From fe7ab6dfc95ed8f0bddb38c1991c438ac6d3ba99 Mon Sep 17 00:00:00 2001 From: baoge <751575283@qq.com> Date: Mon, 18 Dec 2023 16:12:55 +0800 Subject: [PATCH] =?UTF-8?q?opt:=20=E4=BF=AE=E5=A4=8D=E4=BB=BB=E5=8A=A1?= =?UTF-8?q?=E6=89=A7=E8=A1=8C=E4=B8=8E=E5=AE=8C=E6=88=90=E5=88=A4=E6=96=AD?= =?UTF-8?q?=E9=80=BB=E8=BE=91=EF=BC=8C=E9=80=9A=E8=BF=87=E7=82=B9=E4=BD=8D?= =?UTF-8?q?=E4=BF=A1=E6=81=AF=E8=8E=B7=E5=8F=96=E7=8A=B6=E6=80=81=EF=BC=9B?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../nl/agv/service/impl/HomeServiceImpl.java | 277 +++++++++--------- 1 file changed, 139 insertions(+), 138 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 0dff043..e63cc22 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 @@ -43,12 +43,14 @@ import org.springframework.scheduling.annotation.Async; import org.springframework.scheduling.annotation.Scheduled; import org.springframework.stereotype.Service; import org.springframework.transaction.annotation.Transactional; + import javax.annotation.Resource; import java.math.BigDecimal; import java.math.RoundingMode; import java.util.*; import java.util.concurrent.CompletableFuture; import java.util.concurrent.ThreadPoolExecutor; + import static org.nl.common.utils.LangUtils.getLanguage; /** @@ -121,8 +123,8 @@ public class HomeServiceImpl implements HomeService { } else if (taskedOptional.isPresent()) { getTaskInfo(homeInfo, taskedOptional); homeInfo.setTask_status(LangUtils.getLanguage("GenerateNotExecuted", null)); - homeInfo.setEn_task_status(LangUtils.getLanguage("Executing", "en")); - homeInfo.setZh_task_status(LangUtils.getLanguage("Executing", "zh")); + homeInfo.setEn_task_status(LangUtils.getLanguage("GenerateNotExecuted", "en")); + homeInfo.setZh_task_status(LangUtils.getLanguage("GenerateNotExecuted", "zh")); } if (unManFinishTaskOptional.isPresent() && !taskedOptional.isPresent()) { homeInfo.setButton_code("1"); @@ -189,7 +191,7 @@ public class HomeServiceImpl implements HomeService { returnjo.put("result", homeInfo); return returnjo; } catch (Exception e) { - log.error("queryHomePage-查询首页:{}",e.getMessage()); + log.error("queryHomePage-查询首页:{}", e.getMessage()); throw new BadRequestException(e.getMessage() == null ? "queryHomePage:" + LangUtils.getMsgLanguage("CommunicationFail", null) : "queryHomePage:" + e.getMessage()); } } @@ -266,141 +268,141 @@ public class HomeServiceImpl implements HomeService { public Map clickSave(Map jsonObject) { try { - WQLObject taskTable = WQLObject.getWQLObject("ST_TASK_INFO"); - String button_code = jsonObject.get("button_code"); - JSONObject returnjo = new JSONObject(); - //1确认完成 - if (StrUtil.equals(button_code, "1")) { - JSONObject taskjo = taskTable.query("is_delete='0' and task_status='02' and task_type!='2' and is_manualfinished='0'").uniqueResult(0); - if (ObjectUtil.isEmpty(taskjo)) { - returnjo.put("code", "0"); - returnjo.put("desc", LangUtils.getMsgLanguage("TaskNotFind", null)); - return returnjo; - } - taskjo.put("is_manualfinished", "1"); - taskjo.put("update_by", SecurityUtils.getCurrentNickName()); - taskTable.update(taskjo); - } - // 2确认完成继续下个任务 - if (StrUtil.equals(button_code, "2")) { - JSONObject taskjo = taskTable.query("is_delete='0' and task_status='02' and task_type!='2' and is_manualfinished='0'").uniqueResult(0); - if (ObjectUtil.isEmpty(taskjo)) { - returnjo.put("code", "1"); - returnjo.put("desc", LangUtils.getMsgLanguage("TaskNotFind", null)); - return returnjo; - } - taskjo.put("is_manualfinished", "1"); - taskjo.put("update_by", SecurityUtils.getCurrentNickName()); - taskTable.update(taskjo); - //下发下一个任务 - JSONObject nexttaskjo = taskTable.query("is_delete='0' and task_status='00' and task_type!='2' ", "seq_num").uniqueResult(0); - if (ObjectUtil.isEmpty(nexttaskjo)) { - returnjo.put("code", "1"); - returnjo.put("desc", LangUtils.getMsgLanguage("TaskNotFind", null)); - return returnjo; - } - String a = "HMIStepOrRTPathFollow:0;" + nexttaskjo.getString("next_point_code") + ";1#"; - ServiceResponse send = sendToAgvUtil.send(a); - JSONObject resjo = JSONObject.parseObject(send.toString()); - String resultflag = resjo.getString("result"); - if (StrUtil.equals("0", resultflag)) { - //改变任务的状态 - nexttaskjo.put("task_status", "01"); - taskjo.put("task_status_name", getLanguage("Executing", null)); - taskjo.put("en_task_status_name", getLanguage("Executing", "en")); - taskjo.put("zh_task_status_name", getLanguage("Executing", "zh")); - nexttaskjo.put("update_by", SecurityUtils.getCurrentNickName()); - WQLObject.getWQLObject("ST_TASK_INFO").update(nexttaskjo); - } else { - returnjo.put("code", "1"); - returnjo.put("desc", TaskSendBackStatusEnum.getName(resultflag)); - return returnjo; - } - } - // 3继续搬运 - if (StrUtil.equals(button_code, "3")) { - JSONObject nexttaskjo = taskTable.query("is_delete='0' and task_status='00' and task_type!='2' ", "seq_num").uniqueResult(0); - if (ObjectUtil.isEmpty(nexttaskjo)) { - returnjo.put("code", "1"); - returnjo.put("desc", LangUtils.getMsgLanguage("TaskNotFind", null)); - return returnjo; - } - // 下发这个任务 - String a = "HMIStepOrRTPathFollow:0;" + nexttaskjo.getString("next_point_code") + ";1#"; - ServiceResponse send = sendToAgvUtil.send(a); - JSONObject resjo = JSONObject.parseObject(send.toString()); - String resultflag = resjo.getString("result"); - if (StrUtil.equals("0", resultflag)) { - // 改变任务的状态 - nexttaskjo.put("task_status", "01"); - nexttaskjo.put("task_status_name", getLanguage("Executing", null)); - nexttaskjo.put("en_task_status_name", getLanguage("Executing", "en")); - nexttaskjo.put("zh_task_status_name", getLanguage("Executing", "zh")); - nexttaskjo.put("update_by", SecurityUtils.getCurrentNickName()); - WQLObject.getWQLObject("ST_TASK_INFO").update(nexttaskjo); - } else { - returnjo.put("code", "1"); - returnjo.put("desc", TaskSendBackStatusEnum.getName(resultflag)); - return returnjo; - } - } - // 4返回休息点 - if (StrUtil.equals(button_code, "4")) { - TaskServiceServiceImpl taskServiceServiceImpl = new TaskServiceServiceImpl(); - // 查询有没有正在执行的任务，如果有不能生成返回任务 - JSONObject doingtaskjo = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and task_status='01' ").uniqueResult(0); - if (ObjectUtil.isNotEmpty(doingtaskjo)) { - returnjo.put("code", "0"); - returnjo.put("desc", LangUtils.getMsgLanguage("TaskIsCurrently", null)); - return returnjo; - } - String rest_pointcode = (String) taskServiceServiceImpl.queryPoint(new HashMap<>()).get("rest_pointcode"); - JSONObject taskjo = new JSONObject(); - taskjo.put("task_uuid", IdUtil.simpleUUID()); - taskjo.put("task_code", CodeUtil.getNewCode("TASK_NO")); - taskjo.put("task_status", "00"); - taskjo.put("task_status_name", getLanguage("GenerateNotExecuted", null)); - taskjo.put("en_task_status_name", getLanguage("GenerateNotExecuted", "en")); - taskjo.put("zh_task_status_name", getLanguage("GenerateNotExecuted", "zh")); - taskjo.put("task_type_name", getLanguage("ReturnTask", null)); - taskjo.put("en_task_type_name", getLanguage("ReturnTask", "en")); - taskjo.put("zh_task_type_name", getLanguage("ReturnTask", "zh")); - taskjo.put("next_point_code", rest_pointcode); - taskjo.put("task_type", "2"); - taskjo.put("is_delete", "0"); - taskjo.put("seq_num", "1"); - taskjo.put("create_by", SecurityUtils.getCurrentNickName()); - taskjo.put("date", DateUtil.today()); - taskjo.put("create_time", DateUtil.now()); - taskjo.put("is_agvfinished", "0"); - taskjo.put("is_manualfinished", "0"); - - // 下发这个任务 - String a = "HMIStepOrRTPathFollow:0;" + taskjo.getString("next_point_code") + ";1#"; - ServiceResponse send = sendToAgvUtil.send(a); - JSONObject resjo = JSONObject.parseObject(send.toString()); - String resultflag = resjo.getString("result"); - if (StrUtil.equals("0", resultflag)) { - // 改变任务的状态 - taskjo.put("task_status", "01"); + WQLObject taskTable = WQLObject.getWQLObject("ST_TASK_INFO"); + String button_code = jsonObject.get("button_code"); + JSONObject returnjo = new JSONObject(); + //1确认完成 + if (StrUtil.equals(button_code, "1")) { + JSONObject taskjo = taskTable.query("is_delete='0' and task_status='02' and task_type!='2' and is_manualfinished='0'").uniqueResult(0); + if (ObjectUtil.isEmpty(taskjo)) { + returnjo.put("code", "0"); + returnjo.put("desc", LangUtils.getMsgLanguage("TaskNotFind", null)); + return returnjo; + } + taskjo.put("is_manualfinished", "1"); taskjo.put("update_by", SecurityUtils.getCurrentNickName()); - taskjo.put("task_status_name", getLanguage("Executing", null)); - taskjo.put("en_task_status_name", getLanguage("Executing", "en")); - taskjo.put("zh_task_status_name", getLanguage("Executing", "zh")); - } else { - returnjo.put("code", "1"); - returnjo.put("desc", TaskSendBackStatusEnum.getName(resultflag)); - return returnjo; + taskTable.update(taskjo); } - WQLObject.getWQLObject("ST_TASK_INFO").insert(taskjo); - } + // 2确认完成继续下个任务 + if (StrUtil.equals(button_code, "2")) { + JSONObject taskjo = taskTable.query("is_delete='0' and task_status='02' and task_type!='2' and is_manualfinished='0'").uniqueResult(0); + if (ObjectUtil.isEmpty(taskjo)) { + returnjo.put("code", "1"); + returnjo.put("desc", LangUtils.getMsgLanguage("TaskNotFind", null)); + return returnjo; + } + taskjo.put("is_manualfinished", "1"); + taskjo.put("update_by", SecurityUtils.getCurrentNickName()); + taskTable.update(taskjo); + //下发下一个任务 + JSONObject nexttaskjo = taskTable.query("is_delete='0' and task_status='00' and task_type!='2' ", "seq_num").uniqueResult(0); + if (ObjectUtil.isEmpty(nexttaskjo)) { + returnjo.put("code", "1"); + returnjo.put("desc", LangUtils.getMsgLanguage("TaskNotFind", null)); + return returnjo; + } + String a = "HMIStepOrRTPathFollow:0;" + nexttaskjo.getString("next_point_code") + ";1#"; + ServiceResponse send = sendToAgvUtil.send(a); + JSONObject resjo = JSONObject.parseObject(send.toString()); + String resultflag = resjo.getString("result"); + if (StrUtil.equals("0", resultflag)) { + //改变任务的状态 + nexttaskjo.put("task_status", "01"); + taskjo.put("task_status_name", getLanguage("Executing", null)); + taskjo.put("en_task_status_name", getLanguage("Executing", "en")); + taskjo.put("zh_task_status_name", getLanguage("Executing", "zh")); + nexttaskjo.put("update_by", SecurityUtils.getCurrentNickName()); + WQLObject.getWQLObject("ST_TASK_INFO").update(nexttaskjo); + } else { + returnjo.put("code", "1"); + returnjo.put("desc", TaskSendBackStatusEnum.getName(resultflag)); + return returnjo; + } + } + // 3继续搬运 + if (StrUtil.equals(button_code, "3")) { + JSONObject nexttaskjo = taskTable.query("is_delete='0' and task_status='00' and task_type!='2' ", "seq_num").uniqueResult(0); + if (ObjectUtil.isEmpty(nexttaskjo)) { + returnjo.put("code", "1"); + returnjo.put("desc", LangUtils.getMsgLanguage("TaskNotFind", null)); + return returnjo; + } + // 下发这个任务 + String a = "HMIStepOrRTPathFollow:0;" + nexttaskjo.getString("next_point_code") + ";1#"; + ServiceResponse send = sendToAgvUtil.send(a); + JSONObject resjo = JSONObject.parseObject(send.toString()); + String resultflag = resjo.getString("result"); + if (StrUtil.equals("0", resultflag)) { + // 改变任务的状态 + nexttaskjo.put("task_status", "01"); + nexttaskjo.put("task_status_name", getLanguage("Executing", null)); + nexttaskjo.put("en_task_status_name", getLanguage("Executing", "en")); + nexttaskjo.put("zh_task_status_name", getLanguage("Executing", "zh")); + nexttaskjo.put("update_by", SecurityUtils.getCurrentNickName()); + WQLObject.getWQLObject("ST_TASK_INFO").update(nexttaskjo); + } else { + returnjo.put("code", "1"); + returnjo.put("desc", TaskSendBackStatusEnum.getName(resultflag)); + return returnjo; + } + } + // 4返回休息点 + if (StrUtil.equals(button_code, "4")) { + TaskServiceServiceImpl taskServiceServiceImpl = new TaskServiceServiceImpl(); + // 查询有没有正在执行的任务，如果有不能生成返回任务 + JSONObject doingtaskjo = WQLObject.getWQLObject("ST_TASK_INFO").query("is_delete= 0 and task_status='01' ").uniqueResult(0); + if (ObjectUtil.isNotEmpty(doingtaskjo)) { + returnjo.put("code", "0"); + returnjo.put("desc", LangUtils.getMsgLanguage("TaskIsCurrently", null)); + return returnjo; + } + String rest_pointcode = (String) taskServiceServiceImpl.queryPoint(new HashMap<>()).get("rest_pointcode"); + JSONObject taskjo = new JSONObject(); + taskjo.put("task_uuid", IdUtil.simpleUUID()); + taskjo.put("task_code", CodeUtil.getNewCode("TASK_NO")); + taskjo.put("task_status", "00"); + taskjo.put("task_status_name", getLanguage("GenerateNotExecuted", null)); + taskjo.put("en_task_status_name", getLanguage("GenerateNotExecuted", "en")); + taskjo.put("zh_task_status_name", getLanguage("GenerateNotExecuted", "zh")); + taskjo.put("task_type_name", getLanguage("ReturnTask", null)); + taskjo.put("en_task_type_name", getLanguage("ReturnTask", "en")); + taskjo.put("zh_task_type_name", getLanguage("ReturnTask", "zh")); + taskjo.put("next_point_code", rest_pointcode); + taskjo.put("task_type", "2"); + taskjo.put("is_delete", "0"); + taskjo.put("seq_num", "1"); + taskjo.put("create_by", SecurityUtils.getCurrentNickName()); + taskjo.put("date", DateUtil.today()); + taskjo.put("create_time", DateUtil.now()); + taskjo.put("is_agvfinished", "0"); + taskjo.put("is_manualfinished", "0"); - returnjo.put("code", "1"); - returnjo.put("desc", LangUtils.getMsgLanguage("OperationSuccess", null)); - return returnjo; + // 下发这个任务 + String a = "HMIStepOrRTPathFollow:0;" + taskjo.getString("next_point_code") + ";1#"; + ServiceResponse send = sendToAgvUtil.send(a); + JSONObject resjo = JSONObject.parseObject(send.toString()); + String resultflag = resjo.getString("result"); + if (StrUtil.equals("0", resultflag)) { + // 改变任务的状态 + taskjo.put("task_status", "01"); + taskjo.put("update_by", SecurityUtils.getCurrentNickName()); + taskjo.put("task_status_name", getLanguage("Executing", null)); + taskjo.put("en_task_status_name", getLanguage("Executing", "en")); + taskjo.put("zh_task_status_name", getLanguage("Executing", "zh")); + } else { + returnjo.put("code", "1"); + returnjo.put("desc", TaskSendBackStatusEnum.getName(resultflag)); + return returnjo; + } + WQLObject.getWQLObject("ST_TASK_INFO").insert(taskjo); + } + + returnjo.put("code", "1"); + returnjo.put("desc", LangUtils.getMsgLanguage("OperationSuccess", null)); + return returnjo; } catch (Exception e) { - log.error("clickSave-首页确认操作:{}",e.getMessage()); - throw new BadRequestException(e.getMessage() == null ? "clickSave:" + LangUtils.getMsgLanguage("CommunicationFail", null) : "clickSave:"+e.getMessage()); + log.error("clickSave-首页确认操作:{}", e.getMessage()); + throw new BadRequestException(e.getMessage() == null ? "clickSave:" + LangUtils.getMsgLanguage("CommunicationFail", null) : "clickSave:" + e.getMessage()); } } @@ -467,8 +469,6 @@ public class HomeServiceImpl implements HomeService { @Override public void qeryDebuggerInfo() { - //todo RosJons模拟数据用，正式需改回 - //String result1 = HttpUtil.get("http://localhost:8011/api/pcsIfPurchaseorder/queryApt"); Map urlInfo = RosUtil.getRosHostInfo(); String result; if ("prod".equals(isProd)) { @@ -476,6 +476,7 @@ public class HomeServiceImpl implements HomeService { } 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}}}}"; } + //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")); @@ -535,12 +536,10 @@ public class HomeServiceImpl implements HomeService { debugInfoJson.put("VehicleCtrlRealRCEnable", jo.getString("VehicleCtrlRealRCEnable")); debugInfoJson.put("VehicleCtrlRealJoyEnable", jo.getString("VehicleCtrlRealJoyEnable")); debugInfoJson.put("CurNodeID", jo.getString("CurNodeID")); - //handleTaskStatus; } private void qeryDebuggerInfoQuick() { - //todo RosJons模拟数据用，正式需改回 Map urlInfo = RosUtil.getRosHostInfo(); String result; if ("prod".equals(isProd)) { @@ -548,8 +547,10 @@ public class HomeServiceImpl implements HomeService { } 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}}}}"; } + // 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"));