From be68ffebb62f6bdbcec818446d06ae69b1d05917 Mon Sep 17 00:00:00 2001 From: baoge <751575283@qq.com> Date: Mon, 18 Dec 2023 17:23:41 +0800 Subject: [PATCH] =?UTF-8?q?opt:=20=E5=A2=9E=E5=8A=A0=E6=8A=A5=E9=94=99?= =?UTF-8?q?=E6=8F=90=E7=A4=BA=E6=97=A5=E5=BF=97=E8=AE=B0=E5=BD=95?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../nl/agv/service/impl/HomeServiceImpl.java | 52 +++++++++---------- .../service/impl/VehicleInfoServiceImpl.java | 16 +++--- 2 files changed, 33 insertions(+), 35 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 d960447..ec9caa6 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 @@ -85,14 +85,14 @@ public class HomeServiceImpl implements HomeService { JSONObject row = new JSONObject(); try { //查询调试信息 - CompletableFuture.runAsync(() -> { - try { - qeryDebuggerInfo(); - } catch (Exception e) { - //记录异常日志 - log.error("queryHomePage-查询调试信息失败:{}", e.getMessage()); - } - }, pool); + // CompletableFuture.runAsync(() -> { + // try { + // qeryDebuggerInfo(); + // } catch (Exception e) { + // //记录异常日志 + // log.error("queryHomePage-查询调试信息失败:{}", e.getMessage()); + // } + // }, pool); //执行任务操作 CompletableFuture.runAsync(() -> { try { @@ -408,7 +408,7 @@ public class HomeServiceImpl implements HomeService { } /** - * 已合并至queryHomePage + * 全局显示状态 */ @Override public Map queryHead() { @@ -429,9 +429,9 @@ public class HomeServiceImpl implements HomeService { //记录异常日志 } }, pool); - electric = debugInfoJsonQuick.getString("PWR_Percent"); + electric = debugInfoJson.getString("PWR_Percent"); //车辆运行还是待机是PathFollow_Enable 1为运行 0为待机 - if (StrUtil.equals(debugInfoJsonQuick.getString("PathFollow_Enable"), "1")) { + if (StrUtil.equals(debugInfoJson.getString("PathFollow_Enable"), "1")) { agvrun_status_name = LangUtils.getLanguage("Run", null); en_agvrun_status_name = LangUtils.getLanguage("Run", "en"); zh_agvrun_status_name = LangUtils.getLanguage("Run", "zh"); @@ -441,15 +441,15 @@ public class HomeServiceImpl implements HomeService { zh_agvrun_status_name = LangUtils.getLanguage("Standby", "zh"); } //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 - if (StrUtil.equals(debugInfoJsonQuick.getString("Sys_Mode"), "3")) { + if (StrUtil.equals(debugInfoJson.getString("Sys_Mode"), "3")) { automatic_status_name = LangUtils.getLanguage("Manual", null); en_automatic_status_name = LangUtils.getLanguage("Manual", "en"); zh_automatic_status_name = LangUtils.getLanguage("Manual", "zh"); - } else if (StrUtil.equals(debugInfoJsonQuick.getString("Sys_Mode"), "4")) { + } else if (StrUtil.equals(debugInfoJson.getString("Sys_Mode"), "4")) { automatic_status_name = LangUtils.getLanguage("Automatic", null); en_automatic_status_name = LangUtils.getLanguage("Automatic", "en"); zh_automatic_status_name = LangUtils.getLanguage("Automatic", "zh"); - } else if (StrUtil.equals(debugInfoJsonQuick.getString("Sys_Mode"), "5")) { + } else if (StrUtil.equals(debugInfoJson.getString("Sys_Mode"), "5")) { automatic_status_name = "IO"; en_automatic_status_name = "IO"; zh_automatic_status_name = "IO"; @@ -474,7 +474,7 @@ public class HomeServiceImpl implements HomeService { if ("prod".equals(isProd)) { result = HttpUtil.get(urlInfo.get("javaUrl")); } else { - result = "{\"Msg_DisplayState\":{\"AGV_ID\":255,\"Auto_In_Line_State\":0,\"Bosch_Car_Global_Theta\":-90.19221757272916,\"Bosch_Car_Global_rx\":-1.0619603784858553,\"Bosch_Car_Global_ry\":0.0020978358374357303,\"Bosch_Loc_State\":-2,\"Bosch_No_Rec_State\":0,\"Bosch_raw_age\":0.01389455795288086,\"Bosch_raw_epoch\":1,\"Bosch_raw_locState\":-2,\"Bosch_raw_qw\":0.9999999908132869,\"Bosch_raw_qx\":0.0,\"Bosch_raw_qy\":0.0,\"Bosch_raw_qz\":0.00013554861104682667,\"Bosch_raw_timestamp\":1695633231.1093392,\"Bosch_raw_uniqueId\":0,\"Bosch_raw_x\":0.0008994877773440588,\"Bosch_raw_x_odo\":0.0008994877773440588,\"Bosch_raw_y\":0.0006906610801896382,\"Bosch_raw_y_odo\":0.0006906610801896382,\"Bosch_raw_yaw\":0.00027109722292381746,\"Bosch_raw_yaw_odo\":0.0006906610801896382,\"Bosch_raw_z\":0.0,\"CAD_Or_TCS_Ctrl\":0,\"Car_Global_Theta\":-90.19221757272916,\"Car_Global_rx\":-1.0619603784858553,\"Car_Global_ry\":0.0020978358374357303,\"CurNodeID\":11,\"Cur_Stop_Info1_Authorized_Pass\":1,\"Cur_Stop_Info1_High_Precious_Enable\":1,\"Cur_Stop_Info1_Reached_Stop\":0,\"Cur_Stop_Info1_Set_Patht\":0.0,\"Cur_Stop_Info1_Set_Pathx\":0.0,\"Cur_Stop_Info1_Set_Pathy\":0.0,\"Cur_Stop_Info1_Single_Request_Sch\":0,\"Cur_Stop_Info1_Single_Stop_Sch\":0,\"Cur_Stop_Info1_StopEndNode\":0,\"Cur_Stop_Info1_StopStartNode\":0,\"Cur_Stop_Info1_Stop_Endt\":0.0,\"Cur_Stop_Info1_Stop_Endx\":0.0,\"Cur_Stop_Info1_Stop_Endy\":0.0,\"Cur_Stop_Info1_Stop_Num\":0,\"Cur_Stop_Info2_Authorized_Pass\":1,\"Cur_Stop_Info2_High_Precious_Enable\":1,\"Cur_Stop_Info2_Reached_Stop\":0,\"Cur_Stop_Info2_Set_Patht\":0.0,\"Cur_Stop_Info2_Set_Pathx\":0.0,\"Cur_Stop_Info2_Set_Pathy\":0.0,\"Cur_Stop_Info2_Single_Request_Sch\":0,\"Cur_Stop_Info2_Single_Stop_Sch\":0,\"Cur_Stop_Info2_StopEndNode\":0,\"Cur_Stop_Info2_StopStartNode\":0,\"Cur_Stop_Info2_Stop_Endt\":0.0,\"Cur_Stop_Info2_Stop_Endx\":0.0,\"Cur_Stop_Info2_Stop_Endy\":0.0,\"Cur_Stop_Info2_Stop_Num\":0,\"Curtis_Warning_Code_Pump\":0,\"Curtis_Warning_Code_Speed\":82,\"Curtis_Warning_Code_Steer\":0,\"EndNode\":0,\"Env_CustomName\":\"NobleLift\",\"Env_HMIUseJavaApp\":\"true\",\"Env_LearnEnable\":\"true\",\"Env_Lu_ROS_IP2\":\"\",\"Env_SoftwareVersion\":\"[Version]Magic4.1[Info]2023_09_21_20_41_37_Lu_ROS_magic4_waypointab_v31\",\"Env_VehicleType\":\"PS10LMT_HuaHai\",\"Get_Nav350_Curr_Layer\":0,\"Language\":1022739087,\"LastAltitudeExpectValue_mm\":0,\"LastGantryXExpectValue_mm\":0,\"LastGantryYExpectValue_mm\":0,\"Lateral_Deviation_m\":0.0,\"License_Info\":\"EC060800FFFBEBBF 6B7685747EBC EC060800FFFBEBBF 6B7685747EBC 2021/8/26 13:46:47 2021/8/26 13:46:47 1 UserClass5 Magic4_1\",\"LindeAgwSteerCenterPivotPlateAng\":0,\"LindeAgwSteerErrorFlag\":0,\"LindeAgwSteerModeSelectorState\":0,\"LindeAgwTracLiftErrorFlag\":0,\"LindeAgwTracLiftModeSelectorState\":0,\"LindeDriveErrCode1\":0,\"LindeDriveErrCode2\":0,\"LindeDriveErrCode3\":0,\"LindeDriveErrCode4\":0,\"LindeLiftErrCode1\":0,\"LindeLiftErrCode2\":0,\"LindeLiftErrCode3\":0,\"LindeLiftErrCode4\":0,\"LindeSteerErrCode1\":0,\"LindeSteerErrCode2\":0,\"LindeSteerErrCode3\":0,\"LindeSteerErrCode4\":0,\"Login_Info\":\"\",\"Min_Dist\":0.0,\"MissionCompleteAltitude_mm_RemoteOrHMI_FB\":0,\"MissionCompleteGantryX_mm_RemoteOrHMI_FB\":0,\"MissionCompleteGantryY_mm_RemoteOrHMI_FB\":0,\"Navi_Method\":3,\"ObstacleDetectState\":0,\"ObstacleTouchState\":0,\"Out_Of_Path_Times\":0,\"PFC_Sch\":0,\"PFC_State\":\"[PathFollow_Control_Handle_WLANJSON][PathFollow_Schedule_WLANJSON=0]\\n\",\"PLC_Warning_Code\":0,\"PWR_Percent\":99,\"PWR_Warn\":0,\"PathFollow_Enable\":0,\"PathFollow_Expect_AltitudeCtrlEnable\":0,\"PathFollow_Expect_GantryXCtrlEnable\":0,\"PathFollow_Expect_GantryYCtrlEnable\":0,\"Plate_Check_Err_Code\":0,\"ReachState\":0,\"RealAutoChargeState\":0,\"Ref_std_rt\":0.0,\"Ref_std_rx\":0.0,\"Ref_std_ry\":0.0,\"Remote_Or_HMI_Ctrl\":1,\"SVreal_angle\":0.0,\"Sche_JSON_Sche_Enable\":0,\"Speedm_Tmp\":0.0,\"StartNode\":0,\"Sub_Warning_Code0\":0,\"Sys_Mode\":4,\"Task_Sch\":0,\"Task_State\":\"\",\"Update_Sch\":0,\"Update_State\":\"\",\"VehicleCtrlExpThrottle\":0,\"VehicleCtrlRealAltitude_mm\":998,\"VehicleCtrlRealCustomStateByte0\":0,\"VehicleCtrlRealCustomStateByte1\":0,\"VehicleCtrlRealCustomStateByte2\":0,\"VehicleCtrlRealCustomStateByte3\":0,\"VehicleCtrlRealGantryX_mm\":0,\"VehicleCtrlRealGantryY_mm\":0,\"VehicleCtrlRealJoyEnable\":0,\"VehicleCtrlRealRCEnable\":0,\"VehicleCtrl_CAN_Err_Info\":0,\"Vertical_Deviation_deg\":0.0,\"Warning_Code\":754529,\"header\":{\"frame_id\":\"\",\"seq\":1904,\"stamp\":{\"nsec\":160948865,\"sec\":1695633231}}}}"; + result = "{\"Msg_DisplayState\":{\"AGV_ID\":255,\"Auto_In_Line_State\":1,\"Bosch_Car_Global_Theta\":-90.19221757272916,\"Bosch_Car_Global_rx\":-1.0619603784858553,\"Bosch_Car_Global_ry\":0.0020978358374357303,\"Bosch_Loc_State\":-2,\"Bosch_No_Rec_State\":0,\"Bosch_raw_age\":0.01389455795288086,\"Bosch_raw_epoch\":1,\"Bosch_raw_locState\":-2,\"Bosch_raw_qw\":0.9999999908132869,\"Bosch_raw_qx\":0.0,\"Bosch_raw_qy\":0.0,\"Bosch_raw_qz\":0.00013554861104682667,\"Bosch_raw_timestamp\":1695633231.1093392,\"Bosch_raw_uniqueId\":0,\"Bosch_raw_x\":0.0008994877773440588,\"Bosch_raw_x_odo\":0.0008994877773440588,\"Bosch_raw_y\":0.0006906610801896382,\"Bosch_raw_y_odo\":0.0006906610801896382,\"Bosch_raw_yaw\":0.00027109722292381746,\"Bosch_raw_yaw_odo\":0.0006906610801896382,\"Bosch_raw_z\":0.0,\"CAD_Or_TCS_Ctrl\":0,\"Car_Global_Theta\":-90.19221757272916,\"Car_Global_rx\":-1.0619603784858553,\"Car_Global_ry\":0.0020978358374357303,\"CurNodeID\":11,\"Cur_Stop_Info1_Authorized_Pass\":1,\"Cur_Stop_Info1_High_Precious_Enable\":1,\"Cur_Stop_Info1_Reached_Stop\":0,\"Cur_Stop_Info1_Set_Patht\":0.0,\"Cur_Stop_Info1_Set_Pathx\":0.0,\"Cur_Stop_Info1_Set_Pathy\":0.0,\"Cur_Stop_Info1_Single_Request_Sch\":0,\"Cur_Stop_Info1_Single_Stop_Sch\":0,\"Cur_Stop_Info1_StopEndNode\":0,\"Cur_Stop_Info1_StopStartNode\":0,\"Cur_Stop_Info1_Stop_Endt\":0.0,\"Cur_Stop_Info1_Stop_Endx\":0.0,\"Cur_Stop_Info1_Stop_Endy\":0.0,\"Cur_Stop_Info1_Stop_Num\":0,\"Cur_Stop_Info2_Authorized_Pass\":1,\"Cur_Stop_Info2_High_Precious_Enable\":1,\"Cur_Stop_Info2_Reached_Stop\":0,\"Cur_Stop_Info2_Set_Patht\":0.0,\"Cur_Stop_Info2_Set_Pathx\":0.0,\"Cur_Stop_Info2_Set_Pathy\":0.0,\"Cur_Stop_Info2_Single_Request_Sch\":0,\"Cur_Stop_Info2_Single_Stop_Sch\":0,\"Cur_Stop_Info2_StopEndNode\":0,\"Cur_Stop_Info2_StopStartNode\":0,\"Cur_Stop_Info2_Stop_Endt\":0.0,\"Cur_Stop_Info2_Stop_Endx\":0.0,\"Cur_Stop_Info2_Stop_Endy\":0.0,\"Cur_Stop_Info2_Stop_Num\":0,\"Curtis_Warning_Code_Pump\":0,\"Curtis_Warning_Code_Speed\":82,\"Curtis_Warning_Code_Steer\":0,\"EndNode\":0,\"Env_CustomName\":\"NobleLift\",\"Env_HMIUseJavaApp\":\"true\",\"Env_LearnEnable\":\"true\",\"Env_Lu_ROS_IP2\":\"\",\"Env_SoftwareVersion\":\"[Version]Magic4.1[Info]2023_09_21_20_41_37_Lu_ROS_magic4_waypointab_v31\",\"Env_VehicleType\":\"PS10LMT_HuaHai\",\"Get_Nav350_Curr_Layer\":0,\"Language\":1022739087,\"LastAltitudeExpectValue_mm\":0,\"LastGantryXExpectValue_mm\":0,\"LastGantryYExpectValue_mm\":0,\"Lateral_Deviation_m\":0.0,\"License_Info\":\"EC060800FFFBEBBF 6B7685747EBC EC060800FFFBEBBF 6B7685747EBC 2021/8/26 13:46:47 2021/8/26 13:46:47 1 UserClass5 Magic4_1\",\"LindeAgwSteerCenterPivotPlateAng\":0,\"LindeAgwSteerErrorFlag\":0,\"LindeAgwSteerModeSelectorState\":0,\"LindeAgwTracLiftErrorFlag\":0,\"LindeAgwTracLiftModeSelectorState\":0,\"LindeDriveErrCode1\":0,\"LindeDriveErrCode2\":0,\"LindeDriveErrCode3\":0,\"LindeDriveErrCode4\":0,\"LindeLiftErrCode1\":0,\"LindeLiftErrCode2\":0,\"LindeLiftErrCode3\":0,\"LindeLiftErrCode4\":0,\"LindeSteerErrCode1\":0,\"LindeSteerErrCode2\":0,\"LindeSteerErrCode3\":0,\"LindeSteerErrCode4\":0,\"Login_Info\":\"\",\"Min_Dist\":0.0,\"MissionCompleteAltitude_mm_RemoteOrHMI_FB\":0,\"MissionCompleteGantryX_mm_RemoteOrHMI_FB\":0,\"MissionCompleteGantryY_mm_RemoteOrHMI_FB\":0,\"Navi_Method\":3,\"ObstacleDetectState\":0,\"ObstacleTouchState\":0,\"Out_Of_Path_Times\":0,\"PFC_Sch\":0,\"PFC_State\":\"[PathFollow_Control_Handle_WLANJSON][PathFollow_Schedule_WLANJSON=0]\\n\",\"PLC_Warning_Code\":0,\"PWR_Percent\":99,\"PWR_Warn\":0,\"PathFollow_Enable\":0,\"PathFollow_Expect_AltitudeCtrlEnable\":0,\"PathFollow_Expect_GantryXCtrlEnable\":0,\"PathFollow_Expect_GantryYCtrlEnable\":0,\"Plate_Check_Err_Code\":0,\"ReachState\":0,\"RealAutoChargeState\":0,\"Ref_std_rt\":0.0,\"Ref_std_rx\":0.0,\"Ref_std_ry\":0.0,\"Remote_Or_HMI_Ctrl\":1,\"SVreal_angle\":0.0,\"Sche_JSON_Sche_Enable\":0,\"Speedm_Tmp\":0.0,\"StartNode\":0,\"Sub_Warning_Code0\":0,\"Sys_Mode\":4,\"Task_Sch\":0,\"Task_State\":\"\",\"Update_Sch\":0,\"Update_State\":\"\",\"VehicleCtrlExpThrottle\":0,\"VehicleCtrlRealAltitude_mm\":998,\"VehicleCtrlRealCustomStateByte0\":0,\"VehicleCtrlRealCustomStateByte1\":0,\"VehicleCtrlRealCustomStateByte2\":0,\"VehicleCtrlRealCustomStateByte3\":0,\"VehicleCtrlRealGantryX_mm\":0,\"VehicleCtrlRealGantryY_mm\":0,\"VehicleCtrlRealJoyEnable\":0,\"VehicleCtrlRealRCEnable\":0,\"VehicleCtrl_CAN_Err_Info\":0,\"Vertical_Deviation_deg\":0.0,\"Warning_Code\":754529,\"header\":{\"frame_id\":\"\",\"seq\":1904,\"stamp\":{\"nsec\":160948865,\"sec\":1695633231}}}}"; } //String result = HttpUtil.get(urlInfo.get("javaUrl")); JSONObject json = JSONObject.parseObject(result); @@ -545,15 +545,12 @@ public class HomeServiceImpl implements HomeService { if ("prod".equals(isProd)) { result = HttpUtil.get(urlInfo.get("javaUrl")); } else { - result = "{\"Msg_DisplayState\":{\"AGV_ID\":255,\"Auto_In_Line_State\":0,\"Bosch_Car_Global_Theta\":-90.19221757272916,\"Bosch_Car_Global_rx\":-1.0619603784858553,\"Bosch_Car_Global_ry\":0.0020978358374357303,\"Bosch_Loc_State\":-2,\"Bosch_No_Rec_State\":0,\"Bosch_raw_age\":0.01389455795288086,\"Bosch_raw_epoch\":1,\"Bosch_raw_locState\":-2,\"Bosch_raw_qw\":0.9999999908132869,\"Bosch_raw_qx\":0.0,\"Bosch_raw_qy\":0.0,\"Bosch_raw_qz\":0.00013554861104682667,\"Bosch_raw_timestamp\":1695633231.1093392,\"Bosch_raw_uniqueId\":0,\"Bosch_raw_x\":0.0008994877773440588,\"Bosch_raw_x_odo\":0.0008994877773440588,\"Bosch_raw_y\":0.0006906610801896382,\"Bosch_raw_y_odo\":0.0006906610801896382,\"Bosch_raw_yaw\":0.00027109722292381746,\"Bosch_raw_yaw_odo\":0.0006906610801896382,\"Bosch_raw_z\":0.0,\"CAD_Or_TCS_Ctrl\":0,\"Car_Global_Theta\":-90.19221757272916,\"Car_Global_rx\":-1.0619603784858553,\"Car_Global_ry\":0.0020978358374357303,\"CurNodeID\":11,\"Cur_Stop_Info1_Authorized_Pass\":1,\"Cur_Stop_Info1_High_Precious_Enable\":1,\"Cur_Stop_Info1_Reached_Stop\":0,\"Cur_Stop_Info1_Set_Patht\":0.0,\"Cur_Stop_Info1_Set_Pathx\":0.0,\"Cur_Stop_Info1_Set_Pathy\":0.0,\"Cur_Stop_Info1_Single_Request_Sch\":0,\"Cur_Stop_Info1_Single_Stop_Sch\":0,\"Cur_Stop_Info1_StopEndNode\":0,\"Cur_Stop_Info1_StopStartNode\":0,\"Cur_Stop_Info1_Stop_Endt\":0.0,\"Cur_Stop_Info1_Stop_Endx\":0.0,\"Cur_Stop_Info1_Stop_Endy\":0.0,\"Cur_Stop_Info1_Stop_Num\":0,\"Cur_Stop_Info2_Authorized_Pass\":1,\"Cur_Stop_Info2_High_Precious_Enable\":1,\"Cur_Stop_Info2_Reached_Stop\":0,\"Cur_Stop_Info2_Set_Patht\":0.0,\"Cur_Stop_Info2_Set_Pathx\":0.0,\"Cur_Stop_Info2_Set_Pathy\":0.0,\"Cur_Stop_Info2_Single_Request_Sch\":0,\"Cur_Stop_Info2_Single_Stop_Sch\":0,\"Cur_Stop_Info2_StopEndNode\":0,\"Cur_Stop_Info2_StopStartNode\":0,\"Cur_Stop_Info2_Stop_Endt\":0.0,\"Cur_Stop_Info2_Stop_Endx\":0.0,\"Cur_Stop_Info2_Stop_Endy\":0.0,\"Cur_Stop_Info2_Stop_Num\":0,\"Curtis_Warning_Code_Pump\":0,\"Curtis_Warning_Code_Speed\":82,\"Curtis_Warning_Code_Steer\":0,\"EndNode\":0,\"Env_CustomName\":\"NobleLift\",\"Env_HMIUseJavaApp\":\"true\",\"Env_LearnEnable\":\"true\",\"Env_Lu_ROS_IP2\":\"\",\"Env_SoftwareVersion\":\"[Version]Magic4.1[Info]2023_09_21_20_41_37_Lu_ROS_magic4_waypointab_v31\",\"Env_VehicleType\":\"PS10LMT_HuaHai\",\"Get_Nav350_Curr_Layer\":0,\"Language\":1022739087,\"LastAltitudeExpectValue_mm\":0,\"LastGantryXExpectValue_mm\":0,\"LastGantryYExpectValue_mm\":0,\"Lateral_Deviation_m\":0.0,\"License_Info\":\"EC060800FFFBEBBF 6B7685747EBC EC060800FFFBEBBF 6B7685747EBC 2021/8/26 13:46:47 2021/8/26 13:46:47 1 UserClass5 Magic4_1\",\"LindeAgwSteerCenterPivotPlateAng\":0,\"LindeAgwSteerErrorFlag\":0,\"LindeAgwSteerModeSelectorState\":0,\"LindeAgwTracLiftErrorFlag\":0,\"LindeAgwTracLiftModeSelectorState\":0,\"LindeDriveErrCode1\":0,\"LindeDriveErrCode2\":0,\"LindeDriveErrCode3\":0,\"LindeDriveErrCode4\":0,\"LindeLiftErrCode1\":0,\"LindeLiftErrCode2\":0,\"LindeLiftErrCode3\":0,\"LindeLiftErrCode4\":0,\"LindeSteerErrCode1\":0,\"LindeSteerErrCode2\":0,\"LindeSteerErrCode3\":0,\"LindeSteerErrCode4\":0,\"Login_Info\":\"\",\"Min_Dist\":0.0,\"MissionCompleteAltitude_mm_RemoteOrHMI_FB\":0,\"MissionCompleteGantryX_mm_RemoteOrHMI_FB\":0,\"MissionCompleteGantryY_mm_RemoteOrHMI_FB\":0,\"Navi_Method\":3,\"ObstacleDetectState\":0,\"ObstacleTouchState\":0,\"Out_Of_Path_Times\":0,\"PFC_Sch\":0,\"PFC_State\":\"[PathFollow_Control_Handle_WLANJSON][PathFollow_Schedule_WLANJSON=0]\\n\",\"PLC_Warning_Code\":0,\"PWR_Percent\":99,\"PWR_Warn\":0,\"PathFollow_Enable\":0,\"PathFollow_Expect_AltitudeCtrlEnable\":0,\"PathFollow_Expect_GantryXCtrlEnable\":0,\"PathFollow_Expect_GantryYCtrlEnable\":0,\"Plate_Check_Err_Code\":0,\"ReachState\":0,\"RealAutoChargeState\":0,\"Ref_std_rt\":0.0,\"Ref_std_rx\":0.0,\"Ref_std_ry\":0.0,\"Remote_Or_HMI_Ctrl\":1,\"SVreal_angle\":0.0,\"Sche_JSON_Sche_Enable\":0,\"Speedm_Tmp\":0.0,\"StartNode\":0,\"Sub_Warning_Code0\":0,\"Sys_Mode\":4,\"Task_Sch\":0,\"Task_State\":\"\",\"Update_Sch\":0,\"Update_State\":\"\",\"VehicleCtrlExpThrottle\":0,\"VehicleCtrlRealAltitude_mm\":998,\"VehicleCtrlRealCustomStateByte0\":0,\"VehicleCtrlRealCustomStateByte1\":0,\"VehicleCtrlRealCustomStateByte2\":0,\"VehicleCtrlRealCustomStateByte3\":0,\"VehicleCtrlRealGantryX_mm\":0,\"VehicleCtrlRealGantryY_mm\":0,\"VehicleCtrlRealJoyEnable\":0,\"VehicleCtrlRealRCEnable\":0,\"VehicleCtrl_CAN_Err_Info\":0,\"Vertical_Deviation_deg\":0.0,\"Warning_Code\":754529,\"header\":{\"frame_id\":\"\",\"seq\":1904,\"stamp\":{\"nsec\":160948865,\"sec\":1695633231}}}}"; + result = "{\"Msg_DisplayState\":{\"AGV_ID\":255,\"Auto_In_Line_State\":1,\"Bosch_Car_Global_Theta\":-90.19221757272916,\"Bosch_Car_Global_rx\":-1.0619603784858553,\"Bosch_Car_Global_ry\":0.0020978358374357303,\"Bosch_Loc_State\":-2,\"Bosch_No_Rec_State\":0,\"Bosch_raw_age\":0.01389455795288086,\"Bosch_raw_epoch\":1,\"Bosch_raw_locState\":-2,\"Bosch_raw_qw\":0.9999999908132869,\"Bosch_raw_qx\":0.0,\"Bosch_raw_qy\":0.0,\"Bosch_raw_qz\":0.00013554861104682667,\"Bosch_raw_timestamp\":1695633231.1093392,\"Bosch_raw_uniqueId\":0,\"Bosch_raw_x\":0.0008994877773440588,\"Bosch_raw_x_odo\":0.0008994877773440588,\"Bosch_raw_y\":0.0006906610801896382,\"Bosch_raw_y_odo\":0.0006906610801896382,\"Bosch_raw_yaw\":0.00027109722292381746,\"Bosch_raw_yaw_odo\":0.0006906610801896382,\"Bosch_raw_z\":0.0,\"CAD_Or_TCS_Ctrl\":0,\"Car_Global_Theta\":-90.19221757272916,\"Car_Global_rx\":-1.0619603784858553,\"Car_Global_ry\":0.0020978358374357303,\"CurNodeID\":11,\"Cur_Stop_Info1_Authorized_Pass\":1,\"Cur_Stop_Info1_High_Precious_Enable\":1,\"Cur_Stop_Info1_Reached_Stop\":0,\"Cur_Stop_Info1_Set_Patht\":0.0,\"Cur_Stop_Info1_Set_Pathx\":0.0,\"Cur_Stop_Info1_Set_Pathy\":0.0,\"Cur_Stop_Info1_Single_Request_Sch\":0,\"Cur_Stop_Info1_Single_Stop_Sch\":0,\"Cur_Stop_Info1_StopEndNode\":0,\"Cur_Stop_Info1_StopStartNode\":0,\"Cur_Stop_Info1_Stop_Endt\":0.0,\"Cur_Stop_Info1_Stop_Endx\":0.0,\"Cur_Stop_Info1_Stop_Endy\":0.0,\"Cur_Stop_Info1_Stop_Num\":0,\"Cur_Stop_Info2_Authorized_Pass\":1,\"Cur_Stop_Info2_High_Precious_Enable\":1,\"Cur_Stop_Info2_Reached_Stop\":0,\"Cur_Stop_Info2_Set_Patht\":0.0,\"Cur_Stop_Info2_Set_Pathx\":0.0,\"Cur_Stop_Info2_Set_Pathy\":0.0,\"Cur_Stop_Info2_Single_Request_Sch\":0,\"Cur_Stop_Info2_Single_Stop_Sch\":0,\"Cur_Stop_Info2_StopEndNode\":0,\"Cur_Stop_Info2_StopStartNode\":0,\"Cur_Stop_Info2_Stop_Endt\":0.0,\"Cur_Stop_Info2_Stop_Endx\":0.0,\"Cur_Stop_Info2_Stop_Endy\":0.0,\"Cur_Stop_Info2_Stop_Num\":0,\"Curtis_Warning_Code_Pump\":0,\"Curtis_Warning_Code_Speed\":82,\"Curtis_Warning_Code_Steer\":0,\"EndNode\":0,\"Env_CustomName\":\"NobleLift\",\"Env_HMIUseJavaApp\":\"true\",\"Env_LearnEnable\":\"true\",\"Env_Lu_ROS_IP2\":\"\",\"Env_SoftwareVersion\":\"[Version]Magic4.1[Info]2023_09_21_20_41_37_Lu_ROS_magic4_waypointab_v31\",\"Env_VehicleType\":\"PS10LMT_HuaHai\",\"Get_Nav350_Curr_Layer\":0,\"Language\":1022739087,\"LastAltitudeExpectValue_mm\":0,\"LastGantryXExpectValue_mm\":0,\"LastGantryYExpectValue_mm\":0,\"Lateral_Deviation_m\":0.0,\"License_Info\":\"EC060800FFFBEBBF 6B7685747EBC EC060800FFFBEBBF 6B7685747EBC 2021/8/26 13:46:47 2021/8/26 13:46:47 1 UserClass5 Magic4_1\",\"LindeAgwSteerCenterPivotPlateAng\":0,\"LindeAgwSteerErrorFlag\":0,\"LindeAgwSteerModeSelectorState\":0,\"LindeAgwTracLiftErrorFlag\":0,\"LindeAgwTracLiftModeSelectorState\":0,\"LindeDriveErrCode1\":0,\"LindeDriveErrCode2\":0,\"LindeDriveErrCode3\":0,\"LindeDriveErrCode4\":0,\"LindeLiftErrCode1\":0,\"LindeLiftErrCode2\":0,\"LindeLiftErrCode3\":0,\"LindeLiftErrCode4\":0,\"LindeSteerErrCode1\":0,\"LindeSteerErrCode2\":0,\"LindeSteerErrCode3\":0,\"LindeSteerErrCode4\":0,\"Login_Info\":\"\",\"Min_Dist\":0.0,\"MissionCompleteAltitude_mm_RemoteOrHMI_FB\":0,\"MissionCompleteGantryX_mm_RemoteOrHMI_FB\":0,\"MissionCompleteGantryY_mm_RemoteOrHMI_FB\":0,\"Navi_Method\":3,\"ObstacleDetectState\":0,\"ObstacleTouchState\":0,\"Out_Of_Path_Times\":0,\"PFC_Sch\":0,\"PFC_State\":\"[PathFollow_Control_Handle_WLANJSON][PathFollow_Schedule_WLANJSON=0]\\n\",\"PLC_Warning_Code\":0,\"PWR_Percent\":99,\"PWR_Warn\":0,\"PathFollow_Enable\":0,\"PathFollow_Expect_AltitudeCtrlEnable\":0,\"PathFollow_Expect_GantryXCtrlEnable\":0,\"PathFollow_Expect_GantryYCtrlEnable\":0,\"Plate_Check_Err_Code\":0,\"ReachState\":0,\"RealAutoChargeState\":0,\"Ref_std_rt\":0.0,\"Ref_std_rx\":0.0,\"Ref_std_ry\":0.0,\"Remote_Or_HMI_Ctrl\":1,\"SVreal_angle\":0.0,\"Sche_JSON_Sche_Enable\":0,\"Speedm_Tmp\":0.0,\"StartNode\":0,\"Sub_Warning_Code0\":0,\"Sys_Mode\":4,\"Task_Sch\":0,\"Task_State\":\"\",\"Update_Sch\":0,\"Update_State\":\"\",\"VehicleCtrlExpThrottle\":0,\"VehicleCtrlRealAltitude_mm\":998,\"VehicleCtrlRealCustomStateByte0\":0,\"VehicleCtrlRealCustomStateByte1\":0,\"VehicleCtrlRealCustomStateByte2\":0,\"VehicleCtrlRealCustomStateByte3\":0,\"VehicleCtrlRealGantryX_mm\":0,\"VehicleCtrlRealGantryY_mm\":0,\"VehicleCtrlRealJoyEnable\":0,\"VehicleCtrlRealRCEnable\":0,\"VehicleCtrl_CAN_Err_Info\":0,\"Vertical_Deviation_deg\":0.0,\"Warning_Code\":754529,\"header\":{\"frame_id\":\"\",\"seq\":1904,\"stamp\":{\"nsec\":160948865,\"sec\":1695633231}}}}"; } // String result = HttpUtil.get(urlInfo.get("javaUrl")); JSONObject json = JSONObject.parseObject(result); JSONObject jo = JSONObject.parseObject(json.getString("Msg_DisplayState")); - debugInfoJsonQuick.put("CurNodeID", jo.getString("CurNodeID")); debugInfoJsonQuick.put("PathFollow_Enable", jo.getString("PathFollow_Enable")); - debugInfoJsonQuick.put("Sys_Mode", jo.getString("Sys_Mode")); - debugInfoJsonQuick.put("PWR_Percent", jo.getString("PWR_Percent")); debugInfoJsonQuick.put("MissionCompleteAltitude_mm_RemoteOrHMI_FB", jo.getString("MissionCompleteAltitude_mm_RemoteOrHMI_FB")); } @@ -561,12 +558,11 @@ public class HomeServiceImpl implements HomeService { @Transactional(rollbackFor = Exception.class) public void handleTaskStatus() { JSONObject taskjo = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete='0'and task_status='01'").uniqueResult(0); - qeryDebuggerInfoQuick(); + qeryDebuggerInfo(); + //叉腿高度 + String legHeight; //小车停止，且已到达目标点位 - if (ObjectUtil.isNotEmpty(taskjo) && StrUtil.equals("0", debugInfoJsonQuick.getString("PathFollow_Enable")) && debugInfoJsonQuick.getString("CurNodeID").equals(taskjo.getString("next_point_code"))) { - //叉腿高度 - String legHeight = debugInfoJsonQuick.getString("MissionCompleteAltitude_mm_RemoteOrHMI_FB") == null ? "0" : debugInfoJsonQuick.getString("MissionCompleteAltitude_mm_RemoteOrHMI_FB"); - //legHeight = "20"; + if (ObjectUtil.isNotEmpty(taskjo) && StrUtil.equals("0", debugInfoJson.getString("PathFollow_Enable")) && debugInfoJson.getString("CurNodeID").equals(taskjo.getString("next_point_code"))) { //普通任务 if (TaskTypeEnum.COMMON.getCode().equals(taskjo.getString("task_type"))) { updateTaskStatus(taskjo, TaskStatusEnum.END); @@ -588,6 +584,8 @@ public class HomeServiceImpl implements HomeService { } } qeryDebuggerInfoQuick(); + //叉腿高度 + legHeight = debugInfoJsonQuick.getString("MissionCompleteAltitude_mm_RemoteOrHMI_FB") == null ? "0" : debugInfoJsonQuick.getString("MissionCompleteAltitude_mm_RemoteOrHMI_FB"); //叉腿抬高动作已下发，且高度为10或20且待机，发送返程任务 if (((Integer.parseInt(legHeight) == 20)) && StrUtil.equals("0", debugInfoJsonQuick.getString("PathFollow_Enable")) && "0".equals(taskjo.getString("step"))) { createReturnTask(taskjo); @@ -607,6 +605,7 @@ public class HomeServiceImpl implements HomeService { } } qeryDebuggerInfoQuick(); + legHeight = debugInfoJsonQuick.getString("MissionCompleteAltitude_mm_RemoteOrHMI_FB") == null ? "0" : debugInfoJsonQuick.getString("MissionCompleteAltitude_mm_RemoteOrHMI_FB"); //叉腿抬高动作已下发，且高度为10或20且待机，发送返程任务 if (((Integer.parseInt(legHeight) == 10)) && StrUtil.equals("0", debugInfoJsonQuick.getString("PathFollow_Enable")) && "0".equals(taskjo.getString("step"))) { createReturnTask(taskjo); @@ -622,13 +621,12 @@ public class HomeServiceImpl implements HomeService { JSONObject resjo = JSONObject.parseObject(send.toString()); String resultflag = resjo.getString("result"); if (StrUtil.equals("0", resultflag)) { - //返程任务已下发 + //返程指令已下发 taskjo.put("step", "1"); taskjo.put("is_manualfinished", "1"); updateTaskStatus(taskjo, TaskStatusEnum.END); - } else { - String error = TaskSendBackStatusEnum.getName(resultflag); + log.error("handleTaskStatus-createReturnTask-返程指令执行失败:{}",TaskSendBackStatusEnum.getName(resultflag)); } } 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 c640ef6..80315b3 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 @@ -353,24 +353,24 @@ public class VehicleInfoServiceImpl implements VehicleInfoService { 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 = getLanguage("Normal", null); - zh_inLineStatus_name = getLanguage("Normal", "zh"); - en_inLineStatus_name = getLanguage("Normal", "en"); - } else { + if (StrUtil.equals("1", Auto_In_Line_State)) { inLineStatus = "1"; inLineStatus_name = getLanguage("Deviation", null); zh_inLineStatus_name = getLanguage("Deviation", "zh"); en_inLineStatus_name = getLanguage("Deviation", "en"); + } else { + inLineStatus = "0"; + inLineStatus_name = getLanguage("Normal", null); + zh_inLineStatus_name = getLanguage("Normal", "zh"); + en_inLineStatus_name = getLanguage("Normal", "en"); } if (StrUtil.equals("0", Update_Sch)) { - UpdateStatus = "1"; + UpdateStatus = "0"; UpdateStatus_name = getLanguage("Updating", null); zh_UpdateStatus_name = getLanguage("Updating", "zh"); en_UpdateStatus_name = getLanguage("Updating", "en"); } else { - UpdateStatus = "0"; + UpdateStatus = "1"; UpdateStatus_name = getLanguage("UpdateCompleted", null); zh_UpdateStatus_name = getLanguage("UpdateCompleted", "zh"); en_UpdateStatus_name = getLanguage("UpdateCompleted", "en");