From 6a6aeb17021c16c2b71e79d15eaaa0aef28a0c64 Mon Sep 17 00:00:00 2001 From: baoge <751575283@qq.com> Date: Mon, 25 Sep 2023 19:25:13 +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 --- .../org/nl/agv/enu/VehicleOperateEnum.java | 13 +- .../nl/agv/rest/VehicleInfoController.java | 157 +++++++------- .../nl/agv/service/impl/ErrorServiceImpl.java | 103 ++++----- .../nl/agv/service/impl/HomeServiceImpl.java | 202 +++++++++--------- .../service/impl/VehicleInfoServiceImpl.java | 170 ++++++++------- .../main/java/org/nl/agv/wql/QAGVERROR.wql | 17 +- 6 files changed, 351 insertions(+), 311 deletions(-) diff --git a/nladmin-system/src/main/java/org/nl/agv/enu/VehicleOperateEnum.java b/nladmin-system/src/main/java/org/nl/agv/enu/VehicleOperateEnum.java index 82605d9..1ad4f63 100644 --- a/nladmin-system/src/main/java/org/nl/agv/enu/VehicleOperateEnum.java +++ b/nladmin-system/src/main/java/org/nl/agv/enu/VehicleOperateEnum.java @@ -17,9 +17,16 @@ public enum VehicleOperateEnum{ OFF("关机", "1"), SCREEN("显示屏控制", "2"), TCS("TCS控制", "3"), - RC("RC控制", "4"), - JOY("Joy控制", "5"), - OTHER("其他", "6"); + SCHE("SCHE控制", "4"), + RC("RC控制", "5"), + JOY("Joy控制", "6"), + QUITNOW("退出", "7"), + REBORNINIT("软启动", "8"), + STARTCHECK("跳过起点", "9"), + REBOOT("重启", "10"), + FULL("全屏", "11"), + SKIPPLATE("跳过检测", "12"), + OTHER("其他", "13"); private final String name; private final String code; diff --git a/nladmin-system/src/main/java/org/nl/agv/rest/VehicleInfoController.java b/nladmin-system/src/main/java/org/nl/agv/rest/VehicleInfoController.java index 3c1f408..da393f1 100644 --- a/nladmin-system/src/main/java/org/nl/agv/rest/VehicleInfoController.java +++ b/nladmin-system/src/main/java/org/nl/agv/rest/VehicleInfoController.java @@ -1,6 +1,5 @@ package org.nl.agv.rest; - import cn.dev33.satoken.annotation.SaIgnore; import io.swagger.annotations.Api; import io.swagger.annotations.ApiOperation; @@ -27,85 +26,89 @@ import java.util.Map; @RequestMapping("/api/vehicle") @Slf4j @SaIgnore -public class VehicleInfoController { - private final VehicleInfoService vehicleInfoService; - @PostMapping("/queryRestPoint") - @Log("车辆信息查询初始化坐标") - @ApiOperation("车辆信息查询初始化坐标") - //@PreAuthorize("@el.check('sect:list')") - public ResponseEntity getIP(@RequestBody Map whereJson) { - return new ResponseEntity<>(vehicleInfoService.queryRestPoint(whereJson), HttpStatus.OK); - } +public class VehicleInfoController{ + private final VehicleInfoService vehicleInfoService; - @PostMapping("/restCoordinate") - @Log("初始化坐标确定") - @ApiOperation("初始化坐标确定") - //@PreAuthorize("@el.check('sect:list')") - public ResponseEntity restCoordinate(@RequestBody Map whereJson) { - return new ResponseEntity<>(vehicleInfoService.restCoordinate(whereJson), HttpStatus.OK); - } - @PostMapping("/Shut_down") - @Log("关机") - @ApiOperation("关机") - //@PreAuthorize("@el.check('sect:list')") - public ResponseEntity Shut_down(@RequestBody Map whereJson) { - return new ResponseEntity<>(vehicleInfoService.Shut_down(whereJson), HttpStatus.OK); - } + @PostMapping("/queryRestPoint") + @Log("车辆信息查询初始化坐标") + @ApiOperation("车辆信息查询初始化坐标") + //@PreAuthorize("@el.check('sect:list')") + public ResponseEntity getIP(@RequestBody Map whereJson) { + return new ResponseEntity<>(vehicleInfoService.queryRestPoint(whereJson), HttpStatus.OK); + } - @PostMapping("/queryControlStatus") - @Log("查询车辆控制按钮状态") - @ApiOperation("查询车辆控制按钮状态") - //@PreAuthorize("@el.check('sect:list')") - public ResponseEntity queryControlStatus(@RequestBody Map whereJson) { - return new ResponseEntity<>(vehicleInfoService.queryControlStatus(whereJson), HttpStatus.OK); - } + @PostMapping("/restCoordinate") + @Log("初始化坐标确定") + @ApiOperation("初始化坐标确定") + //@PreAuthorize("@el.check('sect:list')") + public ResponseEntity restCoordinate(@RequestBody Map whereJson) { + return new ResponseEntity<>(vehicleInfoService.restCoordinate(whereJson), HttpStatus.OK); + } + + @PostMapping("/Shut_down") + @Log("关机") + @ApiOperation("关机") + //@PreAuthorize("@el.check('sect:list')") + public ResponseEntity Shut_down(@RequestBody Map whereJson) { + return new ResponseEntity<>(vehicleInfoService.Shut_down(whereJson), HttpStatus.OK); + } + + @PostMapping("/queryControlStatus") + @Log("查询车辆控制按钮状态") + @ApiOperation("查询车辆控制按钮状态") + //@PreAuthorize("@el.check('sect:list')") + public ResponseEntity queryControlStatus(@RequestBody Map whereJson) { + return new ResponseEntity<>(vehicleInfoService.queryControlStatus(whereJson), HttpStatus.OK); + } + +// @PostMapping("/skipStartPoint") +// @Log("跳过起点") +// @ApiOperation("跳过起点") +// //@PreAuthorize("@el.check('sect:list')") +// public ResponseEntity skipStartPoint(@RequestBody Map whereJson) { +// return new ResponseEntity<>(vehicleInfoService.skipStartPoint(whereJson), HttpStatus.OK); +// } + +// @PostMapping("/softStart") +// @Log("软启动") +// @ApiOperation("软启动") +// //@PreAuthorize("@el.check('sect:list')") +// public ResponseEntity softStart(@RequestBody Map whereJson) { +// return new ResponseEntity<>(vehicleInfoService.softStart(whereJson), HttpStatus.OK); +// } + +// @PostMapping("/quitNow") +// @Log("退出") +// @ApiOperation("退出") +// //@PreAuthorize("@el.check('sect:list')") +// public ResponseEntity quitNow(@RequestBody Map whereJson) { +// return new ResponseEntity<>(vehicleInfoService.quitNow(whereJson), HttpStatus.OK); +// } + + @PostMapping("/queryVehicleStatus") + @Log("查询车辆状态") + @ApiOperation("查询车辆状态") + //@PreAuthorize("@el.check('sect:list')") + public ResponseEntity queryVehicleStatus(@RequestBody Map whereJson) { + return new ResponseEntity<>(vehicleInfoService.queryVehicleStatus(whereJson), HttpStatus.OK); + } + + @PostMapping("/querrySensor") + @Log("查询传感器状态") + @ApiOperation("查询传感器状态") + //@PreAuthorize("@el.check('sect:list')") + public ResponseEntity querrySensor(@RequestBody Map whereJson) { + return new ResponseEntity<>(vehicleInfoService.querrySensor(whereJson), HttpStatus.OK); + } + + @PostMapping("/queryAgv_Status") + @Log("查询agv状态") + @ApiOperation("查询agv状态") + //@PreAuthorize("@el.check('sect:list')") + public ResponseEntity queryAgv_Status(@RequestBody Map whereJson) { + return new ResponseEntity<>(vehicleInfoService.queryAgv_Status(whereJson), HttpStatus.OK); + } - @PostMapping("/skipStartPoint") - @Log("跳过起点") - @ApiOperation("跳过起点") - //@PreAuthorize("@el.check('sect:list')") - public ResponseEntity skipStartPoint(@RequestBody Map whereJson) { - return new ResponseEntity<>(vehicleInfoService.skipStartPoint(whereJson), HttpStatus.OK); - } - @PostMapping("/softStart") - @Log("软启动") - @ApiOperation("软启动") - //@PreAuthorize("@el.check('sect:list')") - public ResponseEntity softStart(@RequestBody Map whereJson) { - return new ResponseEntity<>(vehicleInfoService.softStart(whereJson), HttpStatus.OK); - } - @PostMapping("/quitNow") - @Log("退出") - @ApiOperation("退出") - //@PreAuthorize("@el.check('sect:list')") - public ResponseEntity quitNow(@RequestBody Map whereJson) { - return new ResponseEntity<>(vehicleInfoService.quitNow(whereJson), HttpStatus.OK); - } - - @PostMapping("/queryVehicleStatus") - @Log("查询车辆状态") - @ApiOperation("查询车辆状态") - //@PreAuthorize("@el.check('sect:list')") - public ResponseEntity queryVehicleStatus(@RequestBody Map whereJson) { - return new ResponseEntity<>(vehicleInfoService.queryVehicleStatus(whereJson), HttpStatus.OK); - } - - - - @PostMapping("/querrySensor") - @Log("查询传感器状态") - @ApiOperation("查询传感器状态") - //@PreAuthorize("@el.check('sect:list')") - public ResponseEntity querrySensor(@RequestBody Map whereJson) { - return new ResponseEntity<>(vehicleInfoService.querrySensor(whereJson), HttpStatus.OK); - } - @PostMapping("/queryAgv_Status") - @Log("查询agv状态") - @ApiOperation("查询agv状态") - //@PreAuthorize("@el.check('sect:list')") - public ResponseEntity queryAgv_Status(@RequestBody Map whereJson) { - return new ResponseEntity<>(vehicleInfoService.queryAgv_Status(whereJson), HttpStatus.OK); - } } diff --git a/nladmin-system/src/main/java/org/nl/agv/service/impl/ErrorServiceImpl.java b/nladmin-system/src/main/java/org/nl/agv/service/impl/ErrorServiceImpl.java index 15c7f3f..8c242ac 100644 --- a/nladmin-system/src/main/java/org/nl/agv/service/impl/ErrorServiceImpl.java +++ b/nladmin-system/src/main/java/org/nl/agv/service/impl/ErrorServiceImpl.java @@ -25,12 +25,17 @@ import jline.internal.Log; import lombok.RequiredArgsConstructor; import com.alibaba.fastjson.JSONObject; import org.nl.agv.service.ErrorService; +import org.nl.agv.unit.sendToAgvUtil; import org.nl.modules.common.exception.BadRequestException; import org.nl.modules.wql.WQL; +import org.nl.modules.wql.core.bean.WQLObject; import org.springframework.stereotype.Service; +import java.util.ArrayList; import java.util.HashMap; +import java.util.List; import java.util.Map; +import java.util.stream.Collectors; /** * @author zhanghouying @@ -39,8 +44,44 @@ import java.util.Map; @Service @RequiredArgsConstructor public class ErrorServiceImpl implements ErrorService{ + + @Override public Map querryError(Map jsonObject) { + String error_status = "无故障"; + try { + List errorCodeList = new ArrayList<>(); + JSONObject debugInfoJson = HomeServiceImpl.debugInfoJson; + int Warning_Code = debugInfoJson.getInteger("Warning_Code"); + Warning_Code = 754529; + JSONArray result = new JSONArray(); + for (int bitPosition = 0; bitPosition < 28; bitPosition++) { + if ((Warning_Code >> bitPosition) % 2 == 1) { + error_status = "有故障"; + String error_code = "bit" + bitPosition; + errorCodeList.add(error_code); + } + } + WQLObject wo = WQLObject.getWQLObject("st_agv_error"); + String errorCodes = errorCodeList.stream().collect(Collectors.joining("', '", "'", "'")); + result = wo.query("error_code in ("+errorCodes+") order by error_code").getResultJSONArray(0); + JSONObject returnjo = new JSONObject(); + returnjo.put("code", "1"); + returnjo.put("desc", "查询成功"); + returnjo.put("result", result); + returnjo.put("error_status", error_status); + return returnjo; + } + 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()); + } + } + + + + //@Override + public Map querryError1(Map jsonObject) { String error_status = "无故障"; try { JSONObject debugInfoJson = HomeServiceImpl.debugInfoJson; @@ -53,87 +94,55 @@ 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); } @@ -141,11 +150,7 @@ 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); } @@ -153,11 +158,7 @@ public class ErrorServiceImpl implements ErrorService{ 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); } @@ -170,7 +171,7 @@ public class ErrorServiceImpl implements ErrorService{ } 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()); + 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()); } } } \ No newline at end of file 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 d3e8e26..bb7675f 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 @@ -15,6 +15,7 @@ */ package org.nl.agv.service.impl; +import com.alibaba.fastjson.JSON; import com.alibaba.fastjson.JSONArray; import cn.hutool.core.date.DateUtil; import cn.hutool.core.util.IdUtil; @@ -55,15 +56,18 @@ public class HomeServiceImpl implements HomeService{ public void qeryDebuggerInfo() { try { Map urlInfo = RosUtil.getRosHostInfo(); - String result1 = HttpUtil.get(urlInfo.get("javaUrl")); + String result1 = HttpUtil.get("http://localhost:8011/api/pcsIfPurchaseorder/queryApt"); + //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("screen", jo.getString("Remote_Or_HMI_Ctrl")); + debugInfoJson.put("tcs", jo.getString("CAD_Or_TCS_Ctrl")); + debugInfoJson.put("sche", jo.getString("Sche_JSON_Sche_Enable")); + debugInfoJson.put("rc", jo.getString("VehicleCtrlRealRCEnable")); + debugInfoJson.put("joy", jo.getString("VehicleCtrlRealJoyEnable")); debugInfoJson.put("VehicleCtrlExpThrottle", jo.getString("VehicleCtrlExpThrottle")); debugInfoJson.put("Warning_Code", jo.getString("Warning_Code")); debugInfoJson.put("Car_Global_rx", jo.getString("Car_Global_rx")); @@ -108,17 +112,12 @@ 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); @@ -138,10 +137,7 @@ 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")); @@ -188,17 +184,12 @@ 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); @@ -226,13 +217,13 @@ public class HomeServiceImpl implements HomeService{ //手自动是Sys_Mode 3 REMA手动 4自动 5 IO手持方式的手动，这个车不装 String automatic_status = debugInfoJson.getString("Sys_Mode"); if(StrUtil.equals(automatic_status, "3")) { - automatic_status_name = "REMA手动"; + agvrun_status_name = "REMA手动"; } if(StrUtil.equals(automatic_status, "4")) { - automatic_status_name = "自动"; + agvrun_status_name = "自动"; } if(StrUtil.equals(automatic_status, "5")) { - automatic_status_name = "IO手持方式的手动"; + agvrun_status_name = "IO手持方式的手动"; } result.put("agvrun_status", agvrun_status); result.put("agvrun_status_name", agvrun_status_name); @@ -245,42 +236,36 @@ public class HomeServiceImpl implements HomeService{ } @Override - public MapqueryHomePage(Map jsonObject) { + public Map queryHomePage(Map jsonObject) { String button_code = ""; String button_name = ""; + String agvrun_status_name = ""; + String automatic_status_name = ""; + String device_info = ""; + String task_name = ""; Integer electric = 0; + String speed = ""; + String error_name = "正常运行"; JSONObject returnjo = new JSONObject(); JSONObject row = new JSONObject(); try { - 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='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 date = DateUtil.today(); - 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"; + task_name = "任务号：" + tasking.getString("task_code") + "-" + "目标点：" + tasking.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='1'").uniqueResult(0); if(unManFinishTask != null && tasked == null) { button_code = "1"; button_name = "确认完成"; @@ -298,62 +283,90 @@ 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); - if(doingtaskjo != null && doingtaskjo - .getString("task_type") - .equals("2")) { + JSONObject doingtaskjo = WQLObject.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 - 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; } + if(debugInfoJson.size() > 0) { + //车辆运行还是待机是PathFollow_Enable 1为运行 0为待机 + String agvrun_status = debugInfoJson.getString("PathFollow_Enable"); + if(StrUtil.equals(agvrun_status, "1")) { + automatic_status_name = "运行"; + } + if(StrUtil.equals(agvrun_status, "0")) { + automatic_status_name = "待机"; + } + //手自动是Sys_Mode 3 REMA手动 4自动 5 IO手持方式的手动，这个车不装 + String automatic_status = debugInfoJson.getString("Sys_Mode"); + if(StrUtil.equals(automatic_status, "3")) { + agvrun_status_name = "REMA手动"; + } + if(StrUtil.equals(automatic_status, "4")) { + agvrun_status_name = "自动"; + } + if(StrUtil.equals(automatic_status, "5")) { + agvrun_status_name = "IO手持方式的手动"; + } + //速度 + speed = debugInfoJson.getString("Speedm_Tmp") == null ? "0" : debugInfoJson.getString("Speedm_Tmp"); + row.put("speed", speed + "m/s"); + //agv状态枚举 + row.put("agvrun_status", agvrun_status); + //agv状态名称，1为运行 0为待机 + row.put("agvrun_status_name", agvrun_status_name); + //agv操纵枚举 + row.put("automatic_status", automatic_status); + //agv操纵名称，3 REMA手动 4自动 + row.put("automatic_status_name", automatic_status_name); + //假如电量低于30 ，则返回休息电 + electric = debugInfoJson.getInteger("PWR_Percent"); + //电量 + row.put("electric", electric); + if(electric < 30) { + button_code = "4"; + button_name = "返回休息点"; + } + String Env_CustomName = debugInfoJson.getString("Env_CustomName"); + String Env_VehicleType = debugInfoJson.getString("Env_VehicleType"); + //设备名称 + device_info = Env_CustomName + Env_VehicleType; + } ErrorServiceImpl errorServiceImpl = new ErrorServiceImpl(); //todo 此处检查 Map error = errorServiceImpl.querryError(null); - String Env_CustomName = debugInfoJson.getString("Env_CustomName"); - String Env_VehicleType = debugInfoJson.getString("Env_VehicleType"); - String device_info = Env_CustomName + Env_VehicleType; + JSONArray errorResult = JSONArray.parseArray(JSON.toJSONString(error.get("result"))); + if(errorResult.size() > 0) { + error_name = errorResult.getJSONObject(0).getString("error_name"); + } + //row.put("agv_error", (String) error.get("error_status")); + //故障信息 + row.put("error_name", error_name); + //设备信息 row.put("device_info", device_info); + //任务状态 row.put("task_status", task_status); + //当前任务 + row.put("task_name", task_name); row.put("task_num", task_num); - row.put("agv_error", (String) error.get("error_status")); row.put("button_code", button_code); row.put("button_name", button_name); - row.put("electric", electric); returnjo.put("code", "1"); returnjo.put("desc", "操作成功"); returnjo.put("result", row); @@ -361,7 +374,7 @@ public class HomeServiceImpl implements HomeService{ } 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()); + 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()); } } @@ -372,9 +385,7 @@ public class HomeServiceImpl implements HomeService{ 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"); } @@ -382,9 +393,7 @@ 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"); @@ -393,9 +402,7 @@ 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"); @@ -409,9 +416,7 @@ 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"); @@ -420,9 +425,7 @@ 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"); } @@ -435,9 +438,7 @@ 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"); @@ -448,18 +449,13 @@ 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")); @@ -488,9 +484,7 @@ 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"); 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 6cf704c..a90dc9c 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 @@ -15,22 +15,18 @@ */ package org.nl.agv.service.impl; + import cn.hutool.core.util.ObjectUtil; 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; +import com.esotericsoftware.minlog.Log; +import edu.wpi.rail.jrosbridge.services.ServiceResponse; +import lombok.RequiredArgsConstructor; 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; import java.math.BigDecimal; @@ -87,28 +83,61 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{ return returnjo; } + @Override + public Map queryControlStatus(Map jsonObject) { + return null; + } + @Override public Map Shut_down(Map jsonObject) { ServiceResponse response = new ServiceResponse(); // 1-关机、2-显示屏控制、3-TCS控制、4-RC控制、5-Joy控制 if(ObjectUtil.isNotEmpty(jsonObject)) { - String enable = "0".equals(jsonObject.get("bool")) ? "(false)" : "(true)"; + String enable = "0".equals(jsonObject.get("bool")) ? "false#" : "true#"; VehicleOperateEnum status = VehicleOperateEnum.getType(jsonObject.get("type")); switch(status) { + //关机 case OFF: response = sendToAgvUtil.send("PowerOff"); break; case SCREEN: - response = sendToAgvUtil.send("HMI_Ctrl_Enable" + enable); + response = sendToAgvUtil.send("Remote_Or_HMI_Ctrl:" + enable); break; case TCS: - response = sendToAgvUtil.send("TCS_Ctrl_Enable" + enable); + response = sendToAgvUtil.send("CAD_Or_TCS_Ctrl:" + enable); + break; + case SCHE: + response = sendToAgvUtil.send("Sche_JSON_Sche_Enable:" + enable); break; case RC: - response = sendToAgvUtil.send("HMI_RCCtrl_Enable" + enable); + response = sendToAgvUtil.send("VehicleCtrlRealRCEnable:" + enable); break; case JOY: - response = sendToAgvUtil.send("HMI_joyCtrl_Enable" + enable); + response = sendToAgvUtil.send("VehicleCtrlRealJoyEnable:" + enable); + break; + //退出 + case QUITNOW: + response = sendToAgvUtil.send("QuitNow"); + break; + //软启动(任务重置） + case REBORNINIT: + response = sendToAgvUtil.send("HMIRebornInitNow"); + break; + //跳过起点 + case STARTCHECK: + response = sendToAgvUtil.send("HMIStartCheckNow"); + break; + //重启 + case REBOOT: + response = sendToAgvUtil.send("PowerReboot"); + break; + //全屏 + case FULL: + response = sendToAgvUtil.send("FullScreenNow"); + break; + //跳过托盘检测 + case SKIPPLATE: + response = sendToAgvUtil.send("SkipPlateCheckNow"); break; default: break; @@ -204,26 +233,15 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{ returnjo.put("desc", "查询成功！"); 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()); + 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()); } } - @Override - public Map queryControlStatus(Map jsonObject) { - - - - return null; - } - - - - @Override public Map querrySensor(Map jsonObject) { - //急停按钮 String stopButton_status = "0"; //避障减速 @@ -241,54 +259,50 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{ //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"; + 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"; + } + //避障减速 + if((ObstacleDetectState >> 1) % 2 == 1) { + speedReduction_status = "1"; + } + //复位按钮 + if(VehicleCtrlRealCustomStateByte0 % 2 == 1) { + resetButton_status = "1"; + } + //安全触边 + if((ObstacleTouchState >> 1) % 2 == 1) { + securityTentacle_status = "1"; + } + ////急停按钮 + if((ObstacleTouchState >> 2) % 2 == 1) { + stopButton_status = "1"; + } + //// + if((ObstacleTouchState >> 3) % 2 == 1) { + } + //// + if((ObstacleTouchState >> 4) % 2 == 1) { + } + row.put("stopButton_status", stopButton_status); + row.put("speedReduction_status", speedReduction_status); + row.put("resetButton_status", resetButton_status); + row.put("speedStop_status", speedStop_status); + row.put("securityTentacle_status", securityTentacle_status); + returnjo.put("code", "1"); + returnjo.put("desc", "查询成功！"); + returnjo.put("result", row); + return returnjo; } - //避障减速 - if((ObstacleDetectState >> 1) % 2 == 1) { - speedReduction_status = "1"; - } - //复位按钮 - if(VehicleCtrlRealCustomStateByte0 % 2 == 1) { - resetButton_status = "1"; - } - //安全触边 - if((ObstacleTouchState >> 1) % 2 == 1) { - securityTentacle_status = "1"; - } - ////急停按钮 - if((ObstacleTouchState >> 2) % 2 == 1) { - stopButton_status = "1"; - } - //// - if((ObstacleTouchState >> 3) % 2 == 1) { - } - //// - if((ObstacleTouchState >> 4) % 2 == 1) { - } - row.put("stopButton_status", stopButton_status); - row.put("speedReduction_status", speedReduction_status); - row.put("resetButton_status", resetButton_status); - row.put("speedStop_status", speedStop_status); - row.put("securityTentacle_status", securityTentacle_status); - returnjo.put("code", "1"); - returnjo.put("desc", "查询成功！"); - 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()); + 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()); } } @@ -300,9 +314,10 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{ String inLineStatus_name; String UpdateStatus; String UpdateStatus_name; - String Update_Sch = HomeServiceImpl.debugInfoJson.getString("Update_Sch"); - String Auto_In_Line_State = HomeServiceImpl.debugInfoJson.getString("Auto_In_Line_State"); - if(StrUtil.equals("true", Auto_In_Line_State)) { + JSONObject debugInfoJson = HomeServiceImpl.debugInfoJson; + String Update_Sch = debugInfoJson.getString("Update_Sch"); + String Auto_In_Line_State = debugInfoJson.getString("Auto_In_Line_State"); + if(StrUtil.equals("0", Auto_In_Line_State)) { inLineStatus = "0"; inLineStatus_name = "正常"; } @@ -318,6 +333,11 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{ UpdateStatus = "0"; UpdateStatus_name = "更新中"; } + row.put("screenStatus", debugInfoJson.getString("Remote_Or_HMI_Ctrl")); + row.put("tcsStatus", debugInfoJson.getString("CAD_Or_TCS_Ctrl")); + row.put("scheStatus", debugInfoJson.getString("Sche_JSON_Sche_Enable")); + row.put("rcStatus", debugInfoJson.getString("VehicleCtrlRealRCEnable")); + row.put("joyStatus", debugInfoJson.getString("VehicleCtrlRealJoyEnable")); row.put("inLineStatus", inLineStatus); row.put("inLineStatus_name", inLineStatus_name); row.put("UpdateStatus", UpdateStatus); diff --git a/nladmin-system/src/main/java/org/nl/agv/wql/QAGVERROR.wql b/nladmin-system/src/main/java/org/nl/agv/wql/QAGVERROR.wql index 7eb0b69..4bcee67 100644 --- a/nladmin-system/src/main/java/org/nl/agv/wql/QAGVERROR.wql +++ b/nladmin-system/src/main/java/org/nl/agv/wql/QAGVERROR.wql @@ -14,7 +14,7 @@ ## 表字段对应输入参数 ################################################# 输入.flag TYPEAS s_string - 输入.error_code TYPEAS s_string + 输入.error_code TYPEAS s_string [临时表] @@ -91,3 +91,18 @@ ENDIF ENDSELECT ENDQUERY ENDIF + +IF 输入.flag = "4" + QUERY + SELECT + * + FROM + ST_AGV_ERROR as agv + WHERE + 1=1 + OPTION 输入.error_code <> "" + agv.error_code = 输入.error_code + ENDOPTION + ENDSELECT + ENDQUERY +ENDIF