rev:修改定时刷新AGV信息

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")

nladmin-system/src/main/java/org/nl/agv/service/impl/ErrorServiceImpl.java

@@ -44,41 +44,32 @@ import java.util.stream.Collectors;
 @Service
 @RequiredArgsConstructor
 public class ErrorServiceImpl implements ErrorService{
-
-
      @Override
      public Map<String,Object> querryError(Map<String,String> jsonObject) {
-          String error_status = "无故障";
+          String errorStatus = "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++) {
+          JSONObject debugInfoJson = HomeServiceImpl.debugInfoJson;
-                    if ((Warning_Code >> bitPosition) % 2 == 1) {
+          if(debugInfoJson.size()>0) {
-                         error_status = "有故障";
+               int warningCode = debugInfoJson.getInteger("Warning_Code");
-                         String error_code = "bit" + bitPosition;
+               for(int bitPosition = 0; bitPosition < 28; bitPosition++) {
-                         errorCodeList.add(error_code);
+                    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);
+               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);
+          returnjo.put("error_status", errorStatus);
           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) {
@@ -86,7 +77,6 @@ public class ErrorServiceImpl implements ErrorService{
           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 = "";

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
@@ -49,12 +53,18 @@ 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<String,String> 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}}}}";
@@ -128,11 +138,6 @@ public class HomeServiceImpl implements HomeService{
           }
           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");
-          }
-     }
 
      public void QueryDebuggerInfo2() {
           debugInfoJson = new JSONObject();
@@ -254,7 +259,8 @@ public class HomeServiceImpl implements HomeService{
           String error_name = "正常运行";
           JSONObject returnjo = new JSONObject();
           JSONObject row = new JSONObject();
-          try {
+          //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 = "";
@@ -378,11 +384,6 @@ public class HomeServiceImpl implements HomeService{
           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());
-          }
-     }
 
      @Override
      public Map<String,Object> clickSave(Map<String,String> jsonObject) {

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<String,Object> queryRestPoint(Map<String,String> 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

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());
+     }
+}