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Merge branch 'dev' of http://git.znkjfw.com/ak/zn-cloud-wcs into dev

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This commit is contained in:
aikai 2025-07-19 09:12:30 +08:00
commit cc3bcd958f
75 changed files with 2010 additions and 185 deletions
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3
yudao-framework/yudao-common/src/main/java/cn/iocoder/yudao/framework/common/enums/NodeTypeEnum.java
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@ -21,7 +21,8 @@ public enum NodeTypeEnum {
PARKING(4, "停车点"),
CHANGE(5, "区域变更点"),
WAIT(6, "等待点"),
TEXT(7, "文字点");
TEXT(7, "文字点"),
CHECK(8, "检测点");
/**
* 类型

36
yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/robot/RemoteControllerProcessor.java
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@ -18,6 +18,7 @@ import java.io.IOException;
import java.io.OutputStream;
import java.net.InetSocketAddress;
import java.net.Socket;
import java.util.Arrays;
import java.util.HashMap;
import java.util.Map;
import java.util.concurrent.ConcurrentHashMap;
@ -146,7 +147,35 @@ public class RemoteControllerProcessor {
msg = msg + " " + crcOne + " " + crcTwo;
remoteControllerSocket.setMsg(msg);
remoteControllerSocket.setMsg(hexStringToByteArray(msg));
}
public String hexStringToByteArray(String hexString) {
// 移除所有空格（包括中间和两端的空格）
String cleaned = hexString.replaceAll("\\s", "");
// 验证字符串长度是否为偶数
if (cleaned.length() % 2 != 0) {
throw new IllegalArgumentException("无效的十六进制字符串长度: " + cleaned.length());
}
// 创建结果字节数组
byte[] byteArray = new byte[cleaned.length() / 2];
for (int i = 0; i < cleaned.length(); i += 2) {
// 提取两个连续的十六进制字符
String hexPair = cleaned.substring(i, i + 2);
try {
// 将十六进制字符串转换为字节
byteArray[i / 2] = (byte) Integer.parseInt(hexPair, 16);
} catch (NumberFormatException e) {
throw new IllegalArgumentException("无效的十六进制字符: " + hexPair);
}
}
String str = Arrays.toString(byteArray);
return str.substring(1, str.length() - 1);
}
public void remoteCache(RemoteRobotTransferDTO dto, String ip) {
@ -223,7 +252,10 @@ public class RemoteControllerProcessor {
try {
os = socket.getOutputStream();
String str = remoteControllerSocketDTO.getMsg();
os.write(remoteControllerSocketDTO.getMsg().getBytes());
String[] split = str.split(",");
for (String meg : split) {
os.write(Integer.parseInt(meg.trim()));
}
log.info("socket推送的数据 :{}", str);
} catch (IOException e) {
log.error("socket发送异常 :{}", e);

58
yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/util/HexConverter.java Normal file
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@ -0,0 +1,58 @@
package cn.iocoder.yudao.module.remote.util;
import java.util.Arrays;
public class HexConverter {
public static byte[] hexStringToByteArray(String hexString) {
// 移除所有空格（包括中间和两端的空格）
String cleaned = hexString.replaceAll("\\s", "");
// 验证字符串长度是否为偶数
if (cleaned.length() % 2 != 0) {
throw new IllegalArgumentException("无效的十六进制字符串长度: " + cleaned.length());
}
// 创建结果字节数组
byte[] byteArray = new byte[cleaned.length() / 2];
for (int i = 0; i < cleaned.length(); i += 2) {
// 提取两个连续的十六进制字符
String hexPair = cleaned.substring(i, i + 2);
try {
// 将十六进制字符串转换为字节
byteArray[i / 2] = (byte) Integer.parseInt(hexPair, 16);
} catch (NumberFormatException e) {
throw new IllegalArgumentException("无效的十六进制字符: " + hexPair);
}
}
return byteArray;
}
public static void main(String[] args) {
String input = "AA 55 13 04 01 88 88 02 C0 A8 09 09 0f 27 01 78 01 78 01 78 EE 27"; // 可以测试 "ab c5 ef" 或 "A B C 5 E F"
try {
byte[] result = hexStringToByteArray(input);
// 格式化输出为 {0xAB, 0xC5, 0xEF} 形式
StringBuilder sb = new StringBuilder("{");
for (int i = 0; i < result.length; i++) {
// 使用 & 0xFF 将字节转换为无符号整数
sb.append(String.format("0x%02X", result[i] & 0xFF));
if (i < result.length - 1) sb.append(", ");
}
sb.append("}");
System.out.println("输入: \"" + input + "\"");
System.out.println("十六进制数组: " + sb.toString());
System.out.println("字节数组内容: " + Arrays.toString(result));
} catch (IllegalArgumentException e) {
System.err.println("错误: " + e.getMessage());
}
}
}

7
yudao-module-remote/yudao-module-remote-biz/src/main/resources/application-local.yaml
View File

@ -55,8 +55,11 @@ logging:
remote:
cockpit: # 远遥控制车辆IP和端口
- controllerPort: 9000
controllerIp: 127.0.0.1
ipcIp: 10.10.7.132
controllerIp: 10.10.100.19
ipcIp: 10.10.100.19
- controllerPort: 9000
controllerIp: 10.10.100.19
ipcIp: 10.10.5.26
msg: AA 55 13 04 01 88 88 # 驾舱socket头信息
cockpit-time-out: 120 # 驾舱超时报警时间
industrial-control-time-out: 120 # 工控通信超时报警时间

8
yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/enums/ErrorCodeConstants.java
View File

@ -168,6 +168,8 @@ public interface ErrorCodeConstants {
ErrorCode INFORMATION_MAC_EXIST = new ErrorCode(1_002_029_002, "此Mac地址已经存在");
ErrorCode INFORMATION_MAC_INPUT = new ErrorCode(1_002_029_003, "请输入Mac地址");
ErrorCode INFORMATION_BIND_MAP = new ErrorCode(1_002_029_004, "设备已经绑定在地图上,请先在地图上解绑");
ErrorCode INFORMATION_FLIP_BINDING = new ErrorCode(1_002_029_005, "翻转机需要绑定取货点位");
ErrorCode INFORMATION_FLIP_NEED_BINDING_CHECK = new ErrorCode(1_002_029_006, "翻转机需要绑定检测区取放货点位");
// ========== 线库/巷道 1-002-030-000 ==========
ErrorCode HOUSE_LANE_NOT_EXISTS = new ErrorCode(1-002-030-001, "线库不存在");
@ -338,4 +340,10 @@ public interface ErrorCodeConstants {
//========== 车辆行走路线耗时记录 1_002_061_001 ==========
ErrorCode TASK_LINE_TIME_CONSUMING_NOT_EXISTS = new ErrorCode(1_002_061_001, "车辆行走路线耗时记录不存在");
// ========== 取货点位 1_002_062_001 ==========
ErrorCode HOUSE_TAKE_POINT_NOT_EXISTS = new ErrorCode(1_002_062_001, "取货点位不存在");
// ========== 取货点位绑定 1_002_063_001 ==========
ErrorCode HOUSE_TAKE_POINT_BINDING_NOT_EXISTS = new ErrorCode(1_002_063_001, "取货点位绑定不存在");
}

119
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotTaskStatusApiImpl.java
View File

@ -6,7 +6,6 @@ import cn.iocoder.yudao.framework.common.util.date.DateUtils;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.infra.api.websocket.WebSocketSenderApi;
import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
import cn.iocoder.yudao.module.system.api.path.vo.RobotClosePathPlantingDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.FloorZoneDTO;
import cn.iocoder.yudao.module.system.api.robot.dto.RobotCommandStateDTO;
@ -16,13 +15,13 @@ import cn.iocoder.yudao.module.system.api.robot.websocket.WsWareHouseLocationDTO
import cn.iocoder.yudao.module.system.config.mqtt.util.MqttUtils;
import cn.iocoder.yudao.module.system.config.poperties.ZnConfigConstant;
import cn.iocoder.yudao.module.system.constant.CommonConstant;
import cn.iocoder.yudao.module.system.constant.area.FloorAreaConstant;
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.RobotExecutionStateConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.constant.webSocket.WebSocketConstant;
import cn.iocoder.yudao.module.system.controller.admin.log.vo.RobotTaskDetailActionLogSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.*;
@ -38,9 +37,10 @@ import cn.iocoder.yudao.module.system.enums.robot.actionlog.ActionStatusEnum;
import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeTaskStatusEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotStatusCodeEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.event.RobotTaskEventTypeEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.event.EventTypeEnum;
import cn.iocoder.yudao.module.system.mq.message.task.TaskDistributionMessage;
import cn.iocoder.yudao.module.system.mq.producer.task.TaskDistributionProducer;
import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointService;
import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogService;
import cn.iocoder.yudao.module.system.service.path.PathPlanningService;
@ -52,7 +52,6 @@ import com.alibaba.fastjson.JSON;
import lombok.extern.slf4j.Slf4j;
import org.slf4j.MDC;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.validation.annotation.Validated;
@ -63,8 +62,6 @@ import java.time.LocalDateTime;
import java.util.List;
import java.util.UUID;
import static cn.iocoder.yudao.module.system.service.robot.RobotInformationServiceImpl.key;
@Slf4j
@RestController // 提供 RESTful API 接口，给 Feign 调用
@Validated
@ -128,6 +125,9 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
@Resource
private DeviceInformationService deviceInformationService;
@Resource
private WareHouseTakePointService houseTakePointService;
@Resource
private TaskDistributionProducer taskDistributionProducer;
@ -286,7 +286,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
addTaskDetailActionDoneLog(robotCompleteTaskDTO, robotTaskDetail);
TaskDistributionMessage mess = new TaskDistributionMessage(this, robotCompleteTaskDTO.getOrderId() + "",
RobotTaskEventTypeEnum.DONE.getType());
EventTypeEnum.TASK_DONE.getType());
taskDistributionProducer.sendSmsSendMessage(mess);
}
@ -322,20 +322,34 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
if (ObjectUtil.isEmpty(robotTaskDetailDO) || ObjectUtil.isEmpty(robotTaskDetailDO.getToLocationId())) {
return;
}
WareHouseLocationDO toWareHouseLocation = locationMapper.selectById(robotTaskDetailDO.getToLocationId());
if (ObjectUtil.isEmpty(toWareHouseLocation)) {
return;
String actualLocationX = null;
String actualLocationY = null;
if (ReleaseTakeEnum.isLocation(robotTaskDetailDO.getReleaseType())) {
WareHouseLocationDO toWareHouseLocation = locationMapper.selectById(robotTaskDetailDO.getToLocationId());
if (ObjectUtil.isEmpty(toWareHouseLocation)) {
return;
}
//查询最近一起取货任务
WareHouseLocationDO fromWareHouseLocation = getFromLocation(robotTaskDetailDO);
if (ObjectUtil.isNotEmpty(fromWareHouseLocation)) {
toWareHouseLocation.setSkuNumber(fromWareHouseLocation.getSkuNumber());
toWareHouseLocation.setSkuInfo(fromWareHouseLocation.getSkuInfo());
}
toWareHouseLocation.setLocationLock(LocationLockEnum.YES.getType());
toWareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.YES.getType());
locationMapper.updateById(toWareHouseLocation);
actualLocationX = toWareHouseLocation.getActualLocationX();
actualLocationY = toWareHouseLocation.getActualLocationY();
} else if (ReleaseTakeEnum.TO_POINT.getType().equals(robotTaskDetailDO.getReleaseType())) {
WareHouseTakePointDO houseTakePoint = houseTakePointService.getHouseTakePoint(robotTaskDetailDO.getToLocationId());
if (ObjectUtil.isEmpty(houseTakePoint)) {
return;
}
actualLocationX = houseTakePoint.getActualLocationX();
actualLocationY = houseTakePoint.getActualLocationY();
}
//查询最近一起取货任务
WareHouseLocationDO fromWareHouseLocation = getFromLocation(robotTaskDetailDO);
if (ObjectUtil.isNotEmpty(fromWareHouseLocation)) {
toWareHouseLocation.setSkuNumber(fromWareHouseLocation.getSkuNumber());
toWareHouseLocation.setSkuInfo(fromWareHouseLocation.getSkuInfo());
}
toWareHouseLocation.setLocationLock(LocationLockEnum.YES.getType());
toWareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.YES.getType());
locationMapper.updateById(toWareHouseLocation);
pushWareLocation(toWareHouseLocation, robotCompleteTaskDTO.getMac(), ZeroOneEnum.ONE.getType());
pushWareLocation(actualLocationX,actualLocationY, robotCompleteTaskDTO.getMac(), ZeroOneEnum.ONE.getType());
}
/**
@ -376,25 +390,47 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
if (ObjectUtil.isEmpty(robotTaskDetailDO) || ObjectUtil.isEmpty(robotTaskDetailDO.getFromLocationId())) {
return;
}
WareHouseLocationDO wareHouseLocationDO = locationMapper.selectById(robotTaskDetailDO.getFromLocationId());
if (ObjectUtil.isEmpty(wareHouseLocationDO)) {
return;
Long skuNumber = null;
String skuInfo = null;
Integer locationStorey = null;
if (ReleaseTakeEnum.isLocation(robotTaskDetailDO.getTakeType())) {
WareHouseLocationDO wareHouseLocationDO = locationMapper.selectById(robotTaskDetailDO.getFromLocationId());
if (ObjectUtil.isEmpty(wareHouseLocationDO)) {
return;
}
skuNumber = wareHouseLocationDO.getSkuNumber();
skuInfo = wareHouseLocationDO.getSkuInfo();
locationStorey = wareHouseLocationDO.getLocationStorey();
wareHouseLocationDO.setSkuInfo(null);
wareHouseLocationDO.setSkuNumber(0L);
wareHouseLocationDO.setLocationLock(LocationLockEnum.YES.getType());
wareHouseLocationDO.setLocationUseStatus(LocationUseStatusEnum.NO.getType());
locationMapper.updateById(wareHouseLocationDO);
pushWareLocation(wareHouseLocationDO.getActualLocationX(),wareHouseLocationDO.getActualLocationY(), robotCompleteTaskDTO.getMac(), ZeroOneEnum.ZERO.getType());
} else if (ReleaseTakeEnum.TO_POINT.getType().equals(robotTaskDetailDO.getTakeType())) {
WareHouseTakePointDO houseTakePoint = houseTakePointService.getHouseTakePoint(robotTaskDetailDO.getFromLocationId());
if (ObjectUtil.isEmpty(houseTakePoint)) {
return;
}
houseTakePoint.setSkuInfo(null);
houseTakePoint.setSkuNumber(0L);
houseTakePoint.setPointStatus(ZeroOneEnum.ZERO.getType());
houseTakePointService.updateById(houseTakePoint);
pushWareLocation(houseTakePoint.getActualLocationX(),houseTakePoint.getActualLocationY(), robotCompleteTaskDTO.getMac(), ZeroOneEnum.ZERO.getType());
}
RobotSkuInfoDTO robotSkuInfo = new RobotSkuInfoDTO();
robotSkuInfo.setHaveSku(ZeroOneEnum.ONE.getType());
robotSkuInfo.setSkuNumber(wareHouseLocationDO.getSkuNumber());
robotSkuInfo.setSkuInfo(wareHouseLocationDO.getSkuInfo());
robotSkuInfo.setLocationStorey(wareHouseLocationDO.getLocationStorey());
robotSkuInfo.setSkuNumber(skuNumber);
robotSkuInfo.setSkuInfo(skuInfo);
robotSkuInfo.setLocationStorey(locationStorey);
redisUtil.set(RobotTaskChcheConstant.ROBOT_TASK_SKU_INFO + robotCompleteTaskDTO.getMac(), JSON.toJSONString(robotSkuInfo));
wareHouseLocationDO.setSkuInfo(null);
wareHouseLocationDO.setSkuNumber(0L);
wareHouseLocationDO.setLocationLock(LocationLockEnum.YES.getType());
wareHouseLocationDO.setLocationUseStatus(LocationUseStatusEnum.NO.getType());
locationMapper.updateById(wareHouseLocationDO);
pushWareLocation(wareHouseLocationDO, robotCompleteTaskDTO.getMac(), ZeroOneEnum.ZERO.getType());
}
public void pushWareLocation(WareHouseLocationDO wareHouseLocationDO, String mac, Integer type) {
public void pushWareLocation(String actualLocationX,String actualLocationY, String mac, Integer type) {
String floorAreaKey = RobotTaskChcheConstant.ROBOT_FLOOR_AREA + mac;
Object floorAreaObject = redisUtil.get(floorAreaKey);
if (ObjectUtil.isEmpty(floorAreaObject)) {
@ -403,8 +439,8 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
String floorAreaStr = floorZoneDTO.getFloor() + CommonConstant.SYMBOL + floorZoneDTO.getArea();
WsWareHouseLocationDTO wsWareHouseLocation = new WsWareHouseLocationDTO();
wsWareHouseLocation.setActualLocationX(wareHouseLocationDO.getActualLocationX());
wsWareHouseLocation.setActualLocationY(wareHouseLocationDO.getActualLocationY());
wsWareHouseLocation.setActualLocationX(actualLocationX);
wsWareHouseLocation.setActualLocationY(actualLocationY);
wsWareHouseLocation.setType(type);
wsWareHouseLocation.setFloor(floorZoneDTO.getFloor());
wsWareHouseLocation.setArea(floorZoneDTO.getArea());
@ -445,7 +481,7 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
PPCloseOrder(robotCompleteTaskDTO);
// taskService.closeTaskDetail(robotCompleteTaskDTO.getOrderId().toString(),robotCompleteTaskDTO.getMac());
String robotNo = robotInformationService.getRobotNoByMac(robotCompleteTaskDTO.getMac());
String taskNo = taskDetailService.getTaskNoByDetailId(robotCompleteTaskDTO.getOrderId());
String msg = null;
RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
if (PathTaskTypeEnum.TAKE_RELEASE.getType().equals(robotCompleteTaskDTO.getOrderType())
@ -462,7 +498,6 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
detailDO.setOccurError(ZeroOneEnum.ZERO.getType());
// robotTaskDetailMapper.updateById(robotTaskDetailDO);
robotTaskDetailMapper.updateRobotDetailById(detailDO);
String taskNo = taskDetailService.getTaskNoByDetailId(robotCompleteTaskDTO.getOrderId());
msg = robotNo + "_" + "车辆发生异常,重新分配其他车辆执行此任务" + taskNo + " - " + robotTaskDetailDO.getFromLocationNo();
}
}
@ -498,16 +533,14 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
}*/
String solve = "";
String taskNo = "";
if (ObjectUtil.isEmpty(msg)) {
taskNo = taskDetailService.getTaskNoByDetailId(robotCompleteTaskDTO.getOrderId());
solve = " 并且到任务列表关闭任务 " + taskNo;
taskDetailService.setTaskDetailError(robotCompleteTaskDTO.getOrderId());
} else {
robotInformationService.lockRobot(robotNo);
}
msg = ObjectUtil.isEmpty(msg) ? robotNo + "_" + robotCompleteTaskDTO.getMessage() : msg;
msg = ObjectUtil.isEmpty(msg) ? taskNo +" 车辆编号_"+ robotNo + "_" + robotCompleteTaskDTO.getMessage() : msg;
RobotWarnMsgDO warnMsg = RobotWarnMsgDO.builder().warnLevel(4)
.warnCode(robotCompleteTaskDTO.getStatusCode())
@ -560,15 +593,15 @@ public class RobotTaskStatusApiImpl implements RobotTaskStatusApi {
RobotTaskDetailDO robotTaskDetailDO = robotTaskDetailMapper.selectById(robotCompleteTaskDTO.getOrderId());
List<RobotTaskDetailDO> taskDetails = robotTaskDetailMapper.queryByTaskId(robotTaskDetailDO.getRobotTaskId());
boolean done =
taskDetails.stream().noneMatch(v -> (v.getTaskStatus().equals(RobotTaskDetailStatusEnum.NEW.getType()) ||
v.getTaskStatus().equals(RobotTaskDetailStatusEnum.DOING.getType())));
taskDetails.stream().noneMatch(v -> (v.getTaskStatus().equals(RobotTaskDetailStatusEnum.NEW.getType())
|| v.getTaskStatus().equals(RobotTaskDetailStatusEnum.DOING.getType())));
if (done) {
RobotTaskDO robotTaskDO = new RobotTaskDO();
robotTaskDO.setId(taskDetails.get(0).getRobotTaskId());
robotTaskDO.setEndTime(LocalDateTime.now());
robotTaskDO.setTaskStatus(RobotTaskDetailStatusEnum.DONE.getType());
robotTaskMapper.updateRobot(robotTaskDO);
taskCycleMapper.deletByRobotTaskId(taskDetails.get(0).getRobotTaskId());
// taskCycleMapper.deletByRobotTaskId(taskDetails.get(0).getRobotTaskId());
}
return robotTaskDetailDO;
}

26
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotUpdatePalletHeightApiImpl.java
View File

@ -6,14 +6,17 @@ import cn.iocoder.yudao.module.system.api.robot.vo.RobotUpdatePalletHeightDTO;
import cn.iocoder.yudao.module.system.constant.CommonConstant;
import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnMsgDO;
import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnMsgMapper;
import cn.iocoder.yudao.module.system.enums.robot.ReleaseTakeEnum;
import cn.iocoder.yudao.module.system.enums.robot.RobotTaskTypeEnum;
import cn.iocoder.yudao.module.system.enums.robot.RobotWarnType;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointService;
import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
@ -45,6 +48,9 @@ public class RobotUpdatePalletHeightApiImpl implements RobotUpdatePalletHeightAp
@Autowired
private RobotInformationService robotInformationService;
@Resource
private WareHouseTakePointService houseTakePointService;
public static String WARN_CODE = "100001";
@Override
@ -123,6 +129,25 @@ public class RobotUpdatePalletHeightApiImpl implements RobotUpdatePalletHeightAp
return;
}
if (ReleaseTakeEnum.isLocation(robotTaskDetailDO.getReleaseType())) {
setDropLocation(data,robotTaskDetailDO);
} else if (ReleaseTakeEnum.TO_POINT.getType().equals(robotTaskDetailDO.getReleaseType())) {
setDropPoint(data,robotTaskDetailDO);
}
}
private void setDropPoint(RobotUpdatePalletHeightDTO data, RobotTaskDetailDO robotTaskDetailDO) {
WareHouseTakePointDO houseTakePoint = houseTakePointService.getHouseTakePoint(robotTaskDetailDO.getToLocationId());
houseTakePoint.setTotalHeight(new BigDecimal(data.getGoodsHeight()));
houseTakePointService.updateById(houseTakePoint);
WareHouseTakePointDO pointDO = new WareHouseTakePointDO();
pointDO.setPositionMapItemId(houseTakePoint.getPositionMapItemId());
pointDO.setTrayHeight(new BigDecimal(data.getGoodsHeight()));
pointDO.setLocationStorey(houseTakePoint.getLocationStorey()-1);
houseTakePointService.updateHouseTakePointByItemIdAndStorey(pointDO);
}
public void setDropLocation(RobotUpdatePalletHeightDTO data,RobotTaskDetailDO robotTaskDetailDO) {
WareHouseLocationDO firstStorey = houseLocationMapper.selectById(robotTaskDetailDO.getToLocationId());
if (ObjectUtil.isEmpty(firstStorey)) {
return;
@ -144,5 +169,4 @@ public class RobotUpdatePalletHeightApiImpl implements RobotUpdatePalletHeightAp
houseLocationMapper.updateById(storeyList);
}
}

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/robot/RobotWorkStatusApiImpl.java
View File

@ -7,20 +7,18 @@ import cn.iocoder.yudao.module.system.constant.robot.RobotExecutionStateConstant
import cn.iocoder.yudao.module.system.controller.admin.log.vo.RobotOperationLogSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotTaskDetailMapper;
import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import cn.iocoder.yudao.module.system.enums.path.PathIsReachEnum;
import cn.iocoder.yudao.module.system.enums.robot.CommandTypeEnum;
import cn.iocoder.yudao.module.system.enums.robot.RobotTaskDetailStatusEnum;
import cn.iocoder.yudao.module.system.enums.robot.RobotTaskTypeEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.WorkProgressEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.event.RobotTaskEventTypeEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.event.EventTypeEnum;
import cn.iocoder.yudao.module.system.mq.message.task.TaskDistributionMessage;
import cn.iocoder.yudao.module.system.mq.producer.task.TaskDistributionProducer;
import cn.iocoder.yudao.module.system.service.log.RobotOperationLogService;
import cn.iocoder.yudao.module.system.service.path.PathPlanningService;
import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import com.alibaba.fastjson.JSON;
import lombok.extern.slf4j.Slf4j;
import org.springframework.beans.factory.annotation.Autowired;
@ -71,7 +69,7 @@ public class RobotWorkStatusApiImpl implements RobotWorkStatusApi {
operationLogService.createOperationLog(createReqVO);
TaskDistributionMessage mess = new TaskDistributionMessage(this,message,
RobotTaskEventTypeEnum.TIME.getType());
EventTypeEnum.TASK_TIME.getType());
taskDistributionProducer.sendSmsSendMessage(mess);
if ((CommandTypeEnum.WORK_PICK_UP_GOODS_MOVE_TO_CHECK.getType().equals(data.getCommandType())

97
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseTakePointBindingController.java Normal file
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@ -0,0 +1,97 @@
package cn.iocoder.yudao.module.system.controller.admin.houselocation;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingRespVO;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointBindingDO;
import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointBindingService;
import org.springframework.web.bind.annotation.*;
import javax.annotation.Resource;
import org.springframework.validation.annotation.Validated;
import org.springframework.security.access.prepost.PreAuthorize;
import io.swagger.v3.oas.annotations.tags.Tag;
import io.swagger.v3.oas.annotations.Parameter;
import io.swagger.v3.oas.annotations.Operation;
import javax.validation.constraints.*;
import javax.validation.*;
import javax.servlet.http.*;
import java.util.*;
import java.io.IOException;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.CommonResult;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils;
import cn.iocoder.yudao.framework.apilog.core.annotation.ApiAccessLog;
import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.*;
@Tag(name = "管理后台 - 取货点位绑定")
@RestController
@RequestMapping("/system/ware/house-take-point-binding")
@Validated
public class WareHouseTakePointBindingController {
@Resource
private WareHouseTakePointBindingService houseTakePointBindingService;
@PostMapping("/create")
@Operation(summary = "创建取货点位绑定")
@PreAuthorize("@ss.hasPermission('ware:house-take-point-binding:create')")
public CommonResult<Long> createHouseTakePointBinding(@Valid @RequestBody WareHouseTakePointBindingSaveReqVO createReqVO) {
return success(houseTakePointBindingService.createHouseTakePointBinding(createReqVO));
}
@PutMapping("/update")
@Operation(summary = "更新取货点位绑定")
@PreAuthorize("@ss.hasPermission('ware:house-take-point-binding:update')")
public CommonResult<Boolean> updateHouseTakePointBinding(@Valid @RequestBody WareHouseTakePointBindingSaveReqVO updateReqVO) {
houseTakePointBindingService.updateHouseTakePointBinding(updateReqVO);
return success(true);
}
@DeleteMapping("/delete")
@Operation(summary = "删除取货点位绑定")
@Parameter(name = "id", description = "编号", required = true)
@PreAuthorize("@ss.hasPermission('ware:house-take-point-binding:delete')")
public CommonResult<Boolean> deleteHouseTakePointBinding(@RequestParam("id") Long id) {
houseTakePointBindingService.deleteHouseTakePointBinding(id);
return success(true);
}
@GetMapping("/get")
@Operation(summary = "获得取货点位绑定")
@Parameter(name = "id", description = "编号", required = true, example = "1024")
@PreAuthorize("@ss.hasPermission('ware:house-take-point-binding:query')")
public CommonResult<WareHouseTakePointBindingRespVO> getHouseTakePointBinding(@RequestParam("id") Long id) {
WareHouseTakePointBindingDO houseTakePointBinding = houseTakePointBindingService.getHouseTakePointBinding(id);
return success(BeanUtils.toBean(houseTakePointBinding, WareHouseTakePointBindingRespVO.class));
}
@GetMapping("/page")
@Operation(summary = "获得取货点位绑定分页")
@PreAuthorize("@ss.hasPermission('ware:house-take-point-binding:query')")
public CommonResult<PageResult<WareHouseTakePointBindingRespVO>> getHouseTakePointBindingPage(@Valid WareHouseTakePointBindingPageReqVO pageReqVO) {
PageResult<WareHouseTakePointBindingDO> pageResult = houseTakePointBindingService.getHouseTakePointBindingPage(pageReqVO);
return success(BeanUtils.toBean(pageResult, WareHouseTakePointBindingRespVO.class));
}
@GetMapping("/export-excel")
@Operation(summary = "导出取货点位绑定 Excel")
@PreAuthorize("@ss.hasPermission('ware:house-take-point-binding:export')")
@ApiAccessLog(operateType = EXPORT)
public void exportHouseTakePointBindingExcel(@Valid WareHouseTakePointBindingPageReqVO pageReqVO,
HttpServletResponse response) throws IOException {
pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
List<WareHouseTakePointBindingDO> list = houseTakePointBindingService.getHouseTakePointBindingPage(pageReqVO).getList();
// 导出 Excel
ExcelUtils.write(response, "取货点位绑定.xls", "数据", WareHouseTakePointBindingRespVO.class,
BeanUtils.toBean(list, WareHouseTakePointBindingRespVO.class));
}
}

105
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/WareHouseTakePointController.java Normal file
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@ -0,0 +1,105 @@
package cn.iocoder.yudao.module.system.controller.admin.houselocation;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointRespVO;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointService;
import org.springframework.web.bind.annotation.*;
import javax.annotation.Resource;
import org.springframework.validation.annotation.Validated;
import org.springframework.security.access.prepost.PreAuthorize;
import io.swagger.v3.oas.annotations.tags.Tag;
import io.swagger.v3.oas.annotations.Parameter;
import io.swagger.v3.oas.annotations.Operation;
import javax.validation.constraints.*;
import javax.validation.*;
import javax.servlet.http.*;
import java.util.*;
import java.io.IOException;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.CommonResult;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils;
import cn.iocoder.yudao.framework.apilog.core.annotation.ApiAccessLog;
import static cn.iocoder.yudao.framework.apilog.core.enums.OperateTypeEnum.*;
@Tag(name = "管理后台 - 取货点位")
@RestController
@RequestMapping("/system/ware/house-take-point")
@Validated
public class WareHouseTakePointController {
@Resource
private WareHouseTakePointService houseTakePointService;
@PostMapping("/create")
@Operation(summary = "创建取货点位")
@PreAuthorize("@ss.hasPermission('ware:house-take-point:create')")
public CommonResult<Long> createHouseTakePoint(@Valid @RequestBody WareHouseTakePointSaveReqVO createReqVO) {
return success(houseTakePointService.createHouseTakePoint(createReqVO));
}
@PutMapping("/update")
@Operation(summary = "更新取货点位")
@PreAuthorize("@ss.hasPermission('ware:house-take-point:update')")
public CommonResult<Boolean> updateHouseTakePoint(@Valid @RequestBody WareHouseTakePointSaveReqVO updateReqVO) {
houseTakePointService.updateHouseTakePoint(updateReqVO);
return success(true);
}
@DeleteMapping("/delete")
@Operation(summary = "删除取货点位")
@Parameter(name = "id", description = "编号", required = true)
@PreAuthorize("@ss.hasPermission('ware:house-take-point:delete')")
public CommonResult<Boolean> deleteHouseTakePoint(@RequestParam("id") Long id) {
houseTakePointService.deleteHouseTakePoint(id);
return success(true);
}
@GetMapping("/get")
@Operation(summary = "获得取货点位")
@Parameter(name = "id", description = "编号", required = true, example = "1024")
@PreAuthorize("@ss.hasPermission('ware:house-take-point:query')")
public CommonResult<WareHouseTakePointRespVO> getHouseTakePoint(@RequestParam("id") Long id) {
WareHouseTakePointDO houseTakePoint = houseTakePointService.getHouseTakePoint(id);
return success(BeanUtils.toBean(houseTakePoint, WareHouseTakePointRespVO.class));
}
@GetMapping("/page")
@Operation(summary = "获得取货点位分页")
@PreAuthorize("@ss.hasPermission('ware:house-take-point:query')")
public CommonResult<PageResult<WareHouseTakePointRespVO>> getHouseTakePointPage(@Valid WareHouseTakePointPageReqVO pageReqVO) {
PageResult<WareHouseTakePointDO> pageResult = houseTakePointService.getHouseTakePointPage(pageReqVO);
return success(BeanUtils.toBean(pageResult, WareHouseTakePointRespVO.class));
}
@PostMapping("/list")
@Operation(summary = "获得取货点位集合")
@PreAuthorize("@ss.hasPermission('ware:house-take-point:list')")
public CommonResult<List<WareHouseTakePointRespVO>> getHouseTakePointList(@RequestBody WareHouseTakePointSaveReqVO updateReqVO) {
List<WareHouseTakePointDO> list = houseTakePointService.getHouseTakePointList(updateReqVO);
return success(BeanUtils.toBean(list, WareHouseTakePointRespVO.class));
}
@GetMapping("/export-excel")
@Operation(summary = "导出取货点位 Excel")
@PreAuthorize("@ss.hasPermission('ware:house-take-point:export')")
@ApiAccessLog(operateType = EXPORT)
public void exportHouseTakePointExcel(@Valid WareHouseTakePointPageReqVO pageReqVO,
HttpServletResponse response) throws IOException {
pageReqVO.setPageSize(PageParam.PAGE_SIZE_NONE);
List<WareHouseTakePointDO> list = houseTakePointService.getHouseTakePointPage(pageReqVO).getList();
// 导出 Excel
ExcelUtils.write(response, "取货点位.xls", "数据", WareHouseTakePointRespVO.class,
BeanUtils.toBean(list, WareHouseTakePointRespVO.class));
}
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseLocationVO.java
View File

@ -8,8 +8,8 @@ import javax.validation.constraints.NotNull;
@Data
public class WareHouseLocationVO {
@Schema(description = "放货类型（1：库位、2：线库、 3：区域、 4:点位）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@NotNull(message = "类型（1：库位、2：线库、 3：区域、4:点位）不能为空")
@Schema(description = "放货类型（1：库位、2：线库、 3：区域、 4:路线的点位、 5:取放货的点位）", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@NotNull(message = "类型（1：库位、2：线库、 3：区域、4:路线的点位、 5:取放货的点位）不能为空")
private Integer type;
@Schema(description = "位置", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")

31
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointBindingPageReqVO.java Normal file
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@ -0,0 +1,31 @@
package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
import lombok.*;
import java.util.*;
import io.swagger.v3.oas.annotations.media.Schema;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
import org.springframework.format.annotation.DateTimeFormat;
import java.time.LocalDateTime;
import static cn.iocoder.yudao.framework.common.util.date.DateUtils.FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND;
@Schema(description = "管理后台 - 取货点位绑定分页 Request VO")
@Data
@EqualsAndHashCode(callSuper = true)
@ToString(callSuper = true)
public class WareHouseTakePointBindingPageReqVO extends PageParam {
@Schema(description = "类型, 0:设备", example = "2")
private Integer bindingType;
@Schema(description = "设备id", example = "3876")
private Long bindingId;
@Schema(description = "取货点位表id", example = "20371")
private Long takePointId;
@Schema(description = "创建时间")
@DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
private LocalDateTime[] createTime;
}

35
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointBindingRespVO.java Normal file
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@ -0,0 +1,35 @@
package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.*;
import java.util.*;
import org.springframework.format.annotation.DateTimeFormat;
import java.time.LocalDateTime;
import com.alibaba.excel.annotation.*;
@Schema(description = "管理后台 - 取货点位绑定 Response VO")
@Data
@ExcelIgnoreUnannotated
public class WareHouseTakePointBindingRespVO {
@Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "16028")
@ExcelProperty("主键ID")
private Long id;
@Schema(description = "类型, 0:设备", example = "2")
@ExcelProperty("类型, 0:设备")
private Integer bindingType;
@Schema(description = "设备id", example = "3876")
@ExcelProperty("设备id")
private Long bindingId;
@Schema(description = "取货点位表id", example = "20371")
@ExcelProperty("取货点位表id")
private Long takePointId;
@Schema(description = "创建时间", requiredMode = Schema.RequiredMode.REQUIRED)
@ExcelProperty("创建时间")
private LocalDateTime createTime;
}

24
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointBindingSaveReqVO.java Normal file
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@ -0,0 +1,24 @@
package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.*;
import java.util.*;
import javax.validation.constraints.*;
@Schema(description = "管理后台 - 取货点位绑定新增/修改 Request VO")
@Data
public class WareHouseTakePointBindingSaveReqVO {
@Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "16028")
private Long id;
@Schema(description = "类型, 0:设备", example = "2")
private Integer bindingType;
@Schema(description = "设备id", example = "3876")
private Long bindingId;
@Schema(description = "取货点位表id", example = "20371")
private Long takePointId;
}

65
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointPageReqVO.java Normal file
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@ -0,0 +1,65 @@
package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
import lombok.*;
import java.util.*;
import io.swagger.v3.oas.annotations.media.Schema;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
import java.math.BigDecimal;
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 - 取货点位分页 Request VO")
@Data
@EqualsAndHashCode(callSuper = true)
@ToString(callSuper = true)
public class WareHouseTakePointPageReqVO extends PageParam {
@Schema(description = "点位类型名称", example = "李四")
private String pointName;
@Schema(description = "点位类型, 0:翻转机设备, 1:普通取放货点位'", example = "2")
private Integer pointType;
@Schema(description = "总高度")
private BigDecimal totalHeight;
@Schema(description = "托盘高度")
private BigDecimal trayHeight;
@Schema(description = "点位状态, 0:空闲, 1:有货", example = "2")
private Integer pointStatus;
@Schema(description = "地图id", example = "25285")
private Long positionMapId;
@Schema(description = "地图字表节点id", example = "527")
private Long positionMapItemId;
@Schema(description = "实际坐标x轴")
private String actualLocationX;
@Schema(description = "实际坐标y轴")
private String actualLocationY;
@Schema(description = "创建时间")
@DateTimeFormat(pattern = FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND)
private LocalDateTime[] createTime;
@Schema(description = "层数")
private Integer locationStorey;
@Schema(description = "排序的位置,越大越优先堆放")
private Long locationNumber;
@Schema(description = "巷道id(不关联其他表), 检测区的唯一就可以")
private Long laneId;
@Schema(description = "物料信息")
private String skuInfo;
@Schema(description = "物料数量")
private Long skuNumber;
}

79
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/houselocation/vo/WareHouseTakePointRespVO.java Normal file
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@ -0,0 +1,79 @@
package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.*;
import java.util.*;
import java.math.BigDecimal;
import org.springframework.format.annotation.DateTimeFormat;
import java.time.LocalDateTime;
import com.alibaba.excel.annotation.*;
@Schema(description = "管理后台 - 取货点位 Response VO")
@Data
@ExcelIgnoreUnannotated
public class WareHouseTakePointRespVO {
@Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "11573")
@ExcelProperty("主键ID")
private Long id;
@Schema(description = "点位类型名称", example = "李四")
@ExcelProperty("点位类型名称")
private String pointName;
@Schema(description = "点位类型, 0:翻转机设备, 1:普通取放货点位'", example = "2")
@ExcelProperty("点位类型, 0:翻转机设备, 1:普通取放货点位'")
private Integer pointType;
@Schema(description = "总高度")
@ExcelProperty("总高度")
private BigDecimal totalHeight;
@Schema(description = "托盘高度")
@ExcelProperty("托盘高度")
private BigDecimal trayHeight;
@Schema(description = "点位状态, 0:空闲, 1:有货", example = "2")
@ExcelProperty("点位状态, 0:空闲, 1:有货")
private Integer pointStatus;
@Schema(description = "地图id", example = "25285")
@ExcelProperty("地图id")
private Long positionMapId;
@Schema(description = "地图字表节点id", example = "527")
@ExcelProperty("地图字表节点id")
private Long positionMapItemId;
@Schema(description = "实际坐标x轴")
@ExcelProperty("实际坐标x轴")
private String actualLocationX;
@Schema(description = "实际坐标y轴")
@ExcelProperty("实际坐标y轴")
private String actualLocationY;
@Schema(description = "创建时间", requiredMode = Schema.RequiredMode.REQUIRED)
@ExcelProperty("创建时间")
private LocalDateTime createTime;
@Schema(description = "层数")
@ExcelProperty("层数")
private Integer locationStorey;
@Schema(description = "排序的位置,越大越优先堆放")
@ExcelProperty("排序的位置,越大越优先堆放")
private Long locationNumber;
@Schema(description = "巷道id(不关联其他表), 检测区的唯一就可以")
@ExcelProperty("巷道id(不关联其他表), 检测区的唯一就可以")
private Long laneId;
@Schema(description = "物料信息")
@ExcelProperty("物料信息")
private String skuInfo;
@Schema(description = "物料数量")
@ExcelProperty("物料数量")
private Long skuNumber;
}

61
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@ -0,0 +1,61 @@
package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
import io.swagger.v3.oas.annotations.media.Schema;
import lombok.*;
import java.util.*;
import javax.validation.constraints.*;
import java.math.BigDecimal;
@Schema(description = "管理后台 - 取货点位新增/修改 Request VO")
@Data
public class WareHouseTakePointSaveReqVO {
@Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "11573")
private Long id;
@Schema(description = "点位类型名称", example = "李四")
private String pointName;
@Schema(description = "点位类型, 0:翻转机设备, 1:普通取放货点位'", example = "2")
private Integer pointType;
@Schema(description = "总高度")
private BigDecimal totalHeight;
@Schema(description = "托盘高度")
private BigDecimal trayHeight;
@Schema(description = "点位状态, 0:空闲, 1:有货", example = "2")
private Integer pointStatus;
@Schema(description = "地图id", example = "25285")
private Long positionMapId;
@Schema(description = "地图字表节点id", example = "527")
private Long positionMapItemId;
@Schema(description = "实际坐标x轴")
private String actualLocationX;
@Schema(description = "实际坐标y轴")
private String actualLocationY;
@Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "11573")
private List<Long> ids;
@Schema(description = "层数")
private Integer locationStorey;
@Schema(description = "排序的位置,越大越优先堆放")
private Long locationNumber;
@Schema(description = "巷道id(不关联其他表), 检测区的唯一就可以")
private Long laneId;
@Schema(description = "物料信息")
private String skuInfo;
@Schema(description = "物料数量")
private Long skuNumber;
}

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/DeviceInformationController.java
View File

@ -71,8 +71,8 @@ public class DeviceInformationController {
@Parameter(name = "id", description = "编号", required = true, example = "1024")
@PreAuthorize("@ss.hasPermission('device:information:query')")
public CommonResult<DeviceInformationRespVO> getInformation(@RequestParam("id") Long id) {
DeviceInformationDO information = informationService.getInformation(id);
return success(BeanUtils.toBean(information, DeviceInformationRespVO.class));
DeviceInformationRespVO information = informationService.getInformation(id);
return success(information);
}
@GetMapping("/getCameraCode")

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/dto/DeviceInformationDTO.java
View File

@ -4,6 +4,8 @@ import io.swagger.v3.oas.annotations.media.Schema;
import lombok.Data;
import lombok.ToString;
import java.util.List;
@Schema(description = "管理后台 - 设备信息 DTO")
@Data
@ToString(callSuper = true)
@ -17,6 +19,9 @@ public class DeviceInformationDTO {
@Schema(description = "设备类型 字典device_type", example = "2")
private Integer deviceType;
@Schema(description = "设备类型 字典deviceTypes", example = "2")
private List<Integer> deviceTypes;
@Schema(description = "设备状态（1：在线、2：离线、 3：异常）", example = "1")
private Integer deviceStatus;

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationPageReqVO.java
View File

@ -41,7 +41,7 @@ public class DeviceInformationPageReqVO extends PageParam {
@Schema(description = "深度")
private BigDecimal locationDeep;
//1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机, 9:摄像头
//1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机, 9:摄像头,10 :翻转机
@Schema(description = "设备类型 字典device_type", example = "2")
private Integer deviceType;
@ -101,4 +101,7 @@ public class DeviceInformationPageReqVO extends PageParam {
@Schema(description = "摄像头编号")
private String cameraCode;
@Schema(description = "ware_house_take_point的id")
private Long takePointId;
}

15
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationRespVO.java
View File

@ -50,7 +50,7 @@ public class DeviceInformationRespVO {
@ExcelProperty("深度")
private BigDecimal locationDeep;
//1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机, 9:摄像头
//1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机, 9:摄像头,10 :翻转机
@Schema(description = "设备类型 字典device_type", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@ExcelProperty("设备类型 字典device_type")
private Integer deviceType;
@ -135,4 +135,17 @@ public class DeviceInformationRespVO {
@Schema(description = "摄像头编号")
@ExcelProperty("摄像头编号")
private String cameraCode;
@Schema(description = "ware_house_take_point的id")
@ExcelProperty("ware_house_take_point的id")
private Long takePointId;
@Schema(description = "检测点的id")
private List<Long> checkPointIds;
/*@Schema(description = "取货点位")
private WareHouseTakePointDO takeWareHouseTakePointDO;
@Schema(description = "检测区的取货点位")
private List<WareHouseTakePointDO> checkPointBindingList;*/
}

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/information/vo/DeviceInformationSaveReqVO.java
View File

@ -41,7 +41,7 @@ public class DeviceInformationSaveReqVO {
@Schema(description = "深度")
private BigDecimal locationDeep;
//1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机 9:摄像头
//1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机 9:摄像头,10 :翻转机
@Schema(description = "设备类型 字典device_type", requiredMode = Schema.RequiredMode.REQUIRED, example = "2")
@NotNull(message = "设备类型不能为空")
private Integer deviceType;
@ -100,4 +100,10 @@ public class DeviceInformationSaveReqVO {
@Schema(description = "摄像头编号")
private String cameraCode;
@Schema(description = "ware_house_take_point的id")
private Long takePointId;
@Schema(description = "检测点的id")
private List<Long> checkPointIds;
}

22
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/PositionMapItemController.java
View File

@ -18,13 +18,14 @@ import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMa
import cn.iocoder.yudao.module.system.controller.admin.positionmap.vo.PositionMapLineSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapLineDO;
import cn.iocoder.yudao.module.system.enums.robot.task.event.EventTypeEnum;
import cn.iocoder.yudao.module.system.handler.mapnode.NodeProcessingContext;
import cn.iocoder.yudao.module.system.mq.message.map.MapMessage;
import cn.iocoder.yudao.module.system.mq.producer.map.MapProducer;
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.positionmap.PositionMapLineService;
import cn.iocoder.yudao.module.system.service.robot.RobotTaskService;
import com.alibaba.fastjson.JSON;
import com.baomidou.mybatisplus.core.toolkit.IdWorker;
import io.swagger.v3.oas.annotations.Operation;
import io.swagger.v3.oas.annotations.Parameter;
import io.swagger.v3.oas.annotations.tags.Tag;
@ -43,6 +44,7 @@ import java.util.Map;
import java.util.stream.Collectors;
import static cn.iocoder.yudao.framework.common.pojo.CommonResult.success;
@Slf4j
@Tag(name = "管理后台 - 仓库点位地图子表")
@RestController
@ -66,7 +68,7 @@ public class PositionMapItemController {
private RobotTaskService taskService;
@Resource
private PathApi pathApi;
private MapProducer mapProducer;
// -- 前端给所有的节点信息 -
@PostMapping("/batchSaveOrEditOrDel")
@ -93,7 +95,9 @@ public class PositionMapItemController {
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
userOperationLogService.createUserOperationLog(operationLog);
pathApi.pathInitData();
MapMessage mes = new MapMessage(this, positionMapId + "",
EventTypeEnum.MAP_UPDATE.getType());
mapProducer.sendSmsSendMessage(mes);
return success(true);
}
@ -139,7 +143,7 @@ public class PositionMapItemController {
@PostMapping("/lineAddItem")
@Operation(summary = "线上加点保存点位")
@PreAuthorize("@ss.hasPermission('system:position-map-item:lineAddItem')")
public CommonResult<Map<String,Object>> lineAddItem(@Valid @RequestBody List<PositionMapItemNodeDTO> list) {
public CommonResult<Map<String, Object>> lineAddItem(@Valid @RequestBody List<PositionMapItemNodeDTO> list) {
PositionMapItemSaveReqVO positionMapItem = BeanUtils.toBean(list.get(0), PositionMapItemSaveReqVO.class);
positionMapItemService.createPositionMapItem(positionMapItem);
@ -153,7 +157,7 @@ public class PositionMapItemController {
itemIds.add(positionMapLineDO.getEndPointId());
}
Map<Long,Long> sortNumMap = positionMapItemService.getSortNumMapByIds(itemIds);
Map<Long, Long> sortNumMap = positionMapItemService.getSortNumMapByIds(itemIds);
for (PositionMapLineDO positionMapLineDO : lineList) {
positionMapLineDO.setPositionMapId(positionMapItem.getPositionMapId());
@ -161,9 +165,9 @@ public class PositionMapItemController {
positionMapLineDO.setEndPointSortNum(sortNumMap.get(positionMapLineDO.getEndPointId()).intValue());
}
positionMapLineService.batchSaveLines(lineList);
Map<String,Object> map = new HashMap<>();
map.put("ITEM",positionMapItemService.getPositionMapItem(positionMapItem.getId()));
map.put("LINE",lineList);
Map<String, Object> map = new HashMap<>();
map.put("ITEM", positionMapItemService.getPositionMapItem(positionMapItem.getId()));
map.put("LINE", lineList);
return success(map);
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/dto/NodeBaseDTO.java
View File

@ -35,7 +35,7 @@ public class NodeBaseDTO {
@Schema(description = "点位自增排序")
private Long sortNum;
@Schema(description = "类型 1.路径点位 2.库位点 3.充电桩 4.停车点 5.区域变更点 6.等待点 --- 后续补充", example = "1")
@Schema(description = "类型 1.路径点位 2.库位点 3.充电桩 4.停车点 5.区域变更点 6.等待点 7.检测点 --- 后续补充", example = "1")
private Integer type;
@Schema(description = "对应各个类型的独有属性Json格式 例如（{库位长度:1,库位宽度:2,库位方向:单向}）", example = "1")

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemPageReqVO.java
View File

@ -37,7 +37,7 @@ public class PositionMapItemPageReqVO extends PageParam {
@Schema(description = "点位自增排序")
private Long sortNum;
@Schema(description = "类型 1.路径点位 2.库位点 3.充电桩 4.停车点 5.区域变更点 6.等待点 --- 后续补充", example = "1")
@Schema(description = "类型 1.路径点位 2.库位点 3.充电桩 4.停车点 5.区域变更点 6.等待点 7.文字点 8.检测点 --- 后续补充", example = "1")
private Integer type;
@Schema(description = "对应各个类型的独有属性Json格式 例如（{库位长度:1,库位宽度:2,库位方向:单向}）", example = "1")

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemRespVO.java
View File

@ -48,8 +48,8 @@ public class PositionMapItemRespVO {
@Schema(description = "实际坐标y轴")
private String actualLocationY;
@Schema(description = "类型 1.路径点位 2.库位点 3.充电桩 4.停车点 5.区域变更点 6.等待点 --- 后续补充", example = "1")
@ExcelProperty("类型 1.路径点位 2.库位点 3.充电桩 4.停车点 5.区域变更点 6.等待点 --- 后续补充")
@Schema(description = "类型 1.路径点位 2.库位点 3.充电桩 4.停车点 5.区域变更点 6.等待点 7.文字点 8.检测点 --- 后续补充", example = "1")
@ExcelProperty("类型 1.路径点位 2.库位点 3.充电桩 4.停车点 5.区域变更点 6.等待点 7.文字点 8.检测点 --- 后续补充")
private Integer type;
@Schema(description = "点位自增排序")

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/positionmap/vo/PositionMapItemSaveReqVO.java
View File

@ -31,7 +31,7 @@ public class PositionMapItemSaveReqVO {
@Schema(description = "点位自增排序")
private Long sortNum;
@Schema(description = "类型 1.路径点位 2.库位点 3.充电桩 4.停车点 5.区域变更点 6.等待点 --- 后续补充", example = "1")
@Schema(description = "类型 1.路径点位 2.库位点 3.充电桩 4.停车点 5.区域变更点 6.等待点 7.文字点 8.检测点 --- 后续补充", example = "1")
private Integer type;
@Schema(description = "对应各个类型的独有属性Json格式 例如（{库位长度:1,库位宽度:2,库位方向:单向}）", example = "1")

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotTaskDetailAddVO.java
View File

@ -18,8 +18,8 @@ public class RobotTaskDetailAddVO {
@NotNull(message = "放货类型（1：库位、2：线库、 3：区域、 4:点位）不能为空")
private Integer releaseType;
@Schema(description = "取货类型（1：库位、2：线库、 3：区域）", requiredMode = Schema.RequiredMode.REQUIRED, example = "1")
@NotNull(message = "取货类型（1：库位、2：线库、 3：区域）不能为空")
@Schema(description = "取货类型（1：库位、2：线库、 3：区域、 4:点位）", requiredMode = Schema.RequiredMode.REQUIRED, example = "1")
@NotNull(message = "取货类型（1：库位、2：线库、 3：区域、4:点位）不能为空")
private Integer takeType;
@Schema(description = "放货库位/线库/区域", requiredMode = Schema.RequiredMode.REQUIRED, example = "6223")

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/controller/admin/robot/vo/RobotWarnMsgSaveReqVO.java
View File

@ -34,7 +34,7 @@ public class RobotWarnMsgSaveReqVO {
private String warnSolve;
@Schema(description = "结束时间", requiredMode = Schema.RequiredMode.REQUIRED)
@NotNull(message = "结束时间不能为空")
// @NotNull(message = "结束时间不能为空")
private LocalDateTime solveTime;
@Schema(description = "是否已读(0:未读, 1:已读)")

43
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseTakePointBindingDO.java Normal file
View File

@ -0,0 +1,43 @@
package cn.iocoder.yudao.module.system.dal.dataobject.houselocation;
import lombok.*;
import java.util.*;
import java.time.LocalDateTime;
import java.time.LocalDateTime;
import com.baomidou.mybatisplus.annotation.*;
import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
/**
* 取货点位绑定 DO
*
* @author 陈宾顺
*/
@TableName("ware_house_take_point_binding")
@KeySequence("ware_house_take_point_binding_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 WareHouseTakePointBindingDO extends BaseDO {
/**
* 主键ID
*/
@TableId
private Long id;
/**
* 类型, 0:设备
*/
private Integer bindingType;
/**
* 设备id
*/
private Long bindingId;
/**
* 取货点位表id
*/
private Long takePointId;
}

89
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/houselocation/WareHouseTakePointDO.java Normal file
View File

@ -0,0 +1,89 @@
package cn.iocoder.yudao.module.system.dal.dataobject.houselocation;
import lombok.*;
import java.util.*;
import java.math.BigDecimal;
import java.math.BigDecimal;
import java.time.LocalDateTime;
import java.time.LocalDateTime;
import com.baomidou.mybatisplus.annotation.*;
import cn.iocoder.yudao.framework.mybatis.core.dataobject.BaseDO;
/**
* 取货点位 DO
*
* @author 陈宾顺
*/
@TableName("ware_house_take_point")
@KeySequence("ware_house_take_point_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 WareHouseTakePointDO extends BaseDO {
/**
* 主键ID
*/
@TableId
private Long id;
/**
* 点位类型名称
*/
private String pointName;
/**
* 点位类型 0:翻转机设备, 1:普通取放货点位
*/
private Integer pointType;
/**
* 总高度
*/
private BigDecimal totalHeight;
/**
* 托盘高度
*/
private BigDecimal trayHeight;
/**
* 点位状态, 0:空闲, 1:有货
*/
private Integer pointStatus;
/**
* 地图id
*/
private Long positionMapId;
/**
* 地图字表节点id
*/
private Long positionMapItemId;
/**
* 实际坐标x轴
*/
private String actualLocationX;
/**
* 实际坐标y轴
*/
private String actualLocationY;
/**
* 层数
*/
private Integer locationStorey;
/**
* 排序的位置,越大越优先堆放
*/
private Long locationNumber;
/**
* 巷道id(不关联其他表), 检测区的唯一就可以
*/
private Long laneId;
/**
* 物料信息
*/
private String skuInfo;
/**
* 物料数量
*/
private Long skuNumber;
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/information/DeviceInformationDO.java
View File

@ -67,7 +67,7 @@ public class DeviceInformationDO extends BaseDO {
*/
private BigDecimal locationDeep;
/**
* 1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机, 9:摄像头
* 1:充电桩,2:输送线,3:码垛机,4:自动门,5:提升机,6:信号灯,7:按钮盒,8:拆垛机, 9:摄像头 ,10 :翻转机
* 设备类型 字典device_type
*/
private Integer deviceType;
@ -144,4 +144,9 @@ public class DeviceInformationDO extends BaseDO {
* 摄像头编号
*/
private String cameraCode;
/**
* ware_house_take_point的id
*/
private Long takePointId;
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/positionmap/PositionMapItemDO.java
View File

@ -61,7 +61,7 @@ public class PositionMapItemDO extends BaseDO {
*/
private Long sortNum;
/**
* 类型 1.路径点位 2.库位点 3.充电桩 4.停车点 5.区域变更点 6.等待点 --- 后续补充
* 类型 1.路径点位 2.库位点 3.充电桩 4.停车点 5.区域变更点 6.等待点 7.文字点 8.检测点--- 后续补充
*/
private Integer type;
/**

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/dataobject/robot/RobotTaskDetailDO.java
View File

@ -36,11 +36,11 @@ public class RobotTaskDetailDO extends BaseDO {
*/
private Integer taskType;
/**
* 放货类型（1：库位、2：线库、 3：区域）
* 放货类型（1：库位、2：线库、 3：区域、 4:点位）
*/
private Integer releaseType;
/**
* 取货类型（1：库位、2：线库、 3：区域）
* 取货类型（1：库位、2：线库、 3：区域、 4:点位）
*/
private Integer takeType;
/**

31
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseTakePointBindingMapper.java Normal file
View File

@ -0,0 +1,31 @@
package cn.iocoder.yudao.module.system.dal.mysql.houselocation;
import java.util.*;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingPageReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointBindingDO;
import org.apache.ibatis.annotations.Mapper;
import org.apache.ibatis.annotations.Param;
/**
* 取货点位绑定 Mapper
*
* @author 陈宾顺
*/
@Mapper
public interface WareHouseTakePointBindingMapper extends BaseMapperX<WareHouseTakePointBindingDO> {
default PageResult<WareHouseTakePointBindingDO> selectPage(WareHouseTakePointBindingPageReqVO reqVO) {
return selectPage(reqVO, new LambdaQueryWrapperX<WareHouseTakePointBindingDO>()
.eqIfPresent(WareHouseTakePointBindingDO::getBindingType, reqVO.getBindingType())
.eqIfPresent(WareHouseTakePointBindingDO::getBindingId, reqVO.getBindingId())
.eqIfPresent(WareHouseTakePointBindingDO::getTakePointId, reqVO.getTakePointId())
.betweenIfPresent(WareHouseTakePointBindingDO::getCreateTime, reqVO.getCreateTime())
.orderByDesc(WareHouseTakePointBindingDO::getId));
}
void deleteByBindingId(@Param("bindingId") Long bindingId);
}

40
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseTakePointMapper.java Normal file
View File

@ -0,0 +1,40 @@
package cn.iocoder.yudao.module.system.dal.mysql.houselocation;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.mybatis.core.mapper.BaseMapperX;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointPageReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
import org.apache.ibatis.annotations.Mapper;
import org.apache.ibatis.annotations.Param;
import java.util.List;
/**
* 取货点位 Mapper
*
* @author 陈宾顺
*/
@Mapper
public interface WareHouseTakePointMapper extends BaseMapperX<WareHouseTakePointDO> {
default PageResult<WareHouseTakePointDO> selectPage(WareHouseTakePointPageReqVO reqVO) {
return selectPage(reqVO, new LambdaQueryWrapperX<WareHouseTakePointDO>()
.likeIfPresent(WareHouseTakePointDO::getPointName, reqVO.getPointName())
.eqIfPresent(WareHouseTakePointDO::getPointType, reqVO.getPointType())
.eqIfPresent(WareHouseTakePointDO::getTotalHeight, reqVO.getTotalHeight())
.eqIfPresent(WareHouseTakePointDO::getTrayHeight, reqVO.getTrayHeight())
.eqIfPresent(WareHouseTakePointDO::getPointStatus, reqVO.getPointStatus())
.eqIfPresent(WareHouseTakePointDO::getPositionMapId, reqVO.getPositionMapId())
.eqIfPresent(WareHouseTakePointDO::getPositionMapItemId, reqVO.getPositionMapItemId())
.eqIfPresent(WareHouseTakePointDO::getActualLocationX, reqVO.getActualLocationX())
.eqIfPresent(WareHouseTakePointDO::getActualLocationY, reqVO.getActualLocationY())
.betweenIfPresent(WareHouseTakePointDO::getCreateTime, reqVO.getCreateTime())
.orderByDesc(WareHouseTakePointDO::getId));
}
void setTakePointMapIdEmpty(@Param("positionMapId") Long positionMapId,
@Param("ids") List<Long> ids);
void updateHouseTakePointByItemIdAndStorey(WareHouseTakePointDO pointDO);
}

8
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/positionmap/PositionMapItemMapper.java
View File

@ -98,4 +98,12 @@ public interface PositionMapItemMapper extends BaseMapperX<PositionMapItemDO> {
/*@MapKey("id")
Map<Long, Long> selectSortNumByIds(@Param("ids") List<Long> ids);*/
List<PositionMapItemDO> selectSortNumByIds(@Param("ids") List<Long> ids);
/**
* 设置点位使用中
*
* @param id
* @param robotNo
*/
void setMapItemUse(@Param("id") Long id, @Param("robotNo") String robotNo);
}

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/device/DeviceTypeEnum.java
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@ -15,7 +15,8 @@ public enum DeviceTypeEnum {
SIGNAL_LIGHT(6, "信号灯"),
BUTTON_BOX(7, "按钮盒"),
DISMANTLING_MACHINE(8, "拆垛机"),
CAMERA(9, "摄像头");
CAMERA(9, "摄像头"),
FLIP(10, "翻转机");
/**
* 类型
@ -41,6 +42,8 @@ public enum DeviceTypeEnum {
return 10;
}if (BUTTON_BOX.type.equals(type)) {
return 11;
}if (FLIP.type.equals(type)) {
return 14;
}else {
return 12;
}

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/item/PositionMapItemEnum.java
View File

@ -11,7 +11,10 @@ public enum PositionMapItemEnum {
CHARGE(3,"充电桩"),
STOP(4,"停车点"),
CHANGE(5,"区域变更点"),
WAIT(6,"等待点");
WAIT(6,"等待点"),
TEXT(7,"文字点"),
CHECK(8,"检测点");
/**
* 类型
*/

16
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/map/PointTypeEnum.java Normal file
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@ -0,0 +1,16 @@
package cn.iocoder.yudao.module.system.enums.map;
import lombok.AllArgsConstructor;
import lombok.Getter;
@Getter
@AllArgsConstructor
public enum PointTypeEnum {
FLIP(0,"翻转机设备"),
TAKE(1,"普通取放货点位");
/**
* 类型
*/
private final Integer type;
private final String msg;
}

12
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/ReleaseTakeEnum.java
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@ -12,7 +12,8 @@ public enum ReleaseTakeEnum {
TO_LOCATION(1, "库位"),
TO_LANE(2, "线库"),
TO_AREA(3, "区域");
TO_AREA(3, "区域"),
TO_POINT(4, "取放货的点位");
/**
* 类型
@ -22,4 +23,13 @@ public enum ReleaseTakeEnum {
* 说明
*/
private final String msg;
public static Boolean isLocation(Integer type) {
if (TO_LOCATION.getType().equals(type)
|| TO_LANE.getType().equals(type)
|| TO_AREA.getType().equals(type)) {
return true;
}
return false;
}
}

23
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/RobotTakeEnum.java Normal file
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@ -0,0 +1,23 @@
package cn.iocoder.yudao.module.system.enums.robot.task;
import lombok.AllArgsConstructor;
import lombok.Getter;
@Getter
@AllArgsConstructor
public enum RobotTakeEnum {
TO_LOCATION(1, "库位"),
TO_LANE(2, "线库"),
TO_AREA(3, "区域"),
TO_LINE_POINT(4, "路线的点位"),
TO_POINT(5, "取放货的点位");
/**
* 类型
*/
private final Integer type;
/**
* 说明
*/
private final String msg;
}

9
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/event/RobotTaskEventTypeEnum.java → yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/enums/robot/task/event/EventTypeEnum.java
View File

@ -5,10 +5,11 @@ import lombok.Getter;
@Getter
@AllArgsConstructor
public enum RobotTaskEventTypeEnum {
DISTRIBUTION("DISTRIBUTION","任务分配"),
DONE("DONE","任务完成"),
TIME("TIME","统计时间");
public enum EventTypeEnum {
TASK_DISTRIBUTION("DISTRIBUTION","任务分配"),
TASK_DONE("DONE","任务完成"),
TASK_TIME("TIME","统计时间"),
MAP_UPDATE("MAP_UPDATE","修改地图");
/**
* 类型
*/

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/NodeProcessingContext.java
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@ -34,6 +34,8 @@ public class NodeProcessingContext {
@Autowired
@Lazy
private DeviceStrategyImpl deviceStrategyImpl;
@Autowired
private CheckStrategyImpl checkStrategyImpl;
/**
* 项目启动时 初始化策略
@ -54,6 +56,8 @@ public class NodeProcessingContext {
strategyMap.put(NodeTypeEnum.WAIT.getType(), mapNodeStrategyImpl);
// 文字点
strategyMap.put(NodeTypeEnum.TEXT.getType(), mapNodeStrategyImpl);
// 检测点
strategyMap.put(NodeTypeEnum.CHECK.getType(), checkStrategyImpl);
// todo 可以继续添加更多的策略 - 新增实现即可
}

63
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/handler/mapnode/strategy/CheckStrategyImpl.java Normal file
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@ -0,0 +1,63 @@
package cn.iocoder.yudao.module.system.handler.mapnode.strategy;
import cn.hutool.core.util.ObjectUtil;
import cn.hutool.json.JSONUtil;
import cn.iocoder.yudao.framework.common.util.collection.CollectionUtils;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointSaveReqVO;
import cn.iocoder.yudao.module.system.controller.admin.positionmap.dto.NodeBaseDTO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
import cn.iocoder.yudao.module.system.enums.map.PointTypeEnum;
import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointService;
import org.springframework.stereotype.Component;
import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.List;
import static com.baomidou.mybatisplus.core.toolkit.IdWorker.getId;
@Component
public class CheckStrategyImpl implements NodeProcessingStrategy{
@Resource
private WareHouseTakePointService houseTakePointService;
@Override
public void processNodes(Long positionMapId, List<NodeBaseDTO> nodeBaseDTOS) {
// -- 策略3 处理设备点
// -- 将data里面的json 数据转为实体类 - 再对比节点id - 然后做新增删除修改操作
List<WareHouseTakePointDO> newList = new ArrayList<>();
// -- 拿到这个地图所绑定的设备 -
WareHouseTakePointSaveReqVO reqVO = new WareHouseTakePointSaveReqVO();
reqVO.setPositionMapId(positionMapId);
reqVO.setPointType(PointTypeEnum.TAKE.getType());
List<WareHouseTakePointDO> oldList = houseTakePointService.getHouseTakePointList(reqVO);
for (NodeBaseDTO item : nodeBaseDTOS) {
if (item.getId() == null) {
item.setId(getId());
}
item.setPositionMapId(positionMapId);
if(ObjectUtil.isEmpty(item.getDataJson())) {
continue;
}
List<WareHouseTakePointDO> wareHouseTakePointDOS = JSONUtil.toList(item.getDataJson(), WareHouseTakePointDO.class);
for (WareHouseTakePointDO wareHouseTakePointDO : wareHouseTakePointDOS) {
wareHouseTakePointDO.setPointType(PointTypeEnum.TAKE.getType());
wareHouseTakePointDO.setPositionMapId(positionMapId);
wareHouseTakePointDO.setPositionMapItemId(item.getId());
newList.add(wareHouseTakePointDO);
}
item.setDataJson(JSONUtil.toJsonStr(wareHouseTakePointDOS));
}
List<List<WareHouseTakePointDO>> list = CollectionUtils.compareLists(oldList, newList,
(oldVal, newVal) -> ObjectUtil.equal(oldVal.getId(), newVal.getId()));
houseTakePointService.batchEditOrDel(list);
}
}

88
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/map/MapConsumer.java Normal file
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@ -0,0 +1,88 @@
package cn.iocoder.yudao.module.system.mq.consumer.map;
import cn.hutool.core.util.ObjectUtil;
import cn.iocoder.yudao.module.system.api.path.PathApi;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.remote.RemoteControllerInformationDO;
import cn.iocoder.yudao.module.system.enums.device.DeviceTypeEnum;
import cn.iocoder.yudao.module.system.enums.map.PointTypeEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.event.EventTypeEnum;
import cn.iocoder.yudao.module.system.mq.message.map.MapMessage;
import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointService;
import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.context.event.EventListener;
import org.springframework.scheduling.annotation.Async;
import org.springframework.stereotype.Component;
import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import java.util.function.Function;
import java.util.stream.Collectors;
@Component
@Slf4j
public class MapConsumer {
@Resource
private PathApi pathApi;
@Resource
private DeviceInformationService deviceInformationService;
@Resource
private WareHouseTakePointService houseTakePointService;
@EventListener
@Async
public void onMessage(MapMessage message) {
if (EventTypeEnum.MAP_UPDATE.getType().equals(message.getEventType())) {
pathApi.pathInitData();
Long mapId = Long.valueOf(message.getMessage());
List<DeviceInformationDO> devices = deviceInformationService.getDeviceInfoBindByMapId(mapId);
if (ObjectUtil.isEmpty(devices)) {
return;
}
List<Long> takePointIds = new ArrayList<>();
List<WareHouseTakePointDO> takePointDOS = new ArrayList<>();
for (DeviceInformationDO device : devices) {
if (!DeviceTypeEnum.FLIP.getType().equals(device.getDeviceType()) || ObjectUtil.isNotEmpty(device.getTakePointId())) {
continue;
}
takePointIds.add(device.getTakePointId());
}
houseTakePointService.setTakePointMapIdEmpty(mapId, takePointIds);
if (ObjectUtil.isEmpty(takePointIds)) {
return;
}
WareHouseTakePointSaveReqVO reqVO = new WareHouseTakePointSaveReqVO();
reqVO.setIds(takePointIds);
List<WareHouseTakePointDO> houseTakePointList = houseTakePointService.getHouseTakePointList(reqVO);
Map<Long, WareHouseTakePointDO> pointMap = houseTakePointList.stream().collect(Collectors.toMap(WareHouseTakePointDO::getId, Function.identity()));
for (DeviceInformationDO device : devices) {
if (!DeviceTypeEnum.FLIP.getType().equals(device.getDeviceType()) || ObjectUtil.isEmpty(device.getTakePointId())) {
continue;
}
WareHouseTakePointDO wareHouseTakePointDO = pointMap.get(device.getId());
wareHouseTakePointDO.setPositionMapId(mapId);
wareHouseTakePointDO.setActualLocationX(device.getActualLocationX());
wareHouseTakePointDO.setActualLocationY(device.getActualLocationY());
takePointDOS.add(wareHouseTakePointDO);
}
houseTakePointService.updateBatchById(takePointDOS);
}
}
}

3
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/remote/RemoteControllerConsumer.java
View File

@ -1,7 +1,6 @@
package cn.iocoder.yudao.module.system.mq.consumer.remote;
import cn.iocoder.yudao.module.system.mq.message.RemoteSendMessage;
import cn.iocoder.yudao.module.system.mq.message.sms.SmsSendMessage;
import cn.iocoder.yudao.module.system.mq.message.remote.RemoteSendMessage;
import cn.iocoder.yudao.module.system.service.remote.RemoteControllerInformationService;
import lombok.extern.slf4j.Slf4j;
import org.springframework.context.event.EventListener;

23
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/consumer/task/TaskDistributionConsumer.java
View File

@ -1,6 +1,5 @@
package cn.iocoder.yudao.module.system.mq.consumer.task;
import cn.hutool.core.util.ObjectUtil;
import cn.iocoder.yudao.framework.common.util.date.DateUtils;
import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
import cn.iocoder.yudao.module.system.api.robot.vo.RobotWorkStatusDTO;
@ -13,9 +12,10 @@ import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
import cn.iocoder.yudao.module.system.enums.robot.CommandTypeEnum;
import cn.iocoder.yudao.module.system.enums.robot.RobotTaskTypeEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.WorkProgressEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.event.RobotTaskEventTypeEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.event.EventTypeEnum;
import cn.iocoder.yudao.module.system.mq.message.task.TaskDistributionMessage;
import cn.iocoder.yudao.module.system.service.log.RobotTaskTimeConsumingService;
import cn.iocoder.yudao.module.system.service.positionmap.PositionMapItemService;
import cn.iocoder.yudao.module.system.service.robot.RobotTaskDetailService;
import cn.iocoder.yudao.module.system.service.robot.RobotTaskService;
import cn.iocoder.yudao.module.system.service.statistics.RobotWorkingHoursStatisticsService;
@ -31,8 +31,6 @@ import java.time.Duration;
import java.time.LocalDateTime;
import java.time.format.DateTimeFormatter;
import static cn.iocoder.yudao.framework.common.util.date.DateUtils.FORMAT_YEAR_MONTH_DAY_HOUR_MINUTE_SECOND;
@Component
@Slf4j
@ -53,12 +51,15 @@ public class TaskDistributionConsumer {
@Resource
private RobotWorkingHoursStatisticsService robotWorkingHoursStatisticsService;
@Resource
private PositionMapItemService positionMapItemService;
@EventListener
@Async
public void onMessage(TaskDistributionMessage message) {
log.info("111111, 任务 : {}", JSON.toJSONString(message));
TenantContextHolder.setTenantId(1L);
if (RobotTaskEventTypeEnum.DISTRIBUTION.getType().equals(message.getEventType())) {
if (EventTypeEnum.TASK_DISTRIBUTION.getType().equals(message.getEventType())) {
RobotTaskDetailDO taskDetail = robotTaskDetailService.getTaskDetail(Long.valueOf(message.getMessage()));
robotWorkingHoursStatisticsService.createFreeTime(taskDetail.getRobotNo());
RobotTaskDO task = taskService.getTask(taskDetail.getRobotTaskId());
@ -71,12 +72,16 @@ public class TaskDistributionConsumer {
.setToLocationNo(taskDetail.getToLocationNo())
.setRobotNo(taskDetail.getRobotNo());
robotTaskTimeConsumingService.createRobotTaskTimeConsuming(data);
} else if (RobotTaskEventTypeEnum.TIME.getType().equals(message.getEventType())) {
} else if (EventTypeEnum.TASK_TIME.getType().equals(message.getEventType())) {
RobotWorkStatusDTO data = JSON.parseObject(message.getMessage(), RobotWorkStatusDTO.class);
addTaskTimeLog(data);
} else if (RobotTaskEventTypeEnum.DONE.getType().equals(message.getEventType())) {
} else if (EventTypeEnum.TASK_DONE.getType().equals(message.getEventType())) {
String orderId = message.getMessage();
String endTime = DateUtils.getYearMonthDayHourMinuteSecon();
/*try {
Thread.sleep(2000);
} catch (Exception e) {
}*/
RobotTaskDetailDO taskDetail = robotTaskDetailService.getTaskDetail(Long.valueOf(orderId));
if (RobotTaskTypeEnum.TAKE_RELEASE.getType().equals(taskDetail.getTaskType())) {
takeRelease(taskDetail, endTime, orderId);
@ -86,6 +91,8 @@ public class TaskDistributionConsumer {
takeTask(taskDetail, endTime, orderId);
} else if (RobotTaskTypeEnum.RELEASE.getType().equals(taskDetail.getTaskType())) {
releaseTask(taskDetail, endTime, orderId);
}else if (RobotTaskTypeEnum.MOVE_TO_POINT.getType().equals(taskDetail.getTaskType())) {
positionMapItemService.setMapItemUse(taskDetail.getReleaseId(),taskDetail.getRobotNo());
}
}
@ -185,7 +192,7 @@ public class TaskDistributionConsumer {
*/
private void addTaskTimeLog(RobotWorkStatusDTO data) {
if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(data.getCommandType())
&& WorkProgressEnum.FORK_AND_TILT_INIT.getType().equals(data.getWorkProgress())
&& WorkProgressEnum.FORK_AND_TILT.getType().equals(data.getWorkProgress())
&& RobotExecutionStateConstant.DOING.equals(Integer.valueOf(data.getExecutionState()))) {
startPickUp(data);
} else if (CommandTypeEnum.WORK_PICK_UP_GOODS.getType().equals(data.getCommandType())

22
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/message/map/MapMessage.java Normal file
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@ -0,0 +1,22 @@
package cn.iocoder.yudao.module.system.mq.message.map;
import org.springframework.context.ApplicationEvent;
public class MapMessage extends ApplicationEvent {
private String msg;
private String eventType;
public MapMessage(Object source, String msg,String eventType) {
super(source);
this.msg = msg;
this.eventType = eventType;
}
public String getMessage() {
return msg;
}
public String getEventType() {
return eventType;
}
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/message/RemoteSendMessage.java → yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/message/remote/RemoteSendMessage.java
View File

@ -1,4 +1,4 @@
package cn.iocoder.yudao.module.system.mq.message;
package cn.iocoder.yudao.module.system.mq.message.remote;
import lombok.Builder;
import lombok.Data;

21
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/producer/map/MapProducer.java Normal file
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@ -0,0 +1,21 @@
package cn.iocoder.yudao.module.system.mq.producer.map;
import cn.iocoder.yudao.module.system.mq.message.map.MapMessage;
import lombok.extern.slf4j.Slf4j;
import org.springframework.context.ApplicationContext;
import org.springframework.stereotype.Component;
import javax.annotation.Resource;
@Slf4j
@Component
public class MapProducer {
@Resource
private ApplicationContext applicationContext;
public void sendSmsSendMessage(MapMessage message) {
applicationContext.publishEvent(message);
}
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/producer/remote/RemoteControllerProducer.java
View File

@ -1,6 +1,6 @@
package cn.iocoder.yudao.module.system.mq.producer.remote;
import cn.iocoder.yudao.module.system.mq.message.RemoteSendMessage;
import cn.iocoder.yudao.module.system.mq.message.remote.RemoteSendMessage;
import lombok.extern.slf4j.Slf4j;
import org.springframework.context.ApplicationContext;
import org.springframework.stereotype.Component;

1
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/mq/producer/task/TaskDistributionProducer.java
View File

@ -1,6 +1,5 @@
package cn.iocoder.yudao.module.system.mq.producer.task;
import cn.iocoder.yudao.module.system.mq.message.RemoteSendMessage;
import cn.iocoder.yudao.module.system.mq.message.task.TaskDistributionMessage;
import lombok.extern.slf4j.Slf4j;
import org.springframework.context.ApplicationContext;

42
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/HouseLocationServiceImpl.java
View File

@ -9,10 +9,13 @@ import cn.iocoder.yudao.module.system.constant.CommonConstant;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.*;
import cn.iocoder.yudao.module.system.controller.admin.log.vo.UserOperationLogSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseLocationMapper;
import cn.iocoder.yudao.module.system.enums.robot.LocationEnableEnum;
import cn.iocoder.yudao.module.system.enums.robot.LocationLockEnum;
import cn.iocoder.yudao.module.system.enums.robot.LocationUseStatusEnum;
import cn.iocoder.yudao.module.system.enums.robot.ReleaseTakeEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotTakeEnum;
import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
@ -21,6 +24,7 @@ import org.springframework.transaction.annotation.Transactional;
import org.springframework.validation.annotation.Validated;
import javax.annotation.Resource;
import java.util.ArrayList;
import java.util.List;
import java.util.Map;
import java.util.function.Function;
@ -46,6 +50,9 @@ public class HouseLocationServiceImpl extends ServiceImpl<WareHouseLocationMappe
@Resource
private UserOperationLogService userOperationLogService;
@Resource
private WareHouseTakePointService houseTakePointService;
@Override
@Transactional(rollbackFor = Exception.class)
public Long createHouseLocation(WareHouseLocationSaveReqVO createReqVO) {
@ -70,7 +77,7 @@ public class HouseLocationServiceImpl extends ServiceImpl<WareHouseLocationMappe
String str = getChangeInfo(wareHouseLocationDO, updateObj);
if(ObjectUtil.isEmpty(str)) {
if (ObjectUtil.isEmpty(str)) {
return;
}
@ -112,11 +119,11 @@ public class HouseLocationServiceImpl extends ServiceImpl<WareHouseLocationMappe
}
if (!wareHouseLocationDO.getLocationLock().equals(updateReqVO.getLocationLock())
&& LocationLockEnum.NO.getType().equals(updateReqVO.getLocationLock())) {
str = str + " 设置库位锁定状态为锁定" ;
}else if (!wareHouseLocationDO.getLocationLock().equals(updateReqVO.getLocationLock())
&& LocationLockEnum.NO.getType().equals(updateReqVO.getLocationLock())) {
str = str + " 设置库位锁定状态为锁定";
} else if (!wareHouseLocationDO.getLocationLock().equals(updateReqVO.getLocationLock())
&& LocationLockEnum.YES.getType().equals(updateReqVO.getLocationLock())) {
str = str + " 设置库位锁定状态为正常" ;
str = str + " 设置库位锁定状态为正常";
}
return str;
@ -149,7 +156,28 @@ public class HouseLocationServiceImpl extends ServiceImpl<WareHouseLocationMappe
@Override
public List<WareHouseLocationRespVO> getLocationByName(WareHouseLocationVO requestVO) {
return houseLocationMapper.getLocationByName(requestVO);
if (RobotTakeEnum.TO_LOCATION.getType().equals(requestVO.getType())
|| RobotTakeEnum.TO_LANE.getType().equals(requestVO.getType())
|| RobotTakeEnum.TO_LINE_POINT.getType().equals(requestVO.getType())
|| RobotTakeEnum.TO_AREA.getType().equals(requestVO.getType())) {
return houseLocationMapper.getLocationByName(requestVO);
} else if (RobotTakeEnum.TO_POINT.getType().equals(requestVO.getType())) {
WareHouseTakePointSaveReqVO reqVO = new WareHouseTakePointSaveReqVO();
reqVO.setPointName(requestVO.getLocationNo());
List<WareHouseTakePointDO> houseTakePointList = houseTakePointService.getHouseTakePointList(reqVO);
if (ObjectUtil.isEmpty(houseTakePointList)) {
return null;
}
List<WareHouseLocationRespVO> list = new ArrayList<>();
for (WareHouseTakePointDO wareHouseTakePointDO : houseTakePointList) {
WareHouseLocationRespVO houseLocationRespVO = new WareHouseLocationRespVO();
houseLocationRespVO.setId(wareHouseTakePointDO.getId());
houseLocationRespVO.setLocationNo(wareHouseTakePointDO.getPointName());
list.add(houseLocationRespVO);
}
return list;
}
return null;
}
@Override
@ -182,6 +210,7 @@ public class HouseLocationServiceImpl extends ServiceImpl<WareHouseLocationMappe
/**
* 获取这个地图对应的库位和坐标信息
*
* @param mapId
* @return
*/
@ -197,6 +226,7 @@ public class HouseLocationServiceImpl extends ServiceImpl<WareHouseLocationMappe
/**
* 查询有货或者有锁定的库位
*
* @param mapId
* @return
*/

63
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointBindingService.java Normal file
View File

@ -0,0 +1,63 @@
package cn.iocoder.yudao.module.system.service.houselocation;
import java.util.*;
import javax.validation.*;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointBindingDO;
import com.baomidou.mybatisplus.extension.service.IService;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
/**
* 取货点位绑定 Service 接口
*
* @author 陈宾顺
*/
public interface WareHouseTakePointBindingService extends IService<WareHouseTakePointBindingDO> {
/**
* 创建取货点位绑定
*
* @param createReqVO 创建信息
* @return 编号
*/
Long createHouseTakePointBinding(@Valid WareHouseTakePointBindingSaveReqVO createReqVO);
/**
* 更新取货点位绑定
*
* @param updateReqVO 更新信息
*/
void updateHouseTakePointBinding(@Valid WareHouseTakePointBindingSaveReqVO updateReqVO);
/**
* 删除取货点位绑定
*
* @param id 编号
*/
void deleteHouseTakePointBinding(Long id);
/**
* 获得取货点位绑定
*
* @param id 编号
* @return 取货点位绑定
*/
WareHouseTakePointBindingDO getHouseTakePointBinding(Long id);
/**
* 获得取货点位绑定分页
*
* @param pageReqVO 分页查询
* @return 取货点位绑定分页
*/
PageResult<WareHouseTakePointBindingDO> getHouseTakePointBindingPage(WareHouseTakePointBindingPageReqVO pageReqVO);
void createHouseTakePointBindings(List<WareHouseTakePointBindingDO> list);
void deleteByBindingId(Long id);
List<WareHouseTakePointBindingDO> getByBindingId(Long id);
}

93
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointBindingServiceImpl.java Normal file
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@ -0,0 +1,93 @@
package cn.iocoder.yudao.module.system.service.houselocation;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointBindingSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointBindingDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseTakePointBindingMapper;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
import org.springframework.validation.annotation.Validated;
import org.springframework.transaction.annotation.Transactional;
import java.util.*;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.HOUSE_TAKE_POINT_BINDING_NOT_EXISTS;
/**
* 取货点位绑定 Service 实现类
*
* @author 陈宾顺
*/
@Service
@Validated
public class WareHouseTakePointBindingServiceImpl extends ServiceImpl<WareHouseTakePointBindingMapper, WareHouseTakePointBindingDO> implements WareHouseTakePointBindingService {
@Resource
private WareHouseTakePointBindingMapper houseTakePointBindingMapper;
@Override
public Long createHouseTakePointBinding(WareHouseTakePointBindingSaveReqVO createReqVO) {
// 插入
WareHouseTakePointBindingDO houseTakePointBinding = BeanUtils.toBean(createReqVO, WareHouseTakePointBindingDO.class);
houseTakePointBindingMapper.insert(houseTakePointBinding);
// 返回
return houseTakePointBinding.getId();
}
@Override
public void updateHouseTakePointBinding(WareHouseTakePointBindingSaveReqVO updateReqVO) {
// 校验存在
validateHouseTakePointBindingExists(updateReqVO.getId());
// 更新
WareHouseTakePointBindingDO updateObj = BeanUtils.toBean(updateReqVO, WareHouseTakePointBindingDO.class);
houseTakePointBindingMapper.updateById(updateObj);
}
@Override
public void deleteHouseTakePointBinding(Long id) {
// 校验存在
validateHouseTakePointBindingExists(id);
// 删除
houseTakePointBindingMapper.deleteById(id);
}
private void validateHouseTakePointBindingExists(Long id) {
if (houseTakePointBindingMapper.selectById(id) == null) {
throw exception(HOUSE_TAKE_POINT_BINDING_NOT_EXISTS);
}
}
@Override
public WareHouseTakePointBindingDO getHouseTakePointBinding(Long id) {
return houseTakePointBindingMapper.selectById(id);
}
@Override
public PageResult<WareHouseTakePointBindingDO> getHouseTakePointBindingPage(WareHouseTakePointBindingPageReqVO pageReqVO) {
return houseTakePointBindingMapper.selectPage(pageReqVO);
}
@Override
public void createHouseTakePointBindings(List<WareHouseTakePointBindingDO> list) {
houseTakePointBindingMapper.insert(list);
}
@Override
public void deleteByBindingId(Long id) {
houseTakePointBindingMapper.deleteByBindingId(id);
}
@Override
public List<WareHouseTakePointBindingDO> getByBindingId(Long bindingId) {
return houseTakePointBindingMapper.selectList(new LambdaQueryWrapperX<WareHouseTakePointBindingDO>()
.eq(WareHouseTakePointBindingDO::getBindingId, bindingId));
}
}

68
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointService.java Normal file
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@ -0,0 +1,68 @@
package cn.iocoder.yudao.module.system.service.houselocation;
import java.util.*;
import javax.validation.*;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
import com.baomidou.mybatisplus.extension.service.IService;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.pojo.PageParam;
/**
* 取货点位 Service 接口
*
* @author 陈宾顺
*/
public interface WareHouseTakePointService extends IService<WareHouseTakePointDO> {
/**
* 创建取货点位
*
* @param createReqVO 创建信息
* @return 编号
*/
Long createHouseTakePoint(@Valid WareHouseTakePointSaveReqVO createReqVO);
/**
* 更新取货点位
*
* @param updateReqVO 更新信息
*/
void updateHouseTakePoint(@Valid WareHouseTakePointSaveReqVO updateReqVO);
/**
* 删除取货点位
*
* @param id 编号
*/
void deleteHouseTakePoint(Long id);
/**
* 获得取货点位
*
* @param id 编号
* @return 取货点位
*/
WareHouseTakePointDO getHouseTakePoint(Long id);
/**
* 获得取货点位分页
*
* @param pageReqVO 分页查询
* @return 取货点位分页
*/
PageResult<WareHouseTakePointDO> getHouseTakePointPage(WareHouseTakePointPageReqVO pageReqVO);
List<WareHouseTakePointDO> getHouseTakePointList(WareHouseTakePointSaveReqVO updateReqVO);
void setTakePointMapIdEmpty(Long mapId,List<Long> ids);
void batchEditOrDel(List<List<WareHouseTakePointDO>> list);
WareHouseTakePointDO getHouseTakePointByItemIdAndStorey(Long positionMapItemId, int locationStorey);
void updateHouseTakePointByItemIdAndStorey(WareHouseTakePointDO pointDO);
}

122
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/houselocation/WareHouseTakePointServiceImpl.java Normal file
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@ -0,0 +1,122 @@
package cn.iocoder.yudao.module.system.service.houselocation;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseTakePointSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
import cn.iocoder.yudao.module.system.dal.dataobject.parkingspot.ParkingSpotDO;
import cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseTakePointMapper;
import org.springframework.stereotype.Service;
import javax.annotation.Resource;
import org.springframework.validation.annotation.Validated;
import java.util.*;
import cn.iocoder.yudao.framework.common.pojo.PageResult;
import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import com.baomidou.mybatisplus.extension.service.impl.ServiceImpl;
import static cn.hutool.core.collection.CollUtil.isNotEmpty;
import static cn.iocoder.yudao.framework.common.exception.util.ServiceExceptionUtil.exception;
import static cn.iocoder.yudao.framework.common.util.collection.CollectionUtils.convertList;
import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.HOUSE_TAKE_POINT_NOT_EXISTS;
/**
* 取货点位 Service 实现类
*
* @author 陈宾顺
*/
@Service
@Validated
public class WareHouseTakePointServiceImpl extends ServiceImpl<WareHouseTakePointMapper, WareHouseTakePointDO> implements WareHouseTakePointService {
@Resource
private WareHouseTakePointMapper houseTakePointMapper;
@Override
public Long createHouseTakePoint(WareHouseTakePointSaveReqVO createReqVO) {
// 插入
WareHouseTakePointDO houseTakePoint = BeanUtils.toBean(createReqVO, WareHouseTakePointDO.class);
houseTakePointMapper.insert(houseTakePoint);
// 返回
return houseTakePoint.getId();
}
@Override
public void updateHouseTakePoint(WareHouseTakePointSaveReqVO updateReqVO) {
// 校验存在
validateHouseTakePointExists(updateReqVO.getId());
// 更新
WareHouseTakePointDO updateObj = BeanUtils.toBean(updateReqVO, WareHouseTakePointDO.class);
houseTakePointMapper.updateById(updateObj);
}
@Override
public void deleteHouseTakePoint(Long id) {
// 校验存在
validateHouseTakePointExists(id);
// 删除
houseTakePointMapper.deleteById(id);
}
private void validateHouseTakePointExists(Long id) {
if (houseTakePointMapper.selectById(id) == null) {
throw exception(HOUSE_TAKE_POINT_NOT_EXISTS);
}
}
@Override
public WareHouseTakePointDO getHouseTakePoint(Long id) {
return houseTakePointMapper.selectById(id);
}
@Override
public PageResult<WareHouseTakePointDO> getHouseTakePointPage(WareHouseTakePointPageReqVO pageReqVO) {
return houseTakePointMapper.selectPage(pageReqVO);
}
@Override
public List<WareHouseTakePointDO> getHouseTakePointList(WareHouseTakePointSaveReqVO reqVO) {
return houseTakePointMapper.selectList(new LambdaQueryWrapperX<WareHouseTakePointDO>()
.likeIfPresent(WareHouseTakePointDO::getPointName, reqVO.getPointName())
.eqIfPresent(WareHouseTakePointDO::getPointType, reqVO.getPointType())
.inIfPresent(WareHouseTakePointDO::getId, reqVO.getIds())
.eqIfPresent(WareHouseTakePointDO::getPointStatus, reqVO.getPointStatus())
.eqIfPresent(WareHouseTakePointDO::getPositionMapId, reqVO.getPositionMapId())
.eqIfPresent(WareHouseTakePointDO::getLocationStorey, reqVO.getLocationStorey())
.eqIfPresent(WareHouseTakePointDO::getPositionMapItemId, reqVO.getPositionMapItemId()));
}
@Override
public void setTakePointMapIdEmpty(Long mapId,List<Long> ids) {
houseTakePointMapper.setTakePointMapIdEmpty(mapId,ids);
}
@Override
public void batchEditOrDel(List<List<WareHouseTakePointDO>> list) {
//批量添加、修改、删除
if (isNotEmpty(list.get(0))) {
houseTakePointMapper.insertBatch(list.get(0));
}
if (isNotEmpty(list.get(1))) {
houseTakePointMapper.updateBatch(list.get(1));
}
if (isNotEmpty(list.get(2))) {
houseTakePointMapper.deleteByIds(convertList(list.get(2), WareHouseTakePointDO::getId));
}
}
@Override
public WareHouseTakePointDO getHouseTakePointByItemIdAndStorey(Long positionMapItemId, int locationStorey) {
return houseTakePointMapper.selectOne(new LambdaQueryWrapperX<WareHouseTakePointDO>()
.eq(WareHouseTakePointDO::getPositionMapItemId, positionMapItemId)
.eq(WareHouseTakePointDO::getLocationStorey, locationStorey));
}
@Override
public void updateHouseTakePointByItemIdAndStorey(WareHouseTakePointDO pointDO) {
houseTakePointMapper.updateHouseTakePointByItemIdAndStorey(pointDO);
}
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationService.java
View File

@ -49,7 +49,7 @@ public interface DeviceInformationService extends IService<DeviceInformationDO>
* @param id 编号
* @return 设备信息
*/
DeviceInformationDO getInformation(Long id);
DeviceInformationRespVO getInformation(Long id);
/**
* 获得设备信息分页

64
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/information/DeviceInformationServiceImpl.java
View File

@ -16,17 +16,21 @@ import cn.iocoder.yudao.module.system.controller.admin.information.vo.DeviceInfo
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.houselocation.WareHouseTakePointBindingDO;
import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
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.mysql.information.DeviceInformationMapper;
import cn.iocoder.yudao.module.system.dal.mysql.positionmap.PositionMapMapper;
import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
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.houselocation.WareHouseTakePointBindingService;
import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointService;
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.RobotWarnMsgService;
@ -96,6 +100,12 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
@Autowired
private ZnConfigConstant znConfigConstant;
@Resource
private WareHouseTakePointBindingService houseTakePointBindingService;
@Resource
private WareHouseTakePointService houseTakePointService;
@Override
public Long createInformation(DeviceInformationSaveReqVO createReqVO) {
// -- 先判断库里是否有相通的mac地址数据
@ -114,11 +124,20 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
createReqVO.setUrl(dictDataDO.getRemark());
}
List<WareHouseTakePointBindingDO> list = new ArrayList<>();
if (DeviceTypeEnum.CAMERA.getType().equals(createReqVO.getDeviceType())) {
try {
createReqVO.setCameraCode(AESEncryptionUtil.getEncrypt(createReqVO.getCameraCode(), znConfigConstant.getCameraSecretKey()));
} catch (Exception ignored) {
}
}else if (DeviceTypeEnum.FLIP.getType().equals(createReqVO.getDeviceType())) {
if (ObjectUtil.isEmpty(createReqVO.getTakePointId())) {
throw exception(INFORMATION_FLIP_BINDING);
}
if (ObjectUtil.isEmpty(createReqVO.getCheckPointIds())) {
throw exception(INFORMATION_FLIP_NEED_BINDING_CHECK);
}
}
// 插入
@ -126,6 +145,16 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
information.setDeviceStatus(1);
informationMapper.insert(information);
for (Long takePointId : createReqVO.getCheckPointIds()) {
WareHouseTakePointBindingDO data = new WareHouseTakePointBindingDO();
data.setBindingId(information.getId());
data.setBindingType(ZeroOneEnum.ZERO.getType());
data.setTakePointId(takePointId);
list.add(data);
}
houseTakePointBindingService.createHouseTakePointBindings(list);
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction("新增设备 " + createReqVO.getDeviceNo())
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
@ -178,6 +207,18 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
positionMapItemService.updateById(positionMapItem);
}
List<WareHouseTakePointBindingDO> list = new ArrayList<>();
if (ObjectUtil.isNotEmpty(updateReqVO.getCheckPointIds())) {
for (Long takePointId : updateReqVO.getCheckPointIds()) {
WareHouseTakePointBindingDO data = new WareHouseTakePointBindingDO();
data.setBindingId(updateReqVO.getId());
data.setBindingType(ZeroOneEnum.ZERO.getType());
data.setTakePointId(takePointId);
list.add(data);
}
}
houseTakePointBindingService.deleteByBindingId(updateReqVO.getId());
houseTakePointBindingService.createHouseTakePointBindings(list);
UserOperationLogSaveReqVO operationLog = UserOperationLogSaveReqVO.builder()
.operateAction("更新设备信息 " + updateReqVO.getDeviceNo())
.nickName(SecurityFrameworkUtils.getLoginUserNickname()).build();
@ -210,15 +251,31 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
}
@Override
public DeviceInformationDO getInformation(Long id) {
public DeviceInformationRespVO getInformation(Long id) {
// 校验存在
validateInformationExists(id);
DeviceInformationDO deviceInformationDO = informationMapper.selectById(id);
String deviceKey = DeviceChcheConstant.DEVICE_LAST_TIME + deviceInformationDO.getMacAddress();
Object object = redisUtil.get(deviceKey);
DeviceInformationRespVO device = BeanUtils.toBean(deviceInformationDO, DeviceInformationRespVO.class);
if (DeviceTypeEnum.FLIP.getType().equals(deviceInformationDO.getDeviceType())) {
// WareHouseTakePointDO takeWareHouseTakePointDO = houseTakePointService.getById(deviceInformationDO.getTakePointId());
device.setTakePointId(deviceInformationDO.getTakePointId());
List<WareHouseTakePointBindingDO> bindingDOS = houseTakePointBindingService.getByBindingId(id);
if (ObjectUtil.isNotEmpty(bindingDOS)) {
List<Long> pointIds = bindingDOS.stream().map(WareHouseTakePointBindingDO::getTakePointId).collect(Collectors.toList());
/*WareHouseTakePointSaveReqVO reqVO = new WareHouseTakePointSaveReqVO();
reqVO.setIds(pointIds);
List<WareHouseTakePointDO> houseTakePointList = houseTakePointService.getHouseTakePointList(reqVO);
device.setCheckPointBindingList(houseTakePointList);*/
device.setCheckPointIds(pointIds);
}
}
if (ObjectUtil.isEmpty(object)) {
deviceInformationDO.setDeviceStatus(DeviceStatusEnum.OFF_LINE.getType());
return deviceInformationDO;
return device;
}
try {
DateTimeFormatter df = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
@ -228,7 +285,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
} catch (Exception e) {
log.info("查询设备最后通讯时间异常 :{}", e.getMessage());
}
return deviceInformationDO;
return device;
}
@Override
@ -269,6 +326,7 @@ public class DeviceInformationServiceImpl extends ServiceImpl<DeviceInformationM
.isNull(dto.getUnboundFlag() != null && dto.getUnboundFlag() == 1, DeviceInformationDO::getPositionMapId)
.eq(dto.getPositionMapId() != null, DeviceInformationDO::getPositionMapId, dto.getPositionMapId())
.eq(dto.getDeviceType() != null, DeviceInformationDO::getDeviceType, dto.getDeviceType())
.in(dto.getDeviceTypes() != null, DeviceInformationDO::getDeviceType, dto.getDeviceTypes())
.eq(dto.getDeviceStatus() != null, DeviceInformationDO::getDeviceStatus, dto.getDeviceStatus())
.eq(dto.getDeviceEnable() != null, DeviceInformationDO::getDeviceEnable, dto.getDeviceEnable())
);

6
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/log/RobotTaskLineTimeConsumingServiceImpl.java
View File

@ -10,6 +10,7 @@ import cn.iocoder.yudao.module.system.controller.admin.log.vo.RobotTaskLineTimeC
import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskLineTimeConsumingDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDetailDO;
import cn.iocoder.yudao.module.system.dal.mysql.log.RobotTaskLineTimeConsumingMapper;
import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
import cn.iocoder.yudao.module.system.service.robot.RobotTaskDetailService;
import com.alibaba.fastjson.JSON;
import lombok.extern.slf4j.Slf4j;
@ -97,11 +98,14 @@ public class RobotTaskLineTimeConsumingServiceImpl extends ServiceImpl<RobotTask
RobotTaskDetailDO taskDetail = robotTaskDetailService.getTaskDetail(orderId);
List<RobotTaskLineTimeConsumingDO> addList = new ArrayList<>();
for (RobotTaskLineTimeConsumingDetailDTO v : list) {
if ((ZeroOneEnum.ZERO.getType()+"").equals(v.getTimeConsuming())) {
continue;
}
RobotTaskLineTimeConsumingDO line = BeanUtils.toBean(v, RobotTaskLineTimeConsumingDO.class);
line.setTaskNo(taskNo);
line.setTaskDetailId(orderId);
line.setRobotNo(taskDetail.getRobotNo());
line.setTotalTimeConsuming(v.getTimeConsuming());
line.setTotalTimeConsuming(String.format("%.2f", Double.valueOf(v.getTimeConsuming())));
line.setFromSortNum(getSpit(line.getFromSortNum()));
line.setToSortNum(getSpit(line.getToSortNum()));
if (ObjectUtil.isNotEmpty(v.getTimeConsuming()) && ObjectUtil.isNotEmpty(v.getTotalDistance())) {

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/mqtt/PlanningRobotWalkingDistanceServiceImpl.java
View File

@ -32,11 +32,6 @@ public class PlanningRobotWalkingDistanceServiceImpl implements MqttService {
if (!str.contains(".")) {
return str;
}
String[] split = str.split("\\.");
String decimal = split[1];
if (split[1].length() > 2) {
decimal = split[1].substring(0, 2);
}
return split[0] + "." + decimal;
return String.format("%.2f", Double.valueOf(str));
}
}

7
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemService.java
View File

@ -154,4 +154,11 @@ public interface PositionMapItemService extends IService<PositionMapItemDO> {
void checkHaveBindChangePoint(Long mapId);
PositionMapConfigDTO getCheckDistance();
/**
* 设置点位使用中
* @param releaseId
* @param robotNo
*/
void setMapItemUse(Long releaseId, String robotNo);
}

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/positionmap/PositionMapItemServiceImpl.java
View File

@ -281,4 +281,9 @@ public class PositionMapItemServiceImpl extends ServiceImpl<PositionMapItemMappe
return configDTO;
}
@Override
public void setMapItemUse(Long releaseId, String robotNo) {
positionMapItemMapper.setMapItemUse(releaseId,robotNo);
}
}

2
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationService.java
View File

@ -11,7 +11,7 @@ import cn.iocoder.yudao.module.system.api.remote.dto.RemoteTaskTransferDTO;
import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RemoteControllerInformationPageReqVO;
import cn.iocoder.yudao.module.system.controller.admin.remote.vo.RemoteControllerInformationSaveReqVO;
import cn.iocoder.yudao.module.system.dal.dataobject.remote.RemoteControllerInformationDO;
import cn.iocoder.yudao.module.system.mq.message.RemoteSendMessage;
import cn.iocoder.yudao.module.system.mq.message.remote.RemoteSendMessage;
import com.baomidou.mybatisplus.extension.service.IService;
import cn.iocoder.yudao.framework.common.pojo.PageResult;

5
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/remote/RemoteControllerInformationServiceImpl.java
View File

@ -2,8 +2,6 @@ package cn.iocoder.yudao.module.system.service.remote;
import cn.hutool.core.util.ObjectUtil;
import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
import cn.iocoder.yudao.module.mqtt.api.path.dto.PathPosedsDTO;
import cn.iocoder.yudao.module.mqtt.api.path.dto.PathToRobotDTO;
import cn.iocoder.yudao.module.mqtt.api.path.dto.remote.RemotePathPlanningDTO;
import cn.iocoder.yudao.module.mqtt.api.path.dto.remote.RobotModeDTO;
@ -29,7 +27,6 @@ import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLo
import cn.iocoder.yudao.module.system.dal.dataobject.remote.RemoteControllerInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotMapStopDO;
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.remote.RemoteControllerInformationMapper;
@ -45,7 +42,7 @@ import cn.iocoder.yudao.module.system.enums.robot.remote.RemoteOperationModeEnum
import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskManualInterventionEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
import cn.iocoder.yudao.module.system.mq.message.RemoteSendMessage;
import cn.iocoder.yudao.module.system.mq.message.remote.RemoteSendMessage;
import cn.iocoder.yudao.module.system.mq.producer.remote.RemoteControllerProducer;
import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogService;
import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;

29
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotInformationServiceImpl.java
View File

@ -38,6 +38,7 @@ import cn.iocoder.yudao.module.system.controller.admin.statistics.dto.RobotStatu
import cn.iocoder.yudao.module.system.controller.admin.tool.dto.CleanAgvDTO;
import cn.iocoder.yudao.module.system.dal.dataobject.config.CommonConfigDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
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;
@ -62,6 +63,7 @@ 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.LocationLockEnum;
import cn.iocoder.yudao.module.system.enums.robot.LocationUseStatusEnum;
import cn.iocoder.yudao.module.system.enums.robot.ReleaseTakeEnum;
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;
@ -71,6 +73,7 @@ import cn.iocoder.yudao.module.system.enums.robot.charge.ChargeModelEnum;
import cn.iocoder.yudao.module.system.enums.robot.information.RobotStatisticsTypeEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotCommandTypeEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointService;
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;
@ -185,6 +188,9 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
@Lazy
private RobotMapStopService mapStopService;
@Resource
private WareHouseTakePointService houseTakePointService;
@Override
@Transactional(rollbackFor = Exception.class)
public Long createInformation(RobotInformationSaveReqVO createReqVO) {
@ -1343,7 +1349,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
TaskRobotNoLimittationAreaDTO taskRobotNoLimittationAreaDTO =
robotPathPlanningService.getRobotNoLimitationArea(Collections.singletonList(robotInformationDO)).get(0);
List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = Arrays.asList(taskRobotNoLimittationAreaDTO);
List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = Collections.singletonList(taskRobotNoLimittationAreaDTO);
pathPlanning.setRobotNoLimitationAreaDTOS(robotNoLimitions);
resendToPPData(pathPlanning, actionLog, robotInformationDO, false);
@ -1456,14 +1462,21 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
pathPlanning.setTakeOffsetHeight(null);
pathPlanning.setTakeOffsetHeight(null);
pathPlanning.setTaskType(PathTaskTypeToRobotEnum.DROP_OFF_GOODS.getType());
WareHouseLocationDO wareHouseLocation = wareHouseLocationMapper.selectById(robotTaskDetail.getFromLocationId());
if (wareHouseLocation.getTaskId().equals(robotTaskDetail.getTakeId()) && LocationLockEnum.NO.getType().equals(wareHouseLocation.getLocationLock())) {
wareHouseLocation.setSkuInfo(null);
wareHouseLocation.setSkuNumber(0L);
wareHouseLocation.setLocationLock(LocationLockEnum.YES.getType());
wareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.NO.getType());
wareHouseLocationMapper.updateById(wareHouseLocation);
if(ReleaseTakeEnum.isLocation(robotTaskDetail.getTakeType())) {
WareHouseLocationDO wareHouseLocation = wareHouseLocationMapper.selectById(robotTaskDetail.getFromLocationId());
if (wareHouseLocation.getTaskId().equals(robotTaskDetail.getTakeId()) && LocationLockEnum.NO.getType().equals(wareHouseLocation.getLocationLock())) {
wareHouseLocation.setSkuInfo(null);
wareHouseLocation.setSkuNumber(0L);
wareHouseLocation.setLocationLock(LocationLockEnum.YES.getType());
wareHouseLocation.setLocationUseStatus(LocationUseStatusEnum.NO.getType());
wareHouseLocationMapper.updateById(wareHouseLocation);
}
} else if (ReleaseTakeEnum.TO_POINT.getType().equals(robotTaskDetail.getTakeType())) {
WareHouseTakePointDO houseTakePoint = houseTakePointService.getHouseTakePoint(robotTaskDetail.getFromLocationId());
houseTakePoint.setPointStatus(ZeroOneEnum.ZERO.getType());
houseTakePointService.updateById(houseTakePoint);
}
}
/**

49
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/RobotTaskServiceImpl.java
View File

@ -9,7 +9,6 @@ import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
import cn.iocoder.yudao.framework.mybatis.core.util.MyBatisUtils;
import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
import cn.iocoder.yudao.module.mqtt.api.common.CommonApi;
import cn.iocoder.yudao.module.mqtt.api.task.dto.*;
import cn.iocoder.yudao.module.mqtt.enums.task.ExecutionTypeEnum;
import cn.iocoder.yudao.module.system.api.path.vo.RobotClosePathPlantingDTO;
@ -30,6 +29,7 @@ import cn.iocoder.yudao.module.system.dal.dataobject.cycle.TaskCycleDO;
import cn.iocoder.yudao.module.system.dal.dataobject.housearea.HouseAreaDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselane.WareHouseLaneDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.log.RobotTaskDetailActionLogDO;
import cn.iocoder.yudao.module.system.dal.dataobject.positionmap.PositionMapItemDO;
@ -42,14 +42,12 @@ import cn.iocoder.yudao.module.system.dal.mysql.housearea.HouseAreaMapper;
import cn.iocoder.yudao.module.system.dal.mysql.houselane.WareHouseLaneMapper;
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.log.RobotTaskDetailActionLogMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotChargeLogMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
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.DeviceUseStatusEnum;
import cn.iocoder.yudao.module.system.enums.item.PositionMapItemEnum;
import cn.iocoder.yudao.module.system.enums.item.UseStatusEnum;
import cn.iocoder.yudao.module.system.enums.path.PathTaskTypeEnum;
import cn.iocoder.yudao.module.system.enums.redis.RobotCacheLockEnum;
@ -61,16 +59,15 @@ 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.RobotTaskManualInterventionEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.RobotTaskStageEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.event.RobotTaskEventTypeEnum;
import cn.iocoder.yudao.module.system.enums.robot.task.event.EventTypeEnum;
import cn.iocoder.yudao.module.system.mq.message.task.TaskDistributionMessage;
import cn.iocoder.yudao.module.system.mq.producer.remote.RemoteControllerProducer;
import cn.iocoder.yudao.module.system.mq.producer.task.TaskDistributionProducer;
import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointService;
import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
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.simulation.RobotSimulationService;
import cn.iocoder.yudao.module.system.service.statistics.RobotWorkingHoursStatisticsService;
import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
import cn.iocoder.yudao.module.system.util.redis.RedissonUtils;
import com.alibaba.fastjson.JSON;
@ -82,7 +79,6 @@ import lombok.extern.slf4j.Slf4j;
import org.apache.commons.lang3.StringUtils;
import org.redisson.api.RLock;
import org.springframework.beans.factory.annotation.Autowired;
import org.springframework.beans.factory.annotation.Value;
import org.springframework.stereotype.Service;
import org.springframework.transaction.annotation.Transactional;
import org.springframework.validation.annotation.Validated;
@ -152,9 +148,6 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
@Resource
private DeviceInformationMapper deviceInformationMapper;
/*@Resource
private CommonApi commonApi;*/
@Autowired
private MqttUtils mqttUtils;
@ -182,6 +175,9 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
@Resource
private TaskDistributionProducer taskDistributionProducer;
@Resource
private WareHouseTakePointService houseTakePointService;
@Override
@Transactional(rollbackFor = Exception.class)
public Long createTask(RobotTaskSaveReqVO createReqVO) throws InterruptedException {
@ -387,10 +383,10 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
locationMapper.updateLocationLockList(list, task.getId(), LocationLockEnum.NO.getType());
});
if (znConfigConstant.getDoCycle() && ObjectUtil.isNotEmpty(createReqVO.getDoCycle())
/*if (znConfigConstant.getDoCycle() && ObjectUtil.isNotEmpty(createReqVO.getDoCycle())
&& ZeroOneEnum.ONE.getType().equals(createReqVO.getDoCycle().intValue())) {
addCycle(task.getId(), createReqVO.getTaskDetailList());
}
}*/
}
@Transactional(rollbackFor = Exception.class)
@ -653,7 +649,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
try {
TaskDistributionMessage mess = new TaskDistributionMessage(this, taskAssignDTO.getOrderId() + "",
RobotTaskEventTypeEnum.DISTRIBUTION.getType());
EventTypeEnum.TASK_DISTRIBUTION.getType());
taskDistributionProducer.sendSmsSendMessage(mess);
} catch (Exception e) {
log.info(e.getMessage());
@ -995,6 +991,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
robotTaskDetailAddVo.setFromLocationNumber(stockList.get(i).getLocationNumber());
robotTaskDetailAddVo.setFromMapItemId(stockList.get(i).getMapItemId());
robotTaskDetailAddVo.setToMapItemId(releaseStockList.get(i).getMapItemId());
robotTaskDetailAddVo.setToLocationNumber(releaseStockList.get(i).getLocationNumber());
robotTaskDetailAddVo.setRobotTaskId(taskId);
robotTaskDetailAddVo.setPriority(robotTaskVo.getPriority());
robotTaskDetailAddVo.setFromLocationStorey(stockList.get(i).getLocationStorey());
@ -1027,7 +1024,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
releaseMapItemIds = new ArrayList<>();
}
if (znConfigConstant.getDoCycle()) {
/*if (znConfigConstant.getDoCycle()) {
List<TaskCycleDO> taskCycleDOS = taskCycleMapper.selectList(new LambdaQueryWrapper<TaskCycleDO>());
if (ObjectUtil.isNotEmpty(taskCycleDOS)) {
List<Long> mapItemIds =
@ -1035,7 +1032,7 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
takeMapItemIds.addAll(mapItemIds);
releaseMapItemIds.addAll(mapItemIds);
}
}
}*/
List<WareHouseLocationDO> wareHouseLocationDOS = locationMapper.selectList(new LambdaQueryWrapper<WareHouseLocationDO>()
.eq(WareHouseLocationDO::getLocationEnable, LocationEnableEnum.NO.getType()));
if (ObjectUtil.isNotEmpty(wareHouseLocationDOS)) {
@ -1252,6 +1249,17 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
}
checkToLocationNoneTask(locationDO, chooseLocationIds);
releaseMapItemIds.add(locationDO.getMapItemId());
} else if (ReleaseTakeEnum.TO_POINT.getType().equals(robotTaskVo.getTakeType())) {
WareHouseTakePointDO houseTakePoint = houseTakePointService.getHouseTakePoint(robotTaskVo.getTakeId());
if (ZeroOneEnum.ONE.getType().equals(houseTakePoint.getPointStatus())) {
throw exception0(TASK_CREATE_FAIL.getCode(), "此放货点位有库存 " + houseTakePoint.getPointName());
}
robotTaskVo.setToLocationNo(houseTakePoint.getPointName());
robotTaskVo.setToLocationId(robotTaskVo.getTakeId());
robotTaskVo.setToLocationStorey(houseTakePoint.getLocationStorey());
robotTaskVo.setToLaneId(houseTakePoint.getLaneId());
robotTaskVo.setToLocationNumber(houseTakePoint.getLocationNumber());
robotTaskVo.setToMapItemId(houseTakePoint.getPositionMapItemId());
} else {
if (ReleaseTakeEnum.TO_LANE.getType().equals(robotTaskVo.getReleaseType()) && ObjectUtil.isEmpty(laneIds)
&& ObjectUtil.isNotEmpty(skuInfo)) {
@ -1332,6 +1340,17 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
}
checkFromLocationNoneTask(locationDO, chooseLocationIds);
takeMapItemIds.add(locationDO.getMapItemId());
} else if (ReleaseTakeEnum.TO_POINT.getType().equals(robotTaskVo.getTakeType())) {
WareHouseTakePointDO houseTakePoint = houseTakePointService.getHouseTakePoint(robotTaskVo.getTakeId());
if (ZeroOneEnum.ZERO.getType().equals(houseTakePoint.getPointStatus())) {
throw exception0(TASK_CREATE_FAIL.getCode(), "此取货点位没库存 " + houseTakePoint.getPointName());
}
robotTaskVo.setFromLocationNo(houseTakePoint.getPointName());
robotTaskVo.setFromLocationId(robotTaskVo.getTakeId());
robotTaskVo.setFromLocationStorey(houseTakePoint.getLocationStorey());
robotTaskVo.setFromLaneId(houseTakePoint.getLaneId());
robotTaskVo.setFromLocationNumber(houseTakePoint.getLocationNumber());
robotTaskVo.setFromMapItemId(houseTakePoint.getPositionMapItemId());
} else {
WareHouseLocationDO wareHouseLocationDO =
locationMapper.selectByTypeAndId(LocationUseStatusEnum.YES.getType(), robotTaskVo.getTakeType(),

4
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/CycleServiceImpl.java
View File

@ -133,9 +133,9 @@ public class CycleServiceImpl implements CycleService {
List<RobotTaskDetailAddVO> bean = BeanUtils.toBean(taskDetails, RobotTaskDetailAddVO.class);
Map<Long, List<RobotTaskDetailAddVO>> taskDetailMap =
bean.stream().collect(Collectors.groupingBy(RobotTaskDetailAddVO::getRobotTaskId));
taskDetailMap.forEach((k,v) ->{
/*taskDetailMap.forEach((k,v) ->{
robotTaskService.addCycle(k,v);
});
});*/
taskCycleMapper.deletByRobotTaskIds(taskIds);
setTaskUnDo();
}

12
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/job/DistributeTasksServiceImpl.java
View File

@ -107,6 +107,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfigDO.getConfigStr(), CommonConfigVO.class);
List<RobotInformationDO> taskRobots = new ArrayList<>();
for (RobotInformationDO robot : robots) {
if (ObjectUtil.isNotEmpty(remoteRobotNos) && remoteRobotNos.contains(robot.getRobotNo())) {
@ -163,6 +164,7 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
Boolean b = remainingElectricityBigger(chargeConfig, robot);
if (b) {
robot.setRobotStatus(RobotStatusEnum.STAND_BY.getType());
taskRobots.add(robot);
}
}
@ -171,10 +173,10 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
|| RobotStatusEnum.LAST_TASK_IS_TAKE.getType().equals(v.getRobotStatus())))
.collect(Collectors.toList());*/
/*if (robots.isEmpty()) {
if (taskRobots.isEmpty()) {
log.info("暂无可用的机器人,可能正在充电,可能车机上报不允许接任务");
return pair;
}*/
}
log.info("完成查找车子");
@ -197,16 +199,16 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
if (ObjectUtil.isEmpty(montageTaskIds) && ObjectUtil.isEmpty(singleTaskIds)) {
log.info("暂无需要处理的主任务");
return ImmutablePair.of(robots, null);
return ImmutablePair.of(taskRobots, null);
}
List<RobotTaskDetailDO> taskDetails = getTaskDetail(montageTaskIds, singleTaskIds);
if (taskDetails.isEmpty()) {
log.info("暂无需要处理的明细任务");
return ImmutablePair.of(robots, null);
return ImmutablePair.of(taskRobots, null);
}
return ImmutablePair.of(robots, taskDetails);
return ImmutablePair.of(taskRobots, taskDetails);
}
/**

162
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/pathplanning/RobotPathPlanningServiceImpl.java
View File

@ -18,6 +18,7 @@ import cn.iocoder.yudao.module.system.constant.robot.RobotStatusCodeConstant;
import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
import cn.iocoder.yudao.module.system.controller.admin.robot.vo.RobotTaskDetailAddVO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
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.RobotChargeLogDO;
@ -38,6 +39,7 @@ 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.enums.robot.information.ChargeTypeEnum;
import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointService;
import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
import cn.iocoder.yudao.module.system.service.robot.RobotTaskService;
import cn.iocoder.yudao.module.system.service.robot.job.DistributeTasksService;
@ -105,6 +107,9 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
@Lazy
private RobotInformationService informationService;
@Resource
private WareHouseTakePointService houseTakePointService;
/**
* 下发任务给PP
*/
@ -124,7 +129,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
List<RobotTaskDetailDO> taskDetailDOS = robotAndTaskDetails.getRight();
if (ObjectUtil.isEmpty(taskDetailDOS)) {
log.info("--不存在需要执行的任务--派车辆去等待点");
// moveRobotToWait(robots);
moveRobotToWait(robots);
return;
}
@ -412,16 +417,31 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
List<TaskToPathPlanningDTO> pathPlanningList = new ArrayList<>();
Set<Long> locationIds = new HashSet<>();
Set<Long> fromLocationIds = taskDetailDOS.stream().map(RobotTaskDetailDO::getFromLocationId).collect(Collectors.toSet());
Set<Long> toLocationIds = taskDetailDOS.stream().map(RobotTaskDetailDO::getToLocationId).collect(Collectors.toSet());
Set<Long> fromLocationIds = new HashSet<>();
Set<Long> toLocationIds = new HashSet<>();
for (RobotTaskDetailDO taskDetailDO : taskDetailDOS) {
if (ReleaseTakeEnum.isLocation(taskDetailDO.getTakeType()) && ObjectUtil.isNotEmpty(taskDetailDO.getFromLocationId())) {
fromLocationIds.add(taskDetailDO.getFromLocationId());
}
if (ReleaseTakeEnum.isLocation(taskDetailDO.getTakeType()) && ObjectUtil.isNotEmpty(taskDetailDO.getToLocationId())) {
toLocationIds.add(taskDetailDO.getToLocationId());
}
}
locationIds.addAll(fromLocationIds);
locationIds.addAll(toLocationIds);
List<WareHouseLocationDO> locations = locationMapper.selectList(new LambdaQueryWrapperX<WareHouseLocationDO>()
.in(WareHouseLocationDO::getId, locationIds));
Map<Long, WareHouseLocationDO> locationDOMap = new HashMap<>();
if (ObjectUtil.isNotEmpty(locationIds)) {
List<WareHouseLocationDO> locations = locationMapper.selectList(new LambdaQueryWrapperX<WareHouseLocationDO>()
.in(WareHouseLocationDO::getId, locationIds));
Map<Long, WareHouseLocationDO> locationDOMap =
locations.stream().collect(Collectors.toMap(v -> v.getId(), Function.identity()));
locationDOMap =
locations.stream().collect(Collectors.toMap(v -> v.getId(), Function.identity()));
}
//能执行此任务的机器人 和 不能走的区域
Pair<List<TaskRobotNoLimittationAreaDTO>, Map<String, TaskRobotNoLimittationAreaDTO>> pair = getRobotLimitationArea(robots);
@ -462,7 +482,7 @@ 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());
return;
continue;
} else if (RobotTaskTypeEnum.PARK.getType().equals(taskDetailDO.getTaskType())) {
pathPlanning.setWaitIds(waitIds);
i++;
@ -470,19 +490,9 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
moveToPoint(pathPlanning, taskDetailDO);
}
String mac = informationService.getMacByRobotNo(taskDetailDO.getRobotNo());
String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + mac;
Object cargoDetected = redisUtil.get(cargoDetectedKey);
log.info("传感器是否按下 :{}", cargoDetected);
/* if (ObjectUtil.isNotEmpty(cargoDetected) && (RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))
&& !RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType()))) {
log.info("车机上报传感器为空, 或者 被按下且任务非仅放货任务 :{} ,任务id ：{}", taskDetailDO.getRobotNo(), taskDetailDO.getId());
if (!cargoDetected(taskDetailDO)) {
continue;
} else if (ObjectUtil.isNotEmpty(cargoDetected) && !RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))
&& RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType())) {
log.info("仅放货任务,传感器未被按下，所以不执行任务 :{}, 任务id ：{}", taskDetailDO.getRobotNo(), taskDetailDO.getId());
continue;
}*/
}
List<TaskRobotNoLimittationAreaDTO> robotNoLimitions = null;
if (ObjectUtil.isEmpty(taskDetailDO.getRobotNo())) {
@ -510,9 +520,14 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
pathPlanning.setTakeLocationNumber(Math.abs(znConfigConstant.getLocationNumberReduce() - taskDetailDO.getFromLocationNumber()));
pathPlanning.setTakePointId(String.valueOf(fromLocation.getMapItemId()));
pathPlanningSetTakeHeight(pathPlanning, fromLocation);
pathPlanningSetTakeForksHeight(pathPlanning, fromLocation);
pathPlanning.setTakeLevel(fromLocation.getLocationStorey());
if (isLocation(taskDetailDO.getTakeType())) {
pathPlanningSetTakeHeight(pathPlanning, fromLocation);
pathPlanningSetTakeForksHeight(pathPlanning, fromLocation);
pathPlanning.setTakeLevel(fromLocation.getLocationStorey());
} else if (ReleaseTakeEnum.TO_POINT.getType().equals(taskDetailDO.getTakeType())) {
pathPlanningSetPointTakeHeight(pathPlanning, taskDetailDO);
}
pathPlanning.setTakeOffsetHeight(znConfigConstant.getRobotConfig().getOffsetHeight());
if (ObjectUtil.isNotEmpty(taskDetailDO.getFromLaneId())) {
pathPlanning.setTakeGroupId("LINE_" + taskDetailDO.getFromLaneId());
@ -525,8 +540,13 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
pathPlanning.setReleaseLocationNumber(taskDetailDO.getToLocationNumber());
pathPlanning.setReleasePointId(String.valueOf(toLocation.getMapItemId()));
pathPlanningSetReleaseHeight(pathPlanning, toLocation);
pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
if (isLocation(taskDetailDO.getTakeType())) {
pathPlanningSetReleaseHeight(pathPlanning, toLocation);
pathPlanning.setReleaseLevel(toLocation.getLocationStorey());
} else if (ReleaseTakeEnum.TO_POINT.getType().equals(taskDetailDO.getTakeType())) {
pathPlanningSetPointReleaseHeight(pathPlanning, taskDetailDO);
}
pathPlanning.setReleaseOffsetHeight(znConfigConstant.getRobotConfig().getOffsetHeight());
if (ObjectUtil.isNotEmpty(taskDetailDO.getToLaneId())) {
pathPlanning.setReleaseGroupId("LINE_" + taskDetailDO.getToLaneId());
@ -548,6 +568,90 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
}
}
public Boolean cargoDetected(RobotTaskDetailDO taskDetailDO) {
if (ObjectUtil.isEmpty(taskDetailDO.getRobotNo())) {
return true;
}
String mac = informationService.getMacByRobotNo(taskDetailDO.getRobotNo());
String cargoDetectedKey = RobotTaskChcheConstant.ROBOT_CARGO_DETECTED + mac;
Object cargoDetected = redisUtil.get(cargoDetectedKey);
log.info("车辆编号 :{}, 传感器是否按下 :{}",taskDetailDO.getRobotNo(), cargoDetected);
/*if (ObjectUtil.isNotEmpty(cargoDetected) && (RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))
&& !RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType()))) {
log.info("车机上报传感器为空, 或者 被按下且任务非仅放货任务 :{} ,任务id ：{}", taskDetailDO.getRobotNo(), taskDetailDO.getId());
return false;
} else if (ObjectUtil.isNotEmpty(cargoDetected) && !RobotStatusCodeConstant.CARGO_DETECTED.equals(Boolean.parseBoolean(String.valueOf(cargoDetected)))
&& RobotTaskTypeEnum.RELEASE.getType().equals(taskDetailDO.getTaskType())) {
log.info("仅放货任务,传感器未被按下，所以不执行任务 :{}, 任务id ：{}", taskDetailDO.getRobotNo(), taskDetailDO.getId());
return false;
}*/
return true;
}
private void pathPlanningSetPointReleaseHeight(TaskToPathPlanningDTO pathPlanning, RobotTaskDetailDO taskDetailDO) {
WareHouseTakePointDO houseTakePoint = houseTakePointService.getHouseTakePoint(taskDetailDO.getToLocationId());
pathPlanning.setReleaseLevel(houseTakePoint.getLocationStorey());
if (ObjectUtil.isNotEmpty(houseTakePoint.getTrayHeight())) {
pathPlanning.setReleaseHeight(houseTakePoint.getTrayHeight().doubleValue());
} else if (ZeroOneEnum.ONE.getType().equals(houseTakePoint.getLocationStorey())) {
pathPlanning.setReleaseHeight(0.0);
} else {
WareHouseTakePointDO nextHouseTakePoint =
houseTakePointService.getHouseTakePointByItemIdAndStorey(houseTakePoint.getPositionMapItemId(),
houseTakePoint.getLocationStorey() - 1);
if (ObjectUtil.isNotEmpty(nextHouseTakePoint) && ObjectUtil.isNotEmpty(nextHouseTakePoint.getTotalHeight())) {
pathPlanning.setReleaseHeight(nextHouseTakePoint.getTotalHeight().doubleValue());
return;
}
Integer locationStorey = houseTakePoint.getLocationStorey() - 1;
double height = locationStorey * znConfigConstant.getRobotConfig().getDefaultTrayHeight();
log.info("放货设置默认高度 :{}", height);
pathPlanning.setReleaseHeight(height);
}
}
private void pathPlanningSetPointTakeHeight(TaskToPathPlanningDTO pathPlanning, RobotTaskDetailDO taskDetailDO) {
WareHouseTakePointDO houseTakePoint = houseTakePointService.getHouseTakePoint(taskDetailDO.getFromLocationId());
pathPlanning.setTakeLevel(houseTakePoint.getLocationStorey());
if (ObjectUtil.isNotEmpty(houseTakePoint.getTotalHeight())) {
pathPlanning.setTakeHeight(Double.valueOf(houseTakePoint.getTotalHeight() + ""));
} else {
Integer locationStorey = houseTakePoint.getLocationStorey();
double height = locationStorey * znConfigConstant.getRobotConfig().getDefaultTrayHeight();
log.info("取货设置默认取货高度 :{}", height);
pathPlanning.setTakeHeight(height);
}
if (ObjectUtil.isNotEmpty(houseTakePoint.getTrayHeight())) {
pathPlanning.setDetectHeight(houseTakePoint.getTrayHeight().doubleValue());
} else if (ZeroOneEnum.ONE.getType().equals(houseTakePoint.getLocationStorey())) {
pathPlanning.setDetectHeight(0.03);
} else {
Integer locationStorey = houseTakePoint.getLocationStorey() - 1;
double height = locationStorey * znConfigConstant.getRobotConfig().getDefaultTrayHeight();
BigDecimal d1 = new BigDecimal("0.01");
BigDecimal d2 = new BigDecimal(height + "");
double detectHeight = d2.subtract(d1).doubleValue();
log.info("设置取货默认抬叉高度 :{}", detectHeight);
pathPlanning.setDetectHeight(detectHeight);
}
}
public Boolean isLocation(Integer takeType) {
if (ReleaseTakeEnum.TO_LOCATION.getType().equals(takeType)
|| ReleaseTakeEnum.TO_LANE.getType().equals(takeType)
|| ReleaseTakeEnum.TO_AREA.getType().equals(takeType)) {
return true;
}
return false;
}
private void pathPlanningSetTakeForksHeight(TaskToPathPlanningDTO pathPlanning, WareHouseLocationDO fromLocation) {
if (ZeroOneEnum.ONE.getType().equals(fromLocation.getLocationStorey())) {
pathPlanning.setDetectHeight(0.03);
@ -555,12 +659,12 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
}
WareHouseLocationDO nextLocation = locationMapper.selectOne(new LambdaQueryWrapperX<WareHouseLocationDO>()
.eq(WareHouseLocationDO::getId, fromLocation.getMapItemId())
.eq(WareHouseLocationDO::getMapItemId, fromLocation.getMapItemId())
.eq(WareHouseLocationDO::getLocationStorey, fromLocation.getLocationStorey() - 1)
.last("limit 1"));
if (ObjectUtil.isNotEmpty(nextLocation) && ObjectUtil.isNotEmpty(nextLocation.getLocationTotalHeight())) {
BigDecimal d1 = new BigDecimal("0.12");
BigDecimal d1 = new BigDecimal("0.01");
BigDecimal d2 = nextLocation.getLocationTotalHeight();
double detectHeight = d2.subtract(d1).doubleValue();
pathPlanning.setDetectHeight(detectHeight);
@ -569,7 +673,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
Integer locationStorey = fromLocation.getLocationStorey() - 1;
double height = locationStorey * znConfigConstant.getRobotConfig().getDefaultTrayHeight();
BigDecimal d1 = new BigDecimal("0.12");
BigDecimal d1 = new BigDecimal("0.01");
BigDecimal d2 = new BigDecimal(height + "");
double detectHeight = d2.subtract(d1).doubleValue();
log.info("设置取货默认抬叉高度 :{}", detectHeight);
@ -590,7 +694,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
}
WareHouseLocationDO nextLocation = locationMapper.selectOne(new LambdaQueryWrapperX<WareHouseLocationDO>()
.eq(WareHouseLocationDO::getId, toLocation.getMapItemId())
.eq(WareHouseLocationDO::getMapItemId, toLocation.getMapItemId())
.eq(WareHouseLocationDO::getLocationStorey, toLocation.getLocationStorey() - 1)
.last("limit 1"));
if (ObjectUtil.isNotEmpty(nextLocation) && ObjectUtil.isNotEmpty(nextLocation.getLocationTotalHeight())) {

29
yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/robot/simulation/RobotSimulationServiceImpl.java
View File

@ -13,6 +13,7 @@ import cn.iocoder.yudao.module.system.dal.dataobject.cycle.TaskCycleDO;
import cn.iocoder.yudao.module.system.dal.dataobject.housearea.HouseAreaDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselane.WareHouseLaneDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseTakePointDO;
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.RobotTaskDO;
@ -27,6 +28,7 @@ import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotChargeLogMapper;
import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotInformationMapper;
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.redis.RobotCacheLockEnum;
import cn.iocoder.yudao.module.system.enums.robot.LocationEnableEnum;
import cn.iocoder.yudao.module.system.enums.robot.LocationLockEnum;
@ -34,6 +36,7 @@ import cn.iocoder.yudao.module.system.enums.robot.LocationUseStatusEnum;
import cn.iocoder.yudao.module.system.enums.robot.MoveAllEnum;
import cn.iocoder.yudao.module.system.enums.robot.ReleaseTakeEnum;
import cn.iocoder.yudao.module.system.enums.robot.RobotTaskTypeEnum;
import cn.iocoder.yudao.module.system.service.houselocation.WareHouseTakePointService;
import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
import cn.iocoder.yudao.module.system.service.log.RobotTaskDetailActionLogService;
import cn.iocoder.yudao.module.system.service.log.UserOperationLogService;
@ -69,7 +72,7 @@ import static cn.iocoder.yudao.module.system.enums.ErrorCodeConstants.TASK_CREAT
@Slf4j
@Service
@Validated
public class RobotSimulationServiceImpl implements RobotSimulationService{
public class RobotSimulationServiceImpl implements RobotSimulationService {
@Resource
private RobotTaskMapper taskMapper;
@ -101,6 +104,9 @@ public class RobotSimulationServiceImpl implements RobotSimulationService{
@Autowired
private ZnConfigConstant znConfigConstant;
@Resource
private WareHouseTakePointService houseTakePointService;
@Override
public void createTask(RobotTaskSaveReqVO createReqVO) {
@ -108,7 +114,7 @@ public class RobotSimulationServiceImpl implements RobotSimulationService{
if (ObjectUtil.isEmpty(createReqVO.getTaskNo())) {
String incrementByKey = redisUtil.getIncrementByKey(RobotCacheLockEnum.TASK_NO.getKey());
createReqVO.setTaskNo(znConfigConstant.getTaskNo() + DateUtils.getYearMonthDay() + incrementByKey);
}else {
} else {
List<RobotTaskDO> taskDOS = taskMapper.selectList(new LambdaQueryWrapperX<RobotTaskDO>()
.eq(RobotTaskDO::getTaskNo, createReqVO.getTaskNo()));
if (ObjectUtil.isNotEmpty(taskDOS)) {
@ -116,7 +122,7 @@ public class RobotSimulationServiceImpl implements RobotSimulationService{
}
}
log.info("111111创建一个不校验的任务 :{}",createReqVO.getTaskNo());
log.info("111111创建一个不校验的任务 :{}", createReqVO.getTaskNo());
RobotTaskDO task = BeanUtils.toBean(createReqVO, RobotTaskDO.class);
task.setRemainingCycleNumber(task.getCycleNumber());
@ -299,6 +305,14 @@ public class RobotSimulationServiceImpl implements RobotSimulationService{
robotTaskVo.setFromLocationNumber(locationDO.getLocationNumber());
robotTaskVo.setFromMapItemId(locationDO.getMapItemId());
takeMapItemIds.add(locationDO.getMapItemId());
} else if (ReleaseTakeEnum.TO_POINT.getType().equals(robotTaskVo.getTakeType())) {
WareHouseTakePointDO houseTakePoint = houseTakePointService.getHouseTakePoint(robotTaskVo.getTakeId());
robotTaskVo.setFromLocationNo(houseTakePoint.getPointName());
robotTaskVo.setFromLocationId(robotTaskVo.getTakeId());
robotTaskVo.setFromLocationStorey(houseTakePoint.getLocationStorey());
robotTaskVo.setFromLaneId(houseTakePoint.getLaneId());
robotTaskVo.setFromLocationNumber(houseTakePoint.getLocationNumber());
robotTaskVo.setFromMapItemId(houseTakePoint.getPositionMapItemId());
} else {
WareHouseLocationDO wareHouseLocationDO =
locationMapper.selectByTypeAndId(LocationUseStatusEnum.YES.getType(), robotTaskVo.getTakeType(),
@ -475,6 +489,7 @@ public class RobotSimulationServiceImpl implements RobotSimulationService{
robotTaskDetailAddVo.setRobotTaskId(taskId);
robotTaskDetailAddVo.setPriority(robotTaskVo.getPriority());
robotTaskDetailAddVo.setFromLocationStorey(stockList.get(i).getLocationStorey());
robotTaskDetailAddVo.setToLocationNumber(releaseStockList.get(i).getLocationNumber());
robotTaskDetailAddVo.setToLocationStorey(releaseStockList.get(i).getLocationStorey());
addTaskDetailList.add(robotTaskDetailAddVo);
@ -497,6 +512,14 @@ public class RobotSimulationServiceImpl implements RobotSimulationService{
robotTaskVo.setToLocationNumber(locationDO.getLocationNumber());
robotTaskVo.setToMapItemId(locationDO.getMapItemId());
releaseMapItemIds.add(locationDO.getMapItemId());
} else if (ReleaseTakeEnum.TO_POINT.getType().equals(robotTaskVo.getTakeType())) {
WareHouseTakePointDO houseTakePoint = houseTakePointService.getHouseTakePoint(robotTaskVo.getTakeId());
robotTaskVo.setToLocationNo(houseTakePoint.getPointName());
robotTaskVo.setToLocationId(robotTaskVo.getTakeId());
robotTaskVo.setToLocationStorey(houseTakePoint.getLocationStorey());
robotTaskVo.setToLaneId(houseTakePoint.getLaneId());
robotTaskVo.setToLocationNumber(houseTakePoint.getLocationNumber());
robotTaskVo.setToMapItemId(houseTakePoint.getPositionMapItemId());
} else {
WareHouseLocationDO wareHouseLocationDO =
locationMapper.selectByTypeAndId(LocationUseStatusEnum.NO.getType(), robotTaskVo.getReleaseType()

13
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseTakePointBindingMapper.xml Normal file
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@ -0,0 +1,13 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseTakePointBindingMapper">
<delete id="deleteByBindingId">
delete
from ware_house_take_point_binding
where binding_id = #{bindingId}
</delete>
</mapper>

38
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseTakePointMapper.xml Normal file
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@ -0,0 +1,38 @@
<?xml version="1.0" encoding="UTF-8"?>
<!DOCTYPE mapper PUBLIC "-//mybatis.org//DTD Mapper 3.0//EN" "http://mybatis.org/dtd/mybatis-3-mapper.dtd">
<mapper namespace="cn.iocoder.yudao.module.system.dal.mysql.houselocation.WareHouseTakePointMapper">
<update id="setTakePointMapIdEmpty">
update
ware_house_take_point
set
position_map_id = null,
position_map_item_id = null,
actual_location_x = null,
actual_location_y = null
<where>
position_map_id = #{positionMapId}
and point_type = '0'
<if test= " ids != null and ids.size() > 0">
AND id not in
<foreach collection="ids" item="id" index="index" open="(" close=")"
separator=",">
#{id}
</foreach>
</if>
</where>
</update>
<update id="updateHouseTakePointByItemIdAndStorey">
update
ware_house_take_point
set
tray_height = #{trayHeight}
where
position_map_item_id = #{positionMapItemId}
and location_storey = #{locationStorey}
</update>
</mapper>

11
yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/positionmap/PositionMapItemMapper.xml
View File

@ -190,4 +190,15 @@
robot_no = #{robotNo}
and deleted = '0'
</update>
<update id="setMapItemUse">
update
ware_position_map_item
set
use_status = '2'
where
robot_no = #{robotNo}
and id = #{id}
and deleted = '0'
</update>
</mapper>