add:增加自动取放货功能。

nladmin-system/src/main/java/org/nl/agv/enu/TaskTypeEnum.java

@@ -0,0 +1,41 @@
+package org.nl.agv.enu;
+
+import java.util.Arrays;
+import java.util.Optional;
+
+/**
+ * 任务类型
+ *
+ * @author gbx
+ * @since 2023-11-24
+ */
+public enum TaskTypeEnum {
+
+    //
+    COMMON("普通", "1"),
+    REST("返回休息点任务", "2"),
+    TAKE("取货", "3"),
+    PUT("放货", "4"),
+    RETURN("返程", "5"),
+    MULTIPLE("多机", "6");
+    private final String name;
+    private final String code;
+
+    TaskTypeEnum(String name, String code) {
+        this.name = name;
+        this.code = code;
+    }
+
+    public String getName() {
+        return name;
+    }
+
+    public String getCode() {
+        return code;
+    }
+
+    public static TaskStatusEnum getType(String type) {
+        Optional<TaskStatusEnum> first = Arrays.stream(TaskStatusEnum.values()).filter(a -> a.getCode().equals(type)).findFirst();
+        return first.orElse(TaskStatusEnum.OTHER);
+    }
+}

nladmin-system/src/main/java/org/nl/agv/service/HomeService.java

@@ -25,6 +25,10 @@ public interface HomeService {
      * @return Map<String, Object>
      */
     Map<String, Object> queryHomePage(Map<String, String> jsonObject);
+
+
+
+
     /**
      * 首页确定按钮
      *

nladmin-system/src/main/java/org/nl/agv/service/TaskService.java

@@ -24,6 +24,9 @@ public interface TaskService {
      * @return Map<String, Object>
      */
     Map<String, Object> confirmPoint(Map<String, String> jsonObject);
+
+     Map<String, Object> confirmPoint1(Map<String, String> jsonObject);
+
     /**
      * 查询任务列表
      *

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

@@ -31,8 +31,11 @@ import edu.wpi.rail.jrosbridge.messages.Message;
 import edu.wpi.rail.jrosbridge.services.ServiceResponse;
 import lombok.RequiredArgsConstructor;
 import com.alibaba.fastjson.JSONObject;
+import org.apache.commons.lang3.StringUtils;
+import org.apache.ibatis.annotations.Case;
 import org.nl.agv.enu.TaskSendBackStatusEnum;
 import org.nl.agv.enu.TaskStatusEnum;
+import org.nl.agv.enu.TaskTypeEnum;
 import org.nl.agv.service.HomeService;
 import org.nl.agv.unit.RosUtil;
 import org.nl.agv.unit.sendToAgvUtil;
@@ -40,8 +43,14 @@ 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.annotation.Async;
+import org.springframework.scheduling.annotation.Scheduled;
 import org.springframework.stereotype.Service;
+import org.springframework.transaction.annotation.Propagation;
+import org.springframework.transaction.annotation.Transactional;
 
 import javax.annotation.Resource;
 import java.math.BigDecimal;
@@ -68,6 +77,13 @@ public class HomeServiceImpl implements HomeService{
         this.pool = pool;
     }
 
+    @Resource
+    private TaskServiceServiceImpl taskServiceServiceImpl;
+
+
+    @Value("${spring.profiles.active}")
+    private String isProd;
+
     /**
      * 优化获取主页及状态栏信息
      */
@@ -78,7 +94,7 @@ public class HomeServiceImpl implements HomeService{
         String agvrun_status_name = "";
         String automatic_status_name = "";
         String device_info = "";
-          String task_name = "";
+        String task_name = "无任务";
         String task_info = "";
         Integer electric = 0;
         String speed = "";
@@ -88,19 +104,19 @@ public class HomeServiceImpl implements HomeService{
         JSONObject row = new JSONObject();
         try {
             CompletableFuture.runAsync(this::qeryDebuggerInfo, pool);
+            //CompletableFuture.runAsync(this::handleTaskStatus, 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")) && "1".equals(task.getString("task_type"))).findFirst();
+            Optional<JSONObject> taskingOptional = allTasks.stream().filter(task -> TaskStatusEnum.RUNNING.getCode().equals(task.getString("task_status")) && !TaskTypeEnum.REST.getCode().equals(task.getString("task_type"))).findFirst();
             //所有未执行任务的第一个任务
-               Optional<JSONObject> taskedOptional = allTasks.stream().filter(task ->  TaskStatusEnum.CREATE.getCode().equals(task.getString("task_status")) && "1".equals(task.getString("task_type"))).min(Comparator.comparingInt(task -> task.getIntValue("seq_num")));
+            Optional<JSONObject> taskedOptional = allTasks.stream().filter(task -> TaskStatusEnum.CREATE.getCode().equals(task.getString("task_status")) && !TaskTypeEnum.REST.getCode().equals(task.getString("task_type"))).min(Comparator.comparingInt(task -> task.getIntValue("seq_num")));
             //需要人工介入的任务
-               Optional<JSONObject> unManFinishTaskOptional = allTasks.stream().filter(task -> TaskStatusEnum.END.getCode().equals(task.getString("task_status")) && "0".equals(task.getString("is_manualfinished")) && "1".equals(task.getString("task_type"))).findFirst();
+            Optional<JSONObject> unManFinishTaskOptional = allTasks.stream().filter(task -> TaskStatusEnum.END.getCode().equals(task.getString("task_status")) && "0".equals(task.getString("is_manualfinished")) && !TaskTypeEnum.REST.getCode().equals(task.getString("task_type"))).findFirst();
             if (taskingOptional.isPresent()) {
                 task_name = "任务号：" + taskingOptional.get().getString("task_code");
                 task_info = "目标点：" + taskingOptional.get().getString("next_point_code");
                 task_status = "执行中";
-               }
+            } else if (taskedOptional.isPresent()) {
-               else if(taskedOptional.isPresent()) {
                 task_name = "任务号：" + taskedOptional.get().getString("task_code");
                 task_info = "目标点：" + taskedOptional.get().getString("next_point_code");
                 task_status = "有任务未执行";
@@ -132,7 +148,7 @@ public class HomeServiceImpl implements HomeService{
                 button_code = "";
                 button_name = "";
             }
-               //查询今天待执行/今天所有任务
+            //查询今天待执行/今天所有任务,改为不限今天，所有待执行/所有任务
             String task_num = determineTaskNum(allTasks);
             if (debugInfoJson.size() > 0) {
                 //agv 运行状态获取名称
@@ -168,8 +184,7 @@ public class HomeServiceImpl implements HomeService{
             returnjo.put("desc", "操作成功");
             returnjo.put("result", row);
             return returnjo;
-          }
+        } catch (Exception e) {
-          catch(Exception e) {
             Log.error("通信失败:" + e.getMessage());
             throw new BadRequestException(e.getMessage() == null ? "通信失败，请检查系统参数中的Ros连接信息" : e.getMessage());
         }
@@ -186,8 +201,8 @@ public class HomeServiceImpl implements HomeService{
     }
 
     private String determineTaskNum(List<JSONObject> allTasks) {
-          long allTasksCount = allTasks.stream().filter(task -> task.getString("date").equals(DateUtil.today())).count();
+        long allTasksCount = allTasks.size();
-          long todayUnfinishedTasksCount = allTasks.stream().filter(task -> task.getString("date").equals(DateUtil.today()) && task.getString("task_status").equals("00")).count();
+        long todayUnfinishedTasksCount = allTasks.stream().filter(task -> task.getString("task_status").equals(TaskStatusEnum.CREATE.getCode())).count();
         return "待执行" + todayUnfinishedTasksCount + "/" + allTasksCount;
     }
 
@@ -195,8 +210,7 @@ public class HomeServiceImpl implements HomeService{
     private String getAgvRunStatusName(String agvRunStatus) {
         if (StrUtil.equals(agvRunStatus, "1")) {
             return "运行";
-          }
+        } else if (StrUtil.equals(agvRunStatus, "0")) {
-          else if(StrUtil.equals(agvRunStatus, "0")) {
             return "待机";
         }
         return "";
@@ -206,11 +220,9 @@ public class HomeServiceImpl implements HomeService{
     private String getAutomaticStatusName(String automaticStatus) {
         if (StrUtil.equals(automaticStatus, "3")) {
             return "手动";
-          }
+        } else if (StrUtil.equals(automaticStatus, "4")) {
-          else if(StrUtil.equals(automaticStatus, "4")) {
             return "自动";
-          }
+        } else if (StrUtil.equals(automaticStatus, "5")) {
-          else if(StrUtil.equals(automaticStatus, "5")) {
             return "IO";
         }
         return "";
@@ -232,7 +244,7 @@ public class HomeServiceImpl implements HomeService{
         try {
             //查询调试信息
             CompletableFuture.runAsync(this::qeryDebuggerInfo, pool);
-               JSONObject tasking = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and task_status='01' and task_type='1'").uniqueResult(0);
+            JSONObject tasking = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and task_status='01' and task_type!='2'").uniqueResult(0);
             // 1 无任务  2 有任务未执行 3 执行中
             String task_status = "";
             //1确认完成  2确认完成继续下个任务3继续搬运，4返回休息点
@@ -240,8 +252,8 @@ public class HomeServiceImpl implements HomeService{
             if (tasking == null) {
                 task_status = "无任务";
             }
-               //JSONObject tasked = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and task_status='00'and task_type='1'").uniqueResult(0);
+            //JSONObject tasked = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and task_status='00'and task_type!='2'").uniqueResult(0);
-               JSONObject tasked = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and task_status='00'and task_type='1'  order by seq_num ").uniqueResult(0);
+            JSONObject tasked = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and task_status='00'and task_type!='2'  order by seq_num ").uniqueResult(0);
             if (tasked != null) {
                 task_status = "有任务未执行";
             }
@@ -255,7 +267,7 @@ public class HomeServiceImpl implements HomeService{
             //               task_name = "任务号：" + tasked.getString("task_code");
             //               task_info = "目标点：" + tasked.getString("next_point_code");
             //          }
-               JSONObject unManFinishTask = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and task_status='02' and is_manualfinished='0'and task_type='1'").uniqueResult(0);
+            JSONObject unManFinishTask = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and task_status='02' and is_manualfinished='0'and task_type!='2'").uniqueResult(0);
             //没有未执行任务，且需要人工完成
             if (unManFinishTask != null && tasked == null) {
                 button_code = "1";
@@ -290,9 +302,9 @@ public class HomeServiceImpl implements HomeService{
             }
             String task_num = "待执行0";
             //分母 今天所有的任务，分子今天未完成的任务
-               JSONArray alltaskja = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and  task_type='1' and date ='" + date + "'").getResultJSONArray(0);
+            JSONArray alltaskja = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and  task_type!='2' and date ='" + date + "'").getResultJSONArray(0);
             if (alltaskja.size() > 0) {
-                    JSONArray todaytaskja = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and  task_type='1' and date ='" + date + "' and task_status='00'").getResultJSONArray(0);
+                JSONArray todaytaskja = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and  task_type!='2' and date ='" + date + "' and task_status='00'").getResultJSONArray(0);
                 String alltask_num = String.valueOf(alltaskja.size());
                 String todaytask_num = String.valueOf(todaytaskja.size());
                 task_num = "待执行" + todaytask_num + "/" + alltask_num;
@@ -365,8 +377,7 @@ public class HomeServiceImpl implements HomeService{
             returnjo.put("desc", "操作成功");
             returnjo.put("result", row);
             return returnjo;
-          }
+        } catch (Exception e) {
-          catch(Exception e) {
             Log.error("通信失败:" + e.getMessage());
             throw new BadRequestException(e.getMessage() == null ? "通信失败，请检查系统参数中的Ros连接信息" : e.getMessage());
         }
@@ -379,7 +390,7 @@ public class HomeServiceImpl implements HomeService{
         JSONObject returnjo = new JSONObject();
         //1确认完成
         if (StrUtil.equals(button_code, "1")) {
-               JSONObject taskjo = taskTable.query("is_delete='0' and task_status='02' and task_type ='1' and is_manualfinished='0'").uniqueResult(0);
+            JSONObject taskjo = taskTable.query("is_delete='0' and task_status='02' and task_type!='2' and is_manualfinished='0'").uniqueResult(0);
             if (ObjectUtil.isEmpty(taskjo)) {
                 throw new BadRequestException("未找到任务");
             }
@@ -389,7 +400,7 @@ public class HomeServiceImpl implements HomeService{
         }
         // 2确认完成继续下个任务
         if (StrUtil.equals(button_code, "2")) {
-               JSONObject taskjo = taskTable.query("is_delete='0' and task_status='02' and task_type ='1' and is_manualfinished='0'").uniqueResult(0);
+            JSONObject taskjo = taskTable.query("is_delete='0' and task_status='02' and task_type!='2' and is_manualfinished='0'").uniqueResult(0);
             if (ObjectUtil.isEmpty(taskjo)) {
                 returnjo.put("code", "1");
                 returnjo.put("desc", "未找到任务");
@@ -399,7 +410,7 @@ public class HomeServiceImpl implements HomeService{
             taskjo.put("update_by", SecurityUtils.getCurrentNickName());
             taskTable.update(taskjo);
             //下发下一个任务
-               JSONObject nexttaskjo = taskTable.query("is_delete='0' and task_status='00' and task_type ='1' ", "seq_num").uniqueResult(0);
+            JSONObject nexttaskjo = taskTable.query("is_delete='0' and task_status='00' and task_type!='2' ", "seq_num").uniqueResult(0);
             if (ObjectUtil.isEmpty(nexttaskjo)) {
                 returnjo.put("code", "1");
                 returnjo.put("desc", "未找到任务");
@@ -415,8 +426,7 @@ public class HomeServiceImpl implements HomeService{
                 nexttaskjo.put("task_status_name", "执行中");
                 nexttaskjo.put("update_by", SecurityUtils.getCurrentNickName());
                 WQLObject.getWQLObject("ST_TASK_INFO").update(nexttaskjo);
-               }
+            } else {
-               else{
                 returnjo.put("code", "1");
                 returnjo.put("desc", TaskSendBackStatusEnum.getName(resultflag));
                 return returnjo;
@@ -424,7 +434,7 @@ public class HomeServiceImpl implements HomeService{
         }
         //3继续搬运
         if (StrUtil.equals(button_code, "3")) {
-               JSONObject nexttaskjo = taskTable.query("is_delete='0' and task_status='00' and task_type ='1' ", "seq_num").uniqueResult(0);
+            JSONObject nexttaskjo = taskTable.query("is_delete='0' and task_status='00' and task_type!='2' ", "seq_num").uniqueResult(0);
             if (ObjectUtil.isEmpty(nexttaskjo)) {
                 throw new BadRequestException("未找到任务");
             }
@@ -439,8 +449,7 @@ public class HomeServiceImpl implements HomeService{
                 nexttaskjo.put("task_status_name", "执行中");
                 nexttaskjo.put("update_by", SecurityUtils.getCurrentNickName());
                 WQLObject.getWQLObject("ST_TASK_INFO").update(nexttaskjo);
-               }
+            } else {
-               else{
                 returnjo.put("code", "1");
                 returnjo.put("desc", TaskSendBackStatusEnum.getName(resultflag));
                 return returnjo;
@@ -449,7 +458,7 @@ public class HomeServiceImpl implements HomeService{
         //4返回休息点
         if (StrUtil.equals(button_code, "4")) {
             TaskServiceServiceImpl taskServiceServiceImpl = new TaskServiceServiceImpl();
-               //查询有没有正在执行的任务，假如有不能返回生成任务
+            //查询有没有正在执行的任务，假如有不能生成返回任务
             JSONObject doingtaskjo = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and task_status='01' ").uniqueResult(0);
             if (ObjectUtil.isNotEmpty(doingtaskjo)) {
                 returnjo.put("code", "0");
@@ -481,8 +490,7 @@ public class HomeServiceImpl implements HomeService{
                 taskjo.put("task_status", "01");
                 taskjo.put("update_by", SecurityUtils.getCurrentNickName());
                 taskjo.put("task_status_name", "执行中");
-               }
+            } else {
-               else{
                 returnjo.put("code", "1");
                 returnjo.put("desc", TaskSendBackStatusEnum.getName(resultflag));
                 return returnjo;
@@ -494,7 +502,6 @@ public class HomeServiceImpl implements HomeService{
         return returnjo;
     }
 
-
     /**
      * 已合并至queryHomePage
      */
@@ -535,13 +542,16 @@ public class HomeServiceImpl implements HomeService{
 
     @Override
     public void qeryDebuggerInfo() {
-          Map<String,String> urlInfo = RosUtil.getRosHostInfo();
         //todo RosJons模拟数据用，正式需改回
         //String result1 = HttpUtil.get("http://localhost:8011/api/pcsIfPurchaseorder/queryApt");
-          //String result1 = "{\"Msg_DisplayState\":{\"AGV_ID\":255,\"Auto_In_Line_State\":0,\"Bosch_Car_Global_Theta\":-90.19221757272916,\"Bosch_Car_Global_rx\":-1.0619603784858553,\"Bosch_Car_Global_ry\":0.0020978358374357303,\"Bosch_Loc_State\":-2,\"Bosch_No_Rec_State\":0,\"Bosch_raw_age\":0.01389455795288086,\"Bosch_raw_epoch\":1,\"Bosch_raw_locState\":-2,\"Bosch_raw_qw\":0.9999999908132869,\"Bosch_raw_qx\":0.0,\"Bosch_raw_qy\":0.0,\"Bosch_raw_qz\":0.00013554861104682667,\"Bosch_raw_timestamp\":1695633231.1093392,\"Bosch_raw_uniqueId\":0,\"Bosch_raw_x\":0.0008994877773440588,\"Bosch_raw_x_odo\":0.0008994877773440588,\"Bosch_raw_y\":0.0006906610801896382,\"Bosch_raw_y_odo\":0.0006906610801896382,\"Bosch_raw_yaw\":0.00027109722292381746,\"Bosch_raw_yaw_odo\":0.0006906610801896382,\"Bosch_raw_z\":0.0,\"CAD_Or_TCS_Ctrl\":0,\"Car_Global_Theta\":-90.19221757272916,\"Car_Global_rx\":-1.0619603784858553,\"Car_Global_ry\":0.0020978358374357303,\"CurNodeID\":2,\"Cur_Stop_Info1_Authorized_Pass\":1,\"Cur_Stop_Info1_High_Precious_Enable\":1,\"Cur_Stop_Info1_Reached_Stop\":0,\"Cur_Stop_Info1_Set_Patht\":0.0,\"Cur_Stop_Info1_Set_Pathx\":0.0,\"Cur_Stop_Info1_Set_Pathy\":0.0,\"Cur_Stop_Info1_Single_Request_Sch\":0,\"Cur_Stop_Info1_Single_Stop_Sch\":0,\"Cur_Stop_Info1_StopEndNode\":0,\"Cur_Stop_Info1_StopStartNode\":0,\"Cur_Stop_Info1_Stop_Endt\":0.0,\"Cur_Stop_Info1_Stop_Endx\":0.0,\"Cur_Stop_Info1_Stop_Endy\":0.0,\"Cur_Stop_Info1_Stop_Num\":0,\"Cur_Stop_Info2_Authorized_Pass\":1,\"Cur_Stop_Info2_High_Precious_Enable\":1,\"Cur_Stop_Info2_Reached_Stop\":0,\"Cur_Stop_Info2_Set_Patht\":0.0,\"Cur_Stop_Info2_Set_Pathx\":0.0,\"Cur_Stop_Info2_Set_Pathy\":0.0,\"Cur_Stop_Info2_Single_Request_Sch\":0,\"Cur_Stop_Info2_Single_Stop_Sch\":0,\"Cur_Stop_Info2_StopEndNode\":0,\"Cur_Stop_Info2_StopStartNode\":0,\"Cur_Stop_Info2_Stop_Endt\":0.0,\"Cur_Stop_Info2_Stop_Endx\":0.0,\"Cur_Stop_Info2_Stop_Endy\":0.0,\"Cur_Stop_Info2_Stop_Num\":0,\"Curtis_Warning_Code_Pump\":0,\"Curtis_Warning_Code_Speed\":82,\"Curtis_Warning_Code_Steer\":0,\"EndNode\":0,\"Env_CustomName\":\"NobleLift\",\"Env_HMIUseJavaApp\":\"true\",\"Env_LearnEnable\":\"true\",\"Env_Lu_ROS_IP2\":\"\",\"Env_SoftwareVersion\":\"[Version]Magic4.1[Info]2023_09_21_20_41_37_Lu_ROS_magic4_waypointab_v31\",\"Env_VehicleType\":\"PS10LMT_HuaHai\",\"Get_Nav350_Curr_Layer\":0,\"Language\":1022739087,\"LastAltitudeExpectValue_mm\":0,\"LastGantryXExpectValue_mm\":0,\"LastGantryYExpectValue_mm\":0,\"Lateral_Deviation_m\":0.0,\"License_Info\":\"EC060800FFFBEBBF 6B7685747EBC EC060800FFFBEBBF 6B7685747EBC 2021/8/26 13:46:47 2021/8/26 13:46:47 1 UserClass5 Magic4_1\",\"LindeAgwSteerCenterPivotPlateAng\":0,\"LindeAgwSteerErrorFlag\":0,\"LindeAgwSteerModeSelectorState\":0,\"LindeAgwTracLiftErrorFlag\":0,\"LindeAgwTracLiftModeSelectorState\":0,\"LindeDriveErrCode1\":0,\"LindeDriveErrCode2\":0,\"LindeDriveErrCode3\":0,\"LindeDriveErrCode4\":0,\"LindeLiftErrCode1\":0,\"LindeLiftErrCode2\":0,\"LindeLiftErrCode3\":0,\"LindeLiftErrCode4\":0,\"LindeSteerErrCode1\":0,\"LindeSteerErrCode2\":0,\"LindeSteerErrCode3\":0,\"LindeSteerErrCode4\":0,\"Login_Info\":\"\",\"Min_Dist\":0.0,\"MissionCompleteAltitude_mm_RemoteOrHMI_FB\":0,\"MissionCompleteGantryX_mm_RemoteOrHMI_FB\":0,\"MissionCompleteGantryY_mm_RemoteOrHMI_FB\":0,\"Navi_Method\":3,\"ObstacleDetectState\":0,\"ObstacleTouchState\":0,\"Out_Of_Path_Times\":0,\"PFC_Sch\":0,\"PFC_State\":\"[PathFollow_Control_Handle_WLANJSON][PathFollow_Schedule_WLANJSON=0]\\n\",\"PLC_Warning_Code\":0,\"PWR_Percent\":100,\"PWR_Warn\":0,\"PathFollow_Enable\":1,\"PathFollow_Expect_AltitudeCtrlEnable\":0,\"PathFollow_Expect_GantryXCtrlEnable\":0,\"PathFollow_Expect_GantryYCtrlEnable\":0,\"Plate_Check_Err_Code\":0,\"ReachState\":0,\"RealAutoChargeState\":0,\"Ref_std_rt\":0.0,\"Ref_std_rx\":0.0,\"Ref_std_ry\":0.0,\"Remote_Or_HMI_Ctrl\":1,\"SVreal_angle\":0.0,\"Sche_JSON_Sche_Enable\":0,\"Speedm_Tmp\":0.0,\"StartNode\":0,\"Sub_Warning_Code0\":0,\"Sys_Mode\":4,\"Task_Sch\":0,\"Task_State\":\"\",\"Update_Sch\":0,\"Update_State\":\"\",\"VehicleCtrlExpThrottle\":0,\"VehicleCtrlRealAltitude_mm\":998,\"VehicleCtrlRealCustomStateByte0\":0,\"VehicleCtrlRealCustomStateByte1\":0,\"VehicleCtrlRealCustomStateByte2\":0,\"VehicleCtrlRealCustomStateByte3\":0,\"VehicleCtrlRealGantryX_mm\":0,\"VehicleCtrlRealGantryY_mm\":0,\"VehicleCtrlRealJoyEnable\":0,\"VehicleCtrlRealRCEnable\":0,\"VehicleCtrl_CAN_Err_Info\":0,\"Vertical_Deviation_deg\":0.0,\"Warning_Code\":754529,\"header\":{\"frame_id\":\"\",\"seq\":1904,\"stamp\":{\"nsec\":160948865,\"sec\":1695633231}}}}";
-          //JSONObject json = JSONObject.parseObject(result1);
         try {
-               String result = HttpUtil.get(urlInfo.get("javaUrl"));
+            Map<String, String> urlInfo = RosUtil.getRosHostInfo();
+            String result;
+            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\":100,\"PWR_Warn\":0,\"PathFollow_Enable\":0,\"PathFollow_Expect_AltitudeCtrlEnable\":0,\"PathFollow_Expect_GantryXCtrlEnable\":0,\"PathFollow_Expect_GantryYCtrlEnable\":0,\"Plate_Check_Err_Code\":0,\"ReachState\":0,\"RealAutoChargeState\":0,\"Ref_std_rt\":0.0,\"Ref_std_rx\":0.0,\"Ref_std_ry\":0.0,\"Remote_Or_HMI_Ctrl\":1,\"SVreal_angle\":0.0,\"Sche_JSON_Sche_Enable\":0,\"Speedm_Tmp\":0.0,\"StartNode\":0,\"Sub_Warning_Code0\":0,\"Sys_Mode\":4,\"Task_Sch\":0,\"Task_State\":\"\",\"Update_Sch\":0,\"Update_State\":\"\",\"VehicleCtrlExpThrottle\":0,\"VehicleCtrlRealAltitude_mm\":998,\"VehicleCtrlRealCustomStateByte0\":0,\"VehicleCtrlRealCustomStateByte1\":0,\"VehicleCtrlRealCustomStateByte2\":0,\"VehicleCtrlRealCustomStateByte3\":0,\"VehicleCtrlRealGantryX_mm\":0,\"VehicleCtrlRealGantryY_mm\":0,\"VehicleCtrlRealJoyEnable\":0,\"VehicleCtrlRealRCEnable\":0,\"VehicleCtrl_CAN_Err_Info\":0,\"Vertical_Deviation_deg\":0.0,\"Warning_Code\":754529,\"header\":{\"frame_id\":\"\",\"seq\":1904,\"stamp\":{\"nsec\":160948865,\"sec\":1695633231}}}}";
+            }
             JSONObject json = JSONObject.parseObject(result);
             JSONObject jo = JSONObject.parseObject(json.getString("Msg_DisplayState"));
             debugInfoJson.put("Msg_Timestamp", jo.getJSONObject("header").getJSONObject("stamp").getString("sec"));
@@ -582,6 +592,7 @@ public class HomeServiceImpl implements HomeService{
             debugInfoJson.put("VehicleCtrlRealCustomStateByte1", jo.getString("VehicleCtrlRealCustomStateByte1"));
             debugInfoJson.put("VehicleCtrlRealCustomStateByte2", jo.getString("VehicleCtrlRealCustomStateByte2"));
             debugInfoJson.put("VehicleCtrlRealCustomStateByte3", jo.getString("VehicleCtrlRealCustomStateByte3"));
+            debugInfoJson.put("MissionCompleteAltitude_mm_RemoteOrHMI_FB", jo.getString("MissionCompleteAltitude_mm_RemoteOrHMI_FB"));
             debugInfoJson.put("LastAltitudeExpectValue_mm", jo.getString("LastAltitudeExpectValue_mm"));
             debugInfoJson.put("Get_Nav350_Curr_Layer", jo.getString("Get_Nav350_Curr_Layer"));
             debugInfoJson.put("Update_Sch", jo.getString("Update_Sch"));
@@ -599,30 +610,86 @@ public class HomeServiceImpl implements HomeService{
             debugInfoJson.put("Sche_JSON_Sche_Enable", jo.getString("Sche_JSON_Sche_Enable"));
             debugInfoJson.put("VehicleCtrlRealRCEnable", jo.getString("VehicleCtrlRealRCEnable"));
             debugInfoJson.put("VehicleCtrlRealJoyEnable", jo.getString("VehicleCtrlRealJoyEnable"));
-               //小车当前点位，未到为起点，到达为终点
             debugInfoJson.put("CurNodeID", jo.getString("CurNodeID"));
-               String PathFollow_Enable = jo.getString("PathFollow_Enable");
+            //handleTaskStatus;
-               String curNodeId = jo.getString("CurNodeID");
+        } catch (Exception e) {
-               if(StrUtil.equals("0", PathFollow_Enable)) {
-                    JSONObject taskjo = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete='0'and task_status='01'").uniqueResult(0);
-                    if(ObjectUtil.isNotEmpty(taskjo)) {
-                         //小车停止，且已到达目标点位
-                         if(curNodeId.equals(taskjo.getString("next_point_code"))) {
-                              taskjo.put("task_status", TaskStatusEnum.END.getCode());
-                              taskjo.put("task_status_name", "任务完成");
-                              taskjo.put("update_time", DateUtil.now());
-                              taskjo.put("update_by",  SecurityUtils.getCurrentNickName());
-                              WQLObject.getWQLObject("ST_TASK_INFO").update(taskjo);
-                         }
-                    }
-               }
-               debugInfoJson.put("PathFollow_Enable", PathFollow_Enable);
-          }
-          catch(Exception e) {
             Log.error("通信失败:" + e.getMessage());
             throw new BadRequestException(e.getMessage() == null ? "通信失败，请检查系统参数中的Ros连接信息" : e.getMessage());
         }
     }
+
+    @Transactional(rollbackFor = Exception.class)
+    public void handleTaskStatus() {
+        qeryDebuggerInfo();
+        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"))) {
+            //叉腿高度
+            String legHeight = debugInfoJson.getString("MissionCompleteAltitude_mm_RemoteOrHMI_FB") == null ? "0" : debugInfoJson.getString("MissionCompleteAltitude_mm_RemoteOrHMI_FB");
+            legHeight = "20";
+            Map<String, String> jsonObject = new HashMap<>();
+            //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#");
+                        //叉腿已抬升
+                        taskjo.put("step", "0");
+                        updateTaskStatus(taskjo, null);
+                    }
+                } else {
+                    if (StringUtils.isBlank(taskjo.getString("step"))) {
+                        //放货
+                        //ServiceResponse send = sendToAgvUtil.send("HMIStepOrRTPathFollow:0;1;0#");
+                        //叉腿已抬升
+                        taskjo.put("step", "0");
+                        updateTaskStatus(taskjo, null);
+                    }
+                }
+                //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 || Integer.parseInt(legHeight) == 10) && "0".equals(taskjo.getString("step"))) {
+                    //返程任务已下发
+                    taskjo.put("step", "1");
+                    updateTaskStatus(taskjo, TaskStatusEnum.END);
+                    jsonObject.put("type", TaskTypeEnum.RETURN.getCode());
+                    jsonObject.put("point_code", taskjo.getString("next_point_code2"));
+                    taskServiceServiceImpl.confirmPoint1(jsonObject);
+                }
+            }
+        }
+    }
+
+    @Transactional(rollbackFor = Exception.class, propagation = Propagation.REQUIRED)
+    public void updateTaskStatus(JSONObject taskjo, TaskStatusEnum statusEnum) {
+        if (statusEnum != null) {
+            taskjo.put("task_status", statusEnum.getCode());
+            taskjo.put("task_status_name", statusEnum.getName());
+        }
+        taskjo.put("update_time", DateUtil.now());
+        taskjo.put("update_by", SecurityUtils.getCurrentNickName());
+        WQLObject.getWQLObject("ST_TASK_INFO").update(taskjo);
+    }
+
+    /**
+     * 处理任务状态
+     */
+    @Async("taskExecutor")
+    @Scheduled(cron = "0/10 * * * * *")
+    @Transactional(rollbackFor = Exception.class)
+    public void handleTaskStatuss() {
+        //StopWatch stopWatch = new StopWatch();
+        //stopWatch.start();
+        //handleTaskStatus();
+        //stopWatch.stop();
+        //System.out.println("花费时间------------------------------------------------------------------------------------------*************************************************************************************************= totalTime = " + stopWatch.getTotalTimeMillis());
+    }
+
+
     //     public void QueryDebuggerInfo2() {
     //          debugInfoJson = new JSONObject();
     //          Ros ros = RosUtil.getRos();
@@ -682,7 +749,7 @@ public class HomeServiceImpl implements HomeService{
     //                              JSONObject taskjo = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete='0'and task_status='01'").uniqueResult(0);
     //                              if(ObjectUtil.isNotEmpty(taskjo)) {
     //                                   taskjo.put("task_status", "02");
-     //                                   taskjo.put("task_status_name", "任务完成");
+    //                                   taskjo.put("task_status_name", "完成");
     //                                   taskjo.put("update_time", DateUtil.now());
     //                                   WQLObject.getWQLObject("ST_TASK_INFO").update(taskjo);
     //                              }

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

@@ -30,6 +30,7 @@ import edu.wpi.rail.jrosbridge.services.ServiceResponse;
 import jline.internal.Log;
 import lombok.RequiredArgsConstructor;
 import com.alibaba.fastjson.JSONObject;
+import org.nl.agv.enu.TaskTypeEnum;
 import org.nl.agv.service.DevelopService;
 import org.nl.agv.service.TaskService;
 import org.nl.agv.unit.sendToAgvUtil;
@@ -38,10 +39,16 @@ 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.HashMap;
+import java.util.*;
-import java.util.Map;
+import java.util.stream.Collectors;
+
+import static org.nl.agv.service.impl.HomeServiceImpl.debugInfoJson;
 
 /**
  * @author zhanghouying
@@ -49,6 +56,7 @@ import java.util.Map;
  */
 @Service
 @RequiredArgsConstructor
+@EnableScheduling
 public class TaskServiceServiceImpl implements TaskService {
     public static JSONObject pointJson = new JSONObject();
 
@@ -84,58 +92,57 @@ public class TaskServiceServiceImpl implements TaskService{
             returnjo.put("desc", "查询成功!");
             returnjo.put("rest_pointcode", rest_pointcode);
             returnjo.put("result", arr);
-          }
+        } catch (Exception ex) {
-          catch(Exception ex) {
+            String error = ex.getMessage();
-             String sfd =  ex.getMessage();
         }
         return returnjo;
     }
 
     @Override
     public Map<String, Object> confirmPoint(Map<String, String> jsonObject) {
-          String point_code = (String) jsonObject.get("point_code");
+        String pointCode = jsonObject.get("point_code");
         JSONObject returnjo = new JSONObject();
-          if(StrUtil.isEmpty(point_code)) {
+        if (StrUtil.isEmpty(pointCode)) {
             throw new BadRequestException("站点不能为空!");
         }
         //查询未完成的指令有多少条
         int num = WQL.getWO("QAGVERROR").addParam("flag", "3").process().uniqueResult(0).getInteger("num");
         //查询最多的任务数量
-          int max_task_num = WQLObject.getWQLObject("ST_SYSTEM_PARAM").query("1=1").uniqueResult(0).getInteger("max_task_num");
+        int maxTaskNum = WQLObject.getWQLObject("ST_SYSTEM_PARAM").query("1=1").uniqueResult(0).getInteger("max_task_num");
-          if(num >= max_task_num) {
+        if (num >= maxTaskNum) {
             returnjo.put("code", "1");
             returnjo.put("desc", "未执行的任务数量达到上限！");
             return returnjo;
         }
         JSONObject taskjo = new JSONObject();
-          int seq_num = 1;
+        int seqNum = 1;
         String task_status = "00";
         String task_status_name = "生成未执行";
         //查询未完成最大的顺序号
         JSONObject taskrow = WQLObject.getWQLObject("ST_TASK_INFO").query("is_manualfinished=0", "seq_num desc").uniqueResult(0);
         if (ObjectUtil.isNotEmpty(taskrow)) {
-               seq_num = taskrow.getInteger("seq_num") + 1;
+            seqNum = taskrow.getInteger("seq_num") + 1;
         }
         if (ObjectUtil.isEmpty(taskrow)) {
             //只有第一条下发给agv
-               String a = "HMIStepOrRTPathFollow:0;" + point_code + ";1#";
+            String a = "HMIStepOrRTPathFollow:0;" + pointCode + ";1#";
             ServiceResponse send = sendToAgvUtil.send(a);
             JSONObject resjo = JSONObject.parseObject(send.toString());
             if (StrUtil.equals("0", resjo.getString("result"))) {
                 task_status_name = "执行中";
                 task_status = "01";
             }
-               JSONObject change = sendToAgvUtil.change(point_code);
+            JSONObject change = sendToAgvUtil.change(pointCode);
             //sendToAgvUtil.sendtask(change.getString("first"), change.getString("last"));
         }
         taskjo.put("task_uuid", IdUtil.simpleUUID());
         taskjo.put("task_code", CodeUtil.getNewCode("TASK_NO"));
         taskjo.put("task_status", task_status);
         taskjo.put("task_status_name", task_status_name);
-          taskjo.put("next_point_code", point_code);
+        taskjo.put("next_point_code", pointCode);
         taskjo.put("task_type", "1");
         taskjo.put("is_delete", "0");
-          taskjo.put("seq_num", seq_num);
+        taskjo.put("seq_num", seqNum);
         taskjo.put("date", DateUtil.today());
         taskjo.put("create_time", DateUtil.now());
         taskjo.put("is_agvfinished", "0");
@@ -147,6 +154,105 @@ public class TaskServiceServiceImpl implements TaskService{
         return returnjo;
     }
 
+    @Override
+    public Map<String, Object> confirmPoint1(Map<String, String> jsonObject) {
+        String point_code = jsonObject.get("point_code");
+        String type = jsonObject.get("type");
+        if (StrUtil.isEmpty(point_code) || StrUtil.isEmpty(type)) {
+            throw new BadRequestException("站点或操作类型不能为空!");
+        }
+        String instruct = "";
+        int seq_num = 1;
+        String task_status = "00";
+        String task_status_name = "生成未执行";
+        JSONObject returnjo = new JSONObject();
+        //查询未完成的指令有多少条
+        int num = WQL.getWO("QAGVERROR").addParam("flag", "3").process().uniqueResult(0).getInteger("num");
+        //查询最多的任务数量
+        int max_task_num = WQLObject.getWQLObject("ST_SYSTEM_PARAM").query("1=1").uniqueResult(0).getInteger("max_task_num");
+        if (num >= max_task_num) {
+            returnjo.put("code", "1");
+            returnjo.put("desc", "未执行的任务数量达到上限！");
+            return returnjo;
+        }
+        //查询未完成最大的顺序号
+        JSONObject taskrow = WQLObject.getWQLObject("ST_TASK_INFO").query("is_manualfinished=0", "seq_num desc").uniqueResult(0);
+        if (ObjectUtil.isNotEmpty(taskrow)) {
+            seq_num = taskrow.getInteger("seq_num") + 1;
+        }
+        JSONObject taskjo = new JSONObject();
+        taskjo.put("task_type", type.equals(TaskTypeEnum.RETURN.getCode()) ? TaskTypeEnum.COMMON.getCode() : type);
+        taskjo.put("seq_num", type.equals(TaskTypeEnum.RETURN.getCode()) ? getSeqNum() : seq_num);
+        taskjo.put("task_uuid", IdUtil.simpleUUID());
+        taskjo.put("task_code", CodeUtil.getNewCode("TASK_NO"));
+        taskjo.put("next_point_code", point_code);
+        taskjo.put("is_delete", "0");
+        taskjo.put("date", DateUtil.today());
+        taskjo.put("create_time", DateUtil.now());
+        taskjo.put("is_agvfinished", "0");
+        taskjo.put("is_manualfinished", "0");
+        taskjo.put("create_by", SecurityUtils.getCurrentNickName());
+        //只有一条且是第一条下发给agv
+        if (ObjectUtil.isEmpty(taskrow)) {
+            if (type.equals(TaskTypeEnum.COMMON.getCode())) {
+                instruct = "HMIStepOrRTPathFollow:0;" + point_code + ";1#";
+            } else if (type.equals(TaskTypeEnum.TAKE.getCode()) || type.equals(TaskTypeEnum.PUT.getCode())) {
+                instruct = "HMIStepOrRTPathFollow:0;" + point_code + ";1#";
+                //获取返程点
+                //ServiceResponse send = sendToAgvUtil.send("HMIRouter:" + debugInfoJson.getString("CurNodeID") + ";" + point_code + ";#");
+                // JSONObject resjo = JSONObject.parseObject(send.toString());
+                //todo 需要改回，检查返回的路由信息resjo
+                String v2 = "HMIRouter:0;2;#\nExport_NodeIDPath:\n1 2 \nExport_NodeIDPath_End";
+                String pointCode2 = v2.substring(v2.indexOf("Export_NodeIDPath:\n") + "Export_NodeIDPath:\n".length(), v2.indexOf(" \nExport_NodeIDPath_End"));
+                taskjo.put("next_point_code2", pointCode2);
+            } else if (type.equals(TaskTypeEnum.RETURN.getCode())) {
+                instruct = "HMIStepOrRTPathFollow:0;" + point_code + ";1#";
+                taskjo.put("task_type", TaskTypeEnum.COMMON.getCode());
+            }
+            //ServiceResponse send = sendToAgvUtil.send(instruct);
+            //JSONObject resjo = JSONObject.parseObject(send.toString());
+            //
+            //            if (StrUtil.equals("0", resjo.getString("result"))) {
+            //                task_status_name = "执行中";
+            //                task_status = "01";
+            //            }
+            if (true) {
+                task_status_name = "执行中";
+                task_status = "01";
+            }
+            //JSONObject change = sendToAgvUtil.change(point_code);
+            //sendToAgvUtil.sendtask(change.getString("first"), change.getString("last"));
+        }
+        taskjo.put("task_status", task_status);
+        taskjo.put("task_status_name", task_status_name);
+        WQLObject.getWQLObject("ST_TASK_INFO").insert(taskjo);
+        returnjo.put("code", "1");
+        returnjo.put("desc", "新增成功！");
+        return returnjo;
+    }
+
+    private static Integer getSeqNum() {
+        WQLObject taskTable = WQLObject.getWQLObject("ST_TASK_INFO");
+        JSONArray taskrows = taskTable.query("task_status='00' or task_status='01'").getResultJSONArray(0);
+        //存在多条未完成任务，则重新排序，返程任务最优先
+        if (taskrows.size() > 0) {
+            //获取序号最小值
+            int minSeqNum = taskrows.stream().mapToInt(o -> ((JSONObject) o).getIntValue("seq_num")).min().orElse(0);
+            //更新现有数据的序号
+            taskrows.forEach(taskObj -> ((JSONObject) taskObj).put("seq_num", ((JSONObject) taskObj).getIntValue("seq_num") + 1));
+            //返程任务顺序号为最小
+            int seq_num = minSeqNum;
+            //taskrows.add(0, taskjo);  //插入到最前面
+            for (int i = 0; i < taskrows.size(); i++) {
+                JSONObject task = taskrows.getJSONObject(i);
+                taskTable.update(task);
+            }
+            return seq_num;
+        }
+        return 1;
+    }
+
+
     @Override
     public Map<String, Object> queryTaskList(Map<String, String> jsonObject) {
         JSONArray resultJSONArray = WQL.getWO("QAGVERROR").addParam("flag", "2").process().getResultJSONArray(0);
@@ -216,11 +322,12 @@ public class TaskServiceServiceImpl implements TaskService{
             is_correct = "1";
             returnjo.put("code", "1");
             returnjo.put("desc", "密码校验成功！");
-          }
+        } else {
-          else{
             returnjo.put("code", "0");
             returnjo.put("desc", "密码不正确！");
         }
         return returnjo;
     }
+
+
 }

nladmin-system/src/main/resources/config/application-dev.yml

@@ -1,5 +1,5 @@
 server:
-  port: 8018
+  port: 8019
 ##配置数据源
 spring:
   datasource:

nladmin-system/src/main/resources/config/application-prod1.yml

@@ -0,0 +1,185 @@
+server:
+  port: 8018
+#配置数据源
+spring:
+  datasource:
+    druid:
+      db-type: com.alibaba.druid.pool.DruidDataSource
+      driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
+      #192.168.137.41
+      url: jdbc:g4lojdbc:mysql://${DB_HOST:192.168.137.41}:${DB_PORT:3306}/${DB_NAME:nl_agv}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true&useSSL=false
+      #url: jdbc:log4jdbc:mysql://${DB_HOST:43.139.166.161}:${DB_PORT:3310}/${DB_NAME:nl_agv}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true&useSSL=false
+      #url: jdbc:log4jdbc:mysql://${DB_HOST:192.168.81.252}:${DB_PORT:3306}/${DB_NAME:hl_one_mes}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true&useSSL=false
+      username: ${DB_USER:generallu}
+      #password: ${DB_PWD:P@ssw0rd}
+      password: ${DB_PWD:123456}
+      #password: ${DB_PWD:Root.123456}
+      # 初始连接数
+      initial-size: 15
+      # 最小连接数
+      min-idle: 45
+      # 最大连接数
+      max-active: 90
+      # 是否自动回收超时连接
+      remove-abandoned: true
+      # 超时时间(以秒数为单位)
+      remove-abandoned-timeout: 180
+      # 获取连接超时时间
+      max-wait: 3000
+      # 连接有效性检测时间
+      time-between-eviction-runs-millis: 60000
+      # 连接在池中最小生存的时间
+      min-evictable-idle-time-millis: 300000
+      # 连接在池中最大生存的时间
+      max-evictable-idle-time-millis: 900000
+      # 指明连接是否被空闲连接回收器(如果有)进行检验.如果检测失败,则连接将被从池中去除
+      test-while-idle: true
+      # 指明是否在从池中取出连接前进行检验,如果检验失败, 则从池中去除连接并尝试取出另一个
+      test-on-borrow: true
+      # 是否在归还到池中前进行检验
+      test-on-return: false
+      # 检测连接是否有效
+      validation-query: select 1
+      # 配置监控统计
+      webStatFilter:
+        enabled: true
+      stat-view-servlet:
+        enabled: true
+        url-pattern: /druid/*
+        reset-enable: false
+      filters:
+        DruidFilter,stat
+  redis:
+    #数据库索引
+    database: ${REDIS_DB:6}
+    host: ${REDIS_HOST:127.0.0.1}
+    #host: ${REDIS_HOST:localhost}
+    port: ${REDIS_PORT:6379}
+    password: ${REDIS_PWD:}
+    #连接超时时间
+    timeout: 5000
+    redisson:
+      config: |
+        threads: 4
+        nettyThreads: 4
+        singleServerConfig:
+          connectionMinimumIdleSize: 8
+          connectionPoolSize: 8
+          address: redis://127.0.0.1:6379
+          idleConnectionTimeout: 10000
+          timeout: 3000
+# 登录相关配置
+login:
+  # 登录缓存
+  cache-enable: true
+  #  是否限制单用户登录
+  single-login: false
+  #  验证码
+  login-code:
+    #  验证码类型配置 查看 LoginProperties 类
+    code-type: arithmetic
+    #  登录图形验证码有效时间/分钟
+    expiration: 2
+    #  验证码高度
+    width: 111
+    #  验证码宽度
+    heigth: 36
+    # 内容长度
+    length: 2
+    # 字体名称，为空则使用默认字体
+    font-name:
+    # 字体大小
+    font-size: 25
+
+#jwt
+jwt:
+  header: Authorization
+  # 令牌前缀
+  token-start-with: Bearer
+  # 必须使用最少88位的Base64对该令牌进行编码
+  base64-secret: ZmQ0ZGI5NjQ0MDQwY2I4MjMxY2Y3ZmI3MjdhN2ZmMjNhODViOTg1ZGE0NTBjMGM4NDA5NzYxMjdjOWMwYWRmZTBlZjlhNGY3ZTg4Y2U3YTE1ODVkZDU5Y2Y3OGYwZWE1NzUzNWQ2YjFjZDc0NGMxZWU2MmQ3MjY1NzJmNTE0MzI=
+  # 令牌过期时间 此处单位/毫秒 ，默认4小时，可在此网站生成 https://www.convertworld.com/zh-hans/time/milliseconds.html
+  token-validity-in-seconds: 14400000
+  # 在线用户key
+  online-key: online-token-
+  # 验证码
+  code-key: code-key-
+  # token 续期检查时间范围（默认30分钟，单位毫秒），在token即将过期的一段时间内用户操作了，则给用户的token续期
+  detect: 1800000
+  # 续期时间范围，默认1小时，单位毫秒
+  renew: 3600000
+
+#是否允许生成代码，生产环境设置为false
+generator:
+  enabled: true
+
+#是否开启 swagger-ui
+swagger:
+  enabled: true
+
+# IP 本地解析
+ip:
+  local-parsing: true
+
+# 文件存储路径
+file:
+  mac:
+    path: ~/file/
+    avatar: ~/avatar/
+  linux:
+    path: /home/eladmin/file/
+    avatar: /home/eladmin/avatar/
+  windows:
+    path: C:\eladmin\file\
+    avatar: C:\eladmin\avatar\
+  # 文件大小 /M
+  maxSize: 100
+  avatarMaxSize: 5
+
+sa-token:
+  # token 名称 (同时也是cookie名称)
+  token-name: Authorization
+  # token 有效期，单位s 默认30天, -1代表永不过期
+  timeout: 2592000
+  # token 临时有效期 (指定时间内无操作就视为token过期) 单位: 秒
+  activity-timeout: -1
+  # 是否允许同一账号并发登录 (为true时允许一起登录, 为false时新登录挤掉旧登录)
+  is-concurrent: true
+  # 在多人登录同一账号时，是否共用一个token (为true时所有登录共用一个token, 为false时每次登录新建一个token)
+  is-share: false
+  # token风格
+  token-style: random-128
+  # 是否输出操作日志
+  is-log: false
+  jwt-secret-key: opsjajisdnnca0sdkksdfaaasdfwwq
+  # token 前缀
+  token-prefix:
+  cookie:
+    # 配置 Cookie 作用域:根据二级域名实现sso登入如lms.sso.com;acs.sso.com
+    domain:
+
+jetcache:
+  defaultCacheType: LOCAL
+  statIntervalMinutes: 15
+  areaInCacheName: false
+  hiddenPackages: com.yb
+  local:
+    default:
+      type: caffeine
+      limit: 100
+      keyConvertor: fastjson
+      expireAfterWriteInMillis: 60000
+  remote:
+    default:
+      type: redis.lettuce
+      keyConvertor: fastjson
+      valueEncoder: kryo
+      valueDecoder: kryo
+      poolConfig:
+        minIdle: 5
+        maxIdle: 200
+        maxTotal: 1000
+      uri:
+        - redis://127.0.0.1:6379
+es:
+  index: mes_log

nladmin-system/src/main/resources/config/application.yml

@@ -2,7 +2,7 @@ spring:
   freemarker:
     check-template-location: false
   profiles:
-    active: prod
+    active: dev
   jackson:
     time-zone: GMT+8
   data: