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add:增加java通讯端口

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This commit is contained in:
baoge
2023-05-17 20:41:59 +08:00
parent 30e56b9706
commit 983f5f25a0
3 changed files with 15 additions and 12 deletions
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6
nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java
View File

@@ -53,9 +53,9 @@ public class HomeServiceImpl implements HomeService{
public void QueryDebuggerInfo() {
try {
//Map<String,String> map = RosUtil.getRosHostInfo();
String url = "http://192.168.200.63:9999";
String result1 = HttpUtil.get(url);
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"));

8
nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java
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@@ -17,19 +17,21 @@ 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 lombok.RequiredArgsConstructor;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import org.nl.agv.enu.VehicleOperateEnum;
import org.nl.agv.service.TaskService;
import org.nl.agv.unit.RosUtil;
import org.nl.agv.service.VehicleInfoService;
import org.nl.agv.unit.sendToAgvUtil;
import org.nl.common.enums.AcsTaskEnum;
import org.nl.modules.wql.util.SpringContextHolder;
import org.nl.system.service.param.impl.SysParamServiceImpl;
import org.springframework.stereotype.Service;
import java.math.BigDecimal;
import java.sql.Struct;
import java.util.HashMap;
import java.util.Map;

13
nladmin-system/src/main/java/org/nl/agv/unit/RosUtil.java
View File

@@ -35,13 +35,14 @@ public class RosUtil{
public static Map<String,String> getRosHostInfo() {
Map<String,String> map = new HashMap<>();
try {
// String hostName = SpringContextHolder.getBean(SysParamServiceImpl.class).findByCode("ros_host").getValue();
// String port = SpringContextHolder.getBean(SysParamServiceImpl.class).findByCode("ros_port").getValue();
String hostName = "192.168.200.63";
String port = "9290";
map.put("hostName", hostName);
map.put("port", port);
String ros_host = SpringContextHolder.getBean(SysParamServiceImpl.class).findByCode("ros_host").getValue();
String ros_port = SpringContextHolder.getBean(SysParamServiceImpl.class).findByCode("ros_port").getValue();
String javaPort = SpringContextHolder.getBean(SysParamServiceImpl.class).findByCode("java_port").getValue();
map.put("hostName", ros_host);
map.put("port", ros_port);
map.put("javaPort", javaPort);
map.put("url", map.get("hostName") + ":" + map.get("port"));
map.put("javaUrl", "http://"+map.get("hostName") + ":" + map.get("javaPort"));
}
catch(Exception e) {
log.error("获取Ros域名信息失败！");