opt:修改车辆首页信息，车辆信息，故障信息。

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"),
+     SCHE("SCHE控制", "4"),
-     JOY("Joy控制", "5"),
+     RC("RC控制", "5"),
-     OTHER("其他", "6");
+     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;
 

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;
@@ -27,13 +26,14 @@ import java.util.Map;
 @RequestMapping("/api/vehicle")
 @Slf4j
 @SaIgnore
-public class VehicleInfoController {
+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<Object> getIP(@RequestBody Map<String, String> whereJson) {
+     public ResponseEntity<Object> getIP(@RequestBody Map<String,String> whereJson) {
           return new ResponseEntity<>(vehicleInfoService.queryRestPoint(whereJson), HttpStatus.OK);
      }
 
@@ -41,14 +41,15 @@ public class VehicleInfoController {
      @Log("初始化坐标确定")
      @ApiOperation("初始化坐标确定")
      //@PreAuthorize("@el.check('sect:list')")
-    public ResponseEntity<Object> restCoordinate(@RequestBody Map<String, String> whereJson) {
+     public ResponseEntity<Object> restCoordinate(@RequestBody Map<String,String> 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<Object> Shut_down(@RequestBody Map<String, String> whereJson) {
+     public ResponseEntity<Object> Shut_down(@RequestBody Map<String,String> whereJson) {
           return new ResponseEntity<>(vehicleInfoService.Shut_down(whereJson), HttpStatus.OK);
      }
 
@@ -56,56 +57,58 @@ public class VehicleInfoController {
      @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<Object> queryControlStatus(@RequestBody Map<String, String> whereJson) {
+     public ResponseEntity<Object> queryControlStatus(@RequestBody Map<String,String> 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<Object> skipStartPoint(@RequestBody Map<String,String> whereJson) {
+//          return new ResponseEntity<>(vehicleInfoService.skipStartPoint(whereJson), HttpStatus.OK);
+//     }
 
-    @PostMapping("/skipStartPoint")
+//     @PostMapping("/softStart")
-    @Log("跳过起点")
+//     @Log("软启动")
-    @ApiOperation("跳过起点")
+//     @ApiOperation("软启动")
-    //@PreAuthorize("@el.check('sect:list')")
+//     //@PreAuthorize("@el.check('sect:list')")
-    public ResponseEntity<Object> skipStartPoint(@RequestBody Map<String, String> whereJson) {
+//     public ResponseEntity<Object> softStart(@RequestBody Map<String,String> whereJson) {
-        return new ResponseEntity<>(vehicleInfoService.skipStartPoint(whereJson), HttpStatus.OK);
+//          return new ResponseEntity<>(vehicleInfoService.softStart(whereJson), HttpStatus.OK);
-    }
+//     }
-    @PostMapping("/softStart")
+
-    @Log("软启动")
+//     @PostMapping("/quitNow")
-    @ApiOperation("软启动")
+//     @Log("退出")
-    //@PreAuthorize("@el.check('sect:list')")
+//     @ApiOperation("退出")
-    public ResponseEntity<Object> softStart(@RequestBody Map<String, String> whereJson) {
+//     //@PreAuthorize("@el.check('sect:list')")
-        return new ResponseEntity<>(vehicleInfoService.softStart(whereJson), HttpStatus.OK);
+//     public ResponseEntity<Object> quitNow(@RequestBody Map<String,String> whereJson) {
-    }
+//          return new ResponseEntity<>(vehicleInfoService.quitNow(whereJson), HttpStatus.OK);
-    @PostMapping("/quitNow")
+//     }
-    @Log("退出")
-    @ApiOperation("退出")
-    //@PreAuthorize("@el.check('sect:list')")
-    public ResponseEntity<Object> quitNow(@RequestBody Map<String, String> 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<Object> queryVehicleStatus(@RequestBody Map<String, String> whereJson) {
+     public ResponseEntity<Object> queryVehicleStatus(@RequestBody Map<String,String> 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<Object> querrySensor(@RequestBody Map<String, String> whereJson) {
+     public ResponseEntity<Object> querrySensor(@RequestBody Map<String,String> 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<Object> queryAgv_Status(@RequestBody Map<String, String> whereJson) {
+     public ResponseEntity<Object> queryAgv_Status(@RequestBody Map<String,String> whereJson) {
           return new ResponseEntity<>(vehicleInfoService.queryAgv_Status(whereJson), HttpStatus.OK);
      }
 
+
+
 }

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<String,Object> querryError(Map<String,String> jsonObject) {
+          String error_status = "无故障";
+          try {
+               List<String> 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<String,Object> querryError1(Map<String,String> 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
+                    JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
-                       .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
+                    JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
-                       .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
+                    JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
-                       .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
+                    JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
-                       .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
+                    JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
-                       .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
+                    JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
-                       .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
+                    JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
-                       .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
+                    JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
-                       .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
+                    JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
-                       .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
+                    JSONObject row = WQL.getWO("QAGVERROR").addParam("flag", "1").addParam("error_code", error_code).process().uniqueResult(0);
-                       .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());
           }
      }
 }

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<String,String> 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
+               debugInfoJson.put("Msg_Timestamp", jo.getJSONObject("header").getJSONObject("stamp").getString("sec"));
-                  .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
+                    JSONObject taskjo = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete='0'and task_status='01'").uniqueResult(0);
-                       .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
+                         WQLObject.getWQLObject("ST_TASK_INFO").update(taskjo);
-                            .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
+                         debugInfoJson.put("Msg_Timestamp", jo.getJSONObject("header").getJSONObject("stamp").getString("secs"));
-                            .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
+                              JSONObject taskjo = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete='0'and task_status='01'").uniqueResult(0);
-                                 .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
+                                   WQLObject.getWQLObject("ST_TASK_INFO").update(taskjo);
-                                      .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 Map<String,Object>queryHomePage(Map<String,String> jsonObject) {
+     public Map<String,Object> queryHomePage(Map<String,String> 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
+               JSONObject tasking = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and task_status='01' and task_type='1'").uniqueResult(0);
-                  .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
+               JSONObject tasked = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and task_status='00'and task_type='1'").uniqueResult(0);
-                  .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
+               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);
-                  .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
+                    JSONObject doingtaskjo = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 ", "update_time desc").uniqueResult(0);
-                       .getWQLObject("ST_TASK_INFO")
+                    if(doingtaskjo != null && doingtaskjo.getString("task_type").equals("2")) {
-                       .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
+               JSONObject doingtaskjo = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and task_status='01' and is_manualfinished='0'").uniqueResult(0);
-                  .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
+               JSONArray alltaskja = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and  task_type='1' and date ='" + date + "'").getResultJSONArray(0);
-                  .getWQLObject("ST_TASK_INFO")
-                  .query("is_delete= 0 and  task_type='1' and date ='" + date + "'")
-                  .getResultJSONArray(0);
                if(alltaskja.size() > 0) {
-                    JSONArray todaytaskja = WQLObject
+                    JSONArray todaytaskja = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and  task_type='1' and date ='" + date + "' and task_status='00'").getResultJSONArray(0);
-                       .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");
+               JSONArray errorResult = JSONArray.parseArray(JSON.toJSONString(error.get("result")));
-               String Env_VehicleType = debugInfoJson.getString("Env_VehicleType");
+               if(errorResult.size() > 0) {
-               String device_info = Env_CustomName + Env_VehicleType;
+                    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
+               JSONObject taskjo = taskTable.query("is_delete='0' and task_status='02' and task_type ='1' and is_manualfinished='0'").uniqueResult(0);
-                  .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
+               JSONObject taskjo = taskTable.query("is_delete='0' and task_status='02' and task_type ='1' and is_manualfinished='0'").uniqueResult(0);
-                  .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
+               JSONObject nexttaskjo = taskTable.query("is_delete='0' and task_status='00' and task_type ='1' ", "seq_num").uniqueResult(0);
-                  .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
+                    WQLObject.getWQLObject("ST_TASK_INFO").update(nexttaskjo);
-                       .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
+               JSONObject nexttaskjo = taskTable.query("is_delete='0' and task_status='00' and task_type ='1' ", "seq_num").uniqueResult(0);
-                  .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
+                    WQLObject.getWQLObject("ST_TASK_INFO").update(nexttaskjo);
-                       .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
+               JSONObject doingtaskjo = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and task_status='01' ").uniqueResult(0);
-                  .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
+               String rest_pointcode = (String) taskServiceServiceImpl.queryPoint(new HashMap<>()).get("rest_pointcode");
-                  .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
+               WQLObject.getWQLObject("ST_TASK_INFO").insert(taskjo);
-                  .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/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<String,Object> queryControlStatus(Map<String,String> jsonObject) {
+          return null;
+     }
+
      @Override
      public Map<String,Object> Shut_down(Map<String,String> 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<String,Object> queryControlStatus(Map<String,String> jsonObject) {
-
-
-
-          return null;
-     }
-
-
-
-
      @Override
      public Map<String,Object> querrySensor(Map<String,String> jsonObject) {
-
           //急停按钮
           String stopButton_status = "0";
           //避障减速
@@ -241,12 +259,7 @@ 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");
@@ -286,9 +299,10 @@ 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());
           }
      }
 
@@ -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");
+          JSONObject debugInfoJson = HomeServiceImpl.debugInfoJson;
-          String Auto_In_Line_State = HomeServiceImpl.debugInfoJson.getString("Auto_In_Line_State");
+          String Update_Sch = debugInfoJson.getString("Update_Sch");
-          if(StrUtil.equals("true", Auto_In_Line_State)) {
+          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);

nladmin-system/src/main/java/org/nl/agv/wql/QAGVERROR.wql

@@ -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