From 5890285989a20ec055e917646917f390e5d7db37 Mon Sep 17 00:00:00 2001 From: baoge <751575283@qq.com> Date: Mon, 25 Sep 2023 20:06:24 +0800 Subject: [PATCH] =?UTF-8?q?opt:=E4=BF=AE=E6=94=B9=E8=BD=A6=E8=BE=86?= =?UTF-8?q?=E9=A6=96=E9=A1=B5=E4=BF=A1=E6=81=AF=EF=BC=8C=E8=BD=A6=E8=BE=86?= =?UTF-8?q?=E4=BF=A1=E6=81=AF=EF=BC=8C=E6=95=85=E9=9A=9C=E4=BF=A1=E6=81=AF?= =?UTF-8?q?=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../main/java/org/nl/agv/service/impl/HomeServiceImpl.java | 5 +++-- .../org/nl/agv/service/impl/VehicleInfoServiceImpl.java | 7 +++---- 2 files changed, 6 insertions(+), 6 deletions(-) diff --git a/nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java b/nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java index bb7675f..2c1f1ba 100644 --- a/nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java +++ b/nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java @@ -56,8 +56,9 @@ public class HomeServiceImpl implements HomeService{ public void qeryDebuggerInfo() { try { Map urlInfo = RosUtil.getRosHostInfo(); - String result1 = HttpUtil.get("http://localhost:8011/api/pcsIfPurchaseorder/queryApt"); - //String result1 = HttpUtil.get(urlInfo.get("javaUrl")); + //String result1 = HttpUtil.get("http://localhost:8011/api/pcsIfPurchaseorder/queryApt"); + //String result1 = HttpUtil.get(urlInfo.get("javaUrl")); + String result1 = "{\n" + " \"Msg_DisplayState\":{\n" + " \"AGV_ID\":255,\n" + " \"Auto_In_Line_State\":0,\n" + " \"Bosch_Car_Global_Theta\":-90.19221757272916,\n" + " \"Bosch_Car_Global_rx\":-1.0619603784858553,\n" + " \"Bosch_Car_Global_ry\":0.0020978358374357303,\n" + " \"Bosch_Loc_State\":-2,\n" + " \"Bosch_No_Rec_State\":0,\n" + " \"Bosch_raw_age\":0.01389455795288086,\n" + " \"Bosch_raw_epoch\":1,\n" + " \"Bosch_raw_locState\":-2,\n" + " \"Bosch_raw_qw\":0.9999999908132869,\n" + " \"Bosch_raw_qx\":0,\n" + " \"Bosch_raw_qy\":0,\n" + " \"Bosch_raw_qz\":0.00013554861104682667,\n" + " \"Bosch_raw_timestamp\":1695633231.1093392,\n" + " \"Bosch_raw_uniqueId\":0,\n" + " \"Bosch_raw_x\":0.0008994877773440588,\n" + " \"Bosch_raw_x_odo\":0.0008994877773440588,\n" + " \"Bosch_raw_y\":0.0006906610801896382,\n" + " \"Bosch_raw_y_odo\":0.0006906610801896382,\n" + " \"Bosch_raw_yaw\":0.00027109722292381746,\n" + " \"Bosch_raw_yaw_odo\":0.0006906610801896382,\n" + " \"Bosch_raw_z\":0,\n" + " \"CAD_Or_TCS_Ctrl\":0,\n" + " \"Car_Global_Theta\":-90.19221757272916,\n" + " \"Car_Global_rx\":-1.0619603784858553,\n" + " \"Car_Global_ry\":0.0020978358374357303,\n" + " \"CurNodeID\":0,\n" + " \"Cur_Stop_Info1_Authorized_Pass\":1,\n" + " \"Cur_Stop_Info1_High_Precious_Enable\":1,\n" + " \"Cur_Stop_Info1_Reached_Stop\":0,\n" + " \"Cur_Stop_Info1_Set_Patht\":0,\n" + " \"Cur_Stop_Info1_Set_Pathx\":0,\n" + " \"Cur_Stop_Info1_Set_Pathy\":0,\n" + " \"Cur_Stop_Info1_Single_Request_Sch\":0,\n" + " \"Cur_Stop_Info1_Single_Stop_Sch\":0,\n" + " \"Cur_Stop_Info1_StopEndNode\":0,\n" + " \"Cur_Stop_Info1_StopStartNode\":0,\n" + " \"Cur_Stop_Info1_Stop_Endt\":0,\n" + " \"Cur_Stop_Info1_Stop_Endx\":0,\n" + " \"Cur_Stop_Info1_Stop_Endy\":0,\n" + " \"Cur_Stop_Info1_Stop_Num\":0,\n" + " \"Cur_Stop_Info2_Authorized_Pass\":1,\n" + " \"Cur_Stop_Info2_High_Precious_Enable\":1,\n" + " \"Cur_Stop_Info2_Reached_Stop\":0,\n" + " \"Cur_Stop_Info2_Set_Patht\":0,\n" + " \"Cur_Stop_Info2_Set_Pathx\":0,\n" + " \"Cur_Stop_Info2_Set_Pathy\":0,\n" + " \"Cur_Stop_Info2_Single_Request_Sch\":0,\n" + " \"Cur_Stop_Info2_Single_Stop_Sch\":0,\n" + " \"Cur_Stop_Info2_StopEndNode\":0,\n" + " \"Cur_Stop_Info2_StopStartNode\":0,\n" + " \"Cur_Stop_Info2_Stop_Endt\":0,\n" + " \"Cur_Stop_Info2_Stop_Endx\":0,\n" + " \"Cur_Stop_Info2_Stop_Endy\":0,\n" + " \"Cur_Stop_Info2_Stop_Num\":0,\n" + " \"Curtis_Warning_Code_Pump\":0,\n" + " \"Curtis_Warning_Code_Speed\":82,\n" + " \"Curtis_Warning_Code_Steer\":0,\n" + " \"EndNode\":0,\n" + " \"Env_CustomName\":\"NobleLift\",\n" + " \"Env_HMIUseJavaApp\":\"true\",\n" + " \"Env_LearnEnable\":\"true\",\n" + " \"Env_Lu_ROS_IP2\":\"\",\n" + " \"Env_SoftwareVersion\":\"[Version]Magic4.1[Info]2023_09_21_20_41_37_Lu_ROS_magic4_waypointab_v31\",\n" + " \"Env_VehicleType\":\"PS10LMT_HuaHai\",\n" + " \"Get_Nav350_Curr_Layer\":0,\n" + " \"Language\":1022739087,\n" + " \"LastAltitudeExpectValue_mm\":0,\n" + " \"LastGantryXExpectValue_mm\":0,\n" + " \"LastGantryYExpectValue_mm\":0,\n" + " \"Lateral_Deviation_m\":119.00021121312,\n" + " \"License_Info\":\"EC060800FFFBEBBF 6B7685747EBC EC060800FFFBEBBF 6B7685747EBC 2021/8/26 13:46:47 2021/8/26 13:46:47 1 UserClass5 Magic4_1\",\n" + " \"LindeAgwSteerCenterPivotPlateAng\":0,\n" + " \"LindeAgwSteerErrorFlag\":0,\n" + " \"LindeAgwSteerModeSelectorState\":0,\n" + " \"LindeAgwTracLiftErrorFlag\":0,\n" + " \"LindeAgwTracLiftModeSelectorState\":0,\n" + " \"LindeDriveErrCode1\":0,\n" + " \"LindeDriveErrCode2\":0,\n" + " \"LindeDriveErrCode3\":0,\n" + " \"LindeDriveErrCode4\":0,\n" + " \"LindeLiftErrCode1\":0,\n" + " \"LindeLiftErrCode2\":0,\n" + " \"LindeLiftErrCode3\":0,\n" + " \"LindeLiftErrCode4\":0,\n" + " \"LindeSteerErrCode1\":0,\n" + " \"LindeSteerErrCode2\":0,\n" + " \"LindeSteerErrCode3\":0,\n" + " \"LindeSteerErrCode4\":0,\n" + " \"Login_Info\":\"\",\n" + " \"Min_Dist\":0,\n" + " \"MissionCompleteAltitude_mm_RemoteOrHMI_FB\":0,\n" + " \"MissionCompleteGantryX_mm_RemoteOrHMI_FB\":0,\n" + " \"MissionCompleteGantryY_mm_RemoteOrHMI_FB\":0,\n" + " \"Navi_Method\":3,\n" + " \"ObstacleDetectState\":0,\n" + " \"ObstacleDetectState\":0,\n" + " \"Out_Of_Path_Times\":0,\n" + " \"PFC_Sch\":0,\n" + " \"PFC_State\":\"[PathFollow_Control_Handle_WLANJSON][PathFollow_Schedule_WLANJSON=0]\\n\",\n" + " \"PLC_Warning_Code\":0,\n" + " \"PWR_Percent\":56,\n" + " \"PWR_Warn\":0,\n" + " \"PathFollow_Enable\":0,\n" + " \"PathFollow_Expect_AltitudeCtrlEnable\":0,\n" + " \"PathFollow_Expect_GantryXCtrlEnable\":0,\n" + " \"PathFollow_Expect_GantryYCtrlEnable\":0,\n" + " \"Plate_Check_Err_Code\":0,\n" + " \"ReachState\":0,\n" + " \"RealAutoChargeState\":0,\n" + " \"Ref_std_rt\":0,\n" + " \"Ref_std_rx\":0,\n" + " \"Ref_std_ry\":0,\n" + " \"Remote_Or_HMI_Ctrl\":1,\n" + " \"SVreal_angle\":55,\n" + " \"Sche_JSON_Sche_Enable\":0,\n" + " \"Speedm_Tmp\":11,\n" + " \"StartNode\":0,\n" + " \"Sub_Warning_Code0\":0,\n" + " \"Sys_Mode\":4,\n" + " \"Task_Sch\":0,\n" + " \"Task_State\":\"\",\n" + " \"Update_Sch\":0,\n" + " \"Update_State\":\"\",\n" + " \"VehicleCtrlExpThrottle\":222,\n" + " \"VehicleCtrlRealAltitude_mm\":998,\n" + " \"VehicleCtrlRealCustomStateByte0\":0,\n" + " \"VehicleCtrlRealCustomStateByte1\":0,\n" + " \"VehicleCtrlRealCustomStateByte2\":0,\n" + " \"VehicleCtrlRealCustomStateByte3\":0,\n" + " \"VehicleCtrlRealGantryX_mm\":0,\n" + " \"VehicleCtrlRealGantryY_mm\":0,\n" + " \"VehicleCtrlRealJoyEnable\":0,\n" + " \"VehicleCtrlRealRCEnable\":0,\n" + " \"VehicleCtrl_CAN_Err_Info\":0,\n" + " \"Vertical_Deviation_deg\":0.232222321,\n" + " \"Warning_Code\":524305,\n" + " \"header\":{\n" + " \"frame_id\":\"\",\n" + " \"seq\":1904,\n" + " \"stamp\":{\n" + " \"nsec\":160948865,\n" + " \"sec\":1695633231\n" + " }\n" + " }\n" + " }\n" + "}"; JSONObject json = JSONObject.parseObject(result1); JSONObject jo = JSONObject.parseObject(json.getString("Msg_DisplayState")); debugInfoJson.put("Msg_Timestamp", jo.getJSONObject("header").getJSONObject("stamp").getString("sec")); diff --git a/nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java b/nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java index a90dc9c..5b02156 100644 --- a/nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java +++ b/nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java @@ -15,7 +15,6 @@ */ package org.nl.agv.service.impl; - import cn.hutool.core.util.ObjectUtil; import cn.hutool.core.util.StrUtil; import com.alibaba.fastjson.JSONArray; @@ -261,7 +260,9 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{ JSONObject row = new JSONObject(); try { JSONObject debugInfoJson = HomeServiceImpl.debugInfoJson; - int ObstacleTouchState = debugInfoJson.getInteger("ObstacleTouchState"); + //int ObstacleTouchState = debugInfoJson.getInteger("ObstacleTouchState"); + //todo 安全触边等传感器状态 ObstacleTouchState 识别不了 + int ObstacleTouchState = 524305; int ObstacleDetectState = debugInfoJson.getInteger("ObstacleDetectState"); int VehicleCtrlRealCustomStateByte0 = debugInfoJson.getInteger("VehicleCtrlRealCustomStateByte0"); //避障停车 @@ -284,10 +285,8 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{ if((ObstacleTouchState >> 2) % 2 == 1) { stopButton_status = "1"; } - //// if((ObstacleTouchState >> 3) % 2 == 1) { } - //// if((ObstacleTouchState >> 4) % 2 == 1) { } row.put("stopButton_status", stopButton_status);