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opt: 修复任务执行与完成判断逻辑，通过点位信息获取状态；

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This commit is contained in:
baoge
2023-12-18 16:12:55 +08:00
parent 1e67172511
commit fe7ab6dfc9
1 changed files with 139 additions and 138 deletions
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277
nladmin-system/src/main/java/org/nl/agv/service/impl/HomeServiceImpl.java
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@@ -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<String, Object> clickSave(Map<String, String> 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<String, String> 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<String, String> 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"));