From 312d0388182226a7f0ca6f8afdcbe648b987c174 Mon Sep 17 00:00:00 2001 From: baoge <751575283@qq.com> Date: Fri, 20 Oct 2023 17:29:09 +0800 Subject: [PATCH] =?UTF-8?q?rev:=E6=AD=A3=E5=BC=8F=E7=89=88=E6=9C=AC?= =?UTF-8?q?=E5=8F=91=E5=B8=83=E7=89=88=E6=9C=AC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../nl/agv/service/impl/ErrorServiceImpl.java | 6 +- .../nl/agv/service/impl/HomeServiceImpl.java | 10 +- .../service/impl/TaskServiceServiceImpl.java | 98 +++++++------------ .../service/impl/VehicleInfoServiceImpl.java | 7 +- .../nl/modules/wql/core/bean/ResultBean.java | 2 +- .../nl/modules/wql/core/engine/WQLFun.java | 2 +- .../nl/modules/wql/util/MethodFactory.java | 2 +- 7 files changed, 49 insertions(+), 78 deletions(-) diff --git a/nladmin-system/src/main/java/org/nl/agv/service/impl/ErrorServiceImpl.java b/nladmin-system/src/main/java/org/nl/agv/service/impl/ErrorServiceImpl.java index 562a4e0..9779c85 100644 --- a/nladmin-system/src/main/java/org/nl/agv/service/impl/ErrorServiceImpl.java +++ b/nladmin-system/src/main/java/org/nl/agv/service/impl/ErrorServiceImpl.java @@ -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"; diff --git a/nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java b/nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java index c4c78ed..e6b6665 100644 --- a/nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java +++ b/nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java @@ -67,11 +67,11 @@ public class HomeServiceImpl implements HomeService{ public void qeryDebuggerInfo() { Map 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")); diff --git a/nladmin-system/src/main/java/org/nl/agv/service/impl/TaskServiceServiceImpl.java b/nladmin-system/src/main/java/org/nl/agv/service/impl/TaskServiceServiceImpl.java index 4fe3cfe..5b07b5b 100644 --- a/nladmin-system/src/main/java/org/nl/agv/service/impl/TaskServiceServiceImpl.java +++ b/nladmin-system/src/main/java/org/nl/agv/service/impl/TaskServiceServiceImpl.java @@ -55,42 +55,34 @@ public class TaskServiceServiceImpl implements TaskService{ public Map queryPoint(Map 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 queryTaskList(Map 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(); diff --git a/nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java b/nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java index a475079..acc197c 100644 --- a/nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java +++ b/nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java @@ -48,7 +48,6 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{ @Override public Map queryRestPoint(Map 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 diff --git a/nladmin-system/src/main/java/org/nl/modules/wql/core/bean/ResultBean.java b/nladmin-system/src/main/java/org/nl/modules/wql/core/bean/ResultBean.java index 6d10911..0cadd78 100644 --- a/nladmin-system/src/main/java/org/nl/modules/wql/core/bean/ResultBean.java +++ b/nladmin-system/src/main/java/org/nl/modules/wql/core/bean/ResultBean.java @@ -446,7 +446,7 @@ public class ResultBean implements Serializable, Cloneable{ } /** - * 测试用 + * 测试 * * @param args */ diff --git a/nladmin-system/src/main/java/org/nl/modules/wql/core/engine/WQLFun.java b/nladmin-system/src/main/java/org/nl/modules/wql/core/engine/WQLFun.java index 757b61b..b4a1a40 100644 --- a/nladmin-system/src/main/java/org/nl/modules/wql/core/engine/WQLFun.java +++ b/nladmin-system/src/main/java/org/nl/modules/wql/core/engine/WQLFun.java @@ -2273,7 +2273,7 @@ public class WQLFun { } /** - * 测试用 + * 测试 * * @param args */ diff --git a/nladmin-system/src/main/java/org/nl/modules/wql/util/MethodFactory.java b/nladmin-system/src/main/java/org/nl/modules/wql/util/MethodFactory.java index 3f61030..08cb6e4 100644 --- a/nladmin-system/src/main/java/org/nl/modules/wql/util/MethodFactory.java +++ b/nladmin-system/src/main/java/org/nl/modules/wql/util/MethodFactory.java @@ -1341,7 +1341,7 @@ public class MethodFactory { } /** - * 测试用 + * 测试 * * @param args */