opt:修改首页信息推送，头部状态推送为WebSocket。

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"),

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"),
+     OFF(1,"关机", "1"),
-     SCREEN("显示屏控制", "2"),
+     SCREEN(2,"显示屏控制", "2"),
-     TCS("TCS控制", "3"),
+     TCS(3,"TCS控制", "3"),
-     SCHE("SCHE控制", "4"),
+     SCHE(4,"SCHE控制", "4"),
-     RC("RC控制", "5"),
+     RC(5,"RC控制", "5"),
-     JOY("Joy控制", "6"),
+     JOY(6,"Joy控制", "6"),
-     QUITNOW("退出", "7"),
+     QUITNOW(7,"退出", "7"),
-     REBORNINIT("软启动", "8"),
+     REBORNINIT(8,"软启动", "8"),
-     STARTCHECK("跳过起点", "9"),
+     STARTCHECK(9,"跳过起点", "9"),
-     REBOOT("重启", "10"),
+     REBOOT(10,"重启", "10"),
-     FULL("全屏", "11"),
+     FULL(11,"全屏", "11"),
-     SKIPPLATE("跳过检测", "12"),
+     SKIPPLATE(12,"跳过检测", "12"),
-     OTHER("其他", "13");
+     OTHER(13,"其他", "13");
-     private final String name;
-     private final String code;
 
-     VehicleOperateEnum(String name, String code) {
+     private  int index;
-          this.name = name;
+     private  String name;
-          this.code = code;
+     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<VehicleOperateEnum> first = Arrays.stream(VehicleOperateEnum.values()).filter(a -> a.getCode().equals(type)).findFirst();
           return first.orElse(VehicleOperateEnum.OTHER);

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"),

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;

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(() -> {
+            //            CompletableFuture.runAsync(() -> {
-                try {
+            //                try {
-                    handleTaskStatus();
+            //                    handleTaskStatus();
-                } catch (Exception e) {
+            //                } catch (Exception e) {
-                    //记录异常日志
+            //                    //记录异常日志
-                    log.error("queryHomePage-执行任务操作失败:{}", e.getMessage());
+            //                    log.error("queryHomePage-执行任务操作失败:{}", e.getMessage());
-                }
+            //                }
-            }, pool);
+            //            }, pool);
             List<JSONObject> allTasks = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0").getResultJSONArray(0).toJavaList(JSONObject.class);
             // 执行中任务
             Optional<JSONObject> 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<String, Object> clickSave(Map<String, String> 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(() -> {
+        //        CompletableFuture.runAsync(() -> {
-            try {
+        //            try {
-                handleTaskStatus();
+        //                handleTaskStatus();
-            } catch (Exception e) {
+        //            } catch (Exception e) {
-                e.printStackTrace();
+        //                e.printStackTrace();
-                //记录异常日志
+        //                //记录异常日志
-            }
+        //            }
-        }, pool);
+        //        }, 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 * * * * *")
+    public void sendHomeInfoTask() {
-    @Transactional(rollbackFor = Exception.class)
-    public void handleTaskStatuss() {
         //StopWatch stopWatch = new StopWatch();
         //stopWatch.start();
-        //handleTaskStatus();
+        CopyOnWriteArraySet<SendHomeWebSocketServer> webSocketSet =
+                SendHomeWebSocketServer.getWebSocketSet();
+        if (webSocketSet.size() > 0) {
+            webSocketSet.forEach(c -> {
+                Map<String, Object> 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<String, Object> queryHomePage1(Map<String, String> jsonObject) {
 //        String button_code = "";
 //        String button_name = "";

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<String, Object> deleteTask(Map<String, String> jsonObject) {
         String task_num = jsonObject.get("task_num");
@@ -273,16 +280,26 @@ public class TaskServiceServiceImpl implements TaskService {
 
     @Override
     public Map<String, Object> updateTask(Map<String, String> 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("is_delete='0' and task_status<>'02'").getResultJSONArray(0);
-        JSONArray taskrows = taskTable.query("task_status='00' or task_status='01'").getResultJSONArray(0);
+        Set<String> commonTaskCodes = jsonArray.stream()
-        for (int i = 0; i < taskrows.size(); i++) {
+                .map(item -> ((JSONObject) item).getString("task_code"))
-            JSONObject taskrow = taskrows.getJSONObject(i);
+                .collect(Collectors.toSet());
-            taskrow.put("is_delete", "1");
+        JSONArray selectedTasks = taskrows.stream()
-            taskTable.update(taskrow);
+                .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;

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
 }

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<SendHomeWebSocketServer> 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<String, Object> 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<SendHomeWebSocketServer> getWebSocketSet() {
+        return webSocketSet;
+    }
+
+
+    public void setSession(Session session) {
+        this.session = session;
+    }
+
+
+}

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;
+    }
+}

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<SendHomeWebSocketServer> webSocketSet =
+                SendHomeWebSocketServer.getWebSocketSet();
+        Map<String, Object> data1 = homeService.queryHead();
+        if (webSocketSet.size() > 0) {
+            Map<String, Object> data = homeService.queryHead();
+            webSocketSet.forEach(c -> {
+                c.sendDataToClient(data);
+            });
+        }
+        System.out.println("_发送到消息_11");
+    }
+}

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) {
+            }
         }
     }
 

nladmin-system/src/main/java/org/nl/common/websocket/SocketMsg.java

@@ -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;
-    }
-}

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.agv.websocket.MsgType;
-import org.nl.common.websocket.SocketMsg;
+import org.nl.agv.websocket.SocketMsg;
-import org.nl.common.websocket.WebSocketServer;
+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;

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();

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

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