电量

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/config/MqttFactory.java

@@ -147,6 +147,8 @@ public class MqttFactory {
                 return BeanUtils.getBean(RobotUpdatePalletHeightServiceImpl.class);
             case ROBOT_OBSTACLES_STATUS:
                 return BeanUtils.getBean(RobotObstaclesStatusServiceImpl.class);
+            case ROBOT_WIRELESS_SIGNAL_STATUS:
+                return BeanUtils.getBean(RobotWirelessSignalStatusServiceImpl.class);
             case PLANNING_INIT_DATA:
                 return BeanUtils.getBean(PathPlanningInitDataServiceImpl.class);
             case PLANNING_DISTRIBUTION_TASK:

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/enums/DefineSubTopicEnum.java

@@ -22,6 +22,7 @@ public enum DefineSubTopicEnum {
     ROBOT_WORK_STATUS("ROBOT_WORK_STATUS", 2,"作业实时行为上报"),
     ROBOT_UPDATE_PALLET_HEIGHT("UPDATE_PALLET_HEIGHT", 2,"放货后货物高度反馈和取货后货物高度反馈"),
     ROBOT_OBSTACLES_STATUS("ROBOT_OBSTACLES_STATUS", 2,"障碍物状态上报"),
+    ROBOT_WIRELESS_SIGNAL_STATUS("ROBOT_WIRELESS_SIGNAL_STATUS", 2,"信号强度上报"),
     PLANNING_INIT_DATA("SYNCHRONOUS_ALL_MAP_REQUEST", 2,"路径规划需要初始数据上报"),
     PLANNING_DISTRIBUTION_TASK("TASK_ASSIGNMENT_FEEDBACK", 2,"路径规划任务分配上报"),
     PLANNING_DISTRIBUTION_FAIL("TASK_ASSIGNMENT_FAIL", 2,"路径规划失败上报"),

yudao-module-mqtt/yudao-module-mqtt-biz/src/main/java/cn/iododer/yudao/module/mqtt/service/RobotWirelessSignalStatusServiceImpl.java

@@ -0,0 +1,22 @@
+package cn.iododer.yudao.module.mqtt.service;
+
+
+import cn.iocoder.yudao.module.remote.api.path.RemotePathApi;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+import javax.annotation.Resource;
+
+@Slf4j
+@Service
+public class RobotWirelessSignalStatusServiceImpl implements MqttService{
+
+    @Resource
+    private RemotePathApi remotePathApi;
+
+    @Override
+    public void analysisMessage(String message) {
+        log.info("车辆信号上报 :{}",message);
+        remotePathApi.wirelessSignalStatus(message);
+    }
+}

yudao-module-remote/yudao-module-remote-api/src/main/java/cn/iocoder/yudao/module/remote/api/path/RemotePathApi.java

@@ -16,4 +16,7 @@ public interface RemotePathApi {
     @Operation(summary = "远遥同步车辆导航行走路程信息")
     void remoteDistanceInformation(@RequestParam("message") String message);
 
+    @PostMapping(PREFIX + "/wirelessSignalStatus")
+    @Operation(summary = "车辆信号信息")
+    void wirelessSignalStatus(@RequestParam("message") String message);
 }

yudao-module-remote/yudao-module-remote-api/src/main/java/cn/iocoder/yudao/module/remote/api/path/dto/RemoteRobotWirelessSignalDTO.java

@@ -0,0 +1,15 @@
+package cn.iocoder.yudao.module.remote.api.path.dto;
+
+import lombok.Data;
+
+@Data
+public class RemoteRobotWirelessSignalDTO {
+
+    private String mac;
+
+    /**
+     * 整型，单位dBm
+     */
+    private String wirelessSignal;
+
+}

yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/api/path/RemotePathApiImpl.java

@@ -1,6 +1,7 @@
 package cn.iocoder.yudao.module.remote.api.path;
 
 import cn.iocoder.yudao.module.remote.api.path.dto.RemoteRobotDistanceInformationDTO;
+import cn.iocoder.yudao.module.remote.api.path.dto.RemoteRobotWirelessSignalDTO;
 import cn.iocoder.yudao.module.remote.service.robot.RemoteRobotService;
 import cn.iocoder.yudao.module.remote.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;
@@ -31,5 +32,15 @@ public class RemotePathApiImpl implements RemotePathApi{
         remoteRobotService.remoteDistanceInformation(data);
     }
 
+    /**
+     * 车辆信号信息
+     * @param message
+     */
+    @Override
+    public void wirelessSignalStatus(String message) {
+        RemoteRobotWirelessSignalDTO data = JSON.parseObject(message, RemoteRobotWirelessSignalDTO.class);
+        remoteRobotService.sendRobotWirelessSignalStatus(data);
+    }
+
 
 }

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

@@ -145,7 +145,7 @@ public class RemoteControllerProcessor {
         cache.remove(remoteControllerIp);
 
         Socket socket = remoteControllerSocketDTO.getSocket();
-        if (socket == null ||socket.isClosed()) {
+        if (socket == null || socket.isClosed()) {
             try {
                 socket = new Socket();
                 socket.connect(new InetSocketAddress(remoteControllerIp, remoteControllerPort), 1000);
@@ -186,7 +186,7 @@ public class RemoteControllerProcessor {
         if (ObjectUtil.isEmpty(cache)) {
             return;
         }
-        log.info("socket发送数据开始");
+//        log.info("socket发送数据开始");
         for (Map.Entry<String, RemoteControllerSocketDTO> v : cache.entrySet()) {
             RemoteControllerSocketDTO remoteControllerSocketDTO = v.getValue();
             if (ObjectUtil.isEmpty(remoteControllerSocketDTO)) {
@@ -218,8 +218,8 @@ public class RemoteControllerProcessor {
             try {
                 os = socket.getOutputStream();
                 String str = remoteControllerSocketDTO.getMsg();
-                log.info("socket推送的数据 :{}", str);
                 os.write(remoteControllerSocketDTO.getMsg().getBytes());
+                log.info("socket推送的数据 :{}", str);
             } catch (IOException e) {
                 log.error("socket发送异常 :{}", e);
             } finally {
@@ -230,7 +230,6 @@ public class RemoteControllerProcessor {
                     }
                 }
             }
-            log.info("socket发送数据成功");
         }
     }
 

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

@@ -8,4 +8,6 @@ public class RobotTaskChcheConstant {
     //机器人编号和mac地址映射(通过机器人编号。查询mac地址)   (拼接的是机器人编号)
     public static String ROBOT_GET_MAC_BY_NO = "robot:information:getMac:ByNo";
 
+    //机器人mac地址和机器人编号映射(通过mac地址。查询机器人编号)   (拼接的是mac地址)
+    public static String ROBOT_GET_ROBOTNO_BY_MAC = "robot:information:getRobotNo:ByMac";
 }

yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotService.java

@@ -1,6 +1,7 @@
 package cn.iocoder.yudao.module.remote.service.robot;
 
 import cn.iocoder.yudao.module.remote.api.path.dto.RemoteRobotDistanceInformationDTO;
+import cn.iocoder.yudao.module.remote.api.path.dto.RemoteRobotWirelessSignalDTO;
 import cn.iocoder.yudao.module.remote.controller.admin.robot.dto.PositionMapRespDTO;
 import cn.iocoder.yudao.module.remote.controller.admin.robot.dto.RemoteRobotChangeModeDTO;
 import cn.iocoder.yudao.module.remote.controller.admin.robot.dto.RemoteRobotTaskDoneDTO;
@@ -76,4 +77,10 @@ public interface RemoteRobotService {
      * @param data
      */
     void remoteDistanceInformation(RemoteRobotDistanceInformationDTO data);
+
+    /**
+     * 上报车辆信号信息
+     * @param data
+     */
+    void sendRobotWirelessSignalStatus(RemoteRobotWirelessSignalDTO data);
 }

yudao-module-remote/yudao-module-remote-biz/src/main/java/cn/iocoder/yudao/module/remote/service/robot/RemoteRobotServiceImpl.java

@@ -5,6 +5,7 @@ import cn.hutool.json.JSONUtil;
 import cn.iocoder.yudao.framework.common.pojo.CommonResult;
 import cn.iocoder.yudao.framework.tenant.core.context.TenantContextHolder;
 import cn.iocoder.yudao.module.remote.api.path.dto.RemoteRobotDistanceInformationDTO;
+import cn.iocoder.yudao.module.remote.api.path.dto.RemoteRobotWirelessSignalDTO;
 import cn.iocoder.yudao.module.remote.api.robot.RemoteControllerProcessor;
 import cn.iocoder.yudao.module.remote.api.webSocket.RequestProcessor;
 import cn.iocoder.yudao.module.remote.constant.robot.RobotTaskChcheConstant;
@@ -207,6 +208,21 @@ public class RemoteRobotServiceImpl implements RemoteRobotService {
                 mac, JSONUtil.toJsonStr(build));
     }
 
+    /**
+     * 上报车辆信息信息
+     * @param data
+     */
+    @Override
+    public void sendRobotWirelessSignalStatus(RemoteRobotWirelessSignalDTO data) {
+        TenantContextHolder.setTenantId(1L);
+        String robotNo = (String) redisUtil.get(RobotTaskChcheConstant.ROBOT_GET_ROBOTNO_BY_MAC + data.getMac());
+        if (ObjectUtil.isEmpty(robotNo)) {
+            robotNo = remoteRobotApi.getRobotNoByMac(data.getMac());
+        }
+        log.info("车辆编号 :{}",robotNo);
+
+    }
+
     /**
      * 组装
      *

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApi.java

@@ -62,4 +62,8 @@ public interface RemoteRobotApi {
     @PostMapping(PREFIX + "/getMacByRobotNo")
     @Operation(summary = "根据车辆编号获取MAC地址")
     String getMacByRobotNo( @RequestParam(value = "robotNo") String robotNo);
+
+    @PostMapping(PREFIX + "/getRobotNoByMac")
+    @Operation(summary = "根据车辆MAC地址获取车辆编号")
+    String getRobotNoByMac( @RequestParam(value = "mac") String mac);
 }

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotObstaclesStatusDTO.java

@@ -14,4 +14,29 @@ public class RobotObstaclesStatusDTO {
      * true表示有障碍物，false表示没有障碍物
      */
     public Boolean obstacles;
+
+    /**
+     * 左前方障碍物距离 float，单位是米
+     */
+    private String frontLeft;
+
+    /**
+     * 右前方障碍物距离 float，单位是米
+     */
+    private String frontRight;
+
+    /**
+     * 左后方障碍物距离 float，单位是米
+     */
+    private String reaLeft;
+
+    /**
+     * 右后方障碍物距离 float，单位是米
+     */
+    private String reaRight;
+
+    /**
+     * 正后方障碍物距离 float，单位是米
+     */
+    private String rearCenter;
 }

yudao-module-system/yudao-module-system-api/src/main/java/cn/iocoder/yudao/module/system/api/robot/dto/RobotStatusDataPoseDTO.java

@@ -16,6 +16,6 @@ public class RobotStatusDataPoseDTO {
     public String floor;
     //区域
     public String area;
-    //电池剩余容量
+    //电池剩余容量   废弃  从ROBOT_INFORMATION_SOC 获取电量
-    public String batSoc;
+//    public String batSoc;
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/api/remote/RemoteRobotApiImpl.java

@@ -142,5 +142,10 @@ public class RemoteRobotApiImpl implements RemoteRobotApi {
         return robotInformationService.getMacByRobotNo(robotNo);
     }
 
+    @Override
+    public String getRobotNoByMac(String mac) {
+        return robotInformationService.getRobotNoByMac(mac);
+    }
+
 
 }

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

@@ -3,15 +3,11 @@ package cn.iocoder.yudao.module.system.api.robot;
 import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.json.JSONUtil;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotGenericsDataDTO;
-import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
 import cn.iocoder.yudao.module.system.config.ratelimiter.SystemRateLimiter;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
 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;
-import org.springframework.beans.factory.annotation.Value;
-import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
 import org.springframework.validation.annotation.Validated;
 import org.springframework.web.bind.annotation.RestController;
 
@@ -26,8 +22,6 @@ public class RobotGenericsStatusApiImpl implements RobotGenericsStatusApi {
     @Resource
     private RedisUtil redisUtil;
 
-    @Resource@Value("${zn.robot_position_cache_time:10}")
-    private Long robotPositionCacheTime;
 
     @Override
     @SystemRateLimiter(time = 1, count = 20, keyArg = "updateRobotCommonStatus",message = "机器人上报车辆其他信息")
@@ -43,17 +37,13 @@ public class RobotGenericsStatusApiImpl implements RobotGenericsStatusApi {
         }
 
         String mac = robotStatusData.getMac();
-        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +mac;
+        String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC +mac;
 
-        Object object = redisUtil.get(pose2dKey);
-        RobotStatusDataPoseDTO robotStatusDataPoseDTO= JSONUtil.toBean((String)object, RobotStatusDataPoseDTO.class);
         String batSoc = robotStatusData.getHwStates().getBatSoc();
         if (ObjectUtil.isNotEmpty(batSoc)) {
             String[] split = batSoc.split("\\.");
             batSoc = split[1].substring(0,2);
-            robotStatusDataPoseDTO.setBatSoc(batSoc);
+        redisUtil.set(socKey,batSoc);
         }
-
-        redisUtil.set(pose2dKey,JSON.toJSONString(robotStatusDataPoseDTO),robotPositionCacheTime);
     }
 }

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

@@ -51,7 +51,6 @@ public class RobotObstaclesStatusApiImpl implements RobotObstaclesStatusApi{
         Object floorAreaObject = redisUtil.get(floorAreaKey);
         FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
 
-
         String robotNo = robotInformationService.getRobotNoByMac(data.getMac());
 
         RobotWarnMsgSaveReqVO warnMsg = new RobotWarnMsgSaveReqVO();

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

@@ -9,29 +9,18 @@ import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
 import cn.iocoder.yudao.module.system.config.ratelimiter.SystemRateLimiter;
 import cn.iocoder.yudao.module.system.constant.path.PathPlanningTopicConstant;
 import cn.iocoder.yudao.module.system.constant.robot.RobotTaskChcheConstant;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnCodeMappingDO;
-import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnMsgDO;
-import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnCodeMappingMapper;
-import cn.iocoder.yudao.module.system.dal.mysql.robot.RobotWarnMsgMapper;
-import cn.iocoder.yudao.module.system.enums.robot.RobotWarnType;
 import cn.iocoder.yudao.module.system.service.robot.RobotInformationService;
-import cn.iocoder.yudao.module.system.service.robot.RobotWarnMsgService;
 import cn.iocoder.yudao.module.system.util.redis.RedisUtil;
 import com.alibaba.fastjson.JSON;
-import com.baomidou.mybatisplus.core.conditions.query.LambdaQueryWrapper;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.beans.factory.annotation.Value;
-import org.springframework.data.redis.core.StringRedisTemplate;
 import org.springframework.scheduling.concurrent.ThreadPoolTaskExecutor;
 import org.springframework.validation.annotation.Validated;
 import org.springframework.web.bind.annotation.RestController;
 
 import javax.annotation.Resource;
-import java.util.ArrayList;
-import java.util.List;
 import java.util.Map;
-import java.util.stream.Collectors;
 
 @Slf4j
 @RestController // 提供 RESTful API 接口，给 Feign 调用
@@ -82,7 +71,7 @@ public class RobotStatusApiImpl implements RobotStatusApi {
         Object floorAreaObject = redisUtil.get(floorAreaKey);
         FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
         String robotNo = robotInformationService.getRobotNoByMac(robotStatusDataDTO.getMac());
-        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robotStatusDataDTO.getMac();
+        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + robotStatusDataDTO.getMac();
         Object object = redisUtil.get(pose2dKey);
         RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
 

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

@@ -9,7 +9,10 @@ public class RobotTaskChcheConstant {
     public static String ROBOT_CARGO_DETECTED = "robot:information:cargo:detected";
 
     //机器人点位和电量 (拼接的是mac地址)
-    public static String ROBOT_INFORMATION_POSE_BAT_SOC = "robot:information:pose:bat:soc";
+    public static String ROBOT_INFORMATION_POSE_BAT = "robot:information:pose:bat";
+
+    //机器人电量
+    public static String ROBOT_INFORMATION_SOC = "robot:information:soc";
 
     //机器人楼层和区域 (拼接的是mac地址)
     public static String ROBOT_FLOOR_AREA = "robot:floor:area";

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

@@ -6,10 +6,7 @@ import cn.iocoder.yudao.framework.common.pojo.PageParam;
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
 import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.excel.core.util.ExcelUtils;
-import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.*;
-import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationRespVO;
-import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationSaveReqVO;
-import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import cn.iocoder.yudao.module.system.service.houselocation.HouseLocationService;
 import io.swagger.v3.oas.annotations.Operation;
@@ -123,4 +120,12 @@ public class WareHouseLocationController {
         houseLocationService.updateHouseLocationList(list);
         return success(true);
     }
+
+    @GetMapping("/getLocationsXYByMapId")
+    @Operation(summary = "根据地图id查询，此地图对应的所有库位,包括库位坐标")
+    @Parameter(name = "mapId", description = "地图id", required = true, example = "1024")
+    public CommonResult<List<WareHouseLocationItemRespVO>> getLocationsXYByMapId(@RequestParam("mapId") Long mapId) {
+        List<WareHouseLocationItemRespVO> list = houseLocationService.getLocationsXYByMapId(mapId);
+        return success(list);
+    }
 }

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

@@ -0,0 +1,63 @@
+package cn.iocoder.yudao.module.system.controller.admin.houselocation.vo;
+
+import com.alibaba.excel.annotation.ExcelProperty;
+import io.swagger.v3.oas.annotations.media.Schema;
+import lombok.Data;
+
+import java.math.BigDecimal;
+
+@Schema(description = "管理后台 - 库位和坐标 Response VO")
+@Data
+public class WareHouseLocationItemRespVO {
+
+    @Schema(description = "主键ID", requiredMode = Schema.RequiredMode.REQUIRED, example = "31866")
+    private Long id;
+
+    @Schema(description = "库位编号")
+    private String locationNo;
+
+    @Schema(description = "物料信息")
+    private String skuInfo;
+
+    @Schema(description = "物料数量")
+    private Long skuNumber;
+
+    @Schema(description = "启用/禁用（0：禁用、1：启用）")
+    private Integer locationEnable;
+
+    @Schema(description = "锁定/正常（0：锁定、1：正常）")
+    private Integer locationLock;
+
+    @Schema(description = "状态（0：空闲、1：占用）", example = "2")
+    private Integer locationUseStatus;
+
+    @Schema(description = "宽度")
+    private BigDecimal locationWide;
+
+    @Schema(description = "长度")
+    private BigDecimal locationDeep;
+
+    @Schema(description = "层数")
+    private Integer locationStorey;
+
+    @Schema(description = "实际坐标x轴")
+    private String actualLocationX;
+
+    @Schema(description = "实际坐标y轴")
+    private String actualLocationY;
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+
+}

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

@@ -121,4 +121,13 @@ public class RobotTaskController {
         return success(pageResult);
     }
 
+    @PostMapping("/checkHaveTask")
+    @Operation(summary = "判断是否存在任务")
+    @PreAuthorize("@ss.hasPermission('robot:task:checkHaveTask')")
+    public CommonResult<Boolean> checkHaveTask() {
+        //校验是否存在未完成的任务
+        taskService.checkHaveDoingTask();
+        return success(true);
+    }
+
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/dal/mysql/houselocation/WareHouseLocationMapper.java

@@ -3,6 +3,7 @@ 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.WareHouseLocationItemRespVO;
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationPageReqVO;
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationRespVO;
 import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationVO;
@@ -161,4 +162,11 @@ public interface WareHouseLocationMapper extends BaseMapperX<WareHouseLocationDO
      */
     List<WareHouseLocationDO> queryLowerLevelsByMapItemId(@Param("mapItemId") Long mapItemId,
                                                           @Param("locationStorey") Integer locationStorey);
+
+    /**
+     * 获取这个地图对应的库位和坐标信息
+     * @param mapId
+     * @return
+     */
+    List<WareHouseLocationItemRespVO> getLocationsXYByMapId(@Param("mapId") Long mapId);
 }

yudao-module-system/yudao-module-system-biz/src/main/java/cn/iocoder/yudao/module/system/service/bulletinboard/BulletinBoardServiceImpl.java

@@ -4,6 +4,7 @@ import cn.hutool.core.bean.BeanUtil;
 import cn.hutool.core.collection.CollUtil;
 import cn.hutool.core.collection.CollectionUtil;
 import cn.hutool.core.date.LocalDateTimeUtil;
+import cn.hutool.core.util.ObjectUtil;
 import cn.hutool.json.JSONUtil;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.module.system.api.robot.dto.RobotStatusDataPoseDTO;
@@ -19,6 +20,7 @@ import cn.iocoder.yudao.module.system.dal.dataobject.information.DeviceInformati
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotInformationDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotTaskDO;
 import cn.iocoder.yudao.module.system.dal.dataobject.robot.RobotWarnMsgDO;
+import cn.iocoder.yudao.module.system.enums.common.ZeroOneEnum;
 import cn.iocoder.yudao.module.system.enums.robot.RobotTaskDetailStatusEnum;
 import cn.iocoder.yudao.module.system.service.dict.DictDataService;
 import cn.iocoder.yudao.module.system.service.information.DeviceInformationService;
@@ -116,7 +118,7 @@ public class BulletinBoardServiceImpl implements BulletinBoardService {
             map = agvListStatusInfo.stream().collect(Collectors.toMap(RobotInfoStatusVO::getMacAddress, Function.identity()));
         }
         for (RobotInformationDO robotInformationDO : allRobot) {
-            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robotInformationDO.getMacAddress();
+            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + robotInformationDO.getMacAddress();
             Object object = redisUtil.get(pose2dKey);
             RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
             if (robotStatusDataPoseDTO != null) {
@@ -127,7 +129,10 @@ public class BulletinBoardServiceImpl implements BulletinBoardService {
                     BeanUtil.copyProperties(item, robotElectricityLevelVO);
                 }
                 robotElectricityLevelVO.setRobotNo(robotInformationDO.getRobotNo());
-                robotElectricityLevelVO.setBatSoc(robotStatusDataPoseDTO.getBatSoc());
+                String socByMac = robotInformationService.getSocByMac(robotInformationDO.getMacAddress(), ZeroOneEnum.ONE.getType());
+                if (ObjectUtil.isNotEmpty(socByMac)) {
+                    robotElectricityLevelVO.setBatSoc(socByMac);
+                }
                 robotElectricityLevelVOS.add(robotElectricityLevelVO);
             }
         }

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

@@ -1,10 +1,7 @@
 package cn.iocoder.yudao.module.system.service.houselocation;
 
 import cn.iocoder.yudao.framework.common.pojo.PageResult;
-import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.*;
-import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationRespVO;
-import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationSaveReqVO;
-import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationVO;
 import cn.iocoder.yudao.module.system.dal.dataobject.houselocation.WareHouseLocationDO;
 import com.baomidou.mybatisplus.extension.service.IService;
 
@@ -119,4 +116,11 @@ public interface HouseLocationService extends IService<WareHouseLocationDO> {
      * @param id
      */
     void updateLocationAreaNameEmptyByAreaId(Long areaId);
+
+    /**
+     * 获取这个地图对应的库位和坐标信息
+     * @param mapId
+     * @return
+     */
+    List<WareHouseLocationItemRespVO> getLocationsXYByMapId(Long mapId);
 }

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

@@ -6,10 +6,7 @@ import cn.iocoder.yudao.framework.common.util.object.BeanUtils;
 import cn.iocoder.yudao.framework.mybatis.core.query.LambdaQueryWrapperX;
 import cn.iocoder.yudao.framework.security.core.util.SecurityFrameworkUtils;
 import cn.iocoder.yudao.module.system.api.robot.vo.RobotInformationVO;
-import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationPageReqVO;
+import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.*;
-import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationRespVO;
-import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationSaveReqVO;
-import cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationVO;
 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.mysql.houselocation.WareHouseLocationMapper;
@@ -186,6 +183,16 @@ public class HouseLocationServiceImpl extends ServiceImpl<WareHouseLocationMappe
         houseLocationMapper.updateLocationAreaNameEmptyByAreaId(areaId);
     }
 
+    /**
+     * 获取这个地图对应的库位和坐标信息
+     * @param mapId
+     * @return
+     */
+    @Override
+    public List<WareHouseLocationItemRespVO> getLocationsXYByMapId(Long mapId) {
+        return houseLocationMapper.getLocationsXYByMapId(mapId);
+    }
+
     @Override
     @Transactional(rollbackFor = Exception.class)
     public void updateHouseLocationList(List<WareHouseLocationSaveReqVO> list) {

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

@@ -23,7 +23,6 @@ import org.springframework.transaction.annotation.Transactional;
 import org.springframework.validation.annotation.Validated;
 
 import javax.annotation.Resource;
-import java.util.Collections;
 import java.util.List;
 
 import static cn.hutool.core.collection.CollUtil.isNotEmpty;
@@ -128,7 +127,7 @@ public class PositionMapItemServiceImpl extends ServiceImpl<PositionMapItemMappe
 
     @Override
     public Object getAGVPointInformation(String macAddress) {
-        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + macAddress;
+        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + macAddress;
         try {
             // 睡眠 0.5s 以确保获取到是最新的数据
             Thread.sleep(500);

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

@@ -67,6 +67,14 @@ public interface RobotInformationService extends IService<RobotInformationDO> {
      */
     RobotInformationStatisticsVO statisticsInformation();
 
+    /**
+     * 车机mac地址获取电量
+     * @param str
+     * type 1:是mac， 0 :是车辆编号
+     * @return
+     */
+    String getSocByMac(String str, Integer type);
+
     /**
      * 获取所有AGV状态
      * @return

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

@@ -484,7 +484,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         RobotInformationDO robotInformationDO = informationMapper.selectById(id);
         RobotInformationRespVO bean = BeanUtils.toBean(robotInformationDO, RobotInformationRespVO.class);
         setPositionMapList(bean);
-        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + bean.getMacAddress();
+        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + bean.getMacAddress();
         Object object = redisUtil.get(pose2dKey);
         RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
 
@@ -492,7 +492,10 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         Object floorAreaObject = redisUtil.get(floorAreaKey);
         FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
         if (ObjectUtil.isNotEmpty(object) && ObjectUtil.isNotEmpty(robotStatusDataPoseDTO)) {
-            bean.setElectricity(robotStatusDataPoseDTO.getBatSoc());
+            String soc = getSocByMac(robotInformationDO.getMacAddress(), ZeroOneEnum.ONE.getType());
+            if (ObjectUtil.isNotEmpty(soc)) {
+                 bean.setElectricity(soc);
+            }
             bean.setFloor(floorZoneDTO.getFloor());
             bean.setArea(floorZoneDTO.getArea());
         }
@@ -576,7 +579,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
      * @param v
      */
     private void setMsgAndRobotStatus(RobotInformationPageRespVO v, String robotStatisticsType) {
-        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + v.getMacAddress();
+        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + v.getMacAddress();
         Object object = redisUtil.get(pose2dKey);
         RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
 
@@ -588,7 +591,10 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         FloorZoneDTO floorZoneDTO = JSONUtil.toBean((String) floorAreaObject, FloorZoneDTO.class);
 
         if (ObjectUtil.isNotEmpty(object) && ObjectUtil.isNotEmpty(robotStatusDataPoseDTO)) {
-            v.setElectricity(robotStatusDataPoseDTO.getBatSoc());
+            String soc = getSocByMac(v.getMacAddress(), ZeroOneEnum.ONE.getType());
+            if (ObjectUtil.isNotEmpty(soc)) {
+                v.setElectricity(soc);
+            }
             v.setFloor(floorZoneDTO.getFloor());
             v.setArea(floorZoneDTO.getArea());
             v.setOnlineStatus(1);
@@ -653,7 +659,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         Integer fault = 0;
         //0：待命、1：任务中、2：锁定、3：离线、4:充电中、5:故障
         for (RobotInformationDO v : existRobot) {
-            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + v.getMacAddress();
+            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + v.getMacAddress();
             Object object = redisUtil.get(pose2dKey);
 
             if (ObjectUtil.isEmpty(object)) {
@@ -694,6 +700,26 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         return info;
     }
 
+    /**
+     *
+     * @param str
+     * type 1:是mac， 0 :是车辆编号
+     * @param type
+     * @return
+     */
+    @Override
+    public String getSocByMac(String str, Integer type) {
+        if (ZeroOneEnum.ZERO.getType().equals(type)) {
+            str = getMacByRobotNo(str);
+        }
+        String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC +str;
+        Object o = redisUtil.get(socKey);
+        if (ObjectUtil.isEmpty(o)){
+            return null;
+        }
+        return o.toString();
+    }
+
     @Override
     public List<RobotInfoStatusVO> getAGVListStatusInfo() {
         List<RobotInfoStatusVO> list = new ArrayList<>();
@@ -706,7 +732,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             RobotInfoStatusVO vo = new RobotInfoStatusVO();
             vo.setMacAddress(informationDO.getMacAddress());
             //0：待命、1：任务中、2：锁定、3：离线、4:充电中、5:故障
-            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + informationDO.getMacAddress();
+            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + informationDO.getMacAddress();
             Object object = redisUtil.get(pose2dKey);
             if (ObjectUtil.isEmpty(object)) {
                 //离线
@@ -799,7 +825,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         robotStatusDataPoseDTO.setYaw(robotStatusDataDTO.getData().getPose2d().getYaw());
         robotStatusDataPoseDTO.setFloor(robotStatusDataDTO.getData().getFloor_zone().getFloor());
         robotStatusDataPoseDTO.setArea(robotStatusDataDTO.getData().getFloor_zone().getArea());
-        robotStatusDataPoseDTO.setBatSoc(robotStatusDataDTO.getData().getPose2d().getBatSoc());
+//        robotStatusDataPoseDTO.setBatSoc(robotStatusDataDTO.getData().getPose2d().getBatSoc());
 
         robotInformationVO.setPose2d(robotStatusDataPoseDTO);
 
@@ -1369,20 +1395,14 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
 
         CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfig.getConfigStr(), CommonConfigVO.class);
 
-        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robotInformation.getMacAddress();
+        String soc = getSocByMac(robotInformation.getMacAddress(), ZeroOneEnum.ONE.getType());
-        Object poseCache = redisUtil.get(pose2dKey);
+        if (ObjectUtil.isEmpty(soc)) {
-        if (ObjectUtil.isEmpty(poseCache)) {
-            log.info("车机没有电量信息 :{}", robotInformation.getRobotNo());
-            return false;
-        }
-        RobotStatusDataPoseDTO dataPoseDTO = JSON.parseObject((String) poseCache, RobotStatusDataPoseDTO.class);
-        if (ObjectUtil.isEmpty(dataPoseDTO.getBatSoc())) {
             log.info("车机没有电量信息 :{}", robotInformation.getRobotNo());
             return false;
         }
 
         if (ObjectUtil.isNotEmpty(chargeConfig) && ObjectUtil.isNotEmpty(chargeConfig.getStartAutoCharge())) {
-            BigDecimal robotRemainingElectricity = new BigDecimal(dataPoseDTO.getBatSoc());
+            BigDecimal robotRemainingElectricity = new BigDecimal(soc);
             BigDecimal robotEndElectricity = new BigDecimal(chargeConfig.getStartAutoCharge() + "");
             if (robotRemainingElectricity.compareTo(robotEndElectricity) < 0) {
                 log.info("机器人的电量少于自动充电电量，不能接任务 :{}", robotInformation.getRobotNo());
@@ -1390,7 +1410,7 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
             }
         }
 
-        return checkElectricity(chargeConfig, robotInformation, dataPoseDTO);
+        return checkElectricity(chargeConfig, robotInformation,soc);
     }
 
     @Override
@@ -1490,13 +1510,13 @@ public class RobotInformationServiceImpl extends ServiceImpl<RobotInformationMap
         informationMapper.updateById(robotInformationDO);
     }
 
-    private Boolean checkElectricity(CommonConfigVO chargeConfig, RobotInformationDO robot, RobotStatusDataPoseDTO dataPoseDTO) {
+    private Boolean checkElectricity(CommonConfigVO chargeConfig, RobotInformationDO robot, String soc) {
         String chargeModelKey = RobotTaskChcheConstant.ROBOT_CHARGE_MODEL + robot.getRobotNo();
         Object chargeModelCache = redisUtil.get(chargeModelKey);
-        log.info("充电机器人编号:{} ,信息: {}", robot.getRobotNo(), JSON.toJSONString(dataPoseDTO));
+        log.info("充电机器人编号:{} ,信息: {}", robot.getRobotNo());
 
         //车子剩余电量
-        BigDecimal robotRemainingElectricity = new BigDecimal(dataPoseDTO.getBatSoc());
+        BigDecimal robotRemainingElectricity = new BigDecimal(soc);
         //设置离开的电量
         BigDecimal robotEndElectricity = new BigDecimal("10");
 

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

@@ -991,8 +991,8 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
      * @param robotTaskVo
      */
     private void doMoveToPoint(RobotTaskDetailAddVO robotTaskVo) {
-
+        PositionMapItemDO positionMapItem = positionMapItemService.getPositionMapItem(robotTaskVo.getReleaseId());
-
+        robotTaskVo.setToLocationNo(String.valueOf(positionMapItem.getSortNum()));
     }
 
     /**
@@ -1474,12 +1474,11 @@ public class RobotTaskServiceImpl extends ServiceImpl<RobotTaskMapper, RobotTask
         robotChargeLogDO.setEndTime(LocalDateTime.now());
         deviceInformationService.chargeDeviceShrink(robotChargeLogDO.getDeviceNo());
 
-        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robotInformationDO.getMacAddress();
+        String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC +robotInformationDO.getMacAddress();
-        Object object = redisUtil.get(pose2dKey);
+        Object socObject = redisUtil.get(socKey);
-        RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
 
-        if (ObjectUtil.isNotEmpty(object) && ObjectUtil.isNotEmpty(robotStatusDataPoseDTO)) {
+        if (ObjectUtil.isNotEmpty(socObject)) {
-            robotChargeLogDO.setEndElectricity(Integer.valueOf(robotStatusDataPoseDTO.getBatSoc()));
+            robotChargeLogDO.setEndElectricity(Integer.valueOf(socObject.toString()));
         }
         robotChargeLogDO.setTaskStatus(ChargeTaskStatusEnum.DONE.getType());
         chargeLogMapper.updateById(robotChargeLogDO);

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

@@ -160,10 +160,14 @@ public class AutoChargeServiceImpl implements AutoChargeService {
                                    List<RobotChargeLogDO> logs, Map<String, List<RobotTaskDetailDO>> detailMap) {
         //判断机器人身上的电量少于设定的电量
         for (RobotInformationDO robot : robots) {
-            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC +robot.getMacAddress();
+            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT +robot.getMacAddress();
             Object poseCache = redisUtil.get(pose2dKey);
             RobotStatusDataPoseDTO dataPoseDTO= JSON.parseObject((String)poseCache, RobotStatusDataPoseDTO.class);
-            if (ObjectUtil.isEmpty(dataPoseDTO) || ObjectUtil.isEmpty(dataPoseDTO.getBatSoc())) {
+
+            String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC +robot.getMacAddress();
+            Object socObject = redisUtil.get(socKey);
+
+            if (ObjectUtil.isEmpty(dataPoseDTO) || ObjectUtil.isEmpty(socObject)) {
                 log.info("当前机器人查不到电量信息,所以不执行充电 :{}",robot.getRobotNo());
                 continue;
             }
@@ -187,7 +191,8 @@ public class AutoChargeServiceImpl implements AutoChargeService {
             logDo.setRobotNo(robot.getRobotNo());
             logDo.setDeviceNo(deviceInformationDO.getDeviceNo());
             logDo.setPositionMapItemId(deviceInformationDO.getPositionMapItemId());
-            String[] split = dataPoseDTO.getBatSoc().split("\\.");
+
+            String[] split = socObject.toString().split("\\.");
             logDo.setStartElectricity(Integer.valueOf(split[0]));
             //配置的充满电电量
             BigDecimal robotFullElectricity = new BigDecimal(fullElectricity);

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

@@ -129,15 +129,15 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
             }
 
             if (ObjectUtil.isNotEmpty(chargeConfig) && ObjectUtil.isNotEmpty(chargeConfig.getStartAutoCharge())) {
-                String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robot.getMacAddress();
+                String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC +robot.getMacAddress();
-                Object poseCache = redisUtil.get(pose2dKey);
+                Object socObject = redisUtil.get(socKey);
-                RobotStatusDataPoseDTO dataPoseDTO = JSON.parseObject((String) poseCache, RobotStatusDataPoseDTO.class);
+
-                if (ObjectUtil.isEmpty(dataPoseDTO.getBatSoc())) {
+                if (ObjectUtil.isEmpty(socObject)) {
                     robot.setRobotStatus(RobotStatusEnum.DOING.getType());
                     log.info("车机没有电量信息 :{}",robot.getRobotNo());
                     continue;
                 }
-                BigDecimal robotRemainingElectricity = new BigDecimal(dataPoseDTO.getBatSoc());
+                BigDecimal robotRemainingElectricity = new BigDecimal(socObject.toString());
                 BigDecimal robotEndElectricity = new BigDecimal(chargeConfig.getStartAutoCharge()+"");
                 if (robotRemainingElectricity.compareTo(robotEndElectricity) < 0) {
                     robot.setRobotStatus(RobotStatusEnum.DOING.getType());
@@ -235,21 +235,25 @@ public class DistributeTasksServiceImpl implements DistributeTasksService {
      * @param robot
      */
     private void setRobotStatus(CommonConfigDO commonConfigDO, RobotInformationDO robot) {
-        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robot.getMacAddress();
+        String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + robot.getMacAddress();
         String chargeModelKey = RobotTaskChcheConstant.ROBOT_CHARGE_MODEL + robot.getRobotNo();
         Object chargeModelCache = redisUtil.get(chargeModelKey);
         Object poseCache = redisUtil.get(pose2dKey);
         RobotStatusDataPoseDTO dataPoseDTO = JSON.parseObject((String) poseCache, RobotStatusDataPoseDTO.class);
         log.info("充电机器人编号:{} ,信息: {}", robot.getRobotNo(), JSON.toJSONString(dataPoseDTO));
 
-        if (ObjectUtil.isEmpty(commonConfigDO) || ObjectUtil.isEmpty(poseCache) || ObjectUtil.isEmpty(dataPoseDTO.getBatSoc())) {
+        String socKey = RobotTaskChcheConstant.ROBOT_INFORMATION_SOC +robot.getMacAddress();
+        Object o = redisUtil.get(socKey);
+        String soc = ObjectUtil.isEmpty(o) ? "0": o.toString();
+
+        if (ObjectUtil.isEmpty(commonConfigDO) || ObjectUtil.isEmpty(poseCache) || ObjectUtil.isEmpty(o)) {
             return;
         }
 
         CommonConfigVO chargeConfig = JSONUtil.toBean(commonConfigDO.getConfigStr(), CommonConfigVO.class);
 
         //车子剩余电量
-        BigDecimal robotRemainingElectricity = new BigDecimal(dataPoseDTO.getBatSoc());
+        BigDecimal robotRemainingElectricity = new BigDecimal(soc);
         //设置离开的电量
         BigDecimal robotEndElectricity = new BigDecimal("10");
 

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

@@ -196,7 +196,7 @@ public class RobotPathPlanningServiceImpl implements RobotPathPlanningService {
 
         List<RobotPositionMapDTO> list = new ArrayList<>();
         for (RobotInformationDO robot : robots) {
-            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT_SOC + robot.getMacAddress();
+            String pose2dKey = RobotTaskChcheConstant.ROBOT_INFORMATION_POSE_BAT + robot.getMacAddress();
             Object object = redisUtil.get(pose2dKey);
             RobotStatusDataPoseDTO robotStatusDataPoseDTO = JSONUtil.toBean((String) object, RobotStatusDataPoseDTO.class);
             if (ObjectUtil.isEmpty(object) || ObjectUtil.isEmpty(robotStatusDataPoseDTO)) {

yudao-module-system/yudao-module-system-biz/src/main/resources/mapper/houselocation/WareHouseLocationMapper.xml

@@ -894,4 +894,29 @@
         </where>
     </select>
 
+    <select id="getLocationsXYByMapId"
+            resultType="cn.iocoder.yudao.module.system.controller.admin.houselocation.vo.WareHouseLocationItemRespVO">
+        SELECT
+            t1.id,
+            t1.location_no as locationNo,
+            t1.sku_info as skuInfo,
+            t1.sku_number as skuNumber,
+            t1.location_enable as locationEnable,
+            t1.location_lock as locationLock,
+            t1.location_use_status as locationUseStatus,
+            t1.location_wide as locationWide,
+            t1.location_deep as locationDeep,
+            t1.location_storey as locationStorey,
+            t2.actual_location_x as actualLocationX,
+            t2.actual_location_y as actualLocationY
+        FROM
+            ware_house_location t1
+                LEFT JOIN ware_position_map_item t2
+                          on t1.map_item_id = t2.id
+        WHERE
+            t1.deleted = '0'
+          AND t2.deleted = '0'
+          AND t1.map_id = #{mapId}
+    </select>
+
 </mapper>