From fec1a43540ca1358701298820885720d8cbe7310 Mon Sep 17 00:00:00 2001 From: baoge <751575283@qq.com> Date: Fri, 20 Oct 2023 18:17:40 +0800 Subject: [PATCH] =?UTF-8?q?rev:=E6=AD=A3=E5=BC=8F=E7=89=88=E6=9C=AC?= =?UTF-8?q?=E5=8F=91=E5=B8=83=E7=89=88=E6=9C=AC?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../agv/service/impl/VehicleInfoServiceImpl.java | 14 +++++++------- 1 file changed, 7 insertions(+), 7 deletions(-) diff --git a/nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java b/nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java index acc197c..c51334a 100644 --- a/nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java +++ b/nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java @@ -43,8 +43,6 @@ import java.util.concurrent.ThreadPoolExecutor; @Service @RequiredArgsConstructor public class VehicleInfoServiceImpl implements VehicleInfoService{ - - @Override public Map queryRestPoint(Map jsonObject) { ServiceResponse response = sendToAgvUtil.send("GetNodePointManagerTable"); @@ -215,11 +213,12 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{ row.put("y", y); //航向角度 BigDecimal z = new BigDecimal(debugInfoJson.getString("Car_Global_Theta")).setScale(3, RoundingMode.HALF_UP); - row.put("z",z ); + row.put("z", z); row.put("send_speed", debugInfoJson.getString("VehicleCtrlExpThrottle")); row.put("real_speed", debugInfoJson.getString("Speedm_Tmp")); //舵轮角度 - row.put("carrier", debugInfoJson.getString("SVreal_angle")); + BigDecimal u = new BigDecimal(debugInfoJson.getString("SVreal_angle")).setScale(3, RoundingMode.HALF_UP); + row.put("carrier", u); //横向偏差 BigDecimal Lateral_Deviation_m = new BigDecimal(debugInfoJson.getString("Lateral_Deviation_m")).setScale(3, RoundingMode.HALF_UP); row.put("landscape_deviation", Lateral_Deviation_m); @@ -271,10 +270,11 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{ if((ObstacleDetectState >> 1) % 2 == 1) { speedReduction_status = "1"; } + //todo 测试，待调试修改回来 //复位按钮 - if(VehicleCtrlRealCustomStateByte0 % 2 == 1) { - resetButton_status = "1"; - } + // if(VehicleCtrlRealCustomStateByte0 % 2 == 1) { + // resetButton_status = "1"; + // } //安全触边 if((ObstacleTouchState >> 1) % 2 == 1) { securityTentacle_status = "1";