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rev:正式版本发布版本

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baoge
2023-10-20 18:17:40 +08:00
parent 312d038818
commit fec1a43540
1 changed files with 7 additions and 7 deletions
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14
nladmin-system/src/main/java/org/nl/agv/service/impl/VehicleInfoServiceImpl.java
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@@ -43,8 +43,6 @@ import java.util.concurrent.ThreadPoolExecutor;
@Service @Service
@RequiredArgsConstructor @RequiredArgsConstructor
public class VehicleInfoServiceImpl implements VehicleInfoService{ public class VehicleInfoServiceImpl implements VehicleInfoService{
@Override @Override
public Map<String,Object> queryRestPoint(Map<String,String> jsonObject) { public Map<String,Object> queryRestPoint(Map<String,String> jsonObject) {
ServiceResponse response = sendToAgvUtil.send("GetNodePointManagerTable"); ServiceResponse response = sendToAgvUtil.send("GetNodePointManagerTable");
@@ -215,11 +213,12 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{
row.put("y", y); row.put("y", y);
//航向角度 //航向角度
BigDecimal z = new BigDecimal(debugInfoJson.getString("Car_Global_Theta")).setScale(3, RoundingMode.HALF_UP); 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("send_speed", debugInfoJson.getString("VehicleCtrlExpThrottle"));
row.put("real_speed", debugInfoJson.getString("Speedm_Tmp")); row.put("real_speed", debugInfoJson.getString("Speedm_Tmp"));
//舵轮角度 //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 //横向偏差
BigDecimal Lateral_Deviation_m = new BigDecimal(debugInfoJson.getString("Lateral_Deviation_m")).setScale(3, RoundingMode.HALF_UP); BigDecimal Lateral_Deviation_m = new BigDecimal(debugInfoJson.getString("Lateral_Deviation_m")).setScale(3, RoundingMode.HALF_UP);
row.put("landscape_deviation", Lateral_Deviation_m); row.put("landscape_deviation", Lateral_Deviation_m);
@@ -271,10 +270,11 @@ public class VehicleInfoServiceImpl implements VehicleInfoService{
if((ObstacleDetectState >> 1) % 2 == 1) { if((ObstacleDetectState >> 1) % 2 == 1) {
speedReduction_status = "1"; speedReduction_status = "1";
} }
//todo 测试，待调试修改回来
//复位按钮 //复位按钮
if(VehicleCtrlRealCustomStateByte0 % 2 == 1) { // if(VehicleCtrlRealCustomStateByte0 % 2 == 1) {
resetButton_status = "1"; // resetButton_status = "1";
} // }
//安全触边 //安全触边
if((ObstacleTouchState >> 1) % 2 == 1) { if((ObstacleTouchState >> 1) % 2 == 1) {
securityTentacle_status = "1"; securityTentacle_status = "1";