaskDetailDO robotTaskDetail = taskDetailMapper.selectById(id);
-        if (RobotTaskStageEnum.DONE.getType().equals(robotTaskDetail.getTaskStage())) {
-            throw exception(ROBOT_LAST_TASK_NO_EXISTS);
-        }
-        return robotTaskDetail;
-    }
-
-    /**
-     * 取放货
-     * @param pathPlanning
-     */
-    private void takeReleaseTask(TaskToPathPlanningDTO pathPlanning) {
-        RobotTaskDetailDO robotTaskDetail = checkTaskDone(pathPlanning.getOrderId());
-        if (!RobotTaskStageEnum.TAKEING.getType().equals(robotTaskDetail.getTaskStage())
-            && !RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetail.getTaskStage())
-            && !RobotTaskStageEnum.UN_START.getType().equals(robotTaskDetail.getTaskStage())) {
-            //只要放货
-            pathPlanning.setTakeLevel(null);
-            pathPlanning.setTakeGroupId(null);
-            pathPlanning.setTakeLocationNumber(null);
-            pathPlanning.setTakePointId(null);
-            pathPlanning.setTakeOffsetHeight(null);
-            pathPlanning.setTakeOffsetHeight(null);
-            pathPlanning.setTaskType(PathTaskTypeToRobotEnum.DROP_OFF_GOODS.getType());
-        }else {
-            takeCheck(robotTaskDetail.getFromLocationId(), robotTaskDetail.getRobotTaskId());
-        }
-        releaseCheck(robotTaskDetail.getToLocationId(),robotTaskDetail.getRobotTaskId());
-    }
-
-    /**
-     * 校验放货任务
-     *
-     * @param id
-     * @param takeId
-     */
-    private void releaseCheck(Long id, Long takeId) {
-        WareHouseLocationDO wareHouseLocation = wareHouseLocationMapper.selectById(id);
-        if (ZeroOneEnum.ONE.getType().equals(wareHouseLocation.getLocationUseStatus())) {
-            throw exception(TASK_RELEASE_LOCATION_NOT_EMPTY);
-        }
-        if (!wareHouseLocation.getTaskId().equals(takeId)) {
-            throw exception(TASK_RELEASE_LOCATION_HAVE_OTHER_TASK);
-        }
-        List<WareHouseLocationDO> locations = wareHouseLocationMapper.selectList(new LambdaQueryWrapperX<WareHouseLocationDO>()
-                .eq(WareHouseLocationDO::getMapItemId, wareHouseLocation.getMapItemId())
-                .ne(WareHouseLocationDO::getId,id));
-        if (ObjectUtil.isEmpty(locations)) {
-            return;
-        }
-        List<WareHouseLocationDO> bigNumbers = locations.stream()
-                .filter(v -> v.getLocationNumber() > wareHouseLocation.getLocationNumber()
-                        && ZeroOneEnum.ZERO.getType().equals(v.getLocationUseStatus()))
-                .collect(Collectors.toList());
-        if (ObjectUtil.isNotEmpty(bigNumbers)) {
-            throw exception(TASK_RELEASE_LOCATION_LOWER_LEVELS_EMPTY);
-        }
-    }
-
-    /**
-     * 取货校验
-     *
-     * @param id
-     * @param takeId
-     */
-    private void takeCheck(Long id, Long takeId) {
-        WareHouseLocationDO wareHouseLocation = wareHouseLocationMapper.selectById(id);
-        if (ZeroOneEnum.ZERO.getType().equals(wareHouseLocation.getLocationUseStatus())) {
-            throw exception(TASK_TAKE_LOCATION_EMPTY);
-        }
-
-        if (!wareHouseLocation.getTaskId().equals(takeId)) {
-            throw exception(TASK_TAKE_LOCATION_HAVE_OTHER_TASK);
-        }
-
-        List<WareHouseLocationDO> locations = wareHouseLocationMapper.selectList(new LambdaQueryWrapperX<WareHouseLocationDO>()
-                .eq(WareHouseLocationDO::getMapItemId, wareHouseLocation.getMapItemId())
-                .ne(WareHouseLocationDO::getId,id));
-        if (ObjectUtil.isEmpty(locations)) {
-            return;
-        }
-        List<WareHouseLocationDO> bigNumbers = locations.stream()
-                .filter(v -> v.getLocationNumber() < wareHouseLocation.getLocationNumber()
-                        && ZeroOneEnum.ONE.getType().equals(v.getLocationUseStatus()))
-                .collect(Collectors.toList());
-        if (ObjectUtil.isNotEmpty(bigNumbers)) {
-            throw exception(TASK_TAKE_LOCATION_UPPER_LEVELS_NOT_EMPTY);
-        }
-
-    }
-
-    /**
-     * 充电任务
-     * @param pathPlanning
-     * @param robot
-     */
-    private void chargeTask(TaskToPathPlanningDTO pathPlanning, RobotInformationDO robot) {
-        List<DeviceInformationDO> deviceInformations = deviceInformationMapper.selectList(new LambdaQueryWrapperX<DeviceInformationDO>()
-                .eq(DeviceInformationDO::getDeviceEnable, ZeroOneEnum.ONE.getType())
-                .eq(DeviceInformationDO::getDeviceUseStatus, DeviceUseStatusEnum.IDLE.getType())
-                .eq(DeviceInformationDO::getDeviceType, DeviceTypeEnum.CHARGING_STATION.getType()));
-        if (ObjectUtil.isEmpty(deviceInformations)) {
-            log.info("没有空闲的充电桩 :{}",robot.getRobotNo());
-            throw exception(ROBOT_NOT_FOUND_FREE_CHARGING_STATION);
-        }
-
-        DeviceInformationDO deviceInformationDO = deviceInformations.stream()
-                .filter(v -> v.getDeviceAttribute().equals(robot.getChargeType())
-                        && 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());
-            throw exception(ROBOT_NOT_FOUND_FREE_CHARGING_STATION);
-        }
-
-        pathPlanning.setReleaseGroupId("POINT_" + deviceInformationDO.getPositionMapItemId());
-        pathPlanning.setReleasePointId(deviceInformationDO.getPositionMapItemId());
-    }
-
-    /**
-     * 移动到等待点
-     *
-     * @param pathPlanning
-     */
-    private void moveToWaitTask(TaskToPathPlanningDTO pathPlanning, String robotNo) {
-
-        List<PositionMapItemDO> positionMapItems = positionMapItemMapper.selectList(new LambdaQueryWrapperX<PositionMapItemDO>()
-                .eq(PositionMapItemDO::getType, PositionMapItemEnum.STOP.getType())
-                .eq(PositionMapItemDO::getUseStatus, ZeroOneEnum.ZERO.getType()));
-
-        if (ObjectUtil.isEmpty(positionMapItems)) {
-            log.info("------没有空闲的停车点----- :{}", robotNo);
-            throw exception(ROBOT_NOT_FOUND_WAIT_ITEM);
-        }
-
-        List<String> waitIds = positionMapItems
-                .stream()
-                .map(u -> u.getId() + "")
-                .collect(Collectors.toList());
-        pathPlanning.setWaitIds(waitIds);
-    }
-
-
-    /**
-     * 取放货清除交管
-     *
-     * @param robotTaskDetail
-     */
-    private void takeReleaseCleanTrafficManagement(RobotTaskDetailDO robotTaskDetail) {
-        if (RobotTaskStageEnum.UN_START.getType().equals(robotTaskDetail.getTaskStage())
-                || RobotTaskStageEnum.GO_TAKE.getType().equals(robotTaskDetail.getTaskStage())) {
-            log.info("清除交管--任务阶段是前往取货/待执行/前往放货 :{}", robotTaskDetail.getRobotNo());
-            robotTaskDetail.setTaskStatus(RobotTaskDetailStatusEnum.NEW.getType());
-            robotTaskDetail.setRobotNo(null);
-            taskDetailMapper.updateById(robotTaskDetail);
-            return;
-        }
-
-        RobotTaskDO robotTaskDO = taskMapper.selectById(robotTaskDetail.getRobotTaskId());
-        RobotTaskProceedSaveReqVO proceed = RobotTaskProceedSaveReqVO.builder()
-                .taskNo(robotTaskDO.getTaskNo())
-                .robotTaskId(robotTaskDO.getId())
-                .taskType(robotTaskDetail.getTaskType())
-                .taskStage(robotTaskDetail.getTaskStage())
-                .taskDetailId(robotTaskDetail.getId())
-                .robotNo(robotTaskDetail.getRobotNo())
-                .build();
-        taskProceedService.createTaskProceed(proceed);
-    }
-
-    /**
-     * 车机关闭任务
-     *
-     * @param id
-     * @param mac
-     * @param orderType
-     */
-    public void robotCloseTaskDetail(String id, String mac, String orderType) {
-        RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO();
-        robotTask.setOrderId(id);
-        robotTask.setOrderType(orderType);
-        robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + mac);
-        robotTask.setExecutionType(ExecutionTypeEnum.CANCEL.getType());
-        commonApi.commonMethod(robotTask, robotTask.getTopic());
-    }
-
-
 }

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

@@ -2,7 +2,6 @@ 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.detail.RobotTaskDetailLogResoVO;
@@ -61,7 +60,6 @@ public interface RobotTaskService extends IService<RobotTaskDO> {
 
     /**
      * 获取任务号
-     *
      * @return
      */
     String getTaskNo();
@@ -74,15 +72,13 @@ public interface RobotTaskService extends IService<RobotTaskDO> {
 
     /**
      * 任务日志分页
-     *
      * @param pageReqVO
      * @return
      */
-    PageResult<RobotTaskDetailLogResoVO> logPage(RobotTaskDetailLogVO pageReqVO);
+    PageResult<RobotTaskDetailLogResoVO> logPage( RobotTaskDetailLogVO pageReqVO);
 
     /**
      * 添加循环任务点位
-     *
      * @param id
      * @param taskDetailList
      */
@@ -92,16 +88,14 @@ public interface RobotTaskService extends IService<RobotTaskDO> {
 
     /**
      * PP分配任务
-     *
      * @param message
      */
     void assignTasks(String message);
 
     /**
      * 发送关闭任务
-     *
      * @param id
      * @param mac
      */
-    void closeTaskDetail(String id, String mac, String orderType);
+    void closeTaskDetail(String id, String mac);
 }

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

@@ -50,7 +50,6 @@ import cn.iocoder.yudao.module.system.enums.robot.*;
 import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeTaskStatusEnum;
 import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
 //import cn.iocoder.yudao.module.system.service.robot.job.RobotCommonTaskService;
-import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
 import cn.iocoder.yudao.module.system.enums.wait.WaitStatusEnum;
 import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
 import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
@@ -184,7 +183,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
                 addResult = addTask(createReqVO);
             } catch (Exception e) {
                 log.error("下发任务出现异常 :{}", e);
-                addResult = ObjectUtil.isNotEmpty(e.getMessage()) ? e.getMessage(): "创建任务失败";
+                addResult = e.getMessage();
             } finally {
                 lock.unlock();
             }
@@ -390,7 +389,6 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             }
             //后期需做状态映射
             taskDetailDO.setTaskStatus(updateReqVO.getTaskStatus());
-            taskDetailDO.setTaskStage(RobotTaskStageEnum.CLOSE.getType());
 
             if (RobotTaskTypeEnum.CHARGE.getType().equals(taskDetailDO.getTaskType())
                     && RobotTaskTypeEnum.PARK.getType().equals(taskDetailDO.getTaskType())) {
@@ -411,7 +409,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
             String mac = robotInformationService.getMacByRobotNo(taskDetailDO.getRobotNo());
 
-            closeTaskDetail(taskDetailDO.getId().toString(), mac, PathTaskTypeEnum.getTaskType(taskDetailDO.getTaskType()));
+            closeTaskDetail(taskDetailDO.getId().toString(),mac);
 
             RobotClosePathPlantingDTO closePathPlanting = RobotClosePathPlantingDTO.builder()
                     .robotNo(taskDetailDO.getRobotNo())
@@ -458,10 +456,9 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
     }
 
     @Override
-    public void closeTaskDetail(String id, String mac, String orderType) {
+    public void closeTaskDetail(String id, String mac) {
         RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO();
         robotTask.setOrderId(id);
-        robotTask.setOrderType(orderType);
         robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + mac);
         robotTask.setExecutionType(ExecutionTypeEnum.CANCEL.getType());
         commonApi.commonMethod(robotTask, robotTask.getTopic());
@@ -486,10 +483,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         Map<Long, String> deviceNoMap = new HashMap<>();
         Integer robotStatus = RobotStatusEnum.DOING.getType();
 
-        RobotChargeLogDO robotChargeLogs = null;
+        if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getOrderType())) {
-        if (PathTaskTypeEnum.AUTO_CHARGE.getType().equals(taskAssignDTO.getOrderType())
+            RobotChargeLogDO robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getOrderId());
-                || PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getOrderType())) {
-            robotChargeLogs = chargeLogMapper.selectById(taskAssignDTO.getOrderId());
 
             robotChargeLogs.setTaskStatus(ChargeTaskStatusEnum.DOING.getType());
             chargeLogMapper.updateById(robotChargeLogs);
@@ -497,26 +492,26 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
             robotStatus = RobotStatusEnum.CHARGE.getType();
             if (ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId())) {
                 deviceNoMap.put(robotChargeLogs.getTaskDetailId(), robotChargeLogs.getDeviceNo());
+                detailId = robotChargeLogs.getTaskDetailId();
             }
-            detailId = ObjectUtil.isNotEmpty(robotChargeLogs.getTaskDetailId()) ? robotChargeLogs.getTaskDetailId() : null;
 
         } else if (PathTaskTypeEnum.MOVE_TO_WAIT.getType().equals(taskAssignDTO.getOrderType())) {
-            moveToWaitService.updateWaitStatusAndItrmId(taskAssignDTO.getOrderId(), WaitStatusEnum.GO_TO_WAIT.getType(), taskAssignDTO.getWaitId());
+            chargeDone(taskAssignDTO.getRobotNo());
+            moveToWaitService.updateWaitStatus(taskAssignDTO.getOrderId(), WaitStatusEnum.GO_TO_WAIT.getType());
+        } else if (PathTaskTypeEnum.CHARGE.getType().equals(taskAssignDTO.getOrderType())) {
+            robotStatus = RobotStatusEnum.CHARGE.getType();
+            detailId = taskAssignDTO.getOrderId();
         } else {
+            chargeDone(taskAssignDTO.getRobotNo());
             detailId = taskAssignDTO.getOrderId();
         }
 
-        chargeDone(taskAssignDTO.getRobotNo());
-
         robotInformationMapper.updateRobotListStatus(taskAssignDTO.getRobotNo(), robotStatus, taskAssignDTO.getOrderId());
 
         if (ObjectUtil.isNotEmpty(detailId)) {
-            setTaskDoing(detailId, taskAssignDTO.getRobotNo(), deviceNoMap, taskAssignDTO.getWaitId());
+            setTaskDoing(detailId, taskAssignDTO.getRobotNo(), deviceNoMap);
         }
 
-        if (ObjectUtil.isNotEmpty(robotChargeLogs)) {
-            setDeviceUseing(robotChargeLogs.getDeviceNo(), taskAssignDTO.getRobotNo());
-        }
 
         RobotTaskDetailActionLogDO logOne = new RobotTaskDetailActionLogDO();
         logOne.setCommandType(taskAssignDTO.getOrderType());
@@ -530,16 +525,6 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
 
     }
 
-    /**
-     * 更新设备使用中
-     *
-     * @param deviceNo
-     * @param robotNo
-     */
-    private void setDeviceUseing(String deviceNo, String robotNo) {
-        deviceInformationMapper.updateDeviceUseStatus(deviceNo, DeviceUseStatusEnum.USEING.getType(), robotNo);
-    }
-
     /**
      * 发送任务给车机
      *
@@ -621,24 +606,18 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         build.setHeight(height);
     }
 
-    public RobotTaskDetailDO setTaskDoing(Long detailId, String robotNo, Map<Long, String> deviceNoMap,
+    public RobotTaskDetailDO setTaskDoing(Long detailId, String robotNo, Map<Long, String> deviceNoMap) {
-                                          String waitId) {
         RobotTaskDetailDO taskDetailDO = taskDetailMapper.selectById(detailId);
         taskDetailDO.setTaskStatus(RobotTaskDetailStatusEnum.DOING.getType());
         taskDetailDO.setStartTime(LocalDateTime.now());
         if (ObjectUtil.isEmpty(taskDetailDO.getRobotNo())) {
             taskDetailDO.setRobotNo(robotNo);
         }
-        if (RobotTaskTypeEnum.PARK.getType().equals(taskDetailDO.getTaskType())
+        if (ObjectUtil.isEmpty(taskDetailDO.getToLocationNo())
                 && ObjectUtil.isNotEmpty(deviceNoMap.get(taskDetailDO.getId()))) {
             taskDetailDO.setToLocationNo(deviceNoMap.get(taskDetailDO.getId()));
         }
 
-        if (RobotTaskTypeEnum.PARK.getType().equals(taskDetailDO.getTaskType())
-                && ObjectUtil.isNotEmpty(waitId)) {
-            taskDetailDO.setToLocationId(Long.valueOf(waitId));
-        }
-
         taskDetailMapper.updateById(taskDetailDO);
         RobotTaskDO task = taskMapper.selectById(taskDetailDO.getRobotTaskId());
         task.setTaskStatus(RobotTaskStatusEnum.DOING.getType());
@@ -1344,7 +1323,6 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         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());
 

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

@@ -1,6 +1,5 @@
 package cn.iocoder.yudao.module.system.service.robot.pathplanning;
 
-import cn.iocoder.yudao.module.mqtt.api.path.task.TaskRobotNoLimittationAreaDTO;
 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.RobotTaskDetailDO;
@@ -15,6 +14,4 @@ public interface RobotPathPlanningService {
     void sendChargeTaskToPP(List<RobotChargeLogDO> logs,
                             List<RobotTaskDetailDO> taskDetailDOS,
                             List<RobotInformationDO> robots);
-
-    List<TaskRobotNoLimittationAreaDTO> getRobotNoLimitationArea(List<RobotInformationDO> robots);
 }

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

@@ -10,7 +10,6 @@ import cn.iocoder.yudao.module.mqtt.api.path.task.TaskRobotNoLimittationAreaDTO;
 import cn.iocoder.yudao.module.mqtt.api.path.task.TaskToPathPlanningDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
-import cn.iocoder.yudao.module.system.constant.path.PathPlanningChcheConstant;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.RobotPositionMapDTO;
@@ -93,9 +92,6 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
     @Value("${zn.robot_config.offset_height}")
     private Double offsetHeight;
 
-    @Value("${zn.path_planning.task_chche_time:604800}")
-    private Long taskChcheTime;
-
     @Resource
     private MoveToWaitMapper moveToWaitMapper;
 
@@ -140,7 +136,6 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
     /**
      * 处理停车不锁车的任务
-     *
      * @param taskDetailDOS
      * @return
      */
@@ -151,7 +146,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             if (RobotTaskTypeEnum.PARK.getType().equals(v.getTaskType())
                 && ZeroOneEnum.ZERO.getType().equals(v.getNeedLock())) {
                 parkList.add(v);
-            } else if (!RobotTaskTypeEnum.CHARGE.getType().equals(v.getTaskType())) {
+            }else if (!RobotTaskTypeEnum.CHARGE.getType().equals(v.getTaskType())){
                 detailList.add(v);
             }
         }
@@ -303,8 +298,6 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                     .taskType(PathTaskTypeToRobotEnum.MOVE.getType())
                     .waitIds(waitIds)
                     .build();
-            String key = PathPlanningChcheConstant.PATH_PLANNING_TASK + pathPlanning.getOrderId();
-            redisUtil.set(key, JSON.toJSONString(pathPlanning), taskChcheTime);
             pathPlanningList.add(pathPlanning);
         }
 
@@ -361,10 +354,6 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             pathPlanning.setReleaseGroupId("POINT_" + v.getPositionMapItemId());
             pathPlanning.setReleaseLocationNumber(releaseLocationNumberConfig);
             pathPlanning.setReleasePointId(v.getPositionMapItemId());
-
-            String key = PathPlanningChcheConstant.PATH_PLANNING_TASK + pathPlanning.getOrderId();
-            redisUtil.set(key, JSON.toJSONString(pathPlanning), taskChcheTime);
-
             pathPlanningList.add(pathPlanning);
         }
 
@@ -430,9 +419,9 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
             if (RobotTaskTypeEnum.PARK.getType().equals(taskDetailDO.getTaskType())
                 && (ObjectUtil.isEmpty(waitIds) || waitIds.size() < i)) {
-                log.info("停车任务,没有多余的空闲点位 ：{}", taskDetailDO.getId());
+                log.info("停车任务,没有多余的空闲点位 ：{}",taskDetailDO.getId());
                 return;
-            } else if (RobotTaskTypeEnum.PARK.getType().equals(taskDetailDO.getTaskType())) {
+            }else if (RobotTaskTypeEnum.PARK.getType().equals(taskDetailDO.getTaskType())) {
                 pathPlanning.setWaitIds(waitIds);
                 i++;
             }
@@ -471,12 +460,12 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                 pathPlanning.setTakeOffsetHeight(offsetHeight);
                 if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLaneId())) {
                     pathPlanning.setTakeGroupId("LINE_" + taskDetailDO.getFromLaneId());
-                } else {
+                }else {
                     pathPlanning.setTakeGroupId("POINT_" + taskDetailDO.getFromMapItemId());
                 }
             }
 
-            if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())) {
+            if (ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())){
                 pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
                 pathPlanning.setReleasePointId(toLocation.getMapItemId());
                 if (ObjectUtil.isNotEmpty(toLocation.getLocationTrayHeight())) {
@@ -484,16 +473,12 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
                 }
                 pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
                 pathPlanning.setReleaseOffsetHeight(offsetHeight);
-                if (ObjectUtil.isNotEmpty(taskDetailDO.getToLaneId())) {
+                if (ObjectUtil.isNotEmpty(taskDetailDO.getToLaneId())){
                     pathPlanning.setReleaseGroupId("LINE_" + taskDetailDO.getToLaneId());
-                } else {
+                }else {
                     pathPlanning.setReleaseGroupId("POINT_" + taskDetailDO.getToMapItemId());
                 }
             }
-
-            String key = PathPlanningChcheConstant.PATH_PLANNING_TASK + pathPlanning.getOrderId();
-            redisUtil.set(key, JSON.toJSONString(pathPlanning), taskChcheTime);
-
             pathPlanningList.add(pathPlanning);
         }
 
@@ -559,8 +544,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
      *
      * @param robots
      */
-    @Override
+    private List<TaskRobotNoLimittationAreaDTO> getRobotNoLimitationArea(List<RobotInformationDO> robots) {
-    public List<TaskRobotNoLimittationAreaDTO> getRobotNoLimitationArea(List<RobotInformationDO> robots) {
         List<PositionMapDO> positionMapDOS = positionMapMapper.selectList(new LambdaQueryWrapperX<PositionMapDO>());
 
         List<TaskRobotNoLimittationAreaDTO> robotNoLimitationAreaDTOS = new ArrayList<>();
@@ -680,7 +664,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
             } else if (RobotTaskTypeEnum.TAKE.getType().equals(v.getTaskType())) {
                 //仅取货
                 takeSetTask(list, v, fromLane, toLane, fromLocation, toLocation, toHaveFrom, fromHaveTo);
-            } else if (RobotTaskTypeEnum.PARK.getType().equals(v.getTaskType())) {
+            }else if (RobotTaskTypeEnum.PARK.getType().equals(v.getTaskType())) {
                 list.add(v);
             }
         }

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

@@ -1,54 +0,0 @@
-package cn.iocoder.yudao.module.system.service.robot.proceed;
-
-import java.util.*;
-import javax.validation.*;
-import cn.iocoder.yudao.framework.common.pojo.PageResult;
-import cn.iocoder.yudao.module.system.controller.admin.robot.proceed.*;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskProceedDO;
-
-/**
- * 车辆衔接任务 Service 接口
- *
- * @author 陈宾顺
- */
-public interface RobotTaskProceedService {
-
-    /**
-     * 创建车辆衔接任务
-     *
-     * @param createReqVO 创建信息
-     * @return 编号
-     */
-    Long createTaskProceed(@Valid RobotTaskProceedSaveReqVO createReqVO);
-
-    /**
-     * 更新车辆衔接任务
-     *
-     * @param updateReqVO 更新信息
-     */
-    void updateTaskProceed(@Valid RobotTaskProceedSaveReqVO updateReqVO);
-
-    /**
-     * 删除车辆衔接任务
-     *
-     * @param id 编号
-     */
-    void deleteTaskProceed(Long id);
-
-    /**
-     * 获得车辆衔接任务
-     *
-     * @param id 编号
-     * @return 车辆衔接任务
-     */
-    RobotTaskProceedDO getTaskProceed(Long id);
-
-    /**
-     * 获得车辆衔接任务分页
-     *
-     * @param pageReqVO 分页查询
-     * @return 车辆衔接任务分页
-     */
-    PageResult<RobotTaskProceedDO> getTaskProceedPage(RobotTaskProceedPageReqVO pageReqVO);
-
-}

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

@@ -1,71 +0,0 @@
-package cn.iocoder.yudao.module.system.service.robot.proceed;
-
-import cn.iocoder.yudao.module.system.controller.admin.robot.proceed.*;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskProceedDO;
-import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskProceedMapper;
-import org.springframework.stereotype.Service;
-import javax.annotation.Resource;
-import org.springframework.validation.annotation.Validated;
-
-import cn.iocoder.yudao.framework.common.pojo.PageResult;
-import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
-
-
-import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
-import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.TASK_PROCEED_NOT_EXISTS;
-
-/**
- * 车辆衔接任务 Service 实现类
- *
- * @author 陈宾顺
- */
-@Service
-@Validated
-public class RobotTaskProceedServiceImpl implements RobotTaskProceedService {
-
-    @Resource
-    private RobotTaskProceedMapper taskProceedMapper;
-
-    @Override
-    public Long createTaskProceed(RobotTaskProceedSaveReqVO createReqVO) {
-        // 插入
-        RobotTaskProceedDO taskProceed = BeanUtils.toBean(createReqVO, RobotTaskProceedDO.class);
-        taskProceedMapper.insert(taskProceed);
-        // 返回
-        return taskProceed.getId();
-    }
-
-    @Override
-    public void updateTaskProceed(RobotTaskProceedSaveReqVO updateReqVO) {
-        // 校验存在
-        validateTaskProceedExists(updateReqVO.getId());
-        // 更新
-        RobotTaskProceedDO updateObj = BeanUtils.toBean(updateReqVO, RobotTaskProceedDO.class);
-        taskProceedMapper.updateById(updateObj);
-    }
-
-    @Override
-    public void deleteTaskProceed(Long id) {
-        // 校验存在
-        validateTaskProceedExists(id);
-        // 删除
-        taskProceedMapper.deleteById(id);
-    }
-
-    private void validateTaskProceedExists(Long id) {
-        if (taskProceedMapper.selectById(id) == null) {
-            throw exception(TASK_PROCEED_NOT_EXISTS);
-        }
-    }
-
-    @Override
-    public RobotTaskProceedDO getTaskProceed(Long id) {
-        return taskProceedMapper.selectById(id);
-    }
-
-    @Override
-    public PageResult<RobotTaskProceedDO> getTaskProceedPage(RobotTaskProceedPageReqVO pageReqVO) {
-        return taskProceedMapper.selectPage(pageReqVO);
-    }
-
-}

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/tool/ToolsServiceImpl.java

@@ -119,7 +119,7 @@ public class ToolsServiceImpl implements ToolsService {
         RobotAcceptTaskDTO robotTask = new RobotAcceptTaskDTO();
         robotTask.setOrderId(taskDetailId);
         String mac = robotInformationService.getMacByRobotNo(informationDO.getRobotNo());
-        robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_MOVE_TOPIC + mac);
+        robotTask.setTopic(RobotTopicConstant.ROBOT_TASK_TOPIC + mac);
         robotTask.setExecutionType(ExecutionTypeEnum.CANCEL.getType());
         commonApi.commonMethod(robotTask, robotTask.getTopic());
 

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/wait/MoveToWaitService.java

@@ -51,6 +51,4 @@ public interface MoveToWaitService {
     PageResult<MoveToWaitDO> getMoveToWaitPage(MoveToWaitPageReqVO pageReqVO);
 
     void updateWaitStatus(Long orderId, Integer status);
-
-    void updateWaitStatusAndItrmId(Long orderId, Integer type, String waitId);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/wait/MoveToWaitServiceImpl.java

@@ -79,13 +79,4 @@ public class MoveToWaitServiceImpl implements MoveToWaitService {
         moveToWaitMapper.updateById(updateObj);
     }
 
-    @Override
-    public void updateWaitStatusAndItrmId(Long orderId, Integer status, String waitId) {
-        MoveToWaitDO updateObj = new MoveToWaitDO();
-        updateObj.setId(orderId);
-        updateObj.setPositionMapItemId(Long.valueOf(waitId));
-        updateObj.setWaitStatus(status);
-        moveToWaitMapper.updateById(updateObj);
-    }
-
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/util/modbus3/ModbusUtils.java

@@ -18,13 +18,13 @@ public class ModbusUtils {
     /**
      * 工厂。
      */
-    /*static ModbusFactory modbusFactory;
+    static ModbusFactory modbusFactory;
 
     static {
         if (modbusFactory == null) {
             modbusFactory = new ModbusFactory();
         }
-    }*/
+    }
 
     /**
      * 获取master
@@ -40,14 +40,13 @@ public class ModbusUtils {
 //         modbusFactory.createRtuMaster(wapper); //RTU 协议
         // modbusFactory.createUdpMaster(params);//UDP 协议
         // modbusFactory.createAsciiMaster(wrapper);//ASCII 协议
-        ModbusFactory modbusFactory = new ModbusFactory();
         ModbusMaster master = modbusFactory.createTcpMaster(params, false);// TCP 协议
         master.init();
 
         return master;
     }
 
-    public static ModbusMaster getRtuIpMaster(ModbusFactory modbusFactory, String host, int port) throws ModbusInitException {
+    public static ModbusMaster getRtuIpMaster(String host, int port) throws ModbusInitException {
         IpParameters params = new IpParameters();
         params.setHost(host);
         params.setPort(port);
@@ -76,8 +75,7 @@ public class ModbusUtils {
      * @return
      * @throws ModbusInitException
      */
-    public static ModbusMaster getSerialPortRtuMaster(ModbusFactory modbusFactory,String portName, Integer baudRate,
+    public static ModbusMaster getSerialPortRtuMaster(String portName, Integer baudRate, Integer dataBits,
-                                                      Integer dataBits,
                                                       Integer stopBits, Integer parity){
         // 设置串口参数，串口是COM1，波特率是9600
         // SerialPortWrapperImpl wrapper = new SerialPortWrapperImpl("COM2", 9600,SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE, 0, 0);
@@ -108,7 +106,7 @@ public class ModbusUtils {
      * @throws ModbusInitException
      */
     public static ModbusMaster getSerialPortAsciiMaster(String portName, Integer baudRate, Integer dataBits,
-                                                        Integer stopBits, Integer parity,ModbusFactory modbusFactory){
+                                                        Integer stopBits, Integer parity){
         // 设置串口参数，串口是COM1，波特率是9600
         // SerialPortWrapperImpl wrapper = new SerialPortWrapperImpl("COM2", 9600,SerialPort.DATABITS_8, SerialPort.STOPBITS_1, SerialPort.PARITY_NONE, 0, 0);
         SerialPortWrapperImpl wrapper = new SerialPortWrapperImpl(portName, baudRate,

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

@@ -240,5 +240,4 @@ zn:
     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
   open_rate_limiter: true #是否开启限流
-  path_planning:
+
-    task_chche_time: 604800 #任务缓存的时间， 默认一星期

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/information/DeviceInformationMapper.xml

@@ -14,18 +14,8 @@
             device_information
         set
             device_use_status = #{deviceUseStatus},
-            last_user = #{lastUser}
+            device_enable = #{deviceEnable}
         where
             device_no = #{deviceNo}
     </update>
-
-
-    <update id="setDeviceReleaseByLastUser">
-        update
-            device_information
-        set
-            device_use_status = #{deviceUseStatus}
-        where
-            last_user = #{lastUser}
-    </update>
 </mapper>

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskMapper.xml

@@ -264,8 +264,7 @@
             t1.task_status,
             t1.task_stage,
             t1.start_time,
-            t1.end_time,
+            t1.end_time
-            t1.create_time
         from
             robot_task t1 left join robot_task_detail t2
             on t1.id = t2.robot_task_id

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/robot/RobotTaskProceedMapper.xml

@@ -1,12 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
-<mapper namespace="cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskProceedMapper">
-
-    <!--
-        一般情况下，尽可能使用 Mapper 进行 CRUD 增删改查即可。
-        无法满足的场景，例如说多表关联查询，才使用 XML 编写 SQL。
-        代码生成器暂时只生成 Mapper XML 文件本身，更多推荐 MybatisX 快速开发插件来生成查询。
-        文档可见：https://www.iocoder.cn/MyBatis/x-plugins/
-     -->
-
-</mapper>