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rev:正式版本发布版本

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This commit is contained in:
baoge
2023-10-20 17:29:09 +08:00
parent 449cfc9241
commit 312d038818
7 changed files with 49 additions and 78 deletions
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6
nladmin-system/src/main/java/org/nl/agv/service/impl/ErrorServiceImpl.java
View File

@@ -57,9 +57,9 @@ public class ErrorServiceImpl implements ErrorService{
if(debugInfoJson.size()>0) {
//todo 测试用，正式需改回
int warningCode = 754529;
//int warningCode = debugInfoJson.getInteger("Warning_Code");
//todo 用，正式需改回
//int warningCode = 754529;
int warningCode = debugInfoJson.getInteger("Warning_Code");
for(int bitPosition = 0; bitPosition < 28; bitPosition++) {
if((warningCode >> bitPosition) % 2 == 1) {
errorStatus = "有故障";

10
nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java
View File

@@ -67,11 +67,11 @@ public class HomeServiceImpl implements HomeService{
public void qeryDebuggerInfo() {
Map<String,String> urlInfo = RosUtil.getRosHostInfo();
//String result1 = HttpUtil.get("http://localhost:8011/api/pcsIfPurchaseorder/queryApt");
//todo 测试用，正式需改回
String result1 = "{\"Msg_DisplayState\":{\"AGV_ID\":255,\"Auto_In_Line_State\":0,\"Bosch_Car_Global_Theta\":-90.19221757272916,\"Bosch_Car_Global_rx\":-1.0619603784858553,\"Bosch_Car_Global_ry\":0.0020978358374357303,\"Bosch_Loc_State\":-2,\"Bosch_No_Rec_State\":0,\"Bosch_raw_age\":0.01389455795288086,\"Bosch_raw_epoch\":1,\"Bosch_raw_locState\":-2,\"Bosch_raw_qw\":0.9999999908132869,\"Bosch_raw_qx\":0.0,\"Bosch_raw_qy\":0.0,\"Bosch_raw_qz\":0.00013554861104682667,\"Bosch_raw_timestamp\":1695633231.1093392,\"Bosch_raw_uniqueId\":0,\"Bosch_raw_x\":0.0008994877773440588,\"Bosch_raw_x_odo\":0.0008994877773440588,\"Bosch_raw_y\":0.0006906610801896382,\"Bosch_raw_y_odo\":0.0006906610801896382,\"Bosch_raw_yaw\":0.00027109722292381746,\"Bosch_raw_yaw_odo\":0.0006906610801896382,\"Bosch_raw_z\":0.0,\"CAD_Or_TCS_Ctrl\":0,\"Car_Global_Theta\":-90.19221757272916,\"Car_Global_rx\":-1.0619603784858553,\"Car_Global_ry\":0.0020978358374357303,\"CurNodeID\":0,\"Cur_Stop_Info1_Authorized_Pass\":1,\"Cur_Stop_Info1_High_Precious_Enable\":1,\"Cur_Stop_Info1_Reached_Stop\":0,\"Cur_Stop_Info1_Set_Patht\":0.0,\"Cur_Stop_Info1_Set_Pathx\":0.0,\"Cur_Stop_Info1_Set_Pathy\":0.0,\"Cur_Stop_Info1_Single_Request_Sch\":0,\"Cur_Stop_Info1_Single_Stop_Sch\":0,\"Cur_Stop_Info1_StopEndNode\":0,\"Cur_Stop_Info1_StopStartNode\":0,\"Cur_Stop_Info1_Stop_Endt\":0.0,\"Cur_Stop_Info1_Stop_Endx\":0.0,\"Cur_Stop_Info1_Stop_Endy\":0.0,\"Cur_Stop_Info1_Stop_Num\":0,\"Cur_Stop_Info2_Authorized_Pass\":1,\"Cur_Stop_Info2_High_Precious_Enable\":1,\"Cur_Stop_Info2_Reached_Stop\":0,\"Cur_Stop_Info2_Set_Patht\":0.0,\"Cur_Stop_Info2_Set_Pathx\":0.0,\"Cur_Stop_Info2_Set_Pathy\":0.0,\"Cur_Stop_Info2_Single_Request_Sch\":0,\"Cur_Stop_Info2_Single_Stop_Sch\":0,\"Cur_Stop_Info2_StopEndNode\":0,\"Cur_Stop_Info2_StopStartNode\":0,\"Cur_Stop_Info2_Stop_Endt\":0.0,\"Cur_Stop_Info2_Stop_Endx\":0.0,\"Cur_Stop_Info2_Stop_Endy\":0.0,\"Cur_Stop_Info2_Stop_Num\":0,\"Curtis_Warning_Code_Pump\":0,\"Curtis_Warning_Code_Speed\":82,\"Curtis_Warning_Code_Steer\":0,\"EndNode\":0,\"Env_CustomName\":\"NobleLift\",\"Env_HMIUseJavaApp\":\"true\",\"Env_LearnEnable\":\"true\",\"Env_Lu_ROS_IP2\":\"\",\"Env_SoftwareVersion\":\"[Version]Magic4.1[Info]2023_09_21_20_41_37_Lu_ROS_magic4_waypointab_v31\",\"Env_VehicleType\":\"PS10LMT_HuaHai\",\"Get_Nav350_Curr_Layer\":0,\"Language\":1022739087,\"LastAltitudeExpectValue_mm\":0,\"LastGantryXExpectValue_mm\":0,\"LastGantryYExpectValue_mm\":0,\"Lateral_Deviation_m\":0.0,\"License_Info\":\"EC060800FFFBEBBF 6B7685747EBC EC060800FFFBEBBF 6B7685747EBC 2021/8/26 13:46:47 2021/8/26 13:46:47 1 UserClass5 Magic4_1\",\"LindeAgwSteerCenterPivotPlateAng\":0,\"LindeAgwSteerErrorFlag\":0,\"LindeAgwSteerModeSelectorState\":0,\"LindeAgwTracLiftErrorFlag\":0,\"LindeAgwTracLiftModeSelectorState\":0,\"LindeDriveErrCode1\":0,\"LindeDriveErrCode2\":0,\"LindeDriveErrCode3\":0,\"LindeDriveErrCode4\":0,\"LindeLiftErrCode1\":0,\"LindeLiftErrCode2\":0,\"LindeLiftErrCode3\":0,\"LindeLiftErrCode4\":0,\"LindeSteerErrCode1\":0,\"LindeSteerErrCode2\":0,\"LindeSteerErrCode3\":0,\"LindeSteerErrCode4\":0,\"Login_Info\":\"\",\"Min_Dist\":0.0,\"MissionCompleteAltitude_mm_RemoteOrHMI_FB\":0,\"MissionCompleteGantryX_mm_RemoteOrHMI_FB\":0,\"MissionCompleteGantryY_mm_RemoteOrHMI_FB\":0,\"Navi_Method\":3,\"ObstacleDetectState\":0,\"ObstacleTouchState\":0,\"Out_Of_Path_Times\":0,\"PFC_Sch\":0,\"PFC_State\":\"[PathFollow_Control_Handle_WLANJSON][PathFollow_Schedule_WLANJSON=0]\\n\",\"PLC_Warning_Code\":0,\"PWR_Percent\":100,\"PWR_Warn\":0,\"PathFollow_Enable\":0,\"PathFollow_Expect_AltitudeCtrlEnable\":0,\"PathFollow_Expect_GantryXCtrlEnable\":0,\"PathFollow_Expect_GantryYCtrlEnable\":0,\"Plate_Check_Err_Code\":0,\"ReachState\":0,\"RealAutoChargeState\":0,\"Ref_std_rt\":0.0,\"Ref_std_rx\":0.0,\"Ref_std_ry\":0.0,\"Remote_Or_HMI_Ctrl\":1,\"SVreal_angle\":0.0,\"Sche_JSON_Sche_Enable\":0,\"Speedm_Tmp\":0.0,\"StartNode\":0,\"Sub_Warning_Code0\":0,\"Sys_Mode\":4,\"Task_Sch\":0,\"Task_State\":\"\",\"Update_Sch\":0,\"Update_State\":\"\",\"VehicleCtrlExpThrottle\":0,\"VehicleCtrlRealAltitude_mm\":998,\"VehicleCtrlRealCustomStateByte0\":0,\"VehicleCtrlRealCustomStateByte1\":0,\"VehicleCtrlRealCustomStateByte2\":0,\"VehicleCtrlRealCustomStateByte3\":0,\"VehicleCtrlRealGantryX_mm\":0,\"VehicleCtrlRealGantryY_mm\":0,\"VehicleCtrlRealJoyEnable\":0,\"VehicleCtrlRealRCEnable\":0,\"VehicleCtrl_CAN_Err_Info\":0,\"Vertical_Deviation_deg\":0.0,\"Warning_Code\":754529,\"header\":{\"frame_id\":\"\",\"seq\":1904,\"stamp\":{\"nsec\":160948865,\"sec\":1695633231}}}}";
JSONObject json = JSONObject.parseObject(result1);
// String result = HttpUtil.get(urlInfo.get("javaUrl"));
// JSONObject json = JSONObject.parseObject(result);
//todo 用，正式需改回
//String result1 = "{\"Msg_DisplayState\":{\"AGV_ID\":255,\"Auto_In_Line_State\":0,\"Bosch_Car_Global_Theta\":-90.19221757272916,\"Bosch_Car_Global_rx\":-1.0619603784858553,\"Bosch_Car_Global_ry\":0.0020978358374357303,\"Bosch_Loc_State\":-2,\"Bosch_No_Rec_State\":0,\"Bosch_raw_age\":0.01389455795288086,\"Bosch_raw_epoch\":1,\"Bosch_raw_locState\":-2,\"Bosch_raw_qw\":0.9999999908132869,\"Bosch_raw_qx\":0.0,\"Bosch_raw_qy\":0.0,\"Bosch_raw_qz\":0.00013554861104682667,\"Bosch_raw_timestamp\":1695633231.1093392,\"Bosch_raw_uniqueId\":0,\"Bosch_raw_x\":0.0008994877773440588,\"Bosch_raw_x_odo\":0.0008994877773440588,\"Bosch_raw_y\":0.0006906610801896382,\"Bosch_raw_y_odo\":0.0006906610801896382,\"Bosch_raw_yaw\":0.00027109722292381746,\"Bosch_raw_yaw_odo\":0.0006906610801896382,\"Bosch_raw_z\":0.0,\"CAD_Or_TCS_Ctrl\":0,\"Car_Global_Theta\":-90.19221757272916,\"Car_Global_rx\":-1.0619603784858553,\"Car_Global_ry\":0.0020978358374357303,\"CurNodeID\":0,\"Cur_Stop_Info1_Authorized_Pass\":1,\"Cur_Stop_Info1_High_Precious_Enable\":1,\"Cur_Stop_Info1_Reached_Stop\":0,\"Cur_Stop_Info1_Set_Patht\":0.0,\"Cur_Stop_Info1_Set_Pathx\":0.0,\"Cur_Stop_Info1_Set_Pathy\":0.0,\"Cur_Stop_Info1_Single_Request_Sch\":0,\"Cur_Stop_Info1_Single_Stop_Sch\":0,\"Cur_Stop_Info1_StopEndNode\":0,\"Cur_Stop_Info1_StopStartNode\":0,\"Cur_Stop_Info1_Stop_Endt\":0.0,\"Cur_Stop_Info1_Stop_Endx\":0.0,\"Cur_Stop_Info1_Stop_Endy\":0.0,\"Cur_Stop_Info1_Stop_Num\":0,\"Cur_Stop_Info2_Authorized_Pass\":1,\"Cur_Stop_Info2_High_Precious_Enable\":1,\"Cur_Stop_Info2_Reached_Stop\":0,\"Cur_Stop_Info2_Set_Patht\":0.0,\"Cur_Stop_Info2_Set_Pathx\":0.0,\"Cur_Stop_Info2_Set_Pathy\":0.0,\"Cur_Stop_Info2_Single_Request_Sch\":0,\"Cur_Stop_Info2_Single_Stop_Sch\":0,\"Cur_Stop_Info2_StopEndNode\":0,\"Cur_Stop_Info2_StopStartNode\":0,\"Cur_Stop_Info2_Stop_Endt\":0.0,\"Cur_Stop_Info2_Stop_Endx\":0.0,\"Cur_Stop_Info2_Stop_Endy\":0.0,\"Cur_Stop_Info2_Stop_Num\":0,\"Curtis_Warning_Code_Pump\":0,\"Curtis_Warning_Code_Speed\":82,\"Curtis_Warning_Code_Steer\":0,\"EndNode\":0,\"Env_CustomName\":\"NobleLift\",\"Env_HMIUseJavaApp\":\"true\",\"Env_LearnEnable\":\"true\",\"Env_Lu_ROS_IP2\":\"\",\"Env_SoftwareVersion\":\"[Version]Magic4.1[Info]2023_09_21_20_41_37_Lu_ROS_magic4_waypointab_v31\",\"Env_VehicleType\":\"PS10LMT_HuaHai\",\"Get_Nav350_Curr_Layer\":0,\"Language\":1022739087,\"LastAltitudeExpectValue_mm\":0,\"LastGantryXExpectValue_mm\":0,\"LastGantryYExpectValue_mm\":0,\"Lateral_Deviation_m\":0.0,\"License_Info\":\"EC060800FFFBEBBF 6B7685747EBC EC060800FFFBEBBF 6B7685747EBC 2021/8/26 13:46:47 2021/8/26 13:46:47 1 UserClass5 Magic4_1\",\"LindeAgwSteerCenterPivotPlateAng\":0,\"LindeAgwSteerErrorFlag\":0,\"LindeAgwSteerModeSelectorState\":0,\"LindeAgwTracLiftErrorFlag\":0,\"LindeAgwTracLiftModeSelectorState\":0,\"LindeDriveErrCode1\":0,\"LindeDriveErrCode2\":0,\"LindeDriveErrCode3\":0,\"LindeDriveErrCode4\":0,\"LindeLiftErrCode1\":0,\"LindeLiftErrCode2\":0,\"LindeLiftErrCode3\":0,\"LindeLiftErrCode4\":0,\"LindeSteerErrCode1\":0,\"LindeSteerErrCode2\":0,\"LindeSteerErrCode3\":0,\"LindeSteerErrCode4\":0,\"Login_Info\":\"\",\"Min_Dist\":0.0,\"MissionCompleteAltitude_mm_RemoteOrHMI_FB\":0,\"MissionCompleteGantryX_mm_RemoteOrHMI_FB\":0,\"MissionCompleteGantryY_mm_RemoteOrHMI_FB\":0,\"Navi_Method\":3,\"ObstacleDetectState\":0,\"ObstacleTouchState\":0,\"Out_Of_Path_Times\":0,\"PFC_Sch\":0,\"PFC_State\":\"[PathFollow_Control_Handle_WLANJSON][PathFollow_Schedule_WLANJSON=0]\\n\",\"PLC_Warning_Code\":0,\"PWR_Percent\":100,\"PWR_Warn\":0,\"PathFollow_Enable\":0,\"PathFollow_Expect_AltitudeCtrlEnable\":0,\"PathFollow_Expect_GantryXCtrlEnable\":0,\"PathFollow_Expect_GantryYCtrlEnable\":0,\"Plate_Check_Err_Code\":0,\"ReachState\":0,\"RealAutoChargeState\":0,\"Ref_std_rt\":0.0,\"Ref_std_rx\":0.0,\"Ref_std_ry\":0.0,\"Remote_Or_HMI_Ctrl\":1,\"SVreal_angle\":0.0,\"Sche_JSON_Sche_Enable\":0,\"Speedm_Tmp\":0.0,\"StartNode\":0,\"Sub_Warning_Code0\":0,\"Sys_Mode\":4,\"Task_Sch\":0,\"Task_State\":\"\",\"Update_Sch\":0,\"Update_State\":\"\",\"VehicleCtrlExpThrottle\":0,\"VehicleCtrlRealAltitude_mm\":998,\"VehicleCtrlRealCustomStateByte0\":0,\"VehicleCtrlRealCustomStateByte1\":0,\"VehicleCtrlRealCustomStateByte2\":0,\"VehicleCtrlRealCustomStateByte3\":0,\"VehicleCtrlRealGantryX_mm\":0,\"VehicleCtrlRealGantryY_mm\":0,\"VehicleCtrlRealJoyEnable\":0,\"VehicleCtrlRealRCEnable\":0,\"VehicleCtrl_CAN_Err_Info\":0,\"Vertical_Deviation_deg\":0.0,\"Warning_Code\":754529,\"header\":{\"frame_id\":\"\",\"seq\":1904,\"stamp\":{\"nsec\":160948865,\"sec\":1695633231}}}}";
//JSONObject json = JSONObject.parseObject(result1);
String result = HttpUtil.get(urlInfo.get("javaUrl"));
JSONObject json = JSONObject.parseObject(result);
JSONObject jo = JSONObject.parseObject(json.getString("Msg_DisplayState"));
debugInfoJson.put("Msg_Timestamp", jo.getJSONObject("header").getJSONObject("stamp").getString("sec"));
debugInfoJson.put("AGV_ID", jo.getString("AGV_ID"));

98
nladmin-system/src/main/java/org/nl/agv/service/impl/TaskServiceServiceImpl.java
View File

@@ -55,42 +55,34 @@ public class TaskServiceServiceImpl implements TaskService{
public Map<String,Object> queryPoint(Map<String,String> jsonObject) {
JSONObject returnjo = new JSONObject();
String rest_pointcode = "";
try {
ServiceResponse response = sendToAgvUtil.send("GetStationFloorIndexTable");
String result_info = JSONObject
.parseObject(response.toString())
.getString("ROS_String_Output");
String[] split = result_info.split("\\n");
for(int i = 0; i < split.length; i++) {
String row = split[i];
String[] rowArr = row.split("\\s+");
pointJson.put(rowArr[3], rowArr[4].contains("<") ? "" : rowArr[4]);
}
JSONArray arr = new JSONArray();
for(Object key : pointJson.keySet()) {
String value = (String) pointJson.get(key);
System.out.println("Key = " + key + ", Value = " + value);
JSONObject row = new JSONObject();
row.put("point_code", key);
row.put("point_name", value);
row.put("code_name", key + "-" + value);
if(StrUtil.equals("休息", value)) {
rest_pointcode = (String) key;
}
arr.add(row);
}
JSONObject jsonObject1 = new JSONObject();
jsonObject1.put("result_info", result_info);
returnjo.put("code", "1");
returnjo.put("desc", "查询成功!");
returnjo.put("rest_pointcode", rest_pointcode);
returnjo.put("result", arr);
return returnjo;
ServiceResponse response = sendToAgvUtil.send("GetStationFloorIndexTable");
String result_info = JSONObject.parseObject(response.toString()).getString("ROS_String_Output");
String[] split = result_info.split("\\n");
for(int i = 0; i < split.length; i++) {
String row = split[i];
String[] rowArr = row.split("\\s+");
pointJson.put(rowArr[3], rowArr[4].contains("<") ? "" : rowArr[4]);
}
catch(Exception e) {
Log.error("通信失败:" + e.getMessage());
throw new BadRequestException( e.getMessage()==null?"通信失败，请检查系统参数中的Ros连接信息":e.getMessage());
JSONArray arr = new JSONArray();
for(Object key : pointJson.keySet()) {
String value = (String) pointJson.get(key);
System.out.println("Key = " + key + ", Value = " + value);
JSONObject row = new JSONObject();
row.put("point_code", key);
row.put("point_name", value);
row.put("code_name", key + "-" + value);
if(StrUtil.equals("休息", value)) {
rest_pointcode = (String) key;
}
arr.add(row);
}
JSONObject jsonObject1 = new JSONObject();
jsonObject1.put("result_info", result_info);
returnjo.put("code", "1");
returnjo.put("desc", "查询成功!");
returnjo.put("rest_pointcode", rest_pointcode);
returnjo.put("result", arr);
return returnjo;
}
@Override
@@ -101,14 +93,9 @@ public class TaskServiceServiceImpl implements TaskService{
throw new BadRequestException("站点不能为空!");
}
//查询未完成的指令有多少条
int num = WQL.getWO("QAGVERROR")
.addParam("flag", "3").process()
.uniqueResult(0).getInteger("num");
int num = WQL.getWO("QAGVERROR").addParam("flag", "3").process().uniqueResult(0).getInteger("num");
//查询最多的任务数量
int max_task_num = WQLObject
.getWQLObject("ST_SYSTEM_PARAM")
.query("1=1").uniqueResult(0)
.getInteger("max_task_num");
int max_task_num = WQLObject.getWQLObject("ST_SYSTEM_PARAM").query("1=1").uniqueResult(0).getInteger("max_task_num");
if(num >= max_task_num) {
returnjo.put("code", "1");
returnjo.put("desc", "未执行的任务数量达到上限！");
@@ -119,10 +106,7 @@ public class TaskServiceServiceImpl implements TaskService{
String task_status = "00";
String task_status_name = "生成未执行";
//查询未完成最大的顺序号
JSONObject taskrow = WQLObject
.getWQLObject("ST_TASK_INFO")
.query("is_manualfinished=0", "seq_num desc")
.uniqueResult(0);
JSONObject taskrow = WQLObject.getWQLObject("ST_TASK_INFO").query("is_manualfinished=0", "seq_num desc").uniqueResult(0);
if(ObjectUtil.isNotEmpty(taskrow)) {
seq_num = taskrow.getInteger("seq_num") + 1;
}
@@ -150,8 +134,7 @@ public class TaskServiceServiceImpl implements TaskService{
taskjo.put("create_time", DateUtil.now());
taskjo.put("is_agvfinished", "0");
taskjo.put("is_manualfinished", "0");
WQLObject.getWQLObject("ST_TASK_INFO")
.insert(taskjo);
WQLObject.getWQLObject("ST_TASK_INFO").insert(taskjo);
returnjo.put("code", "1");
returnjo.put("desc", "新增成功！");
return returnjo;
@@ -159,10 +142,7 @@ public class TaskServiceServiceImpl implements TaskService{
@Override
public Map<String,Object> queryTaskList(Map<String,String> jsonObject) {
JSONArray resultJSONArray = WQL
.getWO("QAGVERROR")
.addParam("flag", "2").process()
.getResultJSONArray(0);
JSONArray resultJSONArray = WQL.getWO("QAGVERROR").addParam("flag", "2").process().getResultJSONArray(0);
JSONObject returnjo = new JSONObject();
returnjo.put("code", "1");
returnjo.put("desc", "查询成功！");
@@ -177,9 +157,7 @@ public class TaskServiceServiceImpl implements TaskService{
throw new BadRequestException("任务号不能为空");
}
WQLObject taskTable = WQLObject.getWQLObject("ST_TASK_INFO");
JSONObject taskjo = taskTable
.query("task_code='" + task_num + "'")
.uniqueResult(0);
JSONObject taskjo = taskTable.query("task_code='" + task_num + "'").uniqueResult(0);
taskjo.put("is_delete", "1");
taskTable.update(taskjo);
JSONObject returnjo = new JSONObject();
@@ -193,9 +171,7 @@ public class TaskServiceServiceImpl implements TaskService{
JSONArray jsonArray = JSONArray.parseArray(JSON.toJSONString(jsonObject.get("param")));
WQLObject taskTable = WQLObject.getWQLObject("ST_TASK_INFO");
//更新之前删除之前的所有未完成任务
JSONArray taskrows = taskTable
.query("task_status='00' or task_status='01'")
.getResultJSONArray(0);
JSONArray taskrows = taskTable.query("task_status='00' or task_status='01'").getResultJSONArray(0);
for(int i = 0; i < taskrows.size(); i++) {
JSONObject taskrow = taskrows.getJSONObject(i);
taskrow.put("is_delete", "1");
@@ -205,9 +181,7 @@ public class TaskServiceServiceImpl implements TaskService{
JSONObject taskjo = jsonArray.getJSONObject(i);
String task_num = taskjo.getString("task_num");
String seq_num = taskjo.getString("seq_num");
JSONObject taskrow = taskTable
.query("task_code='" + task_num + "'")
.uniqueResult(0);
JSONObject taskrow = taskTable.query("task_code='" + task_num + "'").uniqueResult(0);
/* String task_status = taskjo.getString("task_status");
if (StrUtil.equals(task_status,"01")){
taskrow.put("seq_num", 1);
@@ -232,9 +206,7 @@ public class TaskServiceServiceImpl implements TaskService{
}
//1代表正确，2 代表不正确
String is_correct;
JSONObject paramjo = WQLObject
.getWQLObject("ST_SYSTEM_PARAM")
.query("1=1").uniqueResult(0);
JSONObject paramjo = WQLObject.getWQLObject("ST_SYSTEM_PARAM").query("1=1").uniqueResult(0);
String super_password = paramjo.getString("super_password");
String passworddb = paramjo.getString("password");
JSONObject returnjo = new JSONObject();

7
nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java
View File

@@ -48,7 +48,6 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{
@Override
public Map<String,Object> queryRestPoint(Map<String,String> jsonObject) {
ServiceResponse response = sendToAgvUtil.send("GetNodePointManagerTable");
String result_info = response.toString();
String s = JSONObject.parseObject(response.toString()).getString("ROS_String_Output");
String[] split = s.split("\\n");
JSONArray rows = new JSONArray();
@@ -259,9 +258,9 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{
JSONObject row = new JSONObject();
try {
JSONObject debugInfoJson = HomeServiceImpl.debugInfoJson;
//int ObstacleTouchState = debugInfoJson.getInteger("ObstacleTouchState");
int ObstacleTouchState = 524305;
//todo 测试用，正式需改回
int ObstacleTouchState = debugInfoJson.getInteger("ObstacleTouchState");
//int ObstacleTouchState = 524305;
//todo 用，正式需改回
int ObstacleDetectState = debugInfoJson.getInteger("ObstacleDetectState");
int VehicleCtrlRealCustomStateByte0 = debugInfoJson.getInteger("VehicleCtrlRealCustomStateByte0");
//避障停车

2
nladmin-system/src/main/java/org/nl/modules/wql/core/bean/ResultBean.java
View File

@@ -446,7 +446,7 @@ public class ResultBean implements Serializable, Cloneable{
}
/**
* 测试用
* 测试
*
* @param args
*/

2
nladmin-system/src/main/java/org/nl/modules/wql/core/engine/WQLFun.java
View File

@@ -2273,7 +2273,7 @@ public class WQLFun {
}
/**
* 测试用
* 测试
*
* @param args
*/

2
nladmin-system/src/main/java/org/nl/modules/wql/util/MethodFactory.java
View File

@@ -1341,7 +1341,7 @@ public class MethodFactory {
}
/**
* 测试用
* 测试
*
* @param args
*/