From c6e803319cd0987b9cfe467eba08615a0507966b Mon Sep 17 00:00:00 2001 From: baoge <751575283@qq.com> Date: Tue, 17 Oct 2023 10:55:50 +0800 Subject: [PATCH] =?UTF-8?q?rev:=E4=BF=AE=E6=94=B9=E5=AE=9A=E6=97=B6?= =?UTF-8?q?=E5=88=B7=E6=96=B0AGV=E4=BF=A1=E6=81=AF?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../java/org/nl/agv/rest/HomeController.java | 1 + .../nl/agv/service/impl/ErrorServiceImpl.java | 46 +- .../nl/agv/service/impl/HomeServiceImpl.java | 399 +++++++++--------- .../service/impl/VehicleInfoServiceImpl.java | 9 +- .../java/org/nl/utils/QueryInfoSchedule.java | 41 ++ 5 files changed, 267 insertions(+), 229 deletions(-) create mode 100644 nladmin-system/src/main/java/org/nl/utils/QueryInfoSchedule.java diff --git a/nladmin-system/src/main/java/org/nl/agv/rest/HomeController.java b/nladmin-system/src/main/java/org/nl/agv/rest/HomeController.java index 23c51a3..a55c2fd 100644 --- a/nladmin-system/src/main/java/org/nl/agv/rest/HomeController.java +++ b/nladmin-system/src/main/java/org/nl/agv/rest/HomeController.java @@ -29,6 +29,7 @@ import java.util.Map; @SaIgnore public class HomeController { + private final HomeService homeService; @PostMapping("/queryHead") 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 8c242ac..f1d06fc 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 @@ -44,49 +44,39 @@ import java.util.stream.Collectors; @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); + String errorStatus = "无故障"; + List errorCodeList = new ArrayList<>(); + JSONArray result = new JSONArray(); + JSONObject debugInfoJson = HomeServiceImpl.debugInfoJson; + if(debugInfoJson.size()>0) { + int warningCode = debugInfoJson.getInteger("Warning_Code"); + for(int bitPosition = 0; bitPosition < 28; bitPosition++) { + if((warningCode >> bitPosition) % 2 == 1) { + errorStatus = "有故障"; + String errorCode = "bit" + bitPosition; + errorCodeList.add(errorCode); } } 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()); + 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", errorStatus); + return returnjo; } - - //@Override public Map querryError1(Map jsonObject) { String error_status = "无故障"; try { JSONObject debugInfoJson = HomeServiceImpl.debugInfoJson; int Warning_Code = debugInfoJson.getInteger("Warning_Code"); - //int Warning_Code = 524305; int ObstacleTouchState = debugInfoJson.getInteger("ObstacleTouchState"); JSONArray ja = new JSONArray(); String error_code = ""; 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 c233e9f..59d3697 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 @@ -37,10 +37,14 @@ import org.nl.agv.unit.sendToAgvUtil; import org.nl.modules.common.exception.BadRequestException; import org.nl.modules.system.util.CodeUtil; import org.nl.modules.wql.core.bean.WQLObject; +import org.springframework.beans.factory.annotation.Qualifier; import org.springframework.stereotype.Service; +import javax.annotation.Resource; import java.util.HashMap; import java.util.Map; +import java.util.concurrent.CompletableFuture; +import java.util.concurrent.ThreadPoolExecutor; /** * @author qinx @@ -49,89 +53,90 @@ import java.util.Map; @Service @RequiredArgsConstructor public class HomeServiceImpl implements HomeService{ + @Resource + @Qualifier("threadPool") + private ThreadPoolExecutor pool; //定时器查询调试信息，放入json其他地方直接调用； public static JSONObject debugInfoJson = new JSONObject(); + public HomeServiceImpl(ThreadPoolExecutor pool) { + this.pool = pool; + } + @Override public void qeryDebuggerInfo() { - try { - Map urlInfo = RosUtil.getRosHostInfo(); - //String result1 = HttpUtil.get("http://localhost:8011/api/pcsIfPurchaseorder/queryApt"); - //String result1 = "{\"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\":0,\"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\":100,\"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")); - 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")); - debugInfoJson.put("Car_Global_ry", jo.getString("Car_Global_ry")); - debugInfoJson.put("Car_Global_Theta", jo.getString("Car_Global_Theta")); - debugInfoJson.put("Lateral_Deviation_m", jo.getString("Lateral_Deviation_m")); - debugInfoJson.put("Vertical_Deviation_deg", jo.getString("Vertical_Deviation_deg")); - debugInfoJson.put("Out_Of_Path_Times", jo.getString("Out_Of_Path_Times")); - debugInfoJson.put("PLC_Warning_Code", jo.getString("PLC_Warning_Code")); - debugInfoJson.put("Min_Dist", jo.getString("Min_Dist")); - debugInfoJson.put("Auto_In_Line_State", jo.getString("Auto_In_Line_State")); - debugInfoJson.put("PathFollow_Enable", jo.getString("PathFollow_Enable")); - debugInfoJson.put("StartNode", jo.getString("StartNode")); - debugInfoJson.put("EndNode", jo.getString("EndNode")); - debugInfoJson.put("RealAutoChargeState", jo.getString("RealAutoChargeState")); - debugInfoJson.put("PWR_Percent", jo.getString("PWR_Percent")); - debugInfoJson.put("SVreal_angle", jo.getString("SVreal_angle")); - debugInfoJson.put("Speedm_Tmp", jo.getString("Speedm_Tmp")); - debugInfoJson.put("VehicleCtrlRealAltitude_mm", jo.getString("VehicleCtrlRealAltitude_mm")); - debugInfoJson.put("ReachState", jo.getString("ReachState")); - debugInfoJson.put("ObstacleDetectState", jo.getString("ObstacleDetectState")); - debugInfoJson.put("ObstacleTouchState", jo.getString("ObstacleTouchState")); - debugInfoJson.put("PWR_Warn", jo.getString("PWR_Warn")); - debugInfoJson.put("VehicleCtrl_CAN_Err_Info", jo.getString("VehicleCtrl_CAN_Err_Info")); - debugInfoJson.put("Curtis_Warning_Code_Speed", jo.getString("Curtis_Warning_Code_Speed")); - debugInfoJson.put("Curtis_Warning_Code_Steer", jo.getString("Curtis_Warning_Code_Steer")); - debugInfoJson.put("VehicleCtrlRealCustomStateByte0", jo.getString("VehicleCtrlRealCustomStateByte0")); - debugInfoJson.put("VehicleCtrlRealCustomStateByte1", jo.getString("VehicleCtrlRealCustomStateByte1")); - debugInfoJson.put("VehicleCtrlRealCustomStateByte2", jo.getString("VehicleCtrlRealCustomStateByte2")); - debugInfoJson.put("VehicleCtrlRealCustomStateByte3", jo.getString("VehicleCtrlRealCustomStateByte3")); - debugInfoJson.put("LastAltitudeExpectValue_mm", jo.getString("LastAltitudeExpectValue_mm")); - debugInfoJson.put("Get_Nav350_Curr_Layer", jo.getString("Get_Nav350_Curr_Layer")); - debugInfoJson.put("Update_Sch", jo.getString("Update_Sch")); - debugInfoJson.put("Update_State", jo.getString("Update_State")); - debugInfoJson.put("Task_Sch", jo.getString("Task_Sch")); - debugInfoJson.put("Task_State", jo.getString("Task_State")); - debugInfoJson.put("PFC_Sch", jo.getString("PFC_Sch")); - debugInfoJson.put("PFC_State", jo.getString("PFC_State")); - debugInfoJson.put("License_Info", jo.getString("License_Info")); - debugInfoJson.put("Env_CustomName", jo.getString("Env_CustomName")); - debugInfoJson.put("Env_VehicleType", jo.getString("Env_VehicleType")); - debugInfoJson.put("Env_SoftwareVersion", jo.getString("Env_SoftwareVersion")); - debugInfoJson.put("Remote_Or_HMI_Ctrl", jo.getString("Remote_Or_HMI_Ctrl")); - debugInfoJson.put("CAD_Or_TCS_Ctrl", jo.getString("CAD_Or_TCS_Ctrl")); - debugInfoJson.put("Sche_JSON_Sche_Enable", jo.getString("Sche_JSON_Sche_Enable")); - debugInfoJson.put("VehicleCtrlRealRCEnable", jo.getString("VehicleCtrlRealRCEnable")); - debugInfoJson.put("VehicleCtrlRealJoyEnable", jo.getString("VehicleCtrlRealJoyEnable")); - 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); - 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); - } + Map urlInfo = RosUtil.getRosHostInfo(); + //String result1 = HttpUtil.get("http://localhost:8011/api/pcsIfPurchaseorder/queryApt"); + //String result1 = "{\"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\":0,\"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\":100,\"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")); + 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")); + debugInfoJson.put("Car_Global_ry", jo.getString("Car_Global_ry")); + debugInfoJson.put("Car_Global_Theta", jo.getString("Car_Global_Theta")); + debugInfoJson.put("Lateral_Deviation_m", jo.getString("Lateral_Deviation_m")); + debugInfoJson.put("Vertical_Deviation_deg", jo.getString("Vertical_Deviation_deg")); + debugInfoJson.put("Out_Of_Path_Times", jo.getString("Out_Of_Path_Times")); + debugInfoJson.put("PLC_Warning_Code", jo.getString("PLC_Warning_Code")); + debugInfoJson.put("Min_Dist", jo.getString("Min_Dist")); + debugInfoJson.put("Auto_In_Line_State", jo.getString("Auto_In_Line_State")); + debugInfoJson.put("PathFollow_Enable", jo.getString("PathFollow_Enable")); + debugInfoJson.put("StartNode", jo.getString("StartNode")); + debugInfoJson.put("EndNode", jo.getString("EndNode")); + debugInfoJson.put("RealAutoChargeState", jo.getString("RealAutoChargeState")); + debugInfoJson.put("PWR_Percent", jo.getString("PWR_Percent")); + debugInfoJson.put("SVreal_angle", jo.getString("SVreal_angle")); + debugInfoJson.put("Speedm_Tmp", jo.getString("Speedm_Tmp")); + debugInfoJson.put("VehicleCtrlRealAltitude_mm", jo.getString("VehicleCtrlRealAltitude_mm")); + debugInfoJson.put("ReachState", jo.getString("ReachState")); + debugInfoJson.put("ObstacleDetectState", jo.getString("ObstacleDetectState")); + debugInfoJson.put("ObstacleTouchState", jo.getString("ObstacleTouchState")); + debugInfoJson.put("PWR_Warn", jo.getString("PWR_Warn")); + debugInfoJson.put("VehicleCtrl_CAN_Err_Info", jo.getString("VehicleCtrl_CAN_Err_Info")); + debugInfoJson.put("Curtis_Warning_Code_Speed", jo.getString("Curtis_Warning_Code_Speed")); + debugInfoJson.put("Curtis_Warning_Code_Steer", jo.getString("Curtis_Warning_Code_Steer")); + debugInfoJson.put("VehicleCtrlRealCustomStateByte0", jo.getString("VehicleCtrlRealCustomStateByte0")); + debugInfoJson.put("VehicleCtrlRealCustomStateByte1", jo.getString("VehicleCtrlRealCustomStateByte1")); + debugInfoJson.put("VehicleCtrlRealCustomStateByte2", jo.getString("VehicleCtrlRealCustomStateByte2")); + debugInfoJson.put("VehicleCtrlRealCustomStateByte3", jo.getString("VehicleCtrlRealCustomStateByte3")); + debugInfoJson.put("LastAltitudeExpectValue_mm", jo.getString("LastAltitudeExpectValue_mm")); + debugInfoJson.put("Get_Nav350_Curr_Layer", jo.getString("Get_Nav350_Curr_Layer")); + debugInfoJson.put("Update_Sch", jo.getString("Update_Sch")); + debugInfoJson.put("Update_State", jo.getString("Update_State")); + debugInfoJson.put("Task_Sch", jo.getString("Task_Sch")); + debugInfoJson.put("Task_State", jo.getString("Task_State")); + debugInfoJson.put("PFC_Sch", jo.getString("PFC_Sch")); + debugInfoJson.put("PFC_State", jo.getString("PFC_State")); + debugInfoJson.put("License_Info", jo.getString("License_Info")); + debugInfoJson.put("Env_CustomName", jo.getString("Env_CustomName")); + debugInfoJson.put("Env_VehicleType", jo.getString("Env_VehicleType")); + debugInfoJson.put("Env_SoftwareVersion", jo.getString("Env_SoftwareVersion")); + debugInfoJson.put("Remote_Or_HMI_Ctrl", jo.getString("Remote_Or_HMI_Ctrl")); + debugInfoJson.put("CAD_Or_TCS_Ctrl", jo.getString("CAD_Or_TCS_Ctrl")); + debugInfoJson.put("Sche_JSON_Sche_Enable", jo.getString("Sche_JSON_Sche_Enable")); + debugInfoJson.put("VehicleCtrlRealRCEnable", jo.getString("VehicleCtrlRealRCEnable")); + debugInfoJson.put("VehicleCtrlRealJoyEnable", jo.getString("VehicleCtrlRealJoyEnable")); + 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); + 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); } - debugInfoJson.put("PathFollow_Enable", PathFollow_Enable); - } - catch(Exception e) { - Log.error("通信失败:" + e.getMessage()); - throw new BadRequestException("通信失败，请检查系统参数中的java端口信息"); } + debugInfoJson.put("PathFollow_Enable", PathFollow_Enable); } public void QueryDebuggerInfo2() { @@ -254,134 +259,130 @@ public class HomeServiceImpl implements HomeService{ 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); - // 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(); - 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); - 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); - if(unManFinishTask != null && tasked == null) { - button_code = "1"; - button_name = "确认完成"; - } - if(unManFinishTask != null && tasked != null) { - button_code = "2"; - button_name = "确认完成继续下个任务"; - } - //任务都完成了，但是还有未完成的任务 - if(unManFinishTask == null && tasked != null) { - button_code = "3"; - button_name = "继续搬运"; - } - if(unManFinishTask == null && tasked == null) { - 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")) { - 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); - if(doingtaskjo != null) { + //查询调试信息 + CompletableFuture.runAsync(this::qeryDebuggerInfo, pool); + 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(); + 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); + 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); + if(unManFinishTask != null && tasked == null) { + button_code = "1"; + button_name = "确认完成"; + } + if(unManFinishTask != null && tasked != null) { + button_code = "2"; + button_name = "确认完成继续下个任务"; + } + //任务都完成了，但是还有未完成的任务 + if(unManFinishTask == null && tasked != null) { + button_code = "3"; + button_name = "继续搬运"; + } + if(unManFinishTask == null && tasked == null) { + 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")) { button_code = ""; button_name = ""; } - 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); - 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); - 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); - 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("button_code", button_code); - row.put("button_name", button_name); - returnjo.put("code", "1"); - returnjo.put("desc", "操作成功"); - returnjo.put("result", row); - 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()); + //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); + if(doingtaskjo != null) { + button_code = ""; + button_name = ""; } + 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); + 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); + 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); + 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("button_code", button_code); + row.put("button_name", button_name); + returnjo.put("code", "1"); + returnjo.put("desc", "操作成功"); + returnjo.put("result", row); + return returnjo; } @Override 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 5b02156..4d57ebc 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 @@ -26,11 +26,14 @@ import org.nl.agv.enu.VehicleOperateEnum; import org.nl.agv.service.VehicleInfoService; import org.nl.agv.unit.sendToAgvUtil; import org.nl.modules.common.exception.BadRequestException; +import org.springframework.beans.factory.annotation.Qualifier; import org.springframework.stereotype.Service; +import javax.annotation.Resource; import java.math.BigDecimal; import java.util.HashMap; import java.util.Map; +import java.util.concurrent.ThreadPoolExecutor; /** * @author qinx @@ -39,6 +42,8 @@ import java.util.Map; @Service @RequiredArgsConstructor public class VehicleInfoServiceImpl implements VehicleInfoService{ + + @Override public Map queryRestPoint(Map jsonObject) { ServiceResponse response = sendToAgvUtil.send("GetNodePointManagerTable"); @@ -260,9 +265,9 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{ JSONObject row = new JSONObject(); try { JSONObject debugInfoJson = HomeServiceImpl.debugInfoJson; - //int ObstacleTouchState = debugInfoJson.getInteger("ObstacleTouchState"); + int ObstacleTouchState = debugInfoJson.getInteger("ObstacleTouchState"); //todo 安全触边等传感器状态 ObstacleTouchState 识别不了 - int ObstacleTouchState = 524305; + // int ObstacleTouchState = 524305; int ObstacleDetectState = debugInfoJson.getInteger("ObstacleDetectState"); int VehicleCtrlRealCustomStateByte0 = debugInfoJson.getInteger("VehicleCtrlRealCustomStateByte0"); //避障停车 diff --git a/nladmin-system/src/main/java/org/nl/utils/QueryInfoSchedule.java b/nladmin-system/src/main/java/org/nl/utils/QueryInfoSchedule.java new file mode 100644 index 0000000..95a3eec --- /dev/null +++ b/nladmin-system/src/main/java/org/nl/utils/QueryInfoSchedule.java @@ -0,0 +1,41 @@ +package org.nl.utils; + +import cn.hutool.core.date.StopWatch; +import com.baomidou.mybatisplus.core.conditions.update.LambdaUpdateWrapper; +import lombok.extern.slf4j.Slf4j; +import org.nl.agv.service.HomeService; +import org.springframework.scheduling.annotation.Async; +import org.springframework.scheduling.annotation.EnableScheduling; +import org.springframework.scheduling.annotation.Scheduled; +import org.springframework.stereotype.Component; +import org.springframework.transaction.annotation.Transactional; + +import javax.annotation.Resource; + +/** + * @author gbx + * @date 2023/10/17 + */ +@Component +@Slf4j +@EnableScheduling +public class QueryInfoSchedule{ + @Resource + private HomeService homeService; + + /** + * 定时更新agv状态信息 + * + * @author gbx + * @date 2023/10/17 + */ + //@Async("taskExecutor") + //@Scheduled(cron = "0/10 * * * * *") + public void queryAgvInfo() { + StopWatch stopWatch = new StopWatch(); + stopWatch.start(); + homeService.qeryDebuggerInfo(); + stopWatch.stop(); + System.out.println("查询AGV花费时间---= totalTime = " + stopWatch.getTotalTimeMillis()); + } +}