From 983f5f25a03ab5424729807084cac2dca5b8f6ec Mon Sep 17 00:00:00 2001
From: baoge <751575283@qq.com>
Date: Wed, 17 May 2023 20:41:59 +0800
Subject: [PATCH] =?UTF-8?q?add:=E5=A2=9E=E5=8A=A0java=E9=80=9A=E8=AE=AF?=
 =?UTF-8?q?=E7=AB=AF=E5=8F=A3?=
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit

---
 .../org/nl/agv/service/impl/HomeServiceImpl.java    |  6 +++---
 .../nl/agv/service/impl/VehicleInfoServiceImpl.java |  8 +++++---
 .../src/main/java/org/nl/agv/unit/RosUtil.java      | 13 +++++++------
 3 files changed, 15 insertions(+), 12 deletions(-)

diff --git a/nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java b/nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java
index 8f6deb0..618aeb4 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
@@ -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"));
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 9aeefc1..acef71b 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
@@ -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;
 
diff --git a/nladmin-system/src/main/java/org/nl/agv/unit/RosUtil.java b/nladmin-system/src/main/java/org/nl/agv/unit/RosUtil.java
index 66460b5..2f555c4 100644
--- a/nladmin-system/src/main/java/org/nl/agv/unit/RosUtil.java
+++ b/nladmin-system/src/main/java/org/nl/agv/unit/RosUtil.java
@@ -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！");