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add:增加自动取放货功能。

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This commit is contained in:
baoge
2023-11-27 11:19:27 +08:00
parent 3622baa490
commit 56e08824c8
9 changed files with 1205 additions and 798 deletions
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41
nladmin-system/src/main/java/org/nl/agv/enu/TaskTypeEnum.java Normal file
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@@ -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);
}
}

4
nladmin-system/src/main/java/org/nl/agv/service/HomeService.java
View File

@@ -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
*

3
nladmin-system/src/main/java/org/nl/agv/service/TaskService.java
View File

@@ -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
*

189
nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java
View File

@@ -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 todayUnfinishedTasksCount = allTasks.stream().filter(task -> task.getString("date").equals(DateUtil.today()) && task.getString("task_status").equals("00")).count();
long allTasksCount = allTasks.size();
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='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'").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");
String curNodeId = jo.getString("CurNodeID");
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) {
//handleTaskStatus;
} 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);
// }

141
nladmin-system/src/main/java/org/nl/agv/service/impl/TaskServiceServiceImpl.java
View File

@@ -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.Map;
import java.util.*;
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) {
String sfd = ex.getMessage();
} catch (Exception ex) {
String error = 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");
if(num >= max_task_num) {
int maxTaskNum = WQLObject.getWQLObject("ST_SYSTEM_PARAM").query("1=1").uniqueResult(0).getInteger("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;
}
}

BIN
nladmin-system/src/main/java/org/nl/agv/wql/agv.xls
View File

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2
nladmin-system/src/main/resources/config/application-dev.yml
View File

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

185
nladmin-system/src/main/resources/config/application-prod1.yml Normal file
View File

@@ -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

2
nladmin-system/src/main/resources/config/application.yml
View File

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