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调试货叉指令

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wait
2025-04-23 17:13:59 +08:00
parent 503b7e9f4c
commit 09582c474b
5 changed files with 284 additions and 28 deletions
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47
opentcs-common/src/main/java/org/opentcs/kc/udp/KCCommandDemo.java
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@@ -338,45 +338,46 @@ public class KCCommandDemo {
public static AgvEvent actionNow() {
AgvEvent agvEvent = new AgvEvent(AgvEventConstant.CommandCode_ACT_IMMEDIATELY);
//TODO 构建
Integer orderId = 1;
Integer actionID = 5;
// //构建Action指令
// Action actionLiftUp = new Action(
Action actionLiftUp = new Action(
ActionSet.fork0x12, //机器人移动到正常点 停止，2个字节
(byte) 0x02, //只能执行当前动作
actionID, //actionID
ActionSet.fork0x12_paramsize,
ActionSet.fork0x12(
1.1f, //升降高度
(byte) 0x01, //1上升 2下降
(byte)0x01 //01 开始 任务
)
);
agvEvent.setBody(actionLiftUp.toBytes());
// //重置 空指令
// Action actionReset = new Action(
// ActionSet.fork0x12, //机器人移动到正常点 停止，2个字节
// (byte) 0x02, //只能执行当前动作
// 1, //actionID
// actionID, //actionID
// ActionSet.fork0x12_paramsize,
// ActionSet.fork0x12(
// 1.1f, //升降高度
// (byte) 0x01, //1上升 2下降
// (byte)0x01 //01 开始 任务
// (byte)0x00 //01 开始 任务
// )
// );
// agvEvent.setBody(actionLiftUp.toBytes());
//重置 空指令
Action actionReset = new Action(
ActionSet.cancel0x03, //机器人移动到正常点 停止，2个字节
(byte) 0x02, //只能执行当前动作
2, //actionID
ActionSet.cancle0x03_paramsize,
ActionSet.cancel0x12(
1, //订单id
(byte)0x01 //1 立即停止， 2 正常移动到点再停止
)
);
agvEvent.setBody(actionReset.toBytes());
// );
// agvEvent.setBody(actionReset.toBytes());
//
// //构建Action指令
// Action actionLiftDown = new Action(
// ActionSet.fork0x12, //机器人移动到正常点 停止，2个字节
// (byte) 0x02, //只能执行当前动作
// 1, //actionID
// actionID, //actionID
// ActionSet.fork0x12_paramsize,
// ActionSet.fork0x12(
// 1.1f, //升降高度
// 0.1f, //升降高度
// (byte) 0x02, //1上升 2下降
// (byte)0x01 //01 开始 任务
// )

92
opentcs-common/src/main/java/org/opentcs/kc/udp/Service/ActImmediately.java Normal file
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@@ -0,0 +1,92 @@
package org.opentcs.kc.udp.Service;
import org.opentcs.kc.udp.agv.param.AgvEvent;
import org.opentcs.kc.udp.agv.param.AgvEventConstant;
import org.opentcs.kc.udp.agv.param.function.navigation.Action;
import org.opentcs.kc.udp.agv.param.function.navigation.ActionSet;
import org.opentcs.kc.udp.agv.param.rsp.RcvEventPackage;
import org.opentcs.kc.udp.io.UDPClient;
public class ActImmediately extends BaseCommand{
private static Integer actionId = 20;
/**
* decs: 立即动作指令
* 指令：0xB2
* author: caixiang
* date: 2025/1/17 16:25
*/
private static AgvEvent actionNow(float execuHeight, byte modeOfMovement) {
AgvEvent agvEvent = new AgvEvent(AgvEventConstant.CommandCode_ACT_IMMEDIATELY);
//TODO 构建
//构建Action指令
Action actionLiftUp = new Action(
ActionSet.fork0x12, //机器人移动到正常点 停止，2个字节
(byte) 0x02, //只能执行当前动作
actionId, //动作ID
ActionSet.fork0x12_paramsize,
ActionSet.fork0x12(
execuHeight, //升降高度
modeOfMovement, //1上升 2下降
(byte)0x01 //01 开始任务
)
);
actionId++;
agvEvent.setBody(actionLiftUp.toBytes());
return agvEvent;
}
private static AgvEvent resetCmd() {
AgvEvent agvEvent = new AgvEvent(AgvEventConstant.CommandCode_ACT_IMMEDIATELY);
//重置 空指令
Action actionReset = new Action(
ActionSet.fork0x12, //机器人移动到正常点 停止，2个字节
(byte) 0x02, //只能执行当前动作
actionId, //actionID
ActionSet.fork0x12_paramsize,
ActionSet.fork0x12(
0.1f, //升降高度
(byte) 0x01, //1上升 2下降
(byte)0x00 //00 无任务
)
);
agvEvent.setBody(actionReset.toBytes());
actionId++;
agvEvent.setBody(actionReset.toBytes());
return agvEvent;
}
public static void command(float execuHeight, byte modeOfMovement){
//0xB2(立即动作指令)
AgvEvent agvEvent = actionNow(execuHeight, modeOfMovement);
printInfo(agvEvent);
RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent);
if(rcv.isOk()){
System.out.println("0xB2 forklift ok");
}else {
System.out.println();
System.out.println("0xB2 forklift fail");
System.out.println("received transationId : "+ "isok:"+rcv.isOk());
}
}
public static void reset(){
//0xB2(立即动作指令)
AgvEvent agvEvent = resetCmd();
printInfo(agvEvent);
RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent);
if(rcv.isOk()){
System.out.println("-0xB2 reset ok");
}else {
System.out.println();
System.out.println("-0xB2 reset fail");
System.out.println("-received transationId : "+ "isok:"+rcv.isOk());
}
}
}

2
opentcs-common/src/main/java/org/opentcs/kc/udp/Service/HybridNavigation.java
View File

@@ -49,7 +49,7 @@ public class HybridNavigation
/**
* 订单映射最大订单ID.
*/
private static int currentMaxiOrderId = 0;
private static int currentMaxiOrderId = 25;
/**

50
opentcs-common/src/main/java/org/opentcs/kc/udp/Service/ReadValue.java Normal file
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@@ -0,0 +1,50 @@
package org.opentcs.kc.udp.Service;
import java.util.ArrayList;
import java.util.List;
import org.opentcs.kc.udp.agv.param.AgvEvent;
import org.opentcs.kc.udp.agv.param.AgvEventConstant;
import org.opentcs.kc.udp.agv.param.function.read.ReadParam;
import org.opentcs.kc.udp.agv.param.function.read.ReadRsp;
import org.opentcs.kc.udp.agv.param.function.read.ReadStrValue;
import org.opentcs.kc.udp.agv.param.function.read.ReadValueMember;
import org.opentcs.kc.udp.agv.param.rsp.RcvEventPackage;
import org.opentcs.kc.udp.io.UDPClient;
public class ReadValue extends BaseCommand{
private static AgvEvent readValue() {
AgvEvent agvEvent = new AgvEvent(AgvEventConstant.CommandCode_READ);
List<ReadValueMember> readValueMemberList = new ArrayList<>();
ReadValueMember readValueMember1 = new ReadValueMember(Short.valueOf("10"), Short.valueOf("1"));
readValueMemberList.add(readValueMember1);
List<ReadStrValue> readStrValueList = new ArrayList<>();
ReadStrValue readStrValue = new ReadStrValue("Lift", 1, readValueMemberList);
readStrValueList.add(readStrValue);
ReadParam readParam = new ReadParam(agvEvent.getTransationId(), readStrValueList);
agvEvent.setBody(readParam.toBytes());
return agvEvent;
}
public static byte[] command() {
AgvEvent agvEvent = readValue();
printInfo(agvEvent);
RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent);
if (rcv.isOk()) {
System.out.println();
System.out.println("-received " + "isok:" + rcv.isOk() + " dataBytes:");
printInfo(rcv);
ReadRsp readRsp = new ReadRsp(rcv.getDataBytes());
return readRsp.dataValue;
}
else {
System.out.println();
System.out.println("-received transationId : " + "isok:" + rcv.isOk());
throw new RuntimeException("-read failed");
}
}
}