rev:修复一些bug

README.md

@@ -1,3 +1,3 @@
-# hl_one_wms
+# gt_agv_plus
 
-辽宁晟华车间自动化项目
+agv智能搬运车项目

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

@@ -106,7 +106,6 @@ public class DevelopServiceImpl implements DevelopService {
         } while (ObjectUtil.isEmpty(HomeServiceImpl.debugInfoJson));
         JSONObject returnjo = new JSONObject();
         JSONObject map = HomeServiceImpl.debugInfoJson;
-
         Iterator iter = map.entrySet().iterator();
         StringBuilder sb = new StringBuilder();
         while (iter.hasNext()) {
@@ -147,10 +146,10 @@ public class DevelopServiceImpl implements DevelopService {
         if (StrUtil.isEmpty(password)) {
             throw new BadRequestException("密码不能为空！");
         }
-        JSONObject row = WQLObject.getWQLObject("st_system_param").query("1=1").uniqueResult(0);
+        JSONObject row = WQLObject.getWQLObject("ST_SYSTEM_PARAM").query("1=1").uniqueResult(0);
         row.put("max_task_num", maxTaskNun);
         row.put("password", password);
-        WQLObject.getWQLObject("st_system_param").update(row);
+        WQLObject.getWQLObject("ST_SYSTEM_PARAM").update(row);
         JSONObject returnjo = new JSONObject();
         returnjo.put("code", "1");
         returnjo.put("desc", "更新成功");
@@ -159,7 +158,7 @@ public class DevelopServiceImpl implements DevelopService {
 
     @Override
     public Map<String, Object> queryPassword(Map<String, String> jsonObject) {
-        JSONObject jo = WQLObject.getWQLObject("st_system_param").query("1=1").uniqueResult(0);
+        JSONObject jo = WQLObject.getWQLObject("ST_SYSTEM_PARAM").query("1=1").uniqueResult(0);
         JSONObject returnjo = new JSONObject();
         returnjo.put("code", "1");
         returnjo.put("desc", "查询成功！");

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

@@ -21,9 +21,11 @@ import edu.wpi.rail.jrosbridge.Ros;
 import edu.wpi.rail.jrosbridge.Topic;
 import edu.wpi.rail.jrosbridge.callback.TopicCallback;
 import edu.wpi.rail.jrosbridge.messages.Message;
+import jline.internal.Log;
 import lombok.RequiredArgsConstructor;
 import com.alibaba.fastjson.JSONObject;
 import org.nl.agv.service.ErrorService;
+import org.nl.modules.common.exception.BadRequestException;
 import org.nl.modules.wql.WQL;
 import org.springframework.stereotype.Service;
 
@@ -37,10 +39,10 @@ import java.util.Map;
 @Service
 @RequiredArgsConstructor
 public class ErrorServiceImpl implements ErrorService{
-
      @Override
      public Map<String,Object> querryError(Map<String,String> jsonObject) {
           String error_status = "无故障";
+          try {
                JSONObject debugInfoJson = HomeServiceImpl.debugInfoJson;
                int Warning_Code = debugInfoJson.getInteger("Warning_Code");
                //int Warning_Code =  524305;
@@ -51,55 +53,87 @@ public class ErrorServiceImpl implements ErrorService {
                if(Warning_Code % 2 == 1) {
                     error_status = "有故障";
                     error_code = "barrier";
-            JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
+                    JSONObject row = WQL
+                       .getWO("QAGVERROR")
+                       .addParam("flag", "1")
+                       .addParam("error_code", error_code)
+                       .process().uniqueResult(0);
                     ja.add(row);
                }
                //bit1  起点报警  startPoint
                if((Warning_Code >> 2) % 2 == 1) {
                     error_status = "有故障";
                     error_code = "startPoint";
-            JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
+                    JSONObject row = WQL
+                       .getWO("QAGVERROR")
+                       .addParam("flag", "1")
+                       .addParam("error_code", error_code)
+                       .process().uniqueResult(0);
                     ja.add(row);
                }
                //bit2  急停开关报警  stop
                if((Warning_Code >> 10) % 2 == 1) {
                     error_status = "有故障";
                     error_code = "stop";
-            JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
+                    JSONObject row = WQL
+                       .getWO("QAGVERROR")
+                       .addParam("flag", "1")
+                       .addParam("error_code", error_code)
+                       .process().uniqueResult(0);
                     ja.add(row);
                }
                //bit3  触边开关报警  touchSwith
                if((ObstacleTouchState >> 1) % 2 == 1) {
                     error_status = "有故障";
                     error_code = "touchSwith";
-            JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
+                    JSONObject row = WQL
+                       .getWO("QAGVERROR")
+                       .addParam("flag", "1")
+                       .addParam("error_code", error_code)
+                       .process().uniqueResult(0);
                     ja.add(row);
                }
                //bit0  速度异常  speedError
                if((Warning_Code >> 6) % 2 == 1) {
                     error_status = "有故障";
                     error_code = "speedError";
-            JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
+                    JSONObject row = WQL
+                       .getWO("QAGVERROR")
+                       .addParam("flag", "1")
+                       .addParam("error_code", error_code)
+                       .process().uniqueResult(0);
                     ja.add(row);
                } //bit0  定位异常  locationError
                if((Warning_Code >> 7) % 2 == 1) {
                     error_status = "是";
                     error_code = "startPoint";
-            JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
+                    JSONObject row = WQL
+                       .getWO("QAGVERROR")
+                       .addParam("flag", "1")
+                       .addParam("error_code", error_code)
+                       .process().uniqueResult(0);
                     ja.add(row);
                }
                //bit0  路径异常  wayError
                if((Warning_Code >> 8) % 2 == 1) {
                     error_status = "有故障";
                     error_code = "wayError";
-            JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
+                    JSONObject row = WQL
+                       .getWO("QAGVERROR")
+                       .addParam("flag", "1")
+                       .addParam("error_code", error_code)
+                       .process().uniqueResult(0);
                     ja.add(row);
                }
                //电池异常   batteryError
                if((Warning_Code >> 11) % 2 == 1) {
                     error_status = "有故障";
                     error_code = "batteryError";
-            JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
+                    JSONObject row = WQL
+                       .getWO("QAGVERROR")
+                       .addParam("flag", "1")
+                       .addParam("error_code", error_code)
+                       .process().uniqueResult(0);
                     row.put("error_content", debugInfoJson.getString("PWR_Warn"));
                     ja.add(row);
                }
@@ -107,16 +141,23 @@ public class ErrorServiceImpl implements ErrorService {
                if((Warning_Code >> 24) % 2 == 1) {
                     error_status = "有故障";
                     error_code = "CURTIS";
-            JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
+                    JSONObject row = WQL
+                       .getWO("QAGVERROR")
+                       .addParam("flag", "1")
+                       .addParam("error_code", error_code)
+                       .process().uniqueResult(0);
                     row.put("error_content", debugInfoJson.getString("Curtis_Warning_Code_Speed"));
                     ja.add(row);
                }
-
                //CAN通讯异常   CAN
                if((Warning_Code >> 19) % 2 == 1) {
                     error_status = "有故障";
                     error_code = "CAN";
-            JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
+                    JSONObject row = WQL
+                       .getWO("QAGVERROR")
+                       .addParam("flag", "1")
+                       .addParam("error_code", error_code)
+                       .process().uniqueResult(0);
                     row.put("error_content", debugInfoJson.getString("VehicleCtrl_CAN_Err_Info"));
                     ja.add(row);
                }
@@ -127,4 +168,9 @@ public class ErrorServiceImpl implements ErrorService {
                returnjo.put("error_status", error_status);
                return returnjo;
           }
+          catch(Exception e) {
+               Log.error("获取调试信息失败:" + e.getMessage());
+               throw new BadRequestException( e.getMessage()==null?"Ros通信失败，请检查网络连接":e.getMessage());
+          }
+     }
 }

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

@@ -53,12 +53,14 @@ public class HomeServiceImpl implements HomeService{
 
      public void QueryDebuggerInfo() {
           try {
-
                Map<String,String> urlInfo = RosUtil.getRosHostInfo();
                String result1 = HttpUtil.get(urlInfo.get("javaUrl"));
                JSONObject json = JSONObject.parseObject(result1);
                JSONObject jo = JSONObject.parseObject(json.getString("Msg_DisplayState"));
-               debugInfoJson.put("Msg_Timestamp", jo.getJSONObject("header").getJSONObject("stamp").getString("sec"));
+               debugInfoJson.put("Msg_Timestamp", jo
+                  .getJSONObject("header")
+                  .getJSONObject("stamp")
+                  .getString("sec"));
                debugInfoJson.put("AGV_ID", jo.getString("AGV_ID"));
                debugInfoJson.put("Sys_Mode", jo.getString("Sys_Mode"));
                debugInfoJson.put("VehicleCtrlExpThrottle", jo.getString("VehicleCtrlExpThrottle"));
@@ -105,12 +107,17 @@ public class HomeServiceImpl implements HomeService{
                debugInfoJson.put("Env_SoftwareVersion", jo.getString("Env_SoftwareVersion"));
                String PathFollow_Enable = jo.getString("PathFollow_Enable");
                if(StrUtil.equals("0", PathFollow_Enable)) {
-                    JSONObject taskjo = WQLObject.getWQLObject("st_task_info").query("is_delete='0'and task_status='01'").uniqueResult(0);
+                    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("update_time", DateUtil.now());
-                         WQLObject.getWQLObject("st_task_info").update(taskjo);
+                         WQLObject
+                            .getWQLObject("ST_TASK_INFO")
+                            .update(taskjo);
                     }
                }
                debugInfoJson.put("PathFollow_Enable", PathFollow_Enable);
@@ -130,7 +137,10 @@ public class HomeServiceImpl implements HomeService{
                     @Override
                     public void handleMessage(Message message) {
                          JSONObject jo = JSONObject.parseObject(message.toString());
-                         debugInfoJson.put("Msg_Timestamp", jo.getJSONObject("header").getJSONObject("stamp").getString("secs"));
+                         debugInfoJson.put("Msg_Timestamp", jo
+                            .getJSONObject("header")
+                            .getJSONObject("stamp")
+                            .getString("secs"));
                          debugInfoJson.put("AGV_ID", jo.getString("AGV_ID"));
                          debugInfoJson.put("Sys_Mode", jo.getString("Sys_Mode"));
                          debugInfoJson.put("VehicleCtrlExpThrottle", jo.getString("VehicleCtrlExpThrottle"));
@@ -177,12 +187,17 @@ public class HomeServiceImpl implements HomeService{
                          debugInfoJson.put("Env_SoftwareVersion", jo.getString("Env_SoftwareVersion"));
                          String PathFollow_Enable = jo.getString("PathFollow_Enable");
                          if(StrUtil.equals("false", PathFollow_Enable)) {
-                              JSONObject taskjo = WQLObject.getWQLObject("st_task_info").query("is_delete='0'and task_status='01'").uniqueResult(0);
+                              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("update_time", DateUtil.now());
-                                   WQLObject.getWQLObject("st_task_info").update(taskjo);
+                                   WQLObject
+                                      .getWQLObject("ST_TASK_INFO")
+                                      .update(taskjo);
                               }
                          }
                          debugInfoJson.put("PathFollow_Enable", PathFollow_Enable);
@@ -230,27 +245,41 @@ public class HomeServiceImpl implements HomeService{
 
      @Override
      public Map<String,Object>     queryHomePage(Map<String,String> jsonObject) {
+          String button_code = "";
+          String button_name = "";
+          Integer electric = 0;
           JSONObject returnjo = new JSONObject();
           JSONObject row = new JSONObject();
-          JSONObject tasking = WQLObject.getWQLObject("st_task_info").query("is_delete= 0 and task_status='01' and task_type='1'").uniqueResult(0);
+          try {
+               JSONObject tasking = WQLObject
+                  .getWQLObject("ST_TASK_INFO")
+                  .query("is_delete= 0 and task_status='01' and task_type='1'")
+                  .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
-          String button_code = "";
-          String button_name = "";
                String date = DateUtil.today();
-          JSONObject today_task = WQLObject.getWQLObject("st_task_info").query("is_delete= 0 and date='" + date + "'and task_type='1'").uniqueResult(0);
+               JSONObject today_task = WQLObject
+                  .getWQLObject("ST_TASK_INFO")
+                  .query("is_delete= 0 and date='" + date + "'and task_type='1'")
+                  .uniqueResult(0);
                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'")
+                  .uniqueResult(0);
                if(tasked != null) {
                     task_status = "有任务未执行";
                }
                if(tasking != null) {
                     task_status = "执行中";
                }
-          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='1'")
+                  .uniqueResult(0);
                if(unManFinishTask != null && tasked == null) {
                     button_code = "1";
                     button_name = "确认完成";
@@ -268,29 +297,45 @@ public class HomeServiceImpl implements HomeService{
                     button_code = "4";
                     button_name = "返回休息点";
                     //假如所有的任务都完成，包括返回休息点的任务，且最后一个完成任务的时间是返回休息电的任务也不显示
-               JSONObject doingtaskjo = WQLObject.getWQLObject("st_task_info").query("is_delete= 0 ", "update_time desc").uniqueResult(0);
+                    JSONObject doingtaskjo = WQLObject
-               if(doingtaskjo != null && doingtaskjo.getString("task_type").equals("2")) {
+                       .getWQLObject("ST_TASK_INFO")
+                       .query("is_delete= 0 ", "update_time desc")
+                       .uniqueResult(0);
+                    if(doingtaskjo != null && doingtaskjo
+                       .getString("task_type")
+                       .equals("2")) {
                          button_code = "";
                          button_name = "";
                     }
                }
                //假如有执行中的任务，则不显示
-          JSONObject doingtaskjo = WQLObject.getWQLObject("st_task_info").query("is_delete= 0 and task_status='01' and is_manualfinished='0'").uniqueResult(0);
+               JSONObject doingtaskjo = WQLObject
+                  .getWQLObject("ST_TASK_INFO")
+                  .query("is_delete= 0 and task_status='01' and is_manualfinished='0'")
+                  .uniqueResult(0);
                if(doingtaskjo != null) {
                     button_code = "";
                     button_name = "";
                }
+               if(debugInfoJson.size() > 0) {
                     //假如电量低于30 ，则返回休息电
-          int electric = debugInfoJson.getInteger("PWR_Percent");
+                    electric = debugInfoJson.getInteger("PWR_Percent");
                     if(electric < 30) {
                          button_code = "4";
                          button_name = "返回休息点";
                     }
+               }
                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='1' 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='1' 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;
@@ -313,15 +358,22 @@ public class HomeServiceImpl implements HomeService{
                returnjo.put("result", row);
                return returnjo;
           }
+          catch(Exception e) {
+               Log.error("获取调试信息失败:" + e.getMessage());
+               throw new BadRequestException( e.getMessage()==null?"Ros通信失败，请检查网络连接":e.getMessage());
+          }
+     }
 
      @Override
      public Map<String,Object> clickSave(Map<String,String> jsonObject) {
           //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
-          WQLObject taskTable = WQLObject.getWQLObject("st_task_info");
+          WQLObject taskTable = WQLObject.getWQLObject("ST_TASK_INFO");
           String button_code = (String) jsonObject.get("button_code");
           JSONObject returnjo = new JSONObject();
           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 ='1' and is_manualfinished='0'")
+                  .uniqueResult(0);
                if(ObjectUtil.isEmpty(taskjo)) {
                     throw new BadRequestException("未找到任务");
                }
@@ -329,7 +381,9 @@ public class HomeServiceImpl implements HomeService{
                taskTable.update(taskjo);
           }
           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 ='1' and is_manualfinished='0'")
+                  .uniqueResult(0);
                if(ObjectUtil.isEmpty(taskjo)) {
                     returnjo.put("code", "1");
                     returnjo.put("desc", "未找到任务");
@@ -338,7 +392,9 @@ public class HomeServiceImpl implements HomeService{
                taskjo.put("is_manualfinished", "1");
                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 ='1' ", "seq_num")
+                  .uniqueResult(0);
                if(ObjectUtil.isEmpty(nexttaskjo)) {
                     returnjo.put("code", "1");
                     returnjo.put("desc", "未找到任务");
@@ -352,7 +408,9 @@ public class HomeServiceImpl implements HomeService{
                     //改变任务的状态
                     nexttaskjo.put("task_status", "01");
                     nexttaskjo.put("task_status_name", "执行中");
-                    WQLObject.getWQLObject("st_task_info").update(nexttaskjo);
+                    WQLObject
+                       .getWQLObject("ST_TASK_INFO")
+                       .update(nexttaskjo);
                }
                else{
                     returnjo.put("code", "1");
@@ -361,7 +419,9 @@ public class HomeServiceImpl implements HomeService{
                }
           }
           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 ='1' ", "seq_num")
+                  .uniqueResult(0);
                if(ObjectUtil.isEmpty(nexttaskjo)) {
                     throw new BadRequestException("未找到任务");
                }
@@ -374,7 +434,9 @@ public class HomeServiceImpl implements HomeService{
                     //改变任务的状态
                     nexttaskjo.put("task_status", "01");
                     nexttaskjo.put("task_status_name", "执行中");
-                    WQLObject.getWQLObject("st_task_info").update(nexttaskjo);
+                    WQLObject
+                       .getWQLObject("ST_TASK_INFO")
+                       .update(nexttaskjo);
                }
                else{
                     returnjo.put("code", "1");
@@ -385,13 +447,18 @@ public class HomeServiceImpl implements HomeService{
           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
-               JSONObject doingtaskjo = WQLObject.getWQLObject("st_task_info").query("is_delete= 0 and task_status='01' ").uniqueResult(0);
+               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");
                     returnjo.put("desc", "有正在执行的任务，不能生产返回休息点的任务");
                     return returnjo;
                }
-               String rest_pointcode = (String) taskServiceServiceImpl.queryPoint(new HashMap<>()).get("rest_pointcode");
+               String rest_pointcode = (String) taskServiceServiceImpl
+                  .queryPoint(new HashMap<>())
+                  .get("rest_pointcode");
                JSONObject taskjo = new JSONObject();
                taskjo.put("task_uuid", IdUtil.simpleUUID());
                taskjo.put("task_code", CodeUtil.getNewCode("TASK_NO"));
@@ -420,7 +487,9 @@ public class HomeServiceImpl implements HomeService{
                     returnjo.put("desc", TaskSendBackStatusEnum.getName(resultflag));
                     return returnjo;
                }
-               WQLObject.getWQLObject("st_task_info").insert(taskjo);
+               WQLObject
+                  .getWQLObject("ST_TASK_INFO")
+                  .insert(taskjo);
           }
           returnjo.put("code", "1");
           returnjo.put("desc", "操作成功");

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

@@ -14,6 +14,7 @@
  *  limitations under the License.
  */
 package org.nl.agv.service.impl;
+
 import com.alibaba.fastjson.JSON;
 import com.alibaba.fastjson.JSONArray;
 import cn.hutool.core.date.DateUtil;
@@ -26,6 +27,7 @@ import edu.wpi.rail.jrosbridge.Topic;
 import edu.wpi.rail.jrosbridge.callback.TopicCallback;
 import edu.wpi.rail.jrosbridge.messages.Message;
 import edu.wpi.rail.jrosbridge.services.ServiceResponse;
+import jline.internal.Log;
 import lombok.RequiredArgsConstructor;
 import com.alibaba.fastjson.JSONObject;
 import org.nl.agv.service.DevelopService;
@@ -53,8 +55,11 @@ public class TaskServiceServiceImpl implements TaskService {
      public Map<String,Object> queryPoint(Map<String,String> jsonObject) {
           JSONObject returnjo = new JSONObject();
           String rest_pointcode = "";
+          try {
                ServiceResponse response = sendToAgvUtil.send("GetStationFloorIndexTable");
-        String result_info = JSONObject.parseObject(response.toString()).getString("ROS_String_Output");
+               String result_info = JSONObject
+                  .parseObject(response.toString())
+                  .getString("ROS_String_Output");
                String[] split = result_info.split("\\n");
                for(int i = 0; i < split.length; i++) {
                     String row = split[i];
@@ -82,6 +87,11 @@ public class TaskServiceServiceImpl implements TaskService {
                returnjo.put("result", arr);
                return returnjo;
           }
+          catch(Exception e) {
+               Log.error("获取调试信息失败:" + e.getMessage());
+               throw new BadRequestException( e.getMessage()==null?"Ros通信失败，请检查网络连接":e.getMessage());
+          }
+     }
 
      @Override
      public Map<String,Object> confirmPoint(Map<String,String> jsonObject) {
@@ -91,9 +101,14 @@ public class TaskServiceServiceImpl implements TaskService {
                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");
+          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 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！");
@@ -104,13 +119,14 @@ public class TaskServiceServiceImpl implements TaskService {
           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);
+          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;
-
           }
           if(ObjectUtil.isEmpty(taskrow)) {
-
                //只有第一条下发给agv
                String a = "HMIStepOrRTPathFollow:0;" + point_code + ";1#";
                ServiceResponse send = sendToAgvUtil.send(a);
@@ -122,8 +138,6 @@ public class TaskServiceServiceImpl implements TaskService {
                JSONObject change = sendToAgvUtil.change(point_code);
                //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);
@@ -136,7 +150,8 @@ public class TaskServiceServiceImpl implements TaskService {
           taskjo.put("create_time", DateUtil.now());
           taskjo.put("is_agvfinished", "0");
           taskjo.put("is_manualfinished", "0");
-        WQLObject.getWQLObject("ST_TASK_INFO").insert(taskjo);
+          WQLObject.getWQLObject("ST_TASK_INFO")
+             .insert(taskjo);
           returnjo.put("code", "1");
           returnjo.put("desc", "新增成功！");
           return returnjo;
@@ -144,12 +159,14 @@ public class TaskServiceServiceImpl implements TaskService {
 
      @Override
      public Map<String,Object> queryTaskList(Map<String,String> jsonObject) {
-        JSONArray resultJSONArray = WQL.getWO("QAGVERROR").addParam("flag", "2").process().getResultJSONArray(0);
+          JSONArray resultJSONArray = WQL
+             .getWO("QAGVERROR")
+             .addParam("flag", "2").process()
+             .getResultJSONArray(0);
           JSONObject returnjo = new JSONObject();
           returnjo.put("code", "1");
           returnjo.put("desc", "查询成功！");
           returnjo.put("result", resultJSONArray);
-
           return returnjo;
      }
 
@@ -160,14 +177,15 @@ public class TaskServiceServiceImpl implements TaskService {
                throw new BadRequestException("任务号不能为空");
           }
           WQLObject taskTable = WQLObject.getWQLObject("ST_TASK_INFO");
-        JSONObject taskjo = taskTable.query("task_code='" + task_num + "'").uniqueResult(0);
+          JSONObject taskjo = taskTable
+             .query("task_code='" + task_num + "'")
+             .uniqueResult(0);
           taskjo.put("is_delete", "1");
           taskTable.update(taskjo);
           JSONObject returnjo = new JSONObject();
           returnjo.put("code", "1");
           returnjo.put("desc", "删除成功！");
           return returnjo;
-
      }
 
      @Override
@@ -175,18 +193,21 @@ public class TaskServiceServiceImpl implements TaskService {
           JSONArray jsonArray = JSONArray.parseArray(JSON.toJSONString(jsonObject.get("param")));
           WQLObject taskTable = WQLObject.getWQLObject("ST_TASK_INFO");
           //更新之前删除之前的所有未完成任务
-        JSONArray taskrows = taskTable.query("task_status='00' or task_status='01'").getResultJSONArray(0);
+          JSONArray taskrows = taskTable
+             .query("task_status='00' or task_status='01'")
+             .getResultJSONArray(0);
           for(int i = 0; i < taskrows.size(); i++) {
                JSONObject taskrow = taskrows.getJSONObject(i);
                taskrow.put("is_delete", "1");
                taskTable.update(taskrow);
           }
-
           for(int i = 0; i < jsonArray.size(); i++) {
                JSONObject taskjo = jsonArray.getJSONObject(i);
                String task_num = taskjo.getString("task_num");
                String seq_num = taskjo.getString("seq_num");
-            JSONObject taskrow = taskTable.query("task_code='" + task_num + "'").uniqueResult(0);
+               JSONObject taskrow = taskTable
+                  .query("task_code='" + task_num + "'")
+                  .uniqueResult(0);
            /* String task_status = taskjo.getString("task_status");
             if (StrUtil.equals(task_status,"01")){
                 taskrow.put("seq_num", 1);
@@ -211,7 +232,9 @@ public class TaskServiceServiceImpl implements TaskService {
           }
           //1代表正确，2 代表不正确
           String is_correct;
-        JSONObject paramjo = WQLObject.getWQLObject("st_system_param").query("1=1").uniqueResult(0);
+          JSONObject paramjo = WQLObject
+             .getWQLObject("ST_SYSTEM_PARAM")
+             .query("1=1").uniqueResult(0);
           String super_password = paramjo.getString("super_password");
           String passworddb = paramjo.getString("password");
           JSONObject returnjo = new JSONObject();
@@ -219,12 +242,11 @@ 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/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java

@@ -20,6 +20,7 @@ import cn.hutool.core.util.StrUtil;
 import cn.hutool.http.HttpUtil;
 import edu.wpi.rail.jrosbridge.Ros;
 import edu.wpi.rail.jrosbridge.services.ServiceResponse;
+import jline.internal.Log;
 import lombok.RequiredArgsConstructor;
 import com.alibaba.fastjson.JSONArray;
 import com.alibaba.fastjson.JSONObject;
@@ -27,6 +28,7 @@ import org.nl.agv.enu.VehicleOperateEnum;
 import org.nl.agv.unit.RosUtil;
 import org.nl.agv.service.VehicleInfoService;
 import org.nl.agv.unit.sendToAgvUtil;
+import org.nl.modules.common.exception.BadRequestException;
 import org.nl.modules.wql.util.SpringContextHolder;
 import org.nl.system.service.param.impl.SysParamServiceImpl;
 import org.springframework.stereotype.Service;
@@ -152,8 +154,9 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{
      @Override
      public Map<String,Object> queryVehicleStatus(Map<String,String> jsonObject) {
           JSONObject row = new JSONObject();
-          JSONObject debugInfoJson = HomeServiceImpl.debugInfoJson;
           JSONObject returnjo = new JSONObject();
+          try {
+               JSONObject debugInfoJson = HomeServiceImpl.debugInfoJson;
                //错误码为Warning_Code，为0表示正常，不为0表示异常
                String Warning_Code = debugInfoJson.getString("Warning_Code");
                String working_status = "";
@@ -201,6 +204,10 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{
                returnjo.put("desc", "查询成功！");
                returnjo.put("result", row);
                return returnjo;
+          } catch(Exception e) {
+               Log.error("获取调试信息失败:" + e.getMessage());
+               throw new BadRequestException( e.getMessage()==null?"Ros通信失败，请检查网络连接":e.getMessage());
+          }
      }
 
      @Override
@@ -216,12 +223,7 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{
 
      @Override
      public Map<String,Object> querrySensor(Map<String,String> jsonObject) {
-          JSONObject returnjo = new JSONObject();
+
-          JSONObject row = new JSONObject();
-          JSONObject debugInfoJson = HomeServiceImpl.debugInfoJson;
-          int ObstacleTouchState = debugInfoJson.getInteger("ObstacleTouchState");
-          int ObstacleDetectState = debugInfoJson.getInteger("ObstacleDetectState");
-          int VehicleCtrlRealCustomStateByte0 = debugInfoJson.getInteger("VehicleCtrlRealCustomStateByte0");
           //急停按钮
           String stopButton_status = "0";
           //避障减速
@@ -237,6 +239,18 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{
           //ObstacleTouchState bit2 为 两侧急停按钮触发信号 1 触发 0 未触发
           //ObstacleTouchState bit3 为 上位机请求急停触发信号 1 触发 0 未触发
           //ObstacleTouchState bit4 为导航雷达pfr2000或NAV350 防护触发信号 1 触发 0 未触发
+          JSONObject returnjo = new JSONObject();
+          JSONObject row = new JSONObject();
+
+          try {
+
+
+
+
+          JSONObject debugInfoJson = HomeServiceImpl.debugInfoJson;
+          int ObstacleTouchState = debugInfoJson.getInteger("ObstacleTouchState");
+          int ObstacleDetectState = debugInfoJson.getInteger("ObstacleDetectState");
+          int VehicleCtrlRealCustomStateByte0 = debugInfoJson.getInteger("VehicleCtrlRealCustomStateByte0");
           //避障停车
           if(ObstacleDetectState % 2 == 1) {
                speedStop_status = "1";
@@ -272,6 +286,10 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{
           returnjo.put("desc", "查询成功！");
           returnjo.put("result", row);
           return returnjo;
+          } catch(Exception e) {
+               Log.error("获取调试信息失败:" + e.getMessage());
+               throw new BadRequestException( e.getMessage()==null?"Ros通信失败，请检查网络连接":e.getMessage());
+          }
      }
 
      @Override

nladmin-system/src/main/java/org/nl/common/domain/constant/DictConstantPool.java

@@ -8,4 +8,5 @@ public class DictConstantPool {
 
     public static final String DICT_SYS_CODE = "system_type";
     public static final String DICT_SYS_NAME = "所属系统";
+
 }

nladmin-system/src/main/java/org/nl/system/service/role/dao/SysRole.java

@@ -35,6 +35,12 @@ public class SysRole implements Serializable {
     @TableId(value = "role_id")
     private String roleId;
 
+    /**
+     * 菜单id
+     */
+    @TableField(exist = false)
+    private String menuId;
+
     /**
      * 名称
      */
@@ -103,5 +109,11 @@ public class SysRole implements Serializable {
     @TableField(exist = false)
     private List<String> menus;
 
+    /**
+     * 角色菜单扩展提供给前端
+     */
+    @TableField(exist = false)
+    private List<String> menus1;
+
 
 }

nladmin-system/src/main/java/org/nl/system/service/role/dao/mapper/SysRoleMapper.java

@@ -2,6 +2,7 @@ package org.nl.system.service.role.dao.mapper;
 
 import com.baomidou.mybatisplus.core.mapper.BaseMapper;
 import org.apache.ibatis.annotations.Param;
+import org.nl.system.service.menu.dao.SysMenu;
 import org.nl.system.service.role.dao.SysRole;
 
 import java.util.Collection;
@@ -22,7 +23,7 @@ public interface SysRoleMapper extends BaseMapper<SysRole> {
 
     void deleteRoleMenuBatchRoleIds(Collection<String> ids);
 
-    List<String> selectMenuIdsByRoles(String roleId);
+    List<SysMenu> selectMenuIdsByRoles(String roleId);
 
     /**
      * 插入角色/菜单表

nladmin-system/src/main/java/org/nl/system/service/role/dao/mapper/SysRoleMapper.xml

@@ -26,7 +26,17 @@
             #{id}
         </foreach>
     </delete>
-    <select id="selectMenuIdsByRoles" resultType="java.lang.String">
+    <select id="selectMenuIdsByRoles" resultType="org.nl.system.service.menu.dao.SysMenu">
-        SELECT DISTINCT menu_id FROM sys_roles_menus WHERE role_id = #{roleId}
+        SELECT m.menu_id, m.LEVEL FROM sys_menu m,
+        ( SELECT r.menu_id AS menu_id FROM sys_roles_menus r WHERE r.role_id =#{roleId}) t
+        WHERE FIND_IN_SET(m.menu_id,t.menu_id)
     </select>
+
+
+
+
+
+
+
+
 </mapper>

nladmin-system/src/main/java/org/nl/system/service/role/impl/SysRoleServiceImpl.java

@@ -47,28 +47,38 @@ public class SysRoleServiceImpl extends ServiceImpl<SysRoleMapper,SysRole> imple
 
      @Override
      public List<SysRole> query(PageQuery page) {
-          /*
-          String blurry = null;
-          if (ObjectUtil.isNotEmpty(param.get("blurry"))) blurry = param.get("blurry").toString();
-          LambdaQueryWrapper<SysRole> lam = new LambdaQueryWrapper<>();
-          lam.like(ObjectUtil.isNotEmpty(blurry), SysRole::getName, blurry);
-           IPage<SysRole> pages = new Page<>(page.getPage() + 1, page.getSize());
-           */
           QueryWrapper<SysRole> roleQueryWrapper = new QueryWrapper<>();
           List<SysRole> roleList = roleMapper.selectList(roleQueryWrapper);
-          roleList.forEach(sysRole -> sysRole.setMenus(roleMapper.selectMenuIdsByRoles(sysRole.getRoleId())));
+          roleList.forEach(r -> {
+               List<SysMenu> queryMenuList = roleMapper.selectMenuIdsByRoles(r.getRoleId());
+               //角色菜单id
+               List<String> menus = queryMenuList
+                  .stream()
+                  .map(SysMenu::getMenuId)
+                  .collect(Collectors.toList());
+
+               //角色菜单id，不含父级
+               List<String> menusExtend =   queryMenuList.stream()
+                  .filter(l -> l.getLevel() == 2).map(SysMenu::getMenuId)
+                  .collect(Collectors.toList());
+               r.setMenus(menus);
+               r.setMenus1(menusExtend);
+          });
           return roleList;
      }
 
      @Override
      public List<SysMenu> menuQuery() {
-
           QueryWrapper<SysMenu> queryWrapper = new QueryWrapper<>();
           List<SysMenu> sysMenuList = sysMenuMapper.selectList(queryWrapper);
           // key = deep
-          Map<Integer,List<SysMenu>> sysMenuMap = sysMenuList.stream().collect(Collectors.groupingBy(SysMenu::getLevel));
+          Map<Integer,List<SysMenu>> sysMenuMap = sysMenuList
+             .stream()
+             .collect(Collectors.groupingBy(SysMenu::getLevel));
           // key = id
-          Map<String,SysMenu> cityMap = sysMenuList.stream().collect(Collectors.toMap(SysMenu::getMenuId, Function.identity()));
+          Map<String,SysMenu> cityMap = sysMenuList
+             .stream()
+             .collect(Collectors.toMap(SysMenu::getMenuId, Function.identity()));
           //最底部的子节点层级 0 1 2 3
           int start = Collections.max(sysMenuMap.keySet());
           Map<String,List<SysMenu>> map;
@@ -79,7 +89,9 @@ public class SysRoleServiceImpl extends ServiceImpl<SysRoleMapper,SysRole> imple
                     break;
                }
                // 根据菜单id排序并根据父级id分组聚合
-               map = children.stream().sorted(Comparator.comparing(SysMenu::getMenuId)).collect(Collectors.groupingBy(SysMenu::getPid));
+               map = children.stream()
+                  .sorted(Comparator.comparing(SysMenu::getMenuId))
+                  .collect(Collectors.groupingBy(SysMenu::getPid));
                map.forEach((parentId, c) -> {
                     //根据父级id获取父级菜单
                     SysMenu parent = cityMap.get(parentId);
@@ -93,11 +105,12 @@ public class SysRoleServiceImpl extends ServiceImpl<SysRoleMapper,SysRole> imple
                sysMenuMap.remove(start);
                start--;
           }
-          return sysMenuMap.values().stream().flatMap(Collection::stream).sorted(Comparator.comparing(SysMenu::getMenuId)).collect(Collectors.toList());
+          return sysMenuMap.values().stream()
+             .flatMap(Collection::stream)
+             .sorted(Comparator.comparing(SysMenu::getMenuId))
+             .collect(Collectors.toList());
      }
 
-
-
      @Override
      @Transactional(rollbackFor = Exception.class)
      public void create(JSONObject param) {
@@ -115,7 +128,8 @@ public class SysRoleServiceImpl extends ServiceImpl<SysRoleMapper,SysRole> imple
           String userId = SecurityUtils.getCurrentUserId();
           String nickName = SecurityUtils.getCurrentNickName();
           // 插入
-          sysRole.setRoleId(IdUtil.getSnowflake(1, 1).nextIdStr());
+          sysRole.setRoleId(IdUtil
+             .getSnowflake(1, 1).nextIdStr());
           sysRole.setCreateId(userId);
           sysRole.setCreateName(nickName);
           sysRole.setCreateTime(new Date());
@@ -135,7 +149,9 @@ public class SysRoleServiceImpl extends ServiceImpl<SysRoleMapper,SysRole> imple
                throw new BadRequestException("角色名字不能为空!");
           }
           //判断角色名字是否存在
-          SysRole role = roleMapper.selectOne(new LambdaQueryWrapper<SysRole>().eq(SysRole::getName, sysRole.getName()).ne(SysRole::getRoleId, sysRole.getRoleId()));
+          SysRole role = roleMapper.selectOne(new LambdaQueryWrapper<SysRole>()
+             .eq(SysRole::getName, sysRole.getName())
+             .ne(SysRole::getRoleId, sysRole.getRoleId()));
           if(ObjectUtil.isNotEmpty(role)) {
                throw new BadRequestException("角色【" + name + "】已存在!");
           }

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

@@ -6,7 +6,8 @@ spring:
     druid:
       db-type: com.alibaba.druid.pool.DruidDataSource
       driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
-      url: jdbc:log4jdbc:mysql://${DB_HOST:localhost}:${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: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://${DB_HOST:43.139.166.161}:${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:root}
       #password: ${DB_PWD:P@ssw0rd}

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

@@ -1,13 +1,16 @@
 server:
-  port: 8099
+  port: 8018
 #配置数据源
 spring:
   datasource:
     druid:
       db-type: com.alibaba.druid.pool.DruidDataSource
       driverClassName: net.sf.log4jdbc.sql.jdbcapi.DriverSpy
-      url: jdbc:log4jdbc:mysql://${DB_HOST:127.0.0.1}:${DB_PORT:3306}/${DB_NAME:hl_one_mes}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true&useSSL=false
+      url: jdbc:log4jdbc:mysql://${DB_HOST:localhost}:${DB_PORT:3306}/${DB_NAME:nl_agv}?serverTimezone=Asia/Shanghai&characterEncoding=utf8&useSSL=false&useOldAliasMetadataBehavior=true&allowPublicKeyRetrieval=true&useSSL=false
-      username: ${DB_USER:root}
+      #url: jdbc:log4jdbc:mysql://${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

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

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