diff --git a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java index d580b94..64db15b 100644 --- a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java +++ b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java @@ -91,7 +91,7 @@ * @param message 消息体 */ public void sendOneMessage(String userId, String message) { - log.info("【websocket消息】单点消息:" + message); +// log.info("【websocket消息】单点消息:" + message); Session session = sessionPool.get(userId); if (session != null) { try { @@ -110,7 +110,7 @@ * @param obj 消息体 */ public void sendOneObjMessage(String userId, Object obj) { - log.info("【websocket消息】单点消息:" + obj); +// log.info("【websocket消息】单点消息:" + obj); Session session = sessionPool.get(userId); if (session != null) { try { diff --git a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java index d580b94..64db15b 100644 --- a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java +++ b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java @@ -91,7 +91,7 @@ * @param message 消息体 */ public void sendOneMessage(String userId, String message) { - log.info("【websocket消息】单点消息:" + message); +// log.info("【websocket消息】单点消息:" + message); Session session = sessionPool.get(userId); if (session != null) { try { @@ -110,7 +110,7 @@ * @param obj 消息体 */ public void sendOneObjMessage(String userId, Object obj) { - log.info("【websocket消息】单点消息:" + obj); +// log.info("【websocket消息】单点消息:" + obj); Session session = sessionPool.get(userId); if (session != null) { try { diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml index 384707e..96a2312 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml @@ -56,6 +56,6 @@ ${ew.sqlSegment} - order by a.create_time desc - +-- order by a.create_time desc + diff --git a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java index d580b94..64db15b 100644 --- a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java +++ b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java @@ -91,7 +91,7 @@ * @param message 消息体 */ public void sendOneMessage(String userId, String message) { - log.info("【websocket消息】单点消息:" + message); +// log.info("【websocket消息】单点消息:" + message); Session session = sessionPool.get(userId); if (session != null) { try { @@ -110,7 +110,7 @@ * @param obj 消息体 */ public void sendOneObjMessage(String userId, Object obj) { - log.info("【websocket消息】单点消息:" + obj); +// log.info("【websocket消息】单点消息:" + obj); Session session = sessionPool.get(userId); if (session != null) { try { diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml index 384707e..96a2312 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml @@ -56,6 +56,6 @@ ${ew.sqlSegment} - order by a.create_time desc - +-- order by a.create_time desc + diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java index 156fbcc..41879dd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java @@ -48,7 +48,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(jsonObject.get("msg")); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } } catch (Exception e) { @@ -70,7 +70,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(message); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); diff --git a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java index d580b94..64db15b 100644 --- a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java +++ b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java @@ -91,7 +91,7 @@ * @param message 消息体 */ public void sendOneMessage(String userId, String message) { - log.info("【websocket消息】单点消息:" + message); +// log.info("【websocket消息】单点消息:" + message); Session session = sessionPool.get(userId); if (session != null) { try { @@ -110,7 +110,7 @@ * @param obj 消息体 */ public void sendOneObjMessage(String userId, Object obj) { - log.info("【websocket消息】单点消息:" + obj); +// log.info("【websocket消息】单点消息:" + obj); Session session = sessionPool.get(userId); if (session != null) { try { diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml index 384707e..96a2312 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml @@ -56,6 +56,6 @@ ${ew.sqlSegment} - order by a.create_time desc - +-- order by a.create_time desc + diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java index 156fbcc..41879dd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java @@ -48,7 +48,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(jsonObject.get("msg")); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } } catch (Exception e) { @@ -70,7 +70,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(message); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java index aba1a57..316fd8f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java @@ -28,7 +28,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppNavPause(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java index d580b94..64db15b 100644 --- a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java +++ b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java @@ -91,7 +91,7 @@ * @param message 消息体 */ public void sendOneMessage(String userId, String message) { - log.info("【websocket消息】单点消息:" + message); +// log.info("【websocket消息】单点消息:" + message); Session session = sessionPool.get(userId); if (session != null) { try { @@ -110,7 +110,7 @@ * @param obj 消息体 */ public void sendOneObjMessage(String userId, Object obj) { - log.info("【websocket消息】单点消息:" + obj); +// log.info("【websocket消息】单点消息:" + obj); Session session = sessionPool.get(userId); if (session != null) { try { diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml index 384707e..96a2312 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml @@ -56,6 +56,6 @@ ${ew.sqlSegment} - order by a.create_time desc - +-- order by a.create_time desc + diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java index 156fbcc..41879dd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java @@ -48,7 +48,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(jsonObject.get("msg")); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } } catch (Exception e) { @@ -70,7 +70,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(message); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java index aba1a57..316fd8f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java @@ -28,7 +28,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppNavPause(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java index 9bf1ce4..83d1d39 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java @@ -20,7 +20,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppStopNavtrack(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java index d580b94..64db15b 100644 --- a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java +++ b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java @@ -91,7 +91,7 @@ * @param message 消息体 */ public void sendOneMessage(String userId, String message) { - log.info("【websocket消息】单点消息:" + message); +// log.info("【websocket消息】单点消息:" + message); Session session = sessionPool.get(userId); if (session != null) { try { @@ -110,7 +110,7 @@ * @param obj 消息体 */ public void sendOneObjMessage(String userId, Object obj) { - log.info("【websocket消息】单点消息:" + obj); +// log.info("【websocket消息】单点消息:" + obj); Session session = sessionPool.get(userId); if (session != null) { try { diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml index 384707e..96a2312 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml @@ -56,6 +56,6 @@ ${ew.sqlSegment} - order by a.create_time desc - +-- order by a.create_time desc + diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java index 156fbcc..41879dd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java @@ -48,7 +48,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(jsonObject.get("msg")); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } } catch (Exception e) { @@ -70,7 +70,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(message); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java index aba1a57..316fd8f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java @@ -28,7 +28,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppNavPause(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java index 9bf1ce4..83d1d39 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java @@ -20,7 +20,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppStopNavtrack(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java index a184866..3a19ebe 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java @@ -35,8 +35,6 @@ if (val > 30) { index.put("index" , 0); statusInfoService.saveSensorStatus(robotId, message); - RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); - sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); } } } diff --git a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java index d580b94..64db15b 100644 --- a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java +++ b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java @@ -91,7 +91,7 @@ * @param message 消息体 */ public void sendOneMessage(String userId, String message) { - log.info("【websocket消息】单点消息:" + message); +// log.info("【websocket消息】单点消息:" + message); Session session = sessionPool.get(userId); if (session != null) { try { @@ -110,7 +110,7 @@ * @param obj 消息体 */ public void sendOneObjMessage(String userId, Object obj) { - log.info("【websocket消息】单点消息:" + obj); +// log.info("【websocket消息】单点消息:" + obj); Session session = sessionPool.get(userId); if (session != null) { try { diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml index 384707e..96a2312 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml @@ -56,6 +56,6 @@ ${ew.sqlSegment} - order by a.create_time desc - +-- order by a.create_time desc + diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java index 156fbcc..41879dd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java @@ -48,7 +48,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(jsonObject.get("msg")); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } } catch (Exception e) { @@ -70,7 +70,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(message); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java index aba1a57..316fd8f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java @@ -28,7 +28,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppNavPause(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java index 9bf1ce4..83d1d39 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java @@ -20,7 +20,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppStopNavtrack(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java index a184866..3a19ebe 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java @@ -35,8 +35,6 @@ if (val > 30) { index.put("index" , 0); statusInfoService.saveSensorStatus(robotId, message); - RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); - sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java index 6fdec61..3acf1d7 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java @@ -25,8 +25,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------急停状态信息反馈:{}", message); statusInfoService.saveStopState(robotId, message); - sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); +// sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java index d580b94..64db15b 100644 --- a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java +++ b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java @@ -91,7 +91,7 @@ * @param message 消息体 */ public void sendOneMessage(String userId, String message) { - log.info("【websocket消息】单点消息:" + message); +// log.info("【websocket消息】单点消息:" + message); Session session = sessionPool.get(userId); if (session != null) { try { @@ -110,7 +110,7 @@ * @param obj 消息体 */ public void sendOneObjMessage(String userId, Object obj) { - log.info("【websocket消息】单点消息:" + obj); +// log.info("【websocket消息】单点消息:" + obj); Session session = sessionPool.get(userId); if (session != null) { try { diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml index 384707e..96a2312 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml @@ -56,6 +56,6 @@ ${ew.sqlSegment} - order by a.create_time desc - +-- order by a.create_time desc + diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java index 156fbcc..41879dd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java @@ -48,7 +48,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(jsonObject.get("msg")); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } } catch (Exception e) { @@ -70,7 +70,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(message); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java index aba1a57..316fd8f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java @@ -28,7 +28,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppNavPause(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java index 9bf1ce4..83d1d39 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java @@ -20,7 +20,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppStopNavtrack(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java index a184866..3a19ebe 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java @@ -35,8 +35,6 @@ if (val > 30) { index.put("index" , 0); statusInfoService.saveSensorStatus(robotId, message); - RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); - sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java index 6fdec61..3acf1d7 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java @@ -25,8 +25,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------急停状态信息反馈:{}", message); statusInfoService.saveStopState(robotId, message); - sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); +// sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java index 70f02a3..ad0eda8 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java @@ -1,5 +1,6 @@ package com.casic.missiles.modular.robot.opt.handler.msg; +import com.casic.missiles.modular.robot.model.RobotStatusInfo; import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums; import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler; import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; @@ -25,8 +26,15 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------电压信息反馈:{}", message); +// log.info("----------------------电压信息反馈:{}", message); statusInfoService.saveVoltageResponseMessage(robotId, message); sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); + try{ + + RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); + sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); + }catch (Exception e){ + e.printStackTrace(); + } } } diff --git a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java index d580b94..64db15b 100644 --- a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java +++ b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java @@ -91,7 +91,7 @@ * @param message 消息体 */ public void sendOneMessage(String userId, String message) { - log.info("【websocket消息】单点消息:" + message); +// log.info("【websocket消息】单点消息:" + message); Session session = sessionPool.get(userId); if (session != null) { try { @@ -110,7 +110,7 @@ * @param obj 消息体 */ public void sendOneObjMessage(String userId, Object obj) { - log.info("【websocket消息】单点消息:" + obj); +// log.info("【websocket消息】单点消息:" + obj); Session session = sessionPool.get(userId); if (session != null) { try { diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml index 384707e..96a2312 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml @@ -56,6 +56,6 @@ ${ew.sqlSegment} - order by a.create_time desc - +-- order by a.create_time desc + diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java index 156fbcc..41879dd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java @@ -48,7 +48,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(jsonObject.get("msg")); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } } catch (Exception e) { @@ -70,7 +70,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(message); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java index aba1a57..316fd8f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java @@ -28,7 +28,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppNavPause(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java index 9bf1ce4..83d1d39 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java @@ -20,7 +20,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppStopNavtrack(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java index a184866..3a19ebe 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java @@ -35,8 +35,6 @@ if (val > 30) { index.put("index" , 0); statusInfoService.saveSensorStatus(robotId, message); - RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); - sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java index 6fdec61..3acf1d7 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java @@ -25,8 +25,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------急停状态信息反馈:{}", message); statusInfoService.saveStopState(robotId, message); - sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); +// sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java index 70f02a3..ad0eda8 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java @@ -1,5 +1,6 @@ package com.casic.missiles.modular.robot.opt.handler.msg; +import com.casic.missiles.modular.robot.model.RobotStatusInfo; import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums; import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler; import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; @@ -25,8 +26,15 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------电压信息反馈:{}", message); +// log.info("----------------------电压信息反馈:{}", message); statusInfoService.saveVoltageResponseMessage(robotId, message); sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); + try{ + + RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); + sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); + }catch (Exception e){ + e.printStackTrace(); + } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java index 7358ac7..1ebbfdd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java @@ -108,22 +108,26 @@ @Transactional @Override public void reloadTrack(BaseRobotCmdDTO dto) { - //线路读取 - TrackListRequest trackListRequest = new TrackListRequest(); - trackListRequest.setRobotId(dto.getRobotId()); - trackListRequest.setSn(dto.getRobotId() + ""); - ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); - //线路关键点读取 - if (requestDTO.getData() != null) { - for (RouteInfo routeInfo : requestDTO.getData()) { - TrackPointListRequest request = new TrackPointListRequest(); - request.setRobotId(routeInfo.getRobotId()); - request.setSn(routeInfo.getRobotId() + ""); - request.setTrack_name(routeInfo.getTargetId()); -// execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); - //机器人路线读取 - robotInfoService.loadTrack(routeInfo); + try { + //线路读取 + TrackListRequest trackListRequest = new TrackListRequest(); + trackListRequest.setRobotId(dto.getRobotId()); + trackListRequest.setSn(dto.getRobotId() + ""); + ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); + //线路关键点读取 + if (requestDTO.getData() != null) { + for (RouteInfo routeInfo : requestDTO.getData()) { + TrackPointListRequest request = new TrackPointListRequest(); + request.setRobotId(routeInfo.getRobotId()); + request.setSn(routeInfo.getRobotId() + ""); + request.setTrack_name(routeInfo.getTargetId()); + execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); + //机器人路线读取 + robotInfoService.loadTrack(routeInfo); + } } + } catch (Exception e) { + e.printStackTrace(); } } diff --git a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java index d580b94..64db15b 100644 --- a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java +++ b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java @@ -91,7 +91,7 @@ * @param message 消息体 */ public void sendOneMessage(String userId, String message) { - log.info("【websocket消息】单点消息:" + message); +// log.info("【websocket消息】单点消息:" + message); Session session = sessionPool.get(userId); if (session != null) { try { @@ -110,7 +110,7 @@ * @param obj 消息体 */ public void sendOneObjMessage(String userId, Object obj) { - log.info("【websocket消息】单点消息:" + obj); +// log.info("【websocket消息】单点消息:" + obj); Session session = sessionPool.get(userId); if (session != null) { try { diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml index 384707e..96a2312 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml @@ -56,6 +56,6 @@ ${ew.sqlSegment} - order by a.create_time desc - +-- order by a.create_time desc + diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java index 156fbcc..41879dd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java @@ -48,7 +48,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(jsonObject.get("msg")); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } } catch (Exception e) { @@ -70,7 +70,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(message); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java index aba1a57..316fd8f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java @@ -28,7 +28,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppNavPause(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java index 9bf1ce4..83d1d39 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java @@ -20,7 +20,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppStopNavtrack(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java index a184866..3a19ebe 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java @@ -35,8 +35,6 @@ if (val > 30) { index.put("index" , 0); statusInfoService.saveSensorStatus(robotId, message); - RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); - sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java index 6fdec61..3acf1d7 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java @@ -25,8 +25,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------急停状态信息反馈:{}", message); statusInfoService.saveStopState(robotId, message); - sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); +// sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java index 70f02a3..ad0eda8 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java @@ -1,5 +1,6 @@ package com.casic.missiles.modular.robot.opt.handler.msg; +import com.casic.missiles.modular.robot.model.RobotStatusInfo; import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums; import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler; import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; @@ -25,8 +26,15 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------电压信息反馈:{}", message); +// log.info("----------------------电压信息反馈:{}", message); statusInfoService.saveVoltageResponseMessage(robotId, message); sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); + try{ + + RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); + sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); + }catch (Exception e){ + e.printStackTrace(); + } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java index 7358ac7..1ebbfdd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java @@ -108,22 +108,26 @@ @Transactional @Override public void reloadTrack(BaseRobotCmdDTO dto) { - //线路读取 - TrackListRequest trackListRequest = new TrackListRequest(); - trackListRequest.setRobotId(dto.getRobotId()); - trackListRequest.setSn(dto.getRobotId() + ""); - ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); - //线路关键点读取 - if (requestDTO.getData() != null) { - for (RouteInfo routeInfo : requestDTO.getData()) { - TrackPointListRequest request = new TrackPointListRequest(); - request.setRobotId(routeInfo.getRobotId()); - request.setSn(routeInfo.getRobotId() + ""); - request.setTrack_name(routeInfo.getTargetId()); -// execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); - //机器人路线读取 - robotInfoService.loadTrack(routeInfo); + try { + //线路读取 + TrackListRequest trackListRequest = new TrackListRequest(); + trackListRequest.setRobotId(dto.getRobotId()); + trackListRequest.setSn(dto.getRobotId() + ""); + ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); + //线路关键点读取 + if (requestDTO.getData() != null) { + for (RouteInfo routeInfo : requestDTO.getData()) { + TrackPointListRequest request = new TrackPointListRequest(); + request.setRobotId(routeInfo.getRobotId()); + request.setSn(routeInfo.getRobotId() + ""); + request.setTrack_name(routeInfo.getTargetId()); + execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); + //机器人路线读取 + robotInfoService.loadTrack(routeInfo); + } } + } catch (Exception e) { + e.printStackTrace(); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java index d0516e9..26ff617 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java @@ -13,4 +13,6 @@ @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String") private Integer action; + + private String data_name="test_name"; } diff --git a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java index d580b94..64db15b 100644 --- a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java +++ b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java @@ -91,7 +91,7 @@ * @param message 消息体 */ public void sendOneMessage(String userId, String message) { - log.info("【websocket消息】单点消息:" + message); +// log.info("【websocket消息】单点消息:" + message); Session session = sessionPool.get(userId); if (session != null) { try { @@ -110,7 +110,7 @@ * @param obj 消息体 */ public void sendOneObjMessage(String userId, Object obj) { - log.info("【websocket消息】单点消息:" + obj); +// log.info("【websocket消息】单点消息:" + obj); Session session = sessionPool.get(userId); if (session != null) { try { diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml index 384707e..96a2312 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml @@ -56,6 +56,6 @@ ${ew.sqlSegment} - order by a.create_time desc - +-- order by a.create_time desc + diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java index 156fbcc..41879dd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java @@ -48,7 +48,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(jsonObject.get("msg")); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } } catch (Exception e) { @@ -70,7 +70,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(message); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java index aba1a57..316fd8f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java @@ -28,7 +28,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppNavPause(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java index 9bf1ce4..83d1d39 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java @@ -20,7 +20,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppStopNavtrack(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java index a184866..3a19ebe 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java @@ -35,8 +35,6 @@ if (val > 30) { index.put("index" , 0); statusInfoService.saveSensorStatus(robotId, message); - RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); - sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java index 6fdec61..3acf1d7 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java @@ -25,8 +25,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------急停状态信息反馈:{}", message); statusInfoService.saveStopState(robotId, message); - sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); +// sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java index 70f02a3..ad0eda8 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java @@ -1,5 +1,6 @@ package com.casic.missiles.modular.robot.opt.handler.msg; +import com.casic.missiles.modular.robot.model.RobotStatusInfo; import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums; import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler; import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; @@ -25,8 +26,15 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------电压信息反馈:{}", message); +// log.info("----------------------电压信息反馈:{}", message); statusInfoService.saveVoltageResponseMessage(robotId, message); sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); + try{ + + RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); + sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); + }catch (Exception e){ + e.printStackTrace(); + } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java index 7358ac7..1ebbfdd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java @@ -108,22 +108,26 @@ @Transactional @Override public void reloadTrack(BaseRobotCmdDTO dto) { - //线路读取 - TrackListRequest trackListRequest = new TrackListRequest(); - trackListRequest.setRobotId(dto.getRobotId()); - trackListRequest.setSn(dto.getRobotId() + ""); - ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); - //线路关键点读取 - if (requestDTO.getData() != null) { - for (RouteInfo routeInfo : requestDTO.getData()) { - TrackPointListRequest request = new TrackPointListRequest(); - request.setRobotId(routeInfo.getRobotId()); - request.setSn(routeInfo.getRobotId() + ""); - request.setTrack_name(routeInfo.getTargetId()); -// execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); - //机器人路线读取 - robotInfoService.loadTrack(routeInfo); + try { + //线路读取 + TrackListRequest trackListRequest = new TrackListRequest(); + trackListRequest.setRobotId(dto.getRobotId()); + trackListRequest.setSn(dto.getRobotId() + ""); + ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); + //线路关键点读取 + if (requestDTO.getData() != null) { + for (RouteInfo routeInfo : requestDTO.getData()) { + TrackPointListRequest request = new TrackPointListRequest(); + request.setRobotId(routeInfo.getRobotId()); + request.setSn(routeInfo.getRobotId() + ""); + request.setTrack_name(routeInfo.getTargetId()); + execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); + //机器人路线读取 + robotInfoService.loadTrack(routeInfo); + } } + } catch (Exception e) { + e.printStackTrace(); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java index d0516e9..26ff617 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java @@ -13,4 +13,6 @@ @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String") private Integer action; + + private String data_name="test_name"; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java index 5588167..a18321b 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java @@ -22,4 +22,6 @@ @ApiModelProperty(value = "关键点名称", dataType = "String", hidden = true) private String taskpoint_name; + private String obs_mode="1"; + } diff --git a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java index d580b94..64db15b 100644 --- a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java +++ b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java @@ -91,7 +91,7 @@ * @param message 消息体 */ public void sendOneMessage(String userId, String message) { - log.info("【websocket消息】单点消息:" + message); +// log.info("【websocket消息】单点消息:" + message); Session session = sessionPool.get(userId); if (session != null) { try { @@ -110,7 +110,7 @@ * @param obj 消息体 */ public void sendOneObjMessage(String userId, Object obj) { - log.info("【websocket消息】单点消息:" + obj); +// log.info("【websocket消息】单点消息:" + obj); Session session = sessionPool.get(userId); if (session != null) { try { diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml index 384707e..96a2312 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml @@ -56,6 +56,6 @@ ${ew.sqlSegment} - order by a.create_time desc - +-- order by a.create_time desc + diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java index 156fbcc..41879dd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java @@ -48,7 +48,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(jsonObject.get("msg")); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } } catch (Exception e) { @@ -70,7 +70,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(message); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java index aba1a57..316fd8f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java @@ -28,7 +28,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppNavPause(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java index 9bf1ce4..83d1d39 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java @@ -20,7 +20,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppStopNavtrack(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java index a184866..3a19ebe 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java @@ -35,8 +35,6 @@ if (val > 30) { index.put("index" , 0); statusInfoService.saveSensorStatus(robotId, message); - RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); - sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java index 6fdec61..3acf1d7 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java @@ -25,8 +25,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------急停状态信息反馈:{}", message); statusInfoService.saveStopState(robotId, message); - sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); +// sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java index 70f02a3..ad0eda8 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java @@ -1,5 +1,6 @@ package com.casic.missiles.modular.robot.opt.handler.msg; +import com.casic.missiles.modular.robot.model.RobotStatusInfo; import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums; import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler; import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; @@ -25,8 +26,15 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------电压信息反馈:{}", message); +// log.info("----------------------电压信息反馈:{}", message); statusInfoService.saveVoltageResponseMessage(robotId, message); sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); + try{ + + RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); + sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); + }catch (Exception e){ + e.printStackTrace(); + } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java index 7358ac7..1ebbfdd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java @@ -108,22 +108,26 @@ @Transactional @Override public void reloadTrack(BaseRobotCmdDTO dto) { - //线路读取 - TrackListRequest trackListRequest = new TrackListRequest(); - trackListRequest.setRobotId(dto.getRobotId()); - trackListRequest.setSn(dto.getRobotId() + ""); - ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); - //线路关键点读取 - if (requestDTO.getData() != null) { - for (RouteInfo routeInfo : requestDTO.getData()) { - TrackPointListRequest request = new TrackPointListRequest(); - request.setRobotId(routeInfo.getRobotId()); - request.setSn(routeInfo.getRobotId() + ""); - request.setTrack_name(routeInfo.getTargetId()); -// execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); - //机器人路线读取 - robotInfoService.loadTrack(routeInfo); + try { + //线路读取 + TrackListRequest trackListRequest = new TrackListRequest(); + trackListRequest.setRobotId(dto.getRobotId()); + trackListRequest.setSn(dto.getRobotId() + ""); + ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); + //线路关键点读取 + if (requestDTO.getData() != null) { + for (RouteInfo routeInfo : requestDTO.getData()) { + TrackPointListRequest request = new TrackPointListRequest(); + request.setRobotId(routeInfo.getRobotId()); + request.setSn(routeInfo.getRobotId() + ""); + request.setTrack_name(routeInfo.getTargetId()); + execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); + //机器人路线读取 + robotInfoService.loadTrack(routeInfo); + } } + } catch (Exception e) { + e.printStackTrace(); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java index d0516e9..26ff617 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java @@ -13,4 +13,6 @@ @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String") private Integer action; + + private String data_name="test_name"; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java index 5588167..a18321b 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java @@ -22,4 +22,6 @@ @ApiModelProperty(value = "关键点名称", dataType = "String", hidden = true) private String taskpoint_name; + private String obs_mode="1"; + } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java index 6e42f41..a7b4174 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java @@ -54,7 +54,6 @@ */ @Override public void messageArrived(String topic, MqttMessage message) throws Exception { - log.info("{} msg:{}",topic,message.toString()); if (SpringContextHolder.containsBean(topic)) { IBaseMsgHandler cls = SpringContextHolder.getBean(topic); cls.process(mqttClientId, topic, message); diff --git a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java index d580b94..64db15b 100644 --- a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java +++ b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java @@ -91,7 +91,7 @@ * @param message 消息体 */ public void sendOneMessage(String userId, String message) { - log.info("【websocket消息】单点消息:" + message); +// log.info("【websocket消息】单点消息:" + message); Session session = sessionPool.get(userId); if (session != null) { try { @@ -110,7 +110,7 @@ * @param obj 消息体 */ public void sendOneObjMessage(String userId, Object obj) { - log.info("【websocket消息】单点消息:" + obj); +// log.info("【websocket消息】单点消息:" + obj); Session session = sessionPool.get(userId); if (session != null) { try { diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml index 384707e..96a2312 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml @@ -56,6 +56,6 @@ ${ew.sqlSegment} - order by a.create_time desc - +-- order by a.create_time desc + diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java index 156fbcc..41879dd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java @@ -48,7 +48,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(jsonObject.get("msg")); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } } catch (Exception e) { @@ -70,7 +70,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(message); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java index aba1a57..316fd8f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java @@ -28,7 +28,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppNavPause(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java index 9bf1ce4..83d1d39 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java @@ -20,7 +20,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppStopNavtrack(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java index a184866..3a19ebe 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java @@ -35,8 +35,6 @@ if (val > 30) { index.put("index" , 0); statusInfoService.saveSensorStatus(robotId, message); - RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); - sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java index 6fdec61..3acf1d7 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java @@ -25,8 +25,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------急停状态信息反馈:{}", message); statusInfoService.saveStopState(robotId, message); - sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); +// sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java index 70f02a3..ad0eda8 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java @@ -1,5 +1,6 @@ package com.casic.missiles.modular.robot.opt.handler.msg; +import com.casic.missiles.modular.robot.model.RobotStatusInfo; import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums; import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler; import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; @@ -25,8 +26,15 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------电压信息反馈:{}", message); +// log.info("----------------------电压信息反馈:{}", message); statusInfoService.saveVoltageResponseMessage(robotId, message); sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); + try{ + + RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); + sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); + }catch (Exception e){ + e.printStackTrace(); + } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java index 7358ac7..1ebbfdd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java @@ -108,22 +108,26 @@ @Transactional @Override public void reloadTrack(BaseRobotCmdDTO dto) { - //线路读取 - TrackListRequest trackListRequest = new TrackListRequest(); - trackListRequest.setRobotId(dto.getRobotId()); - trackListRequest.setSn(dto.getRobotId() + ""); - ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); - //线路关键点读取 - if (requestDTO.getData() != null) { - for (RouteInfo routeInfo : requestDTO.getData()) { - TrackPointListRequest request = new TrackPointListRequest(); - request.setRobotId(routeInfo.getRobotId()); - request.setSn(routeInfo.getRobotId() + ""); - request.setTrack_name(routeInfo.getTargetId()); -// execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); - //机器人路线读取 - robotInfoService.loadTrack(routeInfo); + try { + //线路读取 + TrackListRequest trackListRequest = new TrackListRequest(); + trackListRequest.setRobotId(dto.getRobotId()); + trackListRequest.setSn(dto.getRobotId() + ""); + ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); + //线路关键点读取 + if (requestDTO.getData() != null) { + for (RouteInfo routeInfo : requestDTO.getData()) { + TrackPointListRequest request = new TrackPointListRequest(); + request.setRobotId(routeInfo.getRobotId()); + request.setSn(routeInfo.getRobotId() + ""); + request.setTrack_name(routeInfo.getTargetId()); + execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); + //机器人路线读取 + robotInfoService.loadTrack(routeInfo); + } } + } catch (Exception e) { + e.printStackTrace(); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java index d0516e9..26ff617 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java @@ -13,4 +13,6 @@ @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String") private Integer action; + + private String data_name="test_name"; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java index 5588167..a18321b 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java @@ -22,4 +22,6 @@ @ApiModelProperty(value = "关键点名称", dataType = "String", hidden = true) private String taskpoint_name; + private String obs_mode="1"; + } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java index 6e42f41..a7b4174 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java @@ -54,7 +54,6 @@ */ @Override public void messageArrived(String topic, MqttMessage message) throws Exception { - log.info("{} msg:{}",topic,message.toString()); if (SpringContextHolder.containsBean(topic)) { IBaseMsgHandler cls = SpringContextHolder.getBean(topic); cls.process(mqttClientId, topic, message); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java index e2ef771..a187d6e 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java @@ -149,9 +149,9 @@ */ @Override public void saveProcessMessage(String robotId, MqttMessage message) { - String json = new String(message.getPayload()); - RobotResponseDTO responseDTO = JSON.parseObject(json, new TypeReference>() { - }); +// String json = new String(message.getPayload()); + + RobotResponseDTO responseDTO = parseJson(message, new TypeReference>(){}); if (responseDTO.getMsg() != null) { UpdateWrapper query = new UpdateWrapper<>(); ProcessMessageResponseDTO msg = responseDTO.getMsg(); @@ -230,7 +230,7 @@ public void saveStopState(String robotId, MqttMessage message) { RobotResponseDTO responseDTO = parseJson(message, new TypeReference>(){}); if (responseDTO != null && responseDTO.getMsg() != null) { - log.info("急停状态保存：{}", responseDTO.getMsg()); +// log.info("急停状态保存：{}", responseDTO.getMsg()); LambdaUpdateWrapper query = new LambdaUpdateWrapper<>(); query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton()); query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision()); @@ -298,7 +298,7 @@ json = json.substring(0, json.length() - 1); } json = json.replaceAll("\\\\", ""); - log.info(json); +// log.info(json); RobotResponseDTO responseDTO = JSON.parseObject(json, cls); return responseDTO; } diff --git a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java index d580b94..64db15b 100644 --- a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java +++ b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java @@ -91,7 +91,7 @@ * @param message 消息体 */ public void sendOneMessage(String userId, String message) { - log.info("【websocket消息】单点消息:" + message); +// log.info("【websocket消息】单点消息:" + message); Session session = sessionPool.get(userId); if (session != null) { try { @@ -110,7 +110,7 @@ * @param obj 消息体 */ public void sendOneObjMessage(String userId, Object obj) { - log.info("【websocket消息】单点消息:" + obj); +// log.info("【websocket消息】单点消息:" + obj); Session session = sessionPool.get(userId); if (session != null) { try { diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml index 384707e..96a2312 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml @@ -56,6 +56,6 @@ ${ew.sqlSegment} - order by a.create_time desc - +-- order by a.create_time desc + diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java index 156fbcc..41879dd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java @@ -48,7 +48,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(jsonObject.get("msg")); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } } catch (Exception e) { @@ -70,7 +70,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(message); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java index aba1a57..316fd8f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java @@ -28,7 +28,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppNavPause(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java index 9bf1ce4..83d1d39 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java @@ -20,7 +20,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppStopNavtrack(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java index a184866..3a19ebe 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java @@ -35,8 +35,6 @@ if (val > 30) { index.put("index" , 0); statusInfoService.saveSensorStatus(robotId, message); - RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); - sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java index 6fdec61..3acf1d7 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java @@ -25,8 +25,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------急停状态信息反馈:{}", message); statusInfoService.saveStopState(robotId, message); - sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); +// sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java index 70f02a3..ad0eda8 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java @@ -1,5 +1,6 @@ package com.casic.missiles.modular.robot.opt.handler.msg; +import com.casic.missiles.modular.robot.model.RobotStatusInfo; import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums; import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler; import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; @@ -25,8 +26,15 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------电压信息反馈:{}", message); +// log.info("----------------------电压信息反馈:{}", message); statusInfoService.saveVoltageResponseMessage(robotId, message); sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); + try{ + + RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); + sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); + }catch (Exception e){ + e.printStackTrace(); + } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java index 7358ac7..1ebbfdd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java @@ -108,22 +108,26 @@ @Transactional @Override public void reloadTrack(BaseRobotCmdDTO dto) { - //线路读取 - TrackListRequest trackListRequest = new TrackListRequest(); - trackListRequest.setRobotId(dto.getRobotId()); - trackListRequest.setSn(dto.getRobotId() + ""); - ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); - //线路关键点读取 - if (requestDTO.getData() != null) { - for (RouteInfo routeInfo : requestDTO.getData()) { - TrackPointListRequest request = new TrackPointListRequest(); - request.setRobotId(routeInfo.getRobotId()); - request.setSn(routeInfo.getRobotId() + ""); - request.setTrack_name(routeInfo.getTargetId()); -// execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); - //机器人路线读取 - robotInfoService.loadTrack(routeInfo); + try { + //线路读取 + TrackListRequest trackListRequest = new TrackListRequest(); + trackListRequest.setRobotId(dto.getRobotId()); + trackListRequest.setSn(dto.getRobotId() + ""); + ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); + //线路关键点读取 + if (requestDTO.getData() != null) { + for (RouteInfo routeInfo : requestDTO.getData()) { + TrackPointListRequest request = new TrackPointListRequest(); + request.setRobotId(routeInfo.getRobotId()); + request.setSn(routeInfo.getRobotId() + ""); + request.setTrack_name(routeInfo.getTargetId()); + execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); + //机器人路线读取 + robotInfoService.loadTrack(routeInfo); + } } + } catch (Exception e) { + e.printStackTrace(); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java index d0516e9..26ff617 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java @@ -13,4 +13,6 @@ @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String") private Integer action; + + private String data_name="test_name"; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java index 5588167..a18321b 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java @@ -22,4 +22,6 @@ @ApiModelProperty(value = "关键点名称", dataType = "String", hidden = true) private String taskpoint_name; + private String obs_mode="1"; + } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java index 6e42f41..a7b4174 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java @@ -54,7 +54,6 @@ */ @Override public void messageArrived(String topic, MqttMessage message) throws Exception { - log.info("{} msg:{}",topic,message.toString()); if (SpringContextHolder.containsBean(topic)) { IBaseMsgHandler cls = SpringContextHolder.getBean(topic); cls.process(mqttClientId, topic, message); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java index e2ef771..a187d6e 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java @@ -149,9 +149,9 @@ */ @Override public void saveProcessMessage(String robotId, MqttMessage message) { - String json = new String(message.getPayload()); - RobotResponseDTO responseDTO = JSON.parseObject(json, new TypeReference>() { - }); +// String json = new String(message.getPayload()); + + RobotResponseDTO responseDTO = parseJson(message, new TypeReference>(){}); if (responseDTO.getMsg() != null) { UpdateWrapper query = new UpdateWrapper<>(); ProcessMessageResponseDTO msg = responseDTO.getMsg(); @@ -230,7 +230,7 @@ public void saveStopState(String robotId, MqttMessage message) { RobotResponseDTO responseDTO = parseJson(message, new TypeReference>(){}); if (responseDTO != null && responseDTO.getMsg() != null) { - log.info("急停状态保存：{}", responseDTO.getMsg()); +// log.info("急停状态保存：{}", responseDTO.getMsg()); LambdaUpdateWrapper query = new LambdaUpdateWrapper<>(); query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton()); query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision()); @@ -298,7 +298,7 @@ json = json.substring(0, json.length() - 1); } json = json.replaceAll("\\\\", ""); - log.info(json); +// log.info(json); RobotResponseDTO responseDTO = JSON.parseObject(json, cls); return responseDTO; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java index 31a6f98..8251010 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java @@ -109,7 +109,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(heatMap); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); @@ -332,7 +332,6 @@ RobotInfo robotInfo = cacheService.getRobotInfo(longId); //slam经纬度转栅格 GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getGridNumber(), robotInfo.getGridSize(), robotInfo); - System.out.println(JSON.toJSON(pointDTO)); } diff --git a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java index d580b94..64db15b 100644 --- a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java +++ b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java @@ -91,7 +91,7 @@ * @param message 消息体 */ public void sendOneMessage(String userId, String message) { - log.info("【websocket消息】单点消息:" + message); +// log.info("【websocket消息】单点消息:" + message); Session session = sessionPool.get(userId); if (session != null) { try { @@ -110,7 +110,7 @@ * @param obj 消息体 */ public void sendOneObjMessage(String userId, Object obj) { - log.info("【websocket消息】单点消息:" + obj); +// log.info("【websocket消息】单点消息:" + obj); Session session = sessionPool.get(userId); if (session != null) { try { diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml index 384707e..96a2312 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml @@ -56,6 +56,6 @@ ${ew.sqlSegment} - order by a.create_time desc - +-- order by a.create_time desc + diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java index 156fbcc..41879dd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java @@ -48,7 +48,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(jsonObject.get("msg")); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } } catch (Exception e) { @@ -70,7 +70,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(message); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java index aba1a57..316fd8f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java @@ -28,7 +28,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppNavPause(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java index 9bf1ce4..83d1d39 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java @@ -20,7 +20,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppStopNavtrack(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java index a184866..3a19ebe 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java @@ -35,8 +35,6 @@ if (val > 30) { index.put("index" , 0); statusInfoService.saveSensorStatus(robotId, message); - RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); - sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java index 6fdec61..3acf1d7 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java @@ -25,8 +25,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------急停状态信息反馈:{}", message); statusInfoService.saveStopState(robotId, message); - sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); +// sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java index 70f02a3..ad0eda8 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java @@ -1,5 +1,6 @@ package com.casic.missiles.modular.robot.opt.handler.msg; +import com.casic.missiles.modular.robot.model.RobotStatusInfo; import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums; import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler; import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; @@ -25,8 +26,15 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------电压信息反馈:{}", message); +// log.info("----------------------电压信息反馈:{}", message); statusInfoService.saveVoltageResponseMessage(robotId, message); sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); + try{ + + RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); + sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); + }catch (Exception e){ + e.printStackTrace(); + } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java index 7358ac7..1ebbfdd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java @@ -108,22 +108,26 @@ @Transactional @Override public void reloadTrack(BaseRobotCmdDTO dto) { - //线路读取 - TrackListRequest trackListRequest = new TrackListRequest(); - trackListRequest.setRobotId(dto.getRobotId()); - trackListRequest.setSn(dto.getRobotId() + ""); - ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); - //线路关键点读取 - if (requestDTO.getData() != null) { - for (RouteInfo routeInfo : requestDTO.getData()) { - TrackPointListRequest request = new TrackPointListRequest(); - request.setRobotId(routeInfo.getRobotId()); - request.setSn(routeInfo.getRobotId() + ""); - request.setTrack_name(routeInfo.getTargetId()); -// execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); - //机器人路线读取 - robotInfoService.loadTrack(routeInfo); + try { + //线路读取 + TrackListRequest trackListRequest = new TrackListRequest(); + trackListRequest.setRobotId(dto.getRobotId()); + trackListRequest.setSn(dto.getRobotId() + ""); + ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); + //线路关键点读取 + if (requestDTO.getData() != null) { + for (RouteInfo routeInfo : requestDTO.getData()) { + TrackPointListRequest request = new TrackPointListRequest(); + request.setRobotId(routeInfo.getRobotId()); + request.setSn(routeInfo.getRobotId() + ""); + request.setTrack_name(routeInfo.getTargetId()); + execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); + //机器人路线读取 + robotInfoService.loadTrack(routeInfo); + } } + } catch (Exception e) { + e.printStackTrace(); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java index d0516e9..26ff617 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java @@ -13,4 +13,6 @@ @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String") private Integer action; + + private String data_name="test_name"; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java index 5588167..a18321b 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java @@ -22,4 +22,6 @@ @ApiModelProperty(value = "关键点名称", dataType = "String", hidden = true) private String taskpoint_name; + private String obs_mode="1"; + } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java index 6e42f41..a7b4174 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java @@ -54,7 +54,6 @@ */ @Override public void messageArrived(String topic, MqttMessage message) throws Exception { - log.info("{} msg:{}",topic,message.toString()); if (SpringContextHolder.containsBean(topic)) { IBaseMsgHandler cls = SpringContextHolder.getBean(topic); cls.process(mqttClientId, topic, message); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java index e2ef771..a187d6e 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java @@ -149,9 +149,9 @@ */ @Override public void saveProcessMessage(String robotId, MqttMessage message) { - String json = new String(message.getPayload()); - RobotResponseDTO responseDTO = JSON.parseObject(json, new TypeReference>() { - }); +// String json = new String(message.getPayload()); + + RobotResponseDTO responseDTO = parseJson(message, new TypeReference>(){}); if (responseDTO.getMsg() != null) { UpdateWrapper query = new UpdateWrapper<>(); ProcessMessageResponseDTO msg = responseDTO.getMsg(); @@ -230,7 +230,7 @@ public void saveStopState(String robotId, MqttMessage message) { RobotResponseDTO responseDTO = parseJson(message, new TypeReference>(){}); if (responseDTO != null && responseDTO.getMsg() != null) { - log.info("急停状态保存：{}", responseDTO.getMsg()); +// log.info("急停状态保存：{}", responseDTO.getMsg()); LambdaUpdateWrapper query = new LambdaUpdateWrapper<>(); query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton()); query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision()); @@ -298,7 +298,7 @@ json = json.substring(0, json.length() - 1); } json = json.replaceAll("\\\\", ""); - log.info(json); +// log.info(json); RobotResponseDTO responseDTO = JSON.parseObject(json, cls); return responseDTO; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java index 31a6f98..8251010 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java @@ -109,7 +109,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(heatMap); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); @@ -332,7 +332,6 @@ RobotInfo robotInfo = cacheService.getRobotInfo(longId); //slam经纬度转栅格 GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getGridNumber(), robotInfo.getGridSize(), robotInfo); - System.out.println(JSON.toJSON(pointDTO)); } diff --git a/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java b/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java index 454f10b..8eb2776 100644 --- a/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java +++ b/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java @@ -64,8 +64,8 @@ throw new ServiceException(500, "机器人连接异常,请检查网络是否正常"); } MqttClient client = mqttClient.getMqttClient(); + log.info("{}指令:{}",enums.getRemarks(), JSON.toJSONString(messageDTO)); if (StrUtil.isNotEmpty(enums.getReqName())) { - log.info("下发指令:{}", JSON.toJSONString(messageDTO)); mqttClient.pub(enums.getReqName(), JSON.toJSONString(messageDTO)); } // 订阅返回值消息 @@ -81,6 +81,7 @@ } data = data.replaceAll("\\\\", ""); maps.put("result", MsgUtils.convertMessage(data, enums)); + log.info("{}指令回复:{}",enums.getRemarks(),data); } else { throw new ServiceException(500, enums.getRemarks() + "指令异常"); } @@ -113,6 +114,5 @@ String json = "{\"msg\": {\"error_code\": 0, \"error_msg\": \"\", \"result\": [\"79-1\", \"11\"]}}"; RobotMsgResponseDTO> responseDTO = JSON.parseObject(json, new TypeReference>>() { }); - System.out.println(responseDTO); } } diff --git a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java index d580b94..64db15b 100644 --- a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java +++ b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java @@ -91,7 +91,7 @@ * @param message 消息体 */ public void sendOneMessage(String userId, String message) { - log.info("【websocket消息】单点消息:" + message); +// log.info("【websocket消息】单点消息:" + message); Session session = sessionPool.get(userId); if (session != null) { try { @@ -110,7 +110,7 @@ * @param obj 消息体 */ public void sendOneObjMessage(String userId, Object obj) { - log.info("【websocket消息】单点消息:" + obj); +// log.info("【websocket消息】单点消息:" + obj); Session session = sessionPool.get(userId); if (session != null) { try { diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml index 384707e..96a2312 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml @@ -56,6 +56,6 @@ ${ew.sqlSegment} - order by a.create_time desc - +-- order by a.create_time desc + diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java index 156fbcc..41879dd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java @@ -48,7 +48,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(jsonObject.get("msg")); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } } catch (Exception e) { @@ -70,7 +70,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(message); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java index aba1a57..316fd8f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java @@ -28,7 +28,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppNavPause(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java index 9bf1ce4..83d1d39 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java @@ -20,7 +20,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppStopNavtrack(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java index a184866..3a19ebe 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java @@ -35,8 +35,6 @@ if (val > 30) { index.put("index" , 0); statusInfoService.saveSensorStatus(robotId, message); - RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); - sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java index 6fdec61..3acf1d7 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java @@ -25,8 +25,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------急停状态信息反馈:{}", message); statusInfoService.saveStopState(robotId, message); - sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); +// sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java index 70f02a3..ad0eda8 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java @@ -1,5 +1,6 @@ package com.casic.missiles.modular.robot.opt.handler.msg; +import com.casic.missiles.modular.robot.model.RobotStatusInfo; import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums; import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler; import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; @@ -25,8 +26,15 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------电压信息反馈:{}", message); +// log.info("----------------------电压信息反馈:{}", message); statusInfoService.saveVoltageResponseMessage(robotId, message); sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); + try{ + + RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); + sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); + }catch (Exception e){ + e.printStackTrace(); + } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java index 7358ac7..1ebbfdd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java @@ -108,22 +108,26 @@ @Transactional @Override public void reloadTrack(BaseRobotCmdDTO dto) { - //线路读取 - TrackListRequest trackListRequest = new TrackListRequest(); - trackListRequest.setRobotId(dto.getRobotId()); - trackListRequest.setSn(dto.getRobotId() + ""); - ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); - //线路关键点读取 - if (requestDTO.getData() != null) { - for (RouteInfo routeInfo : requestDTO.getData()) { - TrackPointListRequest request = new TrackPointListRequest(); - request.setRobotId(routeInfo.getRobotId()); - request.setSn(routeInfo.getRobotId() + ""); - request.setTrack_name(routeInfo.getTargetId()); -// execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); - //机器人路线读取 - robotInfoService.loadTrack(routeInfo); + try { + //线路读取 + TrackListRequest trackListRequest = new TrackListRequest(); + trackListRequest.setRobotId(dto.getRobotId()); + trackListRequest.setSn(dto.getRobotId() + ""); + ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); + //线路关键点读取 + if (requestDTO.getData() != null) { + for (RouteInfo routeInfo : requestDTO.getData()) { + TrackPointListRequest request = new TrackPointListRequest(); + request.setRobotId(routeInfo.getRobotId()); + request.setSn(routeInfo.getRobotId() + ""); + request.setTrack_name(routeInfo.getTargetId()); + execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); + //机器人路线读取 + robotInfoService.loadTrack(routeInfo); + } } + } catch (Exception e) { + e.printStackTrace(); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java index d0516e9..26ff617 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java @@ -13,4 +13,6 @@ @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String") private Integer action; + + private String data_name="test_name"; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java index 5588167..a18321b 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java @@ -22,4 +22,6 @@ @ApiModelProperty(value = "关键点名称", dataType = "String", hidden = true) private String taskpoint_name; + private String obs_mode="1"; + } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java index 6e42f41..a7b4174 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java @@ -54,7 +54,6 @@ */ @Override public void messageArrived(String topic, MqttMessage message) throws Exception { - log.info("{} msg:{}",topic,message.toString()); if (SpringContextHolder.containsBean(topic)) { IBaseMsgHandler cls = SpringContextHolder.getBean(topic); cls.process(mqttClientId, topic, message); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java index e2ef771..a187d6e 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java @@ -149,9 +149,9 @@ */ @Override public void saveProcessMessage(String robotId, MqttMessage message) { - String json = new String(message.getPayload()); - RobotResponseDTO responseDTO = JSON.parseObject(json, new TypeReference>() { - }); +// String json = new String(message.getPayload()); + + RobotResponseDTO responseDTO = parseJson(message, new TypeReference>(){}); if (responseDTO.getMsg() != null) { UpdateWrapper query = new UpdateWrapper<>(); ProcessMessageResponseDTO msg = responseDTO.getMsg(); @@ -230,7 +230,7 @@ public void saveStopState(String robotId, MqttMessage message) { RobotResponseDTO responseDTO = parseJson(message, new TypeReference>(){}); if (responseDTO != null && responseDTO.getMsg() != null) { - log.info("急停状态保存：{}", responseDTO.getMsg()); +// log.info("急停状态保存：{}", responseDTO.getMsg()); LambdaUpdateWrapper query = new LambdaUpdateWrapper<>(); query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton()); query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision()); @@ -298,7 +298,7 @@ json = json.substring(0, json.length() - 1); } json = json.replaceAll("\\\\", ""); - log.info(json); +// log.info(json); RobotResponseDTO responseDTO = JSON.parseObject(json, cls); return responseDTO; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java index 31a6f98..8251010 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java @@ -109,7 +109,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(heatMap); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); @@ -332,7 +332,6 @@ RobotInfo robotInfo = cacheService.getRobotInfo(longId); //slam经纬度转栅格 GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getGridNumber(), robotInfo.getGridSize(), robotInfo); - System.out.println(JSON.toJSON(pointDTO)); } diff --git a/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java b/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java index 454f10b..8eb2776 100644 --- a/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java +++ b/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java @@ -64,8 +64,8 @@ throw new ServiceException(500, "机器人连接异常,请检查网络是否正常"); } MqttClient client = mqttClient.getMqttClient(); + log.info("{}指令:{}",enums.getRemarks(), JSON.toJSONString(messageDTO)); if (StrUtil.isNotEmpty(enums.getReqName())) { - log.info("下发指令:{}", JSON.toJSONString(messageDTO)); mqttClient.pub(enums.getReqName(), JSON.toJSONString(messageDTO)); } // 订阅返回值消息 @@ -81,6 +81,7 @@ } data = data.replaceAll("\\\\", ""); maps.put("result", MsgUtils.convertMessage(data, enums)); + log.info("{}指令回复:{}",enums.getRemarks(),data); } else { throw new ServiceException(500, enums.getRemarks() + "指令异常"); } @@ -113,6 +114,5 @@ String json = "{\"msg\": {\"error_code\": 0, \"error_msg\": \"\", \"result\": [\"79-1\", \"11\"]}}"; RobotMsgResponseDTO> responseDTO = JSON.parseObject(json, new TypeReference>>() { }); - System.out.println(responseDTO); } } diff --git a/casic-server/src/main/java/com/casic/missiles/netty/CacheUtils.java b/casic-server/src/main/java/com/casic/missiles/netty/CacheUtils.java index 503d242..09c581d 100644 --- a/casic-server/src/main/java/com/casic/missiles/netty/CacheUtils.java +++ b/casic-server/src/main/java/com/casic/missiles/netty/CacheUtils.java @@ -130,12 +130,12 @@ String longGate = ByteUtil.reverseHex(msgi.substring(28, 32)); String qlong = ByteUtil.reverseHex(msgi.substring(48, 56)); String qshort = ByteUtil.reverseHex(msgi.substring(56, 64)); - log.info("gateOff--->" + gateOff + - "baseline--->" + baseline + - "shortGate--->" + shortGate + - "longGate--->" + longGate + - "qlong--->" + qlong + - "qshort--->" + qshort); +// log.info("gateOff--->" + gateOff + +// "baseline--->" + baseline + +// "shortGate--->" + shortGate + +// "longGate--->" + longGate + +// "qlong--->" + qlong + +// "qshort--->" + qshort); psdList.add(new Psd(gateOff, baseline, shortGate, longGate, qlong, qshort, DateUtil.formatDateTime(new Date()))); } @@ -169,12 +169,12 @@ String longGate = ByteUtil.reverseHex(msgi.substring(28, 32)); String qlong = ByteUtil.reverseHex(msgi.substring(48, 56)); String qshort = ByteUtil.reverseHex(msgi.substring(56, 64)); - log.info("分包:gateOff--->" + gateOff + - "baseline--->" + baseline + - "shortGate--->" + shortGate + - "longGate--->" + longGate + - "qlong--->" + qlong + - "qshort--->" + qshort); +// log.info("分包:gateOff--->" + gateOff + +// "baseline--->" + baseline + +// "shortGate--->" + shortGate + +// "longGate--->" + longGate + +// "qlong--->" + qlong + +// "qshort--->" + qshort); psdList.add(new Psd(gateOff, baseline, shortGate, longGate, qlong, qshort, DateUtil.formatDateTime(new Date()))); } } @@ -220,7 +220,7 @@ String[] volArr = InstructCode.getVolArr(str); //本设备只用到第6通道 String vol6 = volArr[5]; - log.info("分包第6通道电压值-------->" + vol6); +// log.info("分包第6通道电压值-------->" + vol6); volList.add(new Vol(Long.parseLong(vol6,16)+"", DateUtil.formatDateTime(new Date()))); } } diff --git a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java index d580b94..64db15b 100644 --- a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java +++ b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java @@ -91,7 +91,7 @@ * @param message 消息体 */ public void sendOneMessage(String userId, String message) { - log.info("【websocket消息】单点消息:" + message); +// log.info("【websocket消息】单点消息:" + message); Session session = sessionPool.get(userId); if (session != null) { try { @@ -110,7 +110,7 @@ * @param obj 消息体 */ public void sendOneObjMessage(String userId, Object obj) { - log.info("【websocket消息】单点消息:" + obj); +// log.info("【websocket消息】单点消息:" + obj); Session session = sessionPool.get(userId); if (session != null) { try { diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml index 384707e..96a2312 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml @@ -56,6 +56,6 @@ ${ew.sqlSegment} - order by a.create_time desc - +-- order by a.create_time desc + diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java index 156fbcc..41879dd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java @@ -48,7 +48,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(jsonObject.get("msg")); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } } catch (Exception e) { @@ -70,7 +70,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(message); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java index aba1a57..316fd8f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java @@ -28,7 +28,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppNavPause(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java index 9bf1ce4..83d1d39 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java @@ -20,7 +20,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppStopNavtrack(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java index a184866..3a19ebe 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java @@ -35,8 +35,6 @@ if (val > 30) { index.put("index" , 0); statusInfoService.saveSensorStatus(robotId, message); - RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); - sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java index 6fdec61..3acf1d7 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java @@ -25,8 +25,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------急停状态信息反馈:{}", message); statusInfoService.saveStopState(robotId, message); - sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); +// sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java index 70f02a3..ad0eda8 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java @@ -1,5 +1,6 @@ package com.casic.missiles.modular.robot.opt.handler.msg; +import com.casic.missiles.modular.robot.model.RobotStatusInfo; import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums; import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler; import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; @@ -25,8 +26,15 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------电压信息反馈:{}", message); +// log.info("----------------------电压信息反馈:{}", message); statusInfoService.saveVoltageResponseMessage(robotId, message); sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); + try{ + + RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); + sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); + }catch (Exception e){ + e.printStackTrace(); + } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java index 7358ac7..1ebbfdd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java @@ -108,22 +108,26 @@ @Transactional @Override public void reloadTrack(BaseRobotCmdDTO dto) { - //线路读取 - TrackListRequest trackListRequest = new TrackListRequest(); - trackListRequest.setRobotId(dto.getRobotId()); - trackListRequest.setSn(dto.getRobotId() + ""); - ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); - //线路关键点读取 - if (requestDTO.getData() != null) { - for (RouteInfo routeInfo : requestDTO.getData()) { - TrackPointListRequest request = new TrackPointListRequest(); - request.setRobotId(routeInfo.getRobotId()); - request.setSn(routeInfo.getRobotId() + ""); - request.setTrack_name(routeInfo.getTargetId()); -// execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); - //机器人路线读取 - robotInfoService.loadTrack(routeInfo); + try { + //线路读取 + TrackListRequest trackListRequest = new TrackListRequest(); + trackListRequest.setRobotId(dto.getRobotId()); + trackListRequest.setSn(dto.getRobotId() + ""); + ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); + //线路关键点读取 + if (requestDTO.getData() != null) { + for (RouteInfo routeInfo : requestDTO.getData()) { + TrackPointListRequest request = new TrackPointListRequest(); + request.setRobotId(routeInfo.getRobotId()); + request.setSn(routeInfo.getRobotId() + ""); + request.setTrack_name(routeInfo.getTargetId()); + execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); + //机器人路线读取 + robotInfoService.loadTrack(routeInfo); + } } + } catch (Exception e) { + e.printStackTrace(); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java index d0516e9..26ff617 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java @@ -13,4 +13,6 @@ @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String") private Integer action; + + private String data_name="test_name"; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java index 5588167..a18321b 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java @@ -22,4 +22,6 @@ @ApiModelProperty(value = "关键点名称", dataType = "String", hidden = true) private String taskpoint_name; + private String obs_mode="1"; + } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java index 6e42f41..a7b4174 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java @@ -54,7 +54,6 @@ */ @Override public void messageArrived(String topic, MqttMessage message) throws Exception { - log.info("{} msg:{}",topic,message.toString()); if (SpringContextHolder.containsBean(topic)) { IBaseMsgHandler cls = SpringContextHolder.getBean(topic); cls.process(mqttClientId, topic, message); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java index e2ef771..a187d6e 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java @@ -149,9 +149,9 @@ */ @Override public void saveProcessMessage(String robotId, MqttMessage message) { - String json = new String(message.getPayload()); - RobotResponseDTO responseDTO = JSON.parseObject(json, new TypeReference>() { - }); +// String json = new String(message.getPayload()); + + RobotResponseDTO responseDTO = parseJson(message, new TypeReference>(){}); if (responseDTO.getMsg() != null) { UpdateWrapper query = new UpdateWrapper<>(); ProcessMessageResponseDTO msg = responseDTO.getMsg(); @@ -230,7 +230,7 @@ public void saveStopState(String robotId, MqttMessage message) { RobotResponseDTO responseDTO = parseJson(message, new TypeReference>(){}); if (responseDTO != null && responseDTO.getMsg() != null) { - log.info("急停状态保存：{}", responseDTO.getMsg()); +// log.info("急停状态保存：{}", responseDTO.getMsg()); LambdaUpdateWrapper query = new LambdaUpdateWrapper<>(); query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton()); query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision()); @@ -298,7 +298,7 @@ json = json.substring(0, json.length() - 1); } json = json.replaceAll("\\\\", ""); - log.info(json); +// log.info(json); RobotResponseDTO responseDTO = JSON.parseObject(json, cls); return responseDTO; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java index 31a6f98..8251010 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java @@ -109,7 +109,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(heatMap); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); @@ -332,7 +332,6 @@ RobotInfo robotInfo = cacheService.getRobotInfo(longId); //slam经纬度转栅格 GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getGridNumber(), robotInfo.getGridSize(), robotInfo); - System.out.println(JSON.toJSON(pointDTO)); } diff --git a/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java b/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java index 454f10b..8eb2776 100644 --- a/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java +++ b/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java @@ -64,8 +64,8 @@ throw new ServiceException(500, "机器人连接异常,请检查网络是否正常"); } MqttClient client = mqttClient.getMqttClient(); + log.info("{}指令:{}",enums.getRemarks(), JSON.toJSONString(messageDTO)); if (StrUtil.isNotEmpty(enums.getReqName())) { - log.info("下发指令:{}", JSON.toJSONString(messageDTO)); mqttClient.pub(enums.getReqName(), JSON.toJSONString(messageDTO)); } // 订阅返回值消息 @@ -81,6 +81,7 @@ } data = data.replaceAll("\\\\", ""); maps.put("result", MsgUtils.convertMessage(data, enums)); + log.info("{}指令回复:{}",enums.getRemarks(),data); } else { throw new ServiceException(500, enums.getRemarks() + "指令异常"); } @@ -113,6 +114,5 @@ String json = "{\"msg\": {\"error_code\": 0, \"error_msg\": \"\", \"result\": [\"79-1\", \"11\"]}}"; RobotMsgResponseDTO> responseDTO = JSON.parseObject(json, new TypeReference>>() { }); - System.out.println(responseDTO); } } diff --git a/casic-server/src/main/java/com/casic/missiles/netty/CacheUtils.java b/casic-server/src/main/java/com/casic/missiles/netty/CacheUtils.java index 503d242..09c581d 100644 --- a/casic-server/src/main/java/com/casic/missiles/netty/CacheUtils.java +++ b/casic-server/src/main/java/com/casic/missiles/netty/CacheUtils.java @@ -130,12 +130,12 @@ String longGate = ByteUtil.reverseHex(msgi.substring(28, 32)); String qlong = ByteUtil.reverseHex(msgi.substring(48, 56)); String qshort = ByteUtil.reverseHex(msgi.substring(56, 64)); - log.info("gateOff--->" + gateOff + - "baseline--->" + baseline + - "shortGate--->" + shortGate + - "longGate--->" + longGate + - "qlong--->" + qlong + - "qshort--->" + qshort); +// log.info("gateOff--->" + gateOff + +// "baseline--->" + baseline + +// "shortGate--->" + shortGate + +// "longGate--->" + longGate + +// "qlong--->" + qlong + +// "qshort--->" + qshort); psdList.add(new Psd(gateOff, baseline, shortGate, longGate, qlong, qshort, DateUtil.formatDateTime(new Date()))); } @@ -169,12 +169,12 @@ String longGate = ByteUtil.reverseHex(msgi.substring(28, 32)); String qlong = ByteUtil.reverseHex(msgi.substring(48, 56)); String qshort = ByteUtil.reverseHex(msgi.substring(56, 64)); - log.info("分包:gateOff--->" + gateOff + - "baseline--->" + baseline + - "shortGate--->" + shortGate + - "longGate--->" + longGate + - "qlong--->" + qlong + - "qshort--->" + qshort); +// log.info("分包:gateOff--->" + gateOff + +// "baseline--->" + baseline + +// "shortGate--->" + shortGate + +// "longGate--->" + longGate + +// "qlong--->" + qlong + +// "qshort--->" + qshort); psdList.add(new Psd(gateOff, baseline, shortGate, longGate, qlong, qshort, DateUtil.formatDateTime(new Date()))); } } @@ -220,7 +220,7 @@ String[] volArr = InstructCode.getVolArr(str); //本设备只用到第6通道 String vol6 = volArr[5]; - log.info("分包第6通道电压值-------->" + vol6); +// log.info("分包第6通道电压值-------->" + vol6); volList.add(new Vol(Long.parseLong(vol6,16)+"", DateUtil.formatDateTime(new Date()))); } } diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml index ffe868c..ff1251c 100644 --- a/casic-web/src/main/resources/config/application-dev.yml +++ b/casic-web/src/main/resources/config/application-dev.yml @@ -4,9 +4,9 @@ spring: datasource: driver-class-name: com.mysql.cj.jdbc.Driver - url: jdbc:mysql://192.168.1.41:3000/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true + url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true username: root - password: root + password: 123456 jms: pub-sub-domain: true # session: @@ -27,6 +27,8 @@ logging: level.root: info level.com.casic: debug + level.com.casic.missiles.netty: error + level.com.casic.missiles.modular.neutron: error level.org.springframework.web: info file: path: D:\\logs \ No newline at end of file diff --git a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java index d580b94..64db15b 100644 --- a/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java +++ b/casic-server/src/main/java/com/casic/missiles/common/WebSocket.java @@ -91,7 +91,7 @@ * @param message 消息体 */ public void sendOneMessage(String userId, String message) { - log.info("【websocket消息】单点消息:" + message); +// log.info("【websocket消息】单点消息:" + message); Session session = sessionPool.get(userId); if (session != null) { try { @@ -110,7 +110,7 @@ * @param obj 消息体 */ public void sendOneObjMessage(String userId, Object obj) { - log.info("【websocket消息】单点消息:" + obj); +// log.info("【websocket消息】单点消息:" + obj); Session session = sessionPool.get(userId); if (session != null) { try { diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml index 384707e..96a2312 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/dao/mapping/AlarmRecordMapper.xml @@ -56,6 +56,6 @@ ${ew.sqlSegment} - order by a.create_time desc - +-- order by a.create_time desc + diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java index 156fbcc..41879dd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/AbstractSocketHandler.java @@ -48,7 +48,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(jsonObject.get("msg")); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } } catch (Exception e) { @@ -70,7 +70,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(message); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java index aba1a57..316fd8f 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppNavPauseMsgHandler.java @@ -28,7 +28,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},暂停状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppNavPause(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java index 9bf1ce4..83d1d39 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/AppStopNavtrackMsgHandler.java @@ -20,7 +20,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); +// log.info("主键：{},停障状态topic:{},消息内容:{}", robotId, topic, message.toString()); statusInfoService.saveAppStopNavtrack(robotId,message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java index a184866..3a19ebe 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/SensorStatusMsgHandler.java @@ -35,8 +35,6 @@ if (val > 30) { index.put("index" , 0); statusInfoService.saveSensorStatus(robotId, message); - RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); - sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java index 6fdec61..3acf1d7 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/StopStateMsgHandler.java @@ -25,8 +25,7 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------急停状态信息反馈:{}", message); statusInfoService.saveStopState(robotId, message); - sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); +// sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java index 70f02a3..ad0eda8 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/handler/msg/VoltageResponseMsgHandler.java @@ -1,5 +1,6 @@ package com.casic.missiles.modular.robot.opt.handler.msg; +import com.casic.missiles.modular.robot.model.RobotStatusInfo; import com.casic.missiles.modular.robot.opt.enums.InstructStatusMsgEnums; import com.casic.missiles.modular.robot.opt.handler.AbstractSocketHandler; import com.casic.missiles.modular.robot.service.IRobotStatusInfoService; @@ -25,8 +26,15 @@ @Override public void process(String robotId, String topic, MqttMessage message) { - log.info("----------------------电压信息反馈:{}", message); +// log.info("----------------------电压信息反馈:{}", message); statusInfoService.saveVoltageResponseMessage(robotId, message); sendWebSocket(InstructStatusMsgEnums.PROCESS_MESSAGE, robotId, message); + try{ + + RobotStatusInfo robotStatusInfo = statusInfoService.getStatusByRobotId(robotId); + sendWebSocket(InstructStatusMsgEnums.ROBOT_STATUS, robotId, robotStatusInfo); + }catch (Exception e){ + e.printStackTrace(); + } } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java index 7358ac7..1ebbfdd 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/impl/RobotOptServiceImpl.java @@ -108,22 +108,26 @@ @Transactional @Override public void reloadTrack(BaseRobotCmdDTO dto) { - //线路读取 - TrackListRequest trackListRequest = new TrackListRequest(); - trackListRequest.setRobotId(dto.getRobotId()); - trackListRequest.setSn(dto.getRobotId() + ""); - ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); - //线路关键点读取 - if (requestDTO.getData() != null) { - for (RouteInfo routeInfo : requestDTO.getData()) { - TrackPointListRequest request = new TrackPointListRequest(); - request.setRobotId(routeInfo.getRobotId()); - request.setSn(routeInfo.getRobotId() + ""); - request.setTrack_name(routeInfo.getTargetId()); -// execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); - //机器人路线读取 - robotInfoService.loadTrack(routeInfo); + try { + //线路读取 + TrackListRequest trackListRequest = new TrackListRequest(); + trackListRequest.setRobotId(dto.getRobotId()); + trackListRequest.setSn(dto.getRobotId() + ""); + ResponseDataDTO> requestDTO = execCmdHandler(trackListRequest, InstructCodeEnums.TRACK_LIST); + //线路关键点读取 + if (requestDTO.getData() != null) { + for (RouteInfo routeInfo : requestDTO.getData()) { + TrackPointListRequest request = new TrackPointListRequest(); + request.setRobotId(routeInfo.getRobotId()); + request.setSn(routeInfo.getRobotId() + ""); + request.setTrack_name(routeInfo.getTargetId()); + execCmdHandler(request, InstructCodeEnums.TASKPOINT_LIST); + //机器人路线读取 + robotInfoService.loadTrack(routeInfo); + } } + } catch (Exception e) { + e.printStackTrace(); } } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java index d0516e9..26ff617 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/DataRecordRequest.java @@ -13,4 +13,6 @@ @ApiModelProperty(value = "下发状态 1:开启 0:关闭", dataType = "String") private Integer action; + + private String data_name="test_name"; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java index 5588167..a18321b 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/instruct/dto/StartTrackRequest.java @@ -22,4 +22,6 @@ @ApiModelProperty(value = "关键点名称", dataType = "String", hidden = true) private String taskpoint_name; + private String obs_mode="1"; + } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java index 6e42f41..a7b4174 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/opt/listener/MqttMsgReceiver.java @@ -54,7 +54,6 @@ */ @Override public void messageArrived(String topic, MqttMessage message) throws Exception { - log.info("{} msg:{}",topic,message.toString()); if (SpringContextHolder.containsBean(topic)) { IBaseMsgHandler cls = SpringContextHolder.getBean(topic); cls.process(mqttClientId, topic, message); diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java index e2ef771..a187d6e 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/RobotStatusInfoServiceImpl.java @@ -149,9 +149,9 @@ */ @Override public void saveProcessMessage(String robotId, MqttMessage message) { - String json = new String(message.getPayload()); - RobotResponseDTO responseDTO = JSON.parseObject(json, new TypeReference>() { - }); +// String json = new String(message.getPayload()); + + RobotResponseDTO responseDTO = parseJson(message, new TypeReference>(){}); if (responseDTO.getMsg() != null) { UpdateWrapper query = new UpdateWrapper<>(); ProcessMessageResponseDTO msg = responseDTO.getMsg(); @@ -230,7 +230,7 @@ public void saveStopState(String robotId, MqttMessage message) { RobotResponseDTO responseDTO = parseJson(message, new TypeReference>(){}); if (responseDTO != null && responseDTO.getMsg() != null) { - log.info("急停状态保存：{}", responseDTO.getMsg()); +// log.info("急停状态保存：{}", responseDTO.getMsg()); LambdaUpdateWrapper query = new LambdaUpdateWrapper<>(); query.set(RobotStatusInfo::getButton, responseDTO.getMsg().getButton()); query.set(RobotStatusInfo::getCollision, responseDTO.getMsg().getCollision()); @@ -298,7 +298,7 @@ json = json.substring(0, json.length() - 1); } json = json.replaceAll("\\\\", ""); - log.info(json); +// log.info(json); RobotResponseDTO responseDTO = JSON.parseObject(json, cls); return responseDTO; } diff --git a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java index 31a6f98..8251010 100644 --- a/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java +++ b/casic-server/src/main/java/com/casic/missiles/modular/robot/service/impl/TaskInfoServiceImpl.java @@ -109,7 +109,7 @@ wsMsgBaseDTO.setMsgKey(enums.getMsgKey()); wsMsgBaseDTO.setData(heatMap); String msg = JSON.toJSONString(wsMsgBaseDTO); - log.info("推送{}消息：{}", enums.getRemarks(), msg); +// log.info("推送{}消息：{}", enums.getRemarks(), msg); webSocket.sendOneMessage(robotId, msg); } catch (Exception e) { log.error(e.getMessage()); @@ -332,7 +332,6 @@ RobotInfo robotInfo = cacheService.getRobotInfo(longId); //slam经纬度转栅格 GridPointDTO pointDTO = algorithmService.convertSlamToGrid(dto.getX(), dto.getY(), robotInfo.getGridNumber(), robotInfo.getGridSize(), robotInfo); - System.out.println(JSON.toJSON(pointDTO)); } diff --git a/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java b/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java index 454f10b..8eb2776 100644 --- a/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java +++ b/casic-server/src/main/java/com/casic/missiles/mqtt/MsgUtils.java @@ -64,8 +64,8 @@ throw new ServiceException(500, "机器人连接异常,请检查网络是否正常"); } MqttClient client = mqttClient.getMqttClient(); + log.info("{}指令:{}",enums.getRemarks(), JSON.toJSONString(messageDTO)); if (StrUtil.isNotEmpty(enums.getReqName())) { - log.info("下发指令:{}", JSON.toJSONString(messageDTO)); mqttClient.pub(enums.getReqName(), JSON.toJSONString(messageDTO)); } // 订阅返回值消息 @@ -81,6 +81,7 @@ } data = data.replaceAll("\\\\", ""); maps.put("result", MsgUtils.convertMessage(data, enums)); + log.info("{}指令回复:{}",enums.getRemarks(),data); } else { throw new ServiceException(500, enums.getRemarks() + "指令异常"); } @@ -113,6 +114,5 @@ String json = "{\"msg\": {\"error_code\": 0, \"error_msg\": \"\", \"result\": [\"79-1\", \"11\"]}}"; RobotMsgResponseDTO> responseDTO = JSON.parseObject(json, new TypeReference>>() { }); - System.out.println(responseDTO); } } diff --git a/casic-server/src/main/java/com/casic/missiles/netty/CacheUtils.java b/casic-server/src/main/java/com/casic/missiles/netty/CacheUtils.java index 503d242..09c581d 100644 --- a/casic-server/src/main/java/com/casic/missiles/netty/CacheUtils.java +++ b/casic-server/src/main/java/com/casic/missiles/netty/CacheUtils.java @@ -130,12 +130,12 @@ String longGate = ByteUtil.reverseHex(msgi.substring(28, 32)); String qlong = ByteUtil.reverseHex(msgi.substring(48, 56)); String qshort = ByteUtil.reverseHex(msgi.substring(56, 64)); - log.info("gateOff--->" + gateOff + - "baseline--->" + baseline + - "shortGate--->" + shortGate + - "longGate--->" + longGate + - "qlong--->" + qlong + - "qshort--->" + qshort); +// log.info("gateOff--->" + gateOff + +// "baseline--->" + baseline + +// "shortGate--->" + shortGate + +// "longGate--->" + longGate + +// "qlong--->" + qlong + +// "qshort--->" + qshort); psdList.add(new Psd(gateOff, baseline, shortGate, longGate, qlong, qshort, DateUtil.formatDateTime(new Date()))); } @@ -169,12 +169,12 @@ String longGate = ByteUtil.reverseHex(msgi.substring(28, 32)); String qlong = ByteUtil.reverseHex(msgi.substring(48, 56)); String qshort = ByteUtil.reverseHex(msgi.substring(56, 64)); - log.info("分包:gateOff--->" + gateOff + - "baseline--->" + baseline + - "shortGate--->" + shortGate + - "longGate--->" + longGate + - "qlong--->" + qlong + - "qshort--->" + qshort); +// log.info("分包:gateOff--->" + gateOff + +// "baseline--->" + baseline + +// "shortGate--->" + shortGate + +// "longGate--->" + longGate + +// "qlong--->" + qlong + +// "qshort--->" + qshort); psdList.add(new Psd(gateOff, baseline, shortGate, longGate, qlong, qshort, DateUtil.formatDateTime(new Date()))); } } @@ -220,7 +220,7 @@ String[] volArr = InstructCode.getVolArr(str); //本设备只用到第6通道 String vol6 = volArr[5]; - log.info("分包第6通道电压值-------->" + vol6); +// log.info("分包第6通道电压值-------->" + vol6); volList.add(new Vol(Long.parseLong(vol6,16)+"", DateUtil.formatDateTime(new Date()))); } } diff --git a/casic-web/src/main/resources/config/application-dev.yml b/casic-web/src/main/resources/config/application-dev.yml index ffe868c..ff1251c 100644 --- a/casic-web/src/main/resources/config/application-dev.yml +++ b/casic-web/src/main/resources/config/application-dev.yml @@ -4,9 +4,9 @@ spring: datasource: driver-class-name: com.mysql.cj.jdbc.Driver - url: jdbc:mysql://192.168.1.41:3000/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true + url: jdbc:mysql://localhost:3306/casic_robot_inspection?useUnicode=true&characterEncoding=utf8&allowMultiQueries=true&serverTimezone=UTC&&allowMultiQueries=true username: root - password: root + password: 123456 jms: pub-sub-domain: true # session: @@ -27,6 +27,8 @@ logging: level.root: info level.com.casic: debug + level.com.casic.missiles.netty: error + level.com.casic.missiles.modular.neutron: error level.org.springframework.web: info file: path: D:\\logs \ No newline at end of file diff --git a/casic-web/src/main/resources/config/application.yml b/casic-web/src/main/resources/config/application.yml index f686dd3..029c779 100644 --- a/casic-web/src/main/resources/config/application.yml +++ b/casic-web/src/main/resources/config/application.yml @@ -40,7 +40,7 @@ session-invalidate-time: 86400 #session失效时间(只在单机环境下生效，,多机环境在SpringSessionConfig类中配置) 单位：秒 session-validation-interval: 900 #多久检测一次失效的session(只在单机环境下生效) 单位：秒 no-login-urls: /user/login,/kaptcha,/config/baseConfig - hikSdk: D:\code\robot\casic-robot-inspection\casic-web\src\main\resources\config\hiklib\HCNetSDK.dll + hikSdk: D:\workspace\server\keti\casic-robot-inspection\casic-web\src\main\resources\config\hiklib\HCNetSDK.dll hikPlay: D:\workspace\server\keti\casic-robot-inspection\casic-web\src\main\resources\config\hiklib\PlayCtrl.dll algorithm: initPath: D:\workspace\server\keti\casic-robot-inspection\casic-web\src\main\resources\config\path\PathPlanning_init.exe