From 56cc4a2b6f66a98043837ccfdbfc1e0e4c64fdba Mon Sep 17 00:00:00 2001 From: baoge <751575283@qq.com> Date: Tue, 16 Apr 2024 13:29:43 +0800 Subject: [PATCH] =?UTF-8?q?opt:=E4=BF=AE=E6=94=B9=E9=A6=96=E9=A1=B5?= =?UTF-8?q?=E4=BF=A1=E6=81=AF=E6=8E=A8=E9=80=81=EF=BC=8C=E5=A4=B4=E9=83=A8?= =?UTF-8?q?=E7=8A=B6=E6=80=81=E6=8E=A8=E9=80=81=E4=B8=BAWebSocket=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../main/java/org/nl/agv/enu/EnMsgEnum.java | 1 + .../org/nl/agv/enu/VehicleOperateEnum.java | 41 +-- .../main/java/org/nl/agv/enu/ZhMsgEnum.java | 1 + .../java/org/nl/agv/rest/HomeController.java | 2 + .../nl/agv/service/impl/HomeServiceImpl.java | 256 ++++++++++++------ .../service/impl/TaskServiceServiceImpl.java | 32 ++- .../nl/{common => agv}/websocket/MsgType.java | 18 +- .../websocket/SendHomeWebSocketServer.java | 128 +++++++++ .../java/org/nl/agv/websocket/SocketMsg.java | 33 +++ .../nl/agv/websocket/WebSocketDataSender.java | 42 +++ .../websocket/WebSocketServer.java | 37 ++- .../org/nl/common/websocket/SocketMsg.java | 18 -- .../notice/impl/NoticeServiceImpl.java | 6 +- .../java/org/nl/utils/QueryInfoSchedule.java | 2 +- .../main/resources/config/application-dev.yml | 2 +- .../src/main/resources/config/application.yml | 5 + 16 files changed, 467 insertions(+), 157 deletions(-) rename nladmin-system/src/main/java/org/nl/{common => agv}/websocket/MsgType.java (82%) create mode 100644 nladmin-system/src/main/java/org/nl/agv/websocket/SendHomeWebSocketServer.java create mode 100644 nladmin-system/src/main/java/org/nl/agv/websocket/SocketMsg.java create mode 100644 nladmin-system/src/main/java/org/nl/agv/websocket/WebSocketDataSender.java rename nladmin-system/src/main/java/org/nl/{common => agv}/websocket/WebSocketServer.java (82%) delete mode 100644 nladmin-system/src/main/java/org/nl/common/websocket/SocketMsg.java diff --git a/nladmin-system/src/main/java/org/nl/agv/enu/EnMsgEnum.java b/nladmin-system/src/main/java/org/nl/agv/enu/EnMsgEnum.java index 0973fd4..75fa636 100644 --- a/nladmin-system/src/main/java/org/nl/agv/enu/EnMsgEnum.java +++ b/nladmin-system/src/main/java/org/nl/agv/enu/EnMsgEnum.java @@ -50,6 +50,7 @@ public enum EnMsgEnum { ModifyProfile("Cannot Modify Other User's Profile", "ModifyProfile"), IncorrectPassword("Incorrect Password", "IncorrectPassword"), RoleCannotEmpty("Role Name Cannot Be Empty", "RoleCannotEmpty"), + CannotCanceled("Only Tasks That Have Not Been Executed Can Be Canceled", "CannotCanceled"), UserCannotEmpty("User Cannot Be Empty", "UserCannotEmpty"), DeletedNoPermission("Deleted Or No Permission, Operation Failed", "DeletedNoPermission"), InfoNotExist("The Information Does Not Exist", "InfoNotExist"), diff --git a/nladmin-system/src/main/java/org/nl/agv/enu/VehicleOperateEnum.java b/nladmin-system/src/main/java/org/nl/agv/enu/VehicleOperateEnum.java index 1ad4f63..dfcc8a6 100644 --- a/nladmin-system/src/main/java/org/nl/agv/enu/VehicleOperateEnum.java +++ b/nladmin-system/src/main/java/org/nl/agv/enu/VehicleOperateEnum.java @@ -14,26 +14,23 @@ import java.util.Optional; */ public enum VehicleOperateEnum{ // 1-关机、2-显示屏控制、3-TCS控制、4-RC控制、5-Joy控制 - OFF("关机", "1"), - SCREEN("显示屏控制", "2"), - TCS("TCS控制", "3"), - SCHE("SCHE控制", "4"), - RC("RC控制", "5"), - JOY("Joy控制", "6"), - QUITNOW("退出", "7"), - REBORNINIT("软启动", "8"), - STARTCHECK("跳过起点", "9"), - REBOOT("重启", "10"), - FULL("全屏", "11"), - SKIPPLATE("跳过检测", "12"), - OTHER("其他", "13"); - private final String name; - private final String code; + OFF(1,"关机", "1"), + SCREEN(2,"显示屏控制", "2"), + TCS(3,"TCS控制", "3"), + SCHE(4,"SCHE控制", "4"), + RC(5,"RC控制", "5"), + JOY(6,"Joy控制", "6"), + QUITNOW(7,"退出", "7"), + REBORNINIT(8,"软启动", "8"), + STARTCHECK(9,"跳过起点", "9"), + REBOOT(10,"重启", "10"), + FULL(11,"全屏", "11"), + SKIPPLATE(12,"跳过检测", "12"), + OTHER(13,"其他", "13"); - VehicleOperateEnum(String name, String code) { - this.name = name; - this.code = code; - } + private int index; + private String name; + private String code; public String getName() { return name; @@ -43,6 +40,12 @@ public enum VehicleOperateEnum{ return code; } + VehicleOperateEnum(int index,String name, String code) { + this.index = index; + this.name = name; + this.code = code; + } + public static VehicleOperateEnum getType(String type) { Optional first = Arrays.stream(VehicleOperateEnum.values()).filter(a -> a.getCode().equals(type)).findFirst(); return first.orElse(VehicleOperateEnum.OTHER); diff --git a/nladmin-system/src/main/java/org/nl/agv/enu/ZhMsgEnum.java b/nladmin-system/src/main/java/org/nl/agv/enu/ZhMsgEnum.java index 63e1345..a2f58d5 100644 --- a/nladmin-system/src/main/java/org/nl/agv/enu/ZhMsgEnum.java +++ b/nladmin-system/src/main/java/org/nl/agv/enu/ZhMsgEnum.java @@ -38,6 +38,7 @@ public enum ZhMsgEnum { ModifyProfile("不能修改他人资料", "ModifyProfile"), IncorrectPassword("密码错误", "IncorrectPassword"), RoleCannotEmpty("角色名字不能为空", "RoleCannotEmpty"), + CannotCanceled("只能取消未执行的任务", "CannotCanceled"), UserCannotEmpty("用户不能为空", "UserCannotEmpty"), DeletedNoPermission("被删除或无权限，操作失败", "DeletedNoPermission"), InfoNotExist("该信息不存在", "InfoNotExist"), diff --git a/nladmin-system/src/main/java/org/nl/agv/rest/HomeController.java b/nladmin-system/src/main/java/org/nl/agv/rest/HomeController.java index 870b1e5..f1a02d9 100644 --- a/nladmin-system/src/main/java/org/nl/agv/rest/HomeController.java +++ b/nladmin-system/src/main/java/org/nl/agv/rest/HomeController.java @@ -2,12 +2,14 @@ package org.nl.agv.rest; import cn.dev33.satoken.annotation.SaIgnore; +import com.alibaba.fastjson.JSONObject; import io.swagger.annotations.Api; import io.swagger.annotations.ApiOperation; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; import org.nl.agv.service.HomeService; import org.nl.common.anno.Log; +import org.springframework.beans.factory.annotation.Autowired; import org.springframework.http.HttpStatus; import org.springframework.http.ResponseEntity; import org.springframework.web.bind.annotation.PostMapping; 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 c890de4..a59e6dd 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 @@ -15,6 +15,7 @@ */ package org.nl.agv.service.impl; +import cn.hutool.core.date.StopWatch; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONArray; import cn.hutool.core.date.DateUtil; @@ -22,6 +23,7 @@ import cn.hutool.core.util.IdUtil; import cn.hutool.core.util.ObjectUtil; import cn.hutool.core.util.StrUtil; import cn.hutool.http.HttpUtil; +import com.mchange.lang.LongUtils; import edu.wpi.rail.jrosbridge.services.ServiceResponse; import lombok.RequiredArgsConstructor; import com.alibaba.fastjson.JSONObject; @@ -32,23 +34,28 @@ import org.nl.agv.enu.*; import org.nl.agv.service.HomeService; import org.nl.agv.unit.RosUtil; import org.nl.agv.unit.sendToAgvUtil; +import org.nl.agv.websocket.SendHomeWebSocketServer; import org.nl.common.utils.LangUtils; import org.nl.common.utils.SecurityUtils; import org.nl.modules.common.exception.BadRequestException; import org.nl.modules.system.util.CodeUtil; import org.nl.modules.wql.core.bean.WQLObject; +import org.springframework.beans.factory.annotation.Autowired; import org.springframework.beans.factory.annotation.Qualifier; import org.springframework.beans.factory.annotation.Value; +import org.springframework.scheduling.TaskScheduler; import org.springframework.scheduling.annotation.Async; import org.springframework.scheduling.annotation.Scheduled; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; +import javax.annotation.PostConstruct; import javax.annotation.Resource; import java.math.BigDecimal; import java.math.RoundingMode; import java.util.*; import java.util.concurrent.CompletableFuture; +import java.util.concurrent.CopyOnWriteArraySet; import java.util.concurrent.ThreadPoolExecutor; import static org.nl.common.utils.LangUtils.getLanguage; @@ -61,19 +68,38 @@ import static org.nl.common.utils.LangUtils.getLanguage; @Service @RequiredArgsConstructor public class HomeServiceImpl implements HomeService { + + @Resource + private TaskScheduler scheduler; @Resource @Qualifier("threadPool") private ThreadPoolExecutor pool; + + @Value("${spring.profiles.active}") + private String isProd; + + @Value("${timer.syncAgvInfo}") + private long syncAgvInfo; + + @Value("${timer.sendHomeInfo}") + private long sendHomeInfo; + + @Value("${timer.handleTask}") + private long handleTask; + + @Value("${timer.deleteTask}") + private long deleteTask; + //定时器查询调试信息，放入json其他地方直接调用； public static JSONObject debugInfoJson = new JSONObject(); + + //特定场景调试信息，放入json其他地方直接调用； public static JSONObject debugInfoJsonQuick = new JSONObject(); public HomeServiceImpl(ThreadPoolExecutor pool) { this.pool = pool; } - @Value("${spring.profiles.active}") - private String isProd; /** * 优化获取主页及状态栏信息 @@ -94,14 +120,14 @@ public class HomeServiceImpl implements HomeService { // } // }, pool); //执行任务操作 - CompletableFuture.runAsync(() -> { - try { - handleTaskStatus(); - } catch (Exception e) { - //记录异常日志 - log.error("queryHomePage-执行任务操作失败:{}", e.getMessage()); - } - }, pool); + // CompletableFuture.runAsync(() -> { + // try { + // handleTaskStatus(); + // } catch (Exception e) { + // //记录异常日志 + // log.error("queryHomePage-执行任务操作失败:{}", e.getMessage()); + // } + // }, pool); List allTasks = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0").getResultJSONArray(0).toJavaList(JSONObject.class); // 执行中任务 Optional taskingOptional = allTasks.stream().filter(task -> TaskStatusEnum.RUNNING.getCode().equals(task.getString("task_status")) && !TaskTypeEnum.REST.getCode().equals(task.getString("task_type"))).findFirst(); @@ -266,7 +292,6 @@ public class HomeServiceImpl implements HomeService { @Override public Map clickSave(Map jsonObject) { - try { WQLObject taskTable = WQLObject.getWQLObject("ST_TASK_INFO"); String button_code = jsonObject.get("button_code"); @@ -407,6 +432,7 @@ public class HomeServiceImpl implements HomeService { } + /** * 全局显示状态 */ @@ -421,14 +447,15 @@ public class HomeServiceImpl implements HomeService { String en_automatic_status_name = ""; String zh_automatic_status_name = ""; String electric = "50"; - CompletableFuture.runAsync(() -> { - try { - handleTaskStatus(); - } catch (Exception e) { - e.printStackTrace(); - //记录异常日志 - } - }, pool); + // CompletableFuture.runAsync(() -> { + // try { + // handleTaskStatus(); + // } catch (Exception e) { + // e.printStackTrace(); + // //记录异常日志 + // } + // }, pool); + //qeryDebuggerInfo(); electric = debugInfoJson.getString("PWR_Percent"); //车辆运行还是待机是PathFollow_Enable 1为运行 0为待机 if (StrUtil.equals(debugInfoJson.getString("PathFollow_Enable"), "1")) { @@ -474,7 +501,7 @@ public class HomeServiceImpl implements HomeService { if ("prod".equals(isProd)) { result = HttpUtil.get(urlInfo.get("javaUrl")); } else { - result = "{\"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\":11,\"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\":29,\"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\":1,\"Speedm_Tmp\":0.0,\"StartNode\":0,\"Sub_Warning_Code0\":0,\"Sys_Mode\":4,\"Task_Sch\":0,\"Task_State\":\"\",\"Update_Sch\":1,\"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}}}}"; + result = "{\"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\":11,\"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\",\"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\":99,\"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\":1,\"Speedm_Tmp\":0.0,\"StartNode\":0,\"Sub_Warning_Code0\":0,\"Sys_Mode\":4,\"Task_Sch\":0,\"Task_State\":\"\",\"Update_Sch\":1,\"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}}}}"; } //String result = HttpUtil.get(urlInfo.get("javaUrl")); JSONObject json = JSONObject.parseObject(result); @@ -545,7 +572,7 @@ public class HomeServiceImpl implements HomeService { if ("prod".equals(isProd)) { result = HttpUtil.get(urlInfo.get("javaUrl")); } else { - result = "{\"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\":11,\"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\":29,\"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\":1,\"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}}}}"; + result = "{\"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\":11,\"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\",\"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\":99,\"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\":1,\"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}}}}"; } // String result = HttpUtil.get(urlInfo.get("javaUrl")); JSONObject json = JSONObject.parseObject(result); @@ -555,65 +582,6 @@ public class HomeServiceImpl implements HomeService { } - @Transactional(rollbackFor = Exception.class) - public void handleTaskStatus() { - JSONObject taskjo = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete='0'and task_status='01'").uniqueResult(0); - qeryDebuggerInfo(); - //叉腿高度 - String legHeight; - //小车停止，且已到达目标点位 - if (ObjectUtil.isNotEmpty(taskjo) && StrUtil.equals("0", debugInfoJson.getString("PathFollow_Enable")) && debugInfoJson.getString("CurNodeID").equals(taskjo.getString("next_point_code"))) { - //普通任务 - if (TaskTypeEnum.COMMON.getCode().equals(taskjo.getString("task_type"))) { - updateTaskStatus(taskjo, TaskStatusEnum.END); - } else if (TaskTypeEnum.TAKE.getCode().equals(taskjo.getString("task_type")) || TaskTypeEnum.PUT.getCode().equals(taskjo.getString("task_type"))) { - //取货 - if (TaskTypeEnum.TAKE.getCode().equals(taskjo.getString("task_type"))) { - //已到达目标点 - if (StringUtils.isBlank(taskjo.getString("step"))) { - //取货 - ServiceResponse send = sendToAgvUtil.send("HMIStepOrRTPathFollow:0;2;0#"); - JSONObject resjo = JSONObject.parseObject(send.toString()); - String resultflag = resjo.getString("result"); - if (StrUtil.equals("0", resultflag)) { - //叉腿已抬升 - taskjo.put("step", "0"); - updateTaskStatus(taskjo, null); - } else { - log.error("handleTaskStatus-叉抬升失败:{}",TaskSendBackStatusEnum.getName(resultflag)); - } - } - qeryDebuggerInfoQuick(); - //叉腿高度 - legHeight = debugInfoJsonQuick.getString("MissionCompleteAltitude_mm_RemoteOrHMI_FB") == null ? "0" : debugInfoJsonQuick.getString("MissionCompleteAltitude_mm_RemoteOrHMI_FB"); - //叉腿抬高动作已下发，且高度为10或20且待机，发送返程任务 - if (((Integer.parseInt(legHeight) == 20)) && StrUtil.equals("0", debugInfoJsonQuick.getString("PathFollow_Enable")) && "0".equals(taskjo.getString("step"))) { - createReturnTask(taskjo); - } - } else { - if (StringUtils.isBlank(taskjo.getString("step"))) { - //放货 - ServiceResponse send = sendToAgvUtil.send("HMIStepOrRTPathFollow:0;1;0#"); - JSONObject resjo = JSONObject.parseObject(send.toString()); - String resultflag = resjo.getString("result"); - if (StrUtil.equals("0", resultflag)) { - //叉腿已下降 - taskjo.put("step", "0"); - updateTaskStatus(taskjo, null); - } else { - log.error("handleTaskStatus-叉腿下降失败:{}",TaskSendBackStatusEnum.getName(resultflag)); - } - } - qeryDebuggerInfoQuick(); - legHeight = debugInfoJsonQuick.getString("MissionCompleteAltitude_mm_RemoteOrHMI_FB") == null ? "0" : debugInfoJsonQuick.getString("MissionCompleteAltitude_mm_RemoteOrHMI_FB"); - //叉腿抬高动作已下发，且高度为10或20且待机，发送返程任务 - if (((Integer.parseInt(legHeight) == 10)) && StrUtil.equals("0", debugInfoJsonQuick.getString("PathFollow_Enable")) && "0".equals(taskjo.getString("step"))) { - createReturnTask(taskjo); - } - } - } - } - } private void createReturnTask(JSONObject taskjo) { String a = "HMIStepOrRTPathFollow:0;" + taskjo.getString("next_point_code2") + ";1#"; @@ -626,7 +594,7 @@ public class HomeServiceImpl implements HomeService { taskjo.put("is_manualfinished", "1"); updateTaskStatus(taskjo, TaskStatusEnum.END); } else { - log.error("handleTaskStatus-createReturnTask-返程指令执行失败:{}",TaskSendBackStatusEnum.getName(resultflag)); + log.error("handleTaskStatus-createReturnTask-返程指令执行失败:{}", TaskSendBackStatusEnum.getName(resultflag)); } } @@ -663,20 +631,134 @@ public class HomeServiceImpl implements HomeService { } } + + @PostConstruct + public void scheduleTask() { + scheduler.scheduleAtFixedRate(this::sendHomeInfoTask, sendHomeInfo); + scheduler.scheduleAtFixedRate(this::queryAgvInfo, syncAgvInfo); + scheduler.scheduleAtFixedRate(this::handleTaskStatusTask, handleTask); + scheduler.scheduleAtFixedRate(this::autoDeleteTask, deleteTask); + } + + /** - * 处理任务状态 + * 首页及头部信息推送 */ @Async("taskExecutor") - @Scheduled(cron = "0/10 * * * * *") - @Transactional(rollbackFor = Exception.class) - public void handleTaskStatuss() { + public void sendHomeInfoTask() { //StopWatch stopWatch = new StopWatch(); //stopWatch.start(); - //handleTaskStatus(); + CopyOnWriteArraySet webSocketSet = + SendHomeWebSocketServer.getWebSocketSet(); + if (webSocketSet.size() > 0) { + webSocketSet.forEach(c -> { + Map homeInfoMap = new HashMap<>(); + homeInfoMap.put("head", this.queryHead()); + homeInfoMap.put("home", this.queryHomePage(null)); + c.sendDataToClient(homeInfoMap); + }); + } //stopWatch.stop(); - //System.out.println("花费时间------------------------------------------------------------------------------------------*************************************************************************************************= totalTime = " + stopWatch.getTotalTimeMillis()); + //System.out.println("1task-首页及头部信息推送-sendHomeInfoTask-花费时间----------------------------------------------------------------****************************************************************= totalTime = " + stopWatch.getTotalTimeMillis()); } + /** + * 查询小车状态 + */ + @Async("taskExecutor") + public void queryAgvInfo() { + //StopWatch stopWatch = new StopWatch(); + //stopWatch.start(); + qeryDebuggerInfo(); + //stopWatch.stop(); + //System.out.println("2task-查询agv信息-queryAgvInfo-花费时间----------------------------------------------------------------****************************************************************= totalTime = " + stopWatch.getTotalTimeMillis()); + } + + + /** + * 处理自动取放货状态 + */ + @Async("taskExecutor") + @Transactional(rollbackFor = Exception.class) + public void handleTaskStatusTask() { + //更新小车状态参数 + //qeryDebuggerInfo(); + //叉腿高度 + String legHeight; + //StopWatch stopWatch = new StopWatch(); + //stopWatch.start(); + JSONObject taskjo = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete='0'and task_status='01'").uniqueResult(0); + //小车停止，且已到达目标点位 + if (ObjectUtil.isNotEmpty(taskjo) && StrUtil.equals("0", debugInfoJson.getString("PathFollow_Enable")) && debugInfoJson.getString("CurNodeID").equals(taskjo.getString("next_point_code"))) { + //普通任务 + if (TaskTypeEnum.COMMON.getCode().equals(taskjo.getString("task_type"))) { + updateTaskStatus(taskjo, TaskStatusEnum.END); + } else if (TaskTypeEnum.TAKE.getCode().equals(taskjo.getString("task_type")) || TaskTypeEnum.PUT.getCode().equals(taskjo.getString("task_type"))) { + //取货 + if (TaskTypeEnum.TAKE.getCode().equals(taskjo.getString("task_type"))) { + //已到达目标点 + if (StringUtils.isBlank(taskjo.getString("step"))) { + //取货 + ServiceResponse send = sendToAgvUtil.send("HMIStepOrRTPathFollow:0;2;0#"); + JSONObject resjo = JSONObject.parseObject(send.toString()); + String resultflag = resjo.getString("result"); + if (StrUtil.equals("0", resultflag)) { + //叉腿已抬升 + taskjo.put("step", "0"); + updateTaskStatus(taskjo, null); + } else { + log.error("handleTaskStatus-叉抬升失败:{}", TaskSendBackStatusEnum.getName(resultflag)); + } + } + qeryDebuggerInfoQuick(); + //叉腿高度 + legHeight = debugInfoJsonQuick.getString("MissionCompleteAltitude_mm_RemoteOrHMI_FB") == null ? "0" : debugInfoJsonQuick.getString("MissionCompleteAltitude_mm_RemoteOrHMI_FB"); + //叉腿抬高动作已下发，且高度为10或20且待机，发送返程任务 + if (((Integer.parseInt(legHeight) == 20)) && StrUtil.equals("0", debugInfoJsonQuick.getString("PathFollow_Enable")) && "0".equals(taskjo.getString("step"))) { + createReturnTask(taskjo); + } + } else { + if (StringUtils.isBlank(taskjo.getString("step"))) { + //放货 + ServiceResponse send = sendToAgvUtil.send("HMIStepOrRTPathFollow:0;1;0#"); + JSONObject resjo = JSONObject.parseObject(send.toString()); + String resultflag = resjo.getString("result"); + if (StrUtil.equals("0", resultflag)) { + //叉腿已下降 + taskjo.put("step", "0"); + updateTaskStatus(taskjo, null); + } else { + log.error("handleTaskStatus-叉腿下降失败:{}", TaskSendBackStatusEnum.getName(resultflag)); + } + } + qeryDebuggerInfoQuick(); + legHeight = debugInfoJsonQuick.getString("MissionCompleteAltitude_mm_RemoteOrHMI_FB") == null ? "0" : debugInfoJsonQuick.getString("MissionCompleteAltitude_mm_RemoteOrHMI_FB"); + //叉腿抬高动作已下发，且高度为10或20且待机，发送返程任务 + if (((Integer.parseInt(legHeight) == 10)) && StrUtil.equals("0", debugInfoJsonQuick.getString("PathFollow_Enable")) && "0".equals(taskjo.getString("step"))) { + createReturnTask(taskjo); + } + } + } + } + //stopWatch.stop(); + //System.out.println("3task-处理任务状态-handleTaskStatusTask-花费时间----------------------------------------------------------------****************************************************************= totalTime = " + stopWatch.getTotalTimeMillis()); + } + + /** + * 定时清空过期任务 + */ + @Async("taskExecutor") + public void autoDeleteTask() { + //StopWatch stopWatch = new StopWatch(); + //stopWatch.start(); + WQLObject taskTable = WQLObject.getWQLObject("ST_TASK_INFO"); + String sqlWhere = "TASK_CODE NOT IN ( SELECT TASK_CODE FROM ( SELECT TASK_CODE FROM ST_TASK_INFO WHERE TASK_STATUS = '02' ORDER BY CREATE_TIME LIMIT 300 ) AS RECENT_TASKS ) AND TASK_STATUS = '02'"; + taskTable.delete(sqlWhere); + //stopWatch.stop(); + //System.out.println("4task-删除任务-autoDeleteTask-花费时间----------------------------------------------------------------****************************************************************= totalTime = " + stopWatch.getTotalTimeMillis()); + } + + // public Map queryHomePage1(Map jsonObject) { // String button_code = ""; // String button_name = ""; 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 777ccc2..8e4e61e 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 @@ -15,6 +15,7 @@ */ package org.nl.agv.service.impl; +import cn.hutool.core.date.StopWatch; import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONArray; import cn.hutool.core.date.DateUtil; @@ -26,6 +27,7 @@ import lombok.RequiredArgsConstructor; import com.alibaba.fastjson.JSONObject; import lombok.extern.slf4j.Slf4j; import org.apache.commons.lang3.StringUtils; +import org.nl.agv.enu.TaskStatusEnum; import org.nl.agv.enu.TaskTypeEnum; import org.nl.agv.service.TaskService; import org.nl.agv.unit.sendToAgvUtil; @@ -35,10 +37,14 @@ import org.nl.modules.common.exception.BadRequestException; import org.nl.modules.system.util.CodeUtil; import org.nl.modules.wql.WQL; import org.nl.modules.wql.core.bean.WQLObject; +import org.springframework.scheduling.annotation.Async; import org.springframework.scheduling.annotation.EnableScheduling; +import org.springframework.scheduling.annotation.Scheduled; import org.springframework.stereotype.Service; +import org.springframework.transaction.annotation.Transactional; import java.util.*; +import java.util.stream.Collectors; import static org.nl.agv.service.impl.HomeServiceImpl.debugInfoJson; import static org.nl.common.utils.LangUtils.getLanguage; @@ -252,6 +258,7 @@ public class TaskServiceServiceImpl implements TaskService { return returnjo; } + @Override public Map deleteTask(Map jsonObject) { String task_num = jsonObject.get("task_num"); @@ -273,16 +280,26 @@ public class TaskServiceServiceImpl implements TaskService { @Override public Map updateTask(Map jsonObject) { + JSONObject returnjo = new JSONObject(); 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); - for (int i = 0; i < taskrows.size(); i++) { - JSONObject taskrow = taskrows.getJSONObject(i); - taskrow.put("is_delete", "1"); - taskTable.update(taskrow); + JSONArray taskrows = taskTable.query("is_delete='0' and task_status<>'02'").getResultJSONArray(0); + Set commonTaskCodes = jsonArray.stream() + .map(item -> ((JSONObject) item).getString("task_code")) + .collect(Collectors.toSet()); + JSONArray selectedTasks = taskrows.stream() + .filter(item -> commonTaskCodes.contains(((JSONObject) item).getString("task_code"))) + .collect(Collectors.toCollection(JSONArray::new)); + String taskCodesAsString = taskrows.stream() + .filter(item -> !commonTaskCodes.contains(((JSONObject) item).getString("task_code"))) + .map(item -> "'" + ((JSONObject) item).getString("task_code") + "'") + .collect(Collectors.joining(", ")); + // 物理删除 + if (StringUtils.isNotBlank(taskCodesAsString)) { + String sqlWhere = "task_code in (" + taskCodesAsString + ")"; + taskTable.delete(sqlWhere); } - for (int i = 0; i < jsonArray.size(); i++) { + for (int i = 0; i < selectedTasks.size(); i++) { JSONObject taskjo = jsonArray.getJSONObject(i); String taskNum = taskjo.getString("task_code"); JSONObject taskrow = taskTable.query("task_code='" + taskNum + "'").uniqueResult(0); @@ -291,7 +308,6 @@ public class TaskServiceServiceImpl implements TaskService { taskrow.put("update_by", SecurityUtils.getCurrentNickName()); taskTable.update(taskrow); } - JSONObject returnjo = new JSONObject(); returnjo.put("code", "1"); returnjo.put("desc", LangUtils.getMsgLanguage("UpdateSuccess", null)); return returnjo; diff --git a/nladmin-system/src/main/java/org/nl/common/websocket/MsgType.java b/nladmin-system/src/main/java/org/nl/agv/websocket/MsgType.java similarity index 82% rename from nladmin-system/src/main/java/org/nl/common/websocket/MsgType.java rename to nladmin-system/src/main/java/org/nl/agv/websocket/MsgType.java index bf43169..3f0e51d 100644 --- a/nladmin-system/src/main/java/org/nl/common/websocket/MsgType.java +++ b/nladmin-system/src/main/java/org/nl/agv/websocket/MsgType.java @@ -1,4 +1,3 @@ -package org.nl.common.websocket; /* * Copyright 2019-2020 Zheng Jie * @@ -14,18 +13,27 @@ package org.nl.common.websocket; * See the License for the specific language governing permissions and * limitations under the License. */ +package org.nl.agv.websocket; /** * @author ZhangHouYing * @date 2019-08-10 9:56 */ public enum MsgType { - /** 连接 */ + /** + * 连接 + */ CONNECT, - /** 关闭 */ + /** + * 关闭 + */ CLOSE, - /** 信息 */ + /** + * 信息 + */ INFO, - /** 错误 */ + /** + * 错误 + */ ERROR } diff --git a/nladmin-system/src/main/java/org/nl/agv/websocket/SendHomeWebSocketServer.java b/nladmin-system/src/main/java/org/nl/agv/websocket/SendHomeWebSocketServer.java new file mode 100644 index 0000000..eedec4f --- /dev/null +++ b/nladmin-system/src/main/java/org/nl/agv/websocket/SendHomeWebSocketServer.java @@ -0,0 +1,128 @@ +/* + * Copyright 2019-2020 Zheng Jie + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +package org.nl.agv.websocket; + +import cn.hutool.core.map.MapUtil; +import com.alibaba.fastjson.JSON; +import lombok.extern.slf4j.Slf4j; +import org.springframework.stereotype.Component; + +import javax.websocket.*; +import javax.websocket.server.PathParam; +import javax.websocket.server.ServerEndpoint; +import java.io.IOException; +import java.util.Map; +import java.util.concurrent.CopyOnWriteArraySet; + +/* + * @author ZZQ + * @Date 2024/1/8 17:03 + */ +@ServerEndpoint("/webSocket/SendHomeInfo/{sid}") +@Slf4j +@Component +public class SendHomeWebSocketServer { + + /** + * concurrent包的线程安全Set，用来存放每个客户端对应的MyWebSocket对象。 + */ + private static CopyOnWriteArraySet webSocketSet = new CopyOnWriteArraySet<>(); + + /**静态变量，用来记录当前在线连接数。应该把它设计成线程安全的。*/ + private static int onlineCount = 0; + + + /**与某个客户端的连接会话，需要通过它来给客户端发送数据*/ + private Session session; + /** + * 与某个客户端的连接会话，需要通过它来给客户端发送数据 + */ + /** + * 接收sid + */ + private String sid = ""; + + /** + * 连接建立成功调用的方法 + */ + @OnOpen + public void onOpen(Session session, @PathParam("sid") String sid) { + this.session = session; + //如果存在就先删除一个，防止重复推送消息 + webSocketSet.removeIf(webSocket -> webSocket.sid.equals(sid)); + webSocketSet.add(this); + this.sid = sid; + } + + /** + * 连接关闭调用的方法 + */ + @OnClose + public void onClose() { + webSocketSet.remove(this); + } + + /** + * 收到客户端消息后调用的方法 + * + * @param message 客户端发送过来的消息 + */ + @OnMessage + public void onMessage(String message, Session session) { + System.out.println(webSocketSet.size() + "_接收到消息_" + session.getId()); + } + + @OnError + public void onError(Session session, Throwable error) { + log.error("发生错误"); + webSocketSet.remove(session); + error.printStackTrace(); + } + + public Session getSession() { + Integer d = 1; + return session; + } + // 发送消息，在定时任务中会调用此方法 + public void sendMessage(String message) throws IOException { + this.session.getBasicRemote().sendText(message); + } + + + public void sendDataToClient(Map data) { + try { + if (this.session != null&& MapUtil.isNotEmpty(data)) { + this.session.getBasicRemote().sendText(JSON.toJSONString(data)); + } + } catch (IOException e) { + log.error("发送消息给客户端失败", e); + } + } + public static synchronized int getOnlineCount() { + return onlineCount; + } + + public static CopyOnWriteArraySet getWebSocketSet() { + return webSocketSet; + } + + + public void setSession(Session session) { + this.session = session; + } + + +} diff --git a/nladmin-system/src/main/java/org/nl/agv/websocket/SocketMsg.java b/nladmin-system/src/main/java/org/nl/agv/websocket/SocketMsg.java new file mode 100644 index 0000000..094ceee --- /dev/null +++ b/nladmin-system/src/main/java/org/nl/agv/websocket/SocketMsg.java @@ -0,0 +1,33 @@ +/* + * Copyright 2019-2020 Zheng Jie + * + * Licensed under the Apache License, Version 2.0 (the "License"); + * you may not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * http://www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an "AS IS" BASIS, + * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +package org.nl.agv.websocket; + +import lombok.Data; + +/** + * @author ZhangHouYing + * @date 2019-08-10 9:55 + */ +@Data +public class SocketMsg { + private Object msg; + private MsgType msgType; + + public SocketMsg(Object msg, MsgType msgType) { + this.msg = msg; + this.msgType = msgType; + } +} diff --git a/nladmin-system/src/main/java/org/nl/agv/websocket/WebSocketDataSender.java b/nladmin-system/src/main/java/org/nl/agv/websocket/WebSocketDataSender.java new file mode 100644 index 0000000..88e8cb5 --- /dev/null +++ b/nladmin-system/src/main/java/org/nl/agv/websocket/WebSocketDataSender.java @@ -0,0 +1,42 @@ +package org.nl.modules.mnt.websocket; + +import cn.hutool.core.map.MapUtil; +import com.alibaba.fastjson.JSON; +import lombok.extern.slf4j.Slf4j; +import org.nl.agv.service.HomeService; +import org.nl.agv.service.impl.HomeServiceImpl; +import org.nl.agv.websocket.SendHomeWebSocketServer; +import org.nl.config.SpringContextHolder; +import org.nl.system.service.param.impl.SysParamServiceImpl; +import org.springframework.beans.factory.annotation.Autowired; +import org.springframework.context.annotation.Configuration; +import org.springframework.scheduling.annotation.EnableScheduling; +import org.springframework.scheduling.annotation.Scheduled; +import org.springframework.stereotype.Component; + +import java.io.IOException; +import java.util.HashMap; +import java.util.Map; +import java.util.Set; +import java.util.concurrent.CopyOnWriteArraySet; +import javax.websocket.*; + +@Component +@Slf4j +@EnableScheduling +public class WebSocketDataSender { + //@Scheduled(fixedRate = 2000) + public void sendDatabaseDataToClients() { + HomeServiceImpl homeService = new HomeServiceImpl(); + CopyOnWriteArraySet webSocketSet = + SendHomeWebSocketServer.getWebSocketSet(); + Map data1 = homeService.queryHead(); + if (webSocketSet.size() > 0) { + Map data = homeService.queryHead(); + webSocketSet.forEach(c -> { + c.sendDataToClient(data); + }); + } + System.out.println("_发送到消息_11"); + } +} diff --git a/nladmin-system/src/main/java/org/nl/common/websocket/WebSocketServer.java b/nladmin-system/src/main/java/org/nl/agv/websocket/WebSocketServer.java similarity index 82% rename from nladmin-system/src/main/java/org/nl/common/websocket/WebSocketServer.java rename to nladmin-system/src/main/java/org/nl/agv/websocket/WebSocketServer.java index bd759cc..c7cadbd 100644 --- a/nladmin-system/src/main/java/org/nl/common/websocket/WebSocketServer.java +++ b/nladmin-system/src/main/java/org/nl/agv/websocket/WebSocketServer.java @@ -13,7 +13,8 @@ * See the License for the specific language governing permissions and * limitations under the License. */ -package org.nl.common.websocket; +package org.nl.agv.websocket; + import com.alibaba.fastjson.JSONObject; import lombok.extern.slf4j.Slf4j; import org.springframework.stereotype.Component; @@ -24,6 +25,7 @@ import javax.websocket.server.ServerEndpoint; import java.io.IOException; import java.util.Objects; import java.util.concurrent.CopyOnWriteArraySet; + /** * @author ZhangHouYing * @date 2019-08-10 15:46 @@ -46,21 +48,22 @@ public class WebSocketServer { /** * 接收sid */ - private String sid=""; + private String sid = ""; + /** * 连接建立成功调用的方法 - * */ + */ @OnOpen - public void onOpen(Session session,@PathParam("sid") String sid) { + public void onOpen(Session session, @PathParam("sid") String sid) { this.session = session; //如果存在就先删除一个，防止重复推送消息 - for (WebSocketServer webSocket:webSocketSet) { + for (WebSocketServer webSocket : webSocketSet) { if (webSocket.sid.equals(sid)) { webSocketSet.remove(webSocket); } } webSocketSet.add(this); - this.sid=sid; + this.sid = sid; } /** @@ -73,16 +76,18 @@ public class WebSocketServer { /** * 收到客户端消息后调用的方法 - * @param message 客户端发送过来的消息*/ + * + * @param message 客户端发送过来的消息 + */ @OnMessage public void onMessage(String message, Session session) { - log.info("收到来"+sid+"的信息:"+message); +// log.info("收到来"+sid+"的信息:"+message); //群发消息 for (WebSocketServer item : webSocketSet) { try { item.sendMessage(message); } catch (IOException e) { - log.error(e.getMessage(),e); + log.error(e.getMessage(), e); } } } @@ -92,6 +97,7 @@ public class WebSocketServer { log.error("发生错误"); error.printStackTrace(); } + /** * 实现服务器主动推送 */ @@ -102,19 +108,20 @@ public class WebSocketServer { /** * 群发自定义消息 - * */ - public static void sendInfo(SocketMsg socketMsg,@PathParam("sid") String sid) throws IOException { + */ + public static void sendInfo(SocketMsg socketMsg, @PathParam("sid") String sid) throws IOException { String message = JSONObject.toJSONString(socketMsg); - log.info("推送消息到"+sid+"，推送内容:"+message); +// log.info("推送消息到"+sid+"，推送内容:"+message); for (WebSocketServer item : webSocketSet) { try { //这里可以设定只推送给这个sid的，为null则全部推送 - if(sid==null) { + if (sid == null) { item.sendMessage(message); - }else if(item.sid.equals(sid)){ + } else if (item.sid.equals(sid)) { item.sendMessage(message); } - } catch (IOException ignored) { } + } catch (IOException ignored) { + } } } diff --git a/nladmin-system/src/main/java/org/nl/common/websocket/SocketMsg.java b/nladmin-system/src/main/java/org/nl/common/websocket/SocketMsg.java deleted file mode 100644 index 1b9ad94..0000000 --- a/nladmin-system/src/main/java/org/nl/common/websocket/SocketMsg.java +++ /dev/null @@ -1,18 +0,0 @@ -package org.nl.common.websocket; - -import lombok.Data; - -/** - * @author ZhangHouYing - * @date 2019-08-10 9:55 - */ -@Data -public class SocketMsg { - private Object msg; - private MsgType msgType; - - public SocketMsg(Object msg, MsgType msgType) { - this.msg = msg; - this.msgType = msgType; - } -} diff --git a/nladmin-system/src/main/java/org/nl/system/service/notice/impl/NoticeServiceImpl.java b/nladmin-system/src/main/java/org/nl/system/service/notice/impl/NoticeServiceImpl.java index afe31c7..0238abd 100644 --- a/nladmin-system/src/main/java/org/nl/system/service/notice/impl/NoticeServiceImpl.java +++ b/nladmin-system/src/main/java/org/nl/system/service/notice/impl/NoticeServiceImpl.java @@ -8,9 +8,9 @@ import com.alibaba.fastjson.JSONArray; import com.alibaba.fastjson.JSONObject; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; -import org.nl.common.websocket.MsgType; -import org.nl.common.websocket.SocketMsg; -import org.nl.common.websocket.WebSocketServer; +import org.nl.agv.websocket.MsgType; +import org.nl.agv.websocket.SocketMsg; +import org.nl.agv.websocket.WebSocketServer; import org.nl.modules.common.exception.BadRequestException; import org.nl.modules.wql.WQL; import org.nl.modules.wql.core.bean.WQLObject; diff --git a/nladmin-system/src/main/java/org/nl/utils/QueryInfoSchedule.java b/nladmin-system/src/main/java/org/nl/utils/QueryInfoSchedule.java index 95a3eec..4785694 100644 --- a/nladmin-system/src/main/java/org/nl/utils/QueryInfoSchedule.java +++ b/nladmin-system/src/main/java/org/nl/utils/QueryInfoSchedule.java @@ -30,7 +30,7 @@ public class QueryInfoSchedule{ * @date 2023/10/17 */ //@Async("taskExecutor") - //@Scheduled(cron = "0/10 * * * * *") + //@Scheduled(cron = "0/1 * * * * *") public void queryAgvInfo() { StopWatch stopWatch = new StopWatch(); stopWatch.start(); diff --git a/nladmin-system/src/main/resources/config/application-dev.yml b/nladmin-system/src/main/resources/config/application-dev.yml index 9e35d3a..21d17d6 100644 --- a/nladmin-system/src/main/resources/config/application-dev.yml +++ b/nladmin-system/src/main/resources/config/application-dev.yml @@ -198,4 +198,4 @@ jetcache: uri: - redis://127.0.0.1:6379 es: - index: mes_log + index: mes_log \ No newline at end of file diff --git a/nladmin-system/src/main/resources/config/application.yml b/nladmin-system/src/main/resources/config/application.yml index 2812a7f..122785b 100644 --- a/nladmin-system/src/main/resources/config/application.yml +++ b/nladmin-system/src/main/resources/config/application.yml @@ -97,3 +97,8 @@ mybatis-plus: db-config: id-type: INPUT banner: false +timer: + syncAgvInfo: 1000 + sendHomeInfo: 1000 + handleTask: 1000 + deleteTask: 86400000 \ No newline at end of file