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 2c1f1ba..2ebf494 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 @@ -58,7 +58,7 @@ public class HomeServiceImpl implements HomeService{ Map urlInfo = RosUtil.getRosHostInfo(); //String result1 = HttpUtil.get("http://localhost:8011/api/pcsIfPurchaseorder/queryApt"); //String result1 = HttpUtil.get(urlInfo.get("javaUrl")); - String result1 = "{\n" + " \"Msg_DisplayState\":{\n" + " \"AGV_ID\":255,\n" + " \"Auto_In_Line_State\":0,\n" + " \"Bosch_Car_Global_Theta\":-90.19221757272916,\n" + " \"Bosch_Car_Global_rx\":-1.0619603784858553,\n" + " \"Bosch_Car_Global_ry\":0.0020978358374357303,\n" + " \"Bosch_Loc_State\":-2,\n" + " \"Bosch_No_Rec_State\":0,\n" + " \"Bosch_raw_age\":0.01389455795288086,\n" + " \"Bosch_raw_epoch\":1,\n" + " \"Bosch_raw_locState\":-2,\n" + " \"Bosch_raw_qw\":0.9999999908132869,\n" + " \"Bosch_raw_qx\":0,\n" + " \"Bosch_raw_qy\":0,\n" + " \"Bosch_raw_qz\":0.00013554861104682667,\n" + " \"Bosch_raw_timestamp\":1695633231.1093392,\n" + " \"Bosch_raw_uniqueId\":0,\n" + " \"Bosch_raw_x\":0.0008994877773440588,\n" + " \"Bosch_raw_x_odo\":0.0008994877773440588,\n" + " \"Bosch_raw_y\":0.0006906610801896382,\n" + " \"Bosch_raw_y_odo\":0.0006906610801896382,\n" + " \"Bosch_raw_yaw\":0.00027109722292381746,\n" + " \"Bosch_raw_yaw_odo\":0.0006906610801896382,\n" + " \"Bosch_raw_z\":0,\n" + " \"CAD_Or_TCS_Ctrl\":0,\n" + " \"Car_Global_Theta\":-90.19221757272916,\n" + " \"Car_Global_rx\":-1.0619603784858553,\n" + " \"Car_Global_ry\":0.0020978358374357303,\n" + " \"CurNodeID\":0,\n" + " \"Cur_Stop_Info1_Authorized_Pass\":1,\n" + " \"Cur_Stop_Info1_High_Precious_Enable\":1,\n" + " \"Cur_Stop_Info1_Reached_Stop\":0,\n" + " \"Cur_Stop_Info1_Set_Patht\":0,\n" + " \"Cur_Stop_Info1_Set_Pathx\":0,\n" + " \"Cur_Stop_Info1_Set_Pathy\":0,\n" + " \"Cur_Stop_Info1_Single_Request_Sch\":0,\n" + " \"Cur_Stop_Info1_Single_Stop_Sch\":0,\n" + " \"Cur_Stop_Info1_StopEndNode\":0,\n" + " \"Cur_Stop_Info1_StopStartNode\":0,\n" + " \"Cur_Stop_Info1_Stop_Endt\":0,\n" + " \"Cur_Stop_Info1_Stop_Endx\":0,\n" + " \"Cur_Stop_Info1_Stop_Endy\":0,\n" + " \"Cur_Stop_Info1_Stop_Num\":0,\n" + " \"Cur_Stop_Info2_Authorized_Pass\":1,\n" + " \"Cur_Stop_Info2_High_Precious_Enable\":1,\n" + " \"Cur_Stop_Info2_Reached_Stop\":0,\n" + " \"Cur_Stop_Info2_Set_Patht\":0,\n" + " \"Cur_Stop_Info2_Set_Pathx\":0,\n" + " \"Cur_Stop_Info2_Set_Pathy\":0,\n" + " \"Cur_Stop_Info2_Single_Request_Sch\":0,\n" + " \"Cur_Stop_Info2_Single_Stop_Sch\":0,\n" + " \"Cur_Stop_Info2_StopEndNode\":0,\n" + " \"Cur_Stop_Info2_StopStartNode\":0,\n" + " \"Cur_Stop_Info2_Stop_Endt\":0,\n" + " \"Cur_Stop_Info2_Stop_Endx\":0,\n" + " \"Cur_Stop_Info2_Stop_Endy\":0,\n" + " \"Cur_Stop_Info2_Stop_Num\":0,\n" + " \"Curtis_Warning_Code_Pump\":0,\n" + " \"Curtis_Warning_Code_Speed\":82,\n" + " \"Curtis_Warning_Code_Steer\":0,\n" + " \"EndNode\":0,\n" + " \"Env_CustomName\":\"NobleLift\",\n" + " \"Env_HMIUseJavaApp\":\"true\",\n" + " \"Env_LearnEnable\":\"true\",\n" + " \"Env_Lu_ROS_IP2\":\"\",\n" + " \"Env_SoftwareVersion\":\"[Version]Magic4.1[Info]2023_09_21_20_41_37_Lu_ROS_magic4_waypointab_v31\",\n" + " \"Env_VehicleType\":\"PS10LMT_HuaHai\",\n" + " \"Get_Nav350_Curr_Layer\":0,\n" + " \"Language\":1022739087,\n" + " \"LastAltitudeExpectValue_mm\":0,\n" + " \"LastGantryXExpectValue_mm\":0,\n" + " \"LastGantryYExpectValue_mm\":0,\n" + " \"Lateral_Deviation_m\":119.00021121312,\n" + " \"License_Info\":\"EC060800FFFBEBBF 6B7685747EBC EC060800FFFBEBBF 6B7685747EBC 2021/8/26 13:46:47 2021/8/26 13:46:47 1 UserClass5 Magic4_1\",\n" + " \"LindeAgwSteerCenterPivotPlateAng\":0,\n" + " \"LindeAgwSteerErrorFlag\":0,\n" + " \"LindeAgwSteerModeSelectorState\":0,\n" + " \"LindeAgwTracLiftErrorFlag\":0,\n" + " \"LindeAgwTracLiftModeSelectorState\":0,\n" + " \"LindeDriveErrCode1\":0,\n" + " \"LindeDriveErrCode2\":0,\n" + " \"LindeDriveErrCode3\":0,\n" + " \"LindeDriveErrCode4\":0,\n" + " \"LindeLiftErrCode1\":0,\n" + " \"LindeLiftErrCode2\":0,\n" + " \"LindeLiftErrCode3\":0,\n" + " \"LindeLiftErrCode4\":0,\n" + " \"LindeSteerErrCode1\":0,\n" + " \"LindeSteerErrCode2\":0,\n" + " \"LindeSteerErrCode3\":0,\n" + " \"LindeSteerErrCode4\":0,\n" + " \"Login_Info\":\"\",\n" + " \"Min_Dist\":0,\n" + " \"MissionCompleteAltitude_mm_RemoteOrHMI_FB\":0,\n" + " \"MissionCompleteGantryX_mm_RemoteOrHMI_FB\":0,\n" + " \"MissionCompleteGantryY_mm_RemoteOrHMI_FB\":0,\n" + " \"Navi_Method\":3,\n" + " \"ObstacleDetectState\":0,\n" + " \"ObstacleDetectState\":0,\n" + " \"Out_Of_Path_Times\":0,\n" + " \"PFC_Sch\":0,\n" + " \"PFC_State\":\"[PathFollow_Control_Handle_WLANJSON][PathFollow_Schedule_WLANJSON=0]\\n\",\n" + " \"PLC_Warning_Code\":0,\n" + " \"PWR_Percent\":56,\n" + " \"PWR_Warn\":0,\n" + " \"PathFollow_Enable\":0,\n" + " \"PathFollow_Expect_AltitudeCtrlEnable\":0,\n" + " \"PathFollow_Expect_GantryXCtrlEnable\":0,\n" + " \"PathFollow_Expect_GantryYCtrlEnable\":0,\n" + " \"Plate_Check_Err_Code\":0,\n" + " \"ReachState\":0,\n" + " \"RealAutoChargeState\":0,\n" + " \"Ref_std_rt\":0,\n" + " \"Ref_std_rx\":0,\n" + " \"Ref_std_ry\":0,\n" + " \"Remote_Or_HMI_Ctrl\":1,\n" + " \"SVreal_angle\":55,\n" + " \"Sche_JSON_Sche_Enable\":0,\n" + " \"Speedm_Tmp\":11,\n" + " \"StartNode\":0,\n" + " \"Sub_Warning_Code0\":0,\n" + " \"Sys_Mode\":4,\n" + " \"Task_Sch\":0,\n" + " \"Task_State\":\"\",\n" + " \"Update_Sch\":0,\n" + " \"Update_State\":\"\",\n" + " \"VehicleCtrlExpThrottle\":222,\n" + " \"VehicleCtrlRealAltitude_mm\":998,\n" + " \"VehicleCtrlRealCustomStateByte0\":0,\n" + " \"VehicleCtrlRealCustomStateByte1\":0,\n" + " \"VehicleCtrlRealCustomStateByte2\":0,\n" + " \"VehicleCtrlRealCustomStateByte3\":0,\n" + " \"VehicleCtrlRealGantryX_mm\":0,\n" + " \"VehicleCtrlRealGantryY_mm\":0,\n" + " \"VehicleCtrlRealJoyEnable\":0,\n" + " \"VehicleCtrlRealRCEnable\":0,\n" + " \"VehicleCtrl_CAN_Err_Info\":0,\n" + " \"Vertical_Deviation_deg\":0.232222321,\n" + " \"Warning_Code\":524305,\n" + " \"header\":{\n" + " \"frame_id\":\"\",\n" + " \"seq\":1904,\n" + " \"stamp\":{\n" + " \"nsec\":160948865,\n" + " \"sec\":1695633231\n" + " }\n" + " }\n" + " }\n" + "}"; + 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}}}}"; JSONObject json = JSONObject.parseObject(result1); JSONObject jo = JSONObject.parseObject(json.getString("Msg_DisplayState")); debugInfoJson.put("Msg_Timestamp", jo.getJSONObject("header").getJSONObject("stamp").getString("sec")); @@ -111,6 +111,11 @@ public class HomeServiceImpl implements HomeService{ 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);