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baoge
2023-05-16 20:20:27 +08:00
commit f5f035a657
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28
nladmin-system/src/test/java/org/nl/BaseTest.java Normal file
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package org.nl;
import org.junit.After;
import org.junit.Before;
import org.junit.runner.RunWith;
import org.nl.modules.wql.WQLCore;
import org.springframework.boot.test.context.SpringBootTest;
import org.springframework.test.context.junit4.SpringRunner;
@SpringBootTest(webEnvironment = SpringBootTest.WebEnvironment.RANDOM_PORT)
@RunWith(SpringRunner.class)
public class BaseTest {
@Before
public void init() {
WQLCore.defalutDBName = "eladmin";
WQLCore.ROOT = "org.nl";
try {
WQLCore.init();
} catch (Exception e) {
e.printStackTrace();
}
}
@After
public void after() {
System.out.println("测试结束-----------------");
}
}

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nladmin-system/src/test/java/org/nl/Test2.java Normal file
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package org.nl;
import com.alibaba.fastjson.JSONArray;
import com.alibaba.fastjson.JSONObject;
import edu.wpi.rail.jrosbridge.Ros;
import edu.wpi.rail.jrosbridge.Service;
import edu.wpi.rail.jrosbridge.Topic;
import edu.wpi.rail.jrosbridge.callback.TopicCallback;
import edu.wpi.rail.jrosbridge.messages.Message;
import edu.wpi.rail.jrosbridge.services.ServiceRequest;
import edu.wpi.rail.jrosbridge.services.ServiceResponse;
import jline.internal.Log;
import org.nl.agv.unit.sendToAgvUtil;
public class Test2{
public static void main231(String[] args) {
// Ros ros = new Ros("192.168.200.63", 9290);
try {
Ros ros = new Ros("192.168.200.63", 9999);
ros.connect();
Service addTwoInts = new Service(ros, "/Service_HMIString", "lu_ps20l_msgs/Srv_HMIString");
JSONObject json = new JSONObject();
//IFCONFIG
json.put("HMI_String_Input", "HMIStepOrRTPathFollow:0;18;1#");
//日志列表
//json.put("HMI_String_Input", "GetLogList");
//ros请求列表
//json.put("HMI_String_Input", "GetROSNodeList");
//芯片温度
//json.put("HMI_String_Input", "Temperature");
//获取站点（刘先源写正则表达式）
//json.put("HMI_String_Input", "GetStationFloorIndexTable");
//获取坐标(第二个)
//json.put("HMI_String_Input", "GetNodePointManagerTable");
ServiceRequest request = new ServiceRequest(json.toString());
ServiceResponse response = addTwoInts.callServiceAndWait(request);
System.out.println(response.toString());
ros.disconnect();
}
catch(Exception e) {
Log.error(e.getMessage());
}
}
public static void main3212(String[] args) {
//调试信息
Ros ros = new Ros("192.168.200.63", 9999);
ros.connect();
while(true) {
Topic echoBack = new Topic(ros, "/Topic_Display_State", "lu_ps20l_msgs/Msg_DisplayState");
echoBack.subscribe(new TopicCallback(){
@Override
public void handleMessage(Message message) {
JSONObject jo = JSONObject.parseObject(message.toString());
System.out.println(message.toString());
}
});
}
}
public static void main(String[] args) {
ServiceResponse response = sendToAgvUtil.send("GetStationFloorIndexTable");
String result_info = response.toString();
String a = JSONObject.parseObject(response.toString()).getString("ROS_String_Output");
String[] split = a.split("\\n");
JSONObject json = new JSONObject();
for(int i = 0; i < split.length; i++) {
String row = split[i];
String[] rowArr = row.split("\\s+");
json.put(rowArr[3], rowArr[4].contains("<") ? "" : rowArr[4]);
}
JSONArray arr = new JSONArray();
for(Object key : json.keySet()) {
String value = (String) json.get(key);
System.out.println("Key = " + key + ", Value = " + value);
JSONObject row = new JSONObject();
row.put("point_code", key);
row.put("point_name", value);
arr.add(row);
}
System.out.println(arr);
}
}

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nladmin-system/src/test/java/org/nl/Test3.java Normal file
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package org.nl;
import cn.hutool.http.HttpRequest;
import cn.hutool.http.HttpUtil;
import com.alibaba.fastjson.JSONObject;
import jline.internal.Log;
public class Test3{
public static void main67(String[] args) {
try {
String url = "http://192.168.200.63:9999";
JSONObject json = new JSONObject();
json.put("msg_js_can", "0x101|0x10,0x01,0x04,0x00,0x00,0x00,0x00,0x00");
json.put("srv_HMIString", "GetIP");
String resultMsg = HttpRequest.post(url).body(String.valueOf(json)).execute().body();
JSONObject result = JSONObject.parseObject(resultMsg);
System.out.println(result);
}
catch(Exception e) {
Log.error(e.getMessage());
}
}
public static void main231(String[] args) {
String url = "http://192.168.200.63:9999";
JSONObject json = new JSONObject();
json.put("msg_js_can", "0x101|0x10,0x01,0x04,0x00,0x01,0x00,0x00,0x00");
// json.put("srv_HMIString", "GetIP");
while(true) {
String resultMsg = HttpRequest.post(url).body(String.valueOf(json)).execute().body();
// JSONObject result = JSONObject.fromObject(resultMsg);
System.out.println(resultMsg);
}
}
public static void main(String[] args) {
String url = "http://192.168.200.63:9999";
String result1 = HttpUtil.get(url);
System.out.println(result1);
JSONObject json = JSONObject.parseObject(result1);
JSONObject jo = JSONObject.parseObject(json.getString("Msg_DisplayState"));
System.out.println(jo.parseObject("AGV_ID"));
System.out.println(jo.getJSONObject("header").getJSONObject("stamp").parseObject("sec"));
}
public static void main1233(String[] args) {
int a = 258;
if((258 >> 8) % 2 == 1) {
System.out.println("有异常");
}
System.out.println("测试完毕");
}
}