更新通讯适配器

2025-03-31 10:48:46 +08:00 · 2025-03-31 10:48:46 +08:00 · 17c28a5a7f
commit 17c28a5a7f
parent ece8013fec
27 changed files with 1395 additions and 27 deletions
--- a/opentcs-api-base/src/main/java/org/opentcs/components/kernel/services/InternalVehicleService.java
+++ b/opentcs-api-base/src/main/java/org/opentcs/components/kernel/services/InternalVehicleService.java
@ -29,6 +29,7 @@ public interface InternalVehicleService

  /**
   * Updates a vehicle's energy level.
+   * 更新车辆的能级。
   *
   * @param ref A reference to the vehicle to be modified.
   * @param energyLevel The vehicle's new energy level.
@ -39,6 +40,7 @@ public interface InternalVehicleService

  /**
   * Updates a vehicle's load handling devices.
+   * 更新车辆的负载处理设备。
   *
   * @param ref A reference to the vehicle to be modified.
   * @param devices The vehicle's new load handling devices.
@ -52,6 +54,7 @@ public interface InternalVehicleService

  /**
   * Updates the point which a vehicle is expected to occupy next.
+   * 更新了预计接下来将占用的车辆的点。
   *
   * @param vehicleRef A reference to the vehicle to be modified.
   * @param pointRef A reference to the point which the vehicle is expected to occupy next.
@ -65,6 +68,7 @@ public interface InternalVehicleService

  /**
   * Updates a vehicle's order sequence.
+   * 更新车辆的订单序列。
   *
   * @param vehicleRef A reference to the vehicle to be modified.
   * @param sequenceRef A reference to the order sequence the vehicle processes.
@ -79,6 +83,7 @@ public interface InternalVehicleService
  /**
   * Updates the vehicle's current orientation angle (-360..360 degrees, or {@link Double#NaN}, if
   * the vehicle doesn't provide an angle).
+   * 如果车辆不提供角度，则更新车辆的当前方向角（-360..360度，或{@link double}，如果车辆不提供角度）。
   *
   * @param ref A reference to the vehicle to be modified.
   * @param angle The vehicle's orientation angle.
@ -92,6 +97,7 @@ public interface InternalVehicleService

  /**
   * Places a vehicle on a point.
+   * 将车辆放在一个点上。
   *
   * @param vehicleRef A reference to the vehicle to be modified.
   * @param pointRef A reference to the point on which the vehicle is to be placed.
@ -105,6 +111,7 @@ public interface InternalVehicleService

  /**
   * Updates the vehicle's current precise position in mm.
+   * 更新车辆在MM中的当前精确位置。
   *
   * @param ref A reference to the vehicle to be modified.
   * @param position The vehicle's precise position in mm.
@ -118,6 +125,7 @@ public interface InternalVehicleService

  /**
   * Updates the vehicle's pose.
+   * 更新车辆的姿势。
   *
   * @param ref A reference to the vehicle to be modified.
   * @param pose The vehicle's new pose.
@ -135,6 +143,7 @@ public interface InternalVehicleService

  /**
   * Updates a vehicle's processing state.
+   * 更新车辆的处理状态。
   *
   * @param ref A reference to the vehicle to be modified.
   * @param state The vehicle's new processing state.
@ -145,6 +154,7 @@ public interface InternalVehicleService

  /**
   * Updates a vehicle's recharge operation.
+   * 更新车辆的充电操作。
   *
   * @param ref A reference to the vehicle to be modified.
   * @param rechargeOperation The vehicle's new recharge action.
@ -155,6 +165,7 @@ public interface InternalVehicleService

  /**
   * Updates a vehicle's claimed resources.
+   * 更新车辆声称的资源。
   *
   * @param ref A reference to the vehicle to be modified.
   * @param resources The new resources.
@ -168,6 +179,7 @@ public interface InternalVehicleService

  /**
   * Updates a vehicle's allocated resources.
+   * 更新车辆分配的资源。
   *
   * @param ref A reference to the vehicle to be modified.
   * @param resources The new resources.
@ -181,6 +193,7 @@ public interface InternalVehicleService

  /**
   * Updates a vehicle's state.
+   * 更新车辆的状态。
   *
   * @param ref A reference to the vehicle to be modified.
   * @param state The vehicle's new state.
@ -191,6 +204,7 @@ public interface InternalVehicleService

  /**
   * Updates a vehicle's length.
+   * 更新车辆的长度。
   *
   * @param ref A reference to the vehicle to be modified.
   * @param length The vehicle's new length.
@ -204,6 +218,7 @@ public interface InternalVehicleService

  /**
   * Updates the vehicle's bounding box.
+   * 更新车辆的边界框。
   *
   * @param ref A reference to the vehicle.
   * @param boundingBox The vehicle's new bounding box (in mm).
@ -219,6 +234,7 @@ public interface InternalVehicleService

  /**
   * Updates a vehicle's transport order.
+   * 更新车辆的运输订单。
   *
   * @param vehicleRef A reference to the vehicle to be modified.
   * @param orderRef A reference to the transport order the vehicle processes.
--- a/opentcs-api-injection/src/main/java/org/opentcs/customizations/kernel/KernelInjectionModule.java
+++ b/opentcs-api-injection/src/main/java/org/opentcs/customizations/kernel/KernelInjectionModule.java
@ -29,6 +29,7 @@ public abstract class KernelInjectionModule

  /**
   * Sets the scheduler implementation to be used.
+   * 设置要使用的调度程序实现。
   *
   * @param clazz The implementation.
   */
@ -38,6 +39,7 @@ public abstract class KernelInjectionModule

  /**
   * Sets the router implementation to be used.
+   * 设置要使用的路由器实现。
   *
   * @param clazz The implementation.
   */
@ -47,6 +49,7 @@ public abstract class KernelInjectionModule

  /**
   * Sets the dispatcher implementation to be used.
+   * 设置要使用的调度程序实现。
   *
   * @param clazz The implementation.
   */
@ -56,6 +59,7 @@ public abstract class KernelInjectionModule

  /**
   * Sets the peripheral job dispatcher implementation to be used.
+   * 设置要使用的外围作业调度器实现。
   *
   * @param clazz The implementation.
   */
@ -65,6 +69,7 @@ public abstract class KernelInjectionModule

  /**
   * Returns a multibinder that can be used to register kernel extensions for all kernel states.
+   * 返回一个多索引器，可用于为所有内核状态注册内核扩展。
   *
   * @return The multibinder.
   */
@ -75,6 +80,7 @@ public abstract class KernelInjectionModule
  /**
   * Returns a multibinder that can be used to register kernel extensions for the kernel's modelling
   * state.
+   * 返回一个多索引器，可用于为内核的建模状态注册内核扩展。
   *
   * @return The multibinder.
   */
@ -85,6 +91,7 @@ public abstract class KernelInjectionModule
  /**
   * Returns a multibinder that can be used to register kernel extensions for the kernel's operating
   * state.
+   * 返回一个多索引器，可用于为内核的操作状态注册内核扩展。
   *
   * @return The multibinder.
   */
@ -94,6 +101,7 @@ public abstract class KernelInjectionModule

  /**
   * Returns a multibinder that can be used to register vehicle communication adapter factories.
+   * 返回一个多索引器，可用于注册车辆通信适配器工厂。
   *
   * @return The multibinder.
   */
@ -103,6 +111,7 @@ public abstract class KernelInjectionModule

  /**
   * Returns a multibinder that can be used to register vehicle data transformer factories.
+   * 返回一个多索引器，可用于注册车辆数据转换器工厂。
   *
   * @return The multibinder.
   */
@ -112,6 +121,7 @@ public abstract class KernelInjectionModule

  /**
   * Returns a multibinder that can be used to register peripheral communication adapter factories.
+   * 返回一个多索引器，可用于注册外围通信适配器工厂。
   *
   * @return The multibinder.
   */
@ -121,6 +131,7 @@ public abstract class KernelInjectionModule

  /**
   * Returns a multibinder that can be used to register transport order cleanup approvals.
+   * 返回一个多索引器，可用于注册运输订单清理批准。
   *
   * @return The multibinder.
   */
@ -130,6 +141,7 @@ public abstract class KernelInjectionModule

  /**
   * Returns a multibinder that can be used to register order sequence cleanup approvals.
+   * 返回一个多索引器，可用于注册订单序列清理批准。
   *
   * @return The multibinder.
   */
@ -139,6 +151,7 @@ public abstract class KernelInjectionModule

  /**
   * Returns a multibinder that can be used to register peripheral job cleanup approvals.
+   * 返回一个多索引器，可用于注册订单序列清理批准。
   *
   * @return The multibinder.
   */
@ -148,6 +161,7 @@ public abstract class KernelInjectionModule

  /**
   * Returns a multibinder that can be used to register scheduler modules.
+   * 返回一个可用于注册调度程序模块的多索引器。
   *
   * @return The multibinder.
   */
@ -157,6 +171,7 @@ public abstract class KernelInjectionModule

  /**
   * Returns a mapbinder that can be used to register edge evaluators.
+   * 返回一个可用于注册边缘评估器的地图绑定器。
   *
   * @return The mapbinder.
   */
--- a/opentcs-commadapter-loopback/src/guiceConfig/java/org/opentcs/kcvehicle/KcCommAdapterModule.java
+++ b/opentcs-commadapter-loopback/src/guiceConfig/java/org/opentcs/kcvehicle/KcCommAdapterModule.java
@ -0,0 +1,40 @@
+package org.opentcs.kcvehicle;
+
+import com.google.inject.assistedinject.FactoryModuleBuilder;
+import org.opentcs.customizations.kernel.KernelInjectionModule;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+public class KcCommAdapterModule extends KernelInjectionModule {
+
+  private static final Logger LOG = LoggerFactory.getLogger(KcCommAdapterModule.class);
+
+  @Override
+  protected void configure() {
+//
+//    VirtualVehicleConfiguration configuration
+//        = getConfigBindingProvider().get(
+//            VirtualVehicleConfiguration.PREFIX,
+//            VirtualVehicleConfiguration.class
+//        );
+//
+////    KcVehicleConfiguration configuration
+////        = getConfigBindingProvider().get(
+////        KcVehicleConfiguration.PREFIX,
+////        KcVehicleConfiguration.class
+////    );
+//
+//    if (!configuration.enable()) {
+//      LOG.info("KC driver disabled by configuration.");
+//      return;
+//    }
+//
+//    bind(VirtualVehicleConfiguration.class)
+//        .toInstance(configuration);
+//
+//    install(new FactoryModuleBuilder().build(LoopbackAdapterComponentsFactory.class));
+//
+//    vehicleCommAdaptersBinder().addBinding().to(LoopbackCommunicationAdapterFactory.class);
+  }
+
+}
--- a/opentcs-commadapter-loopback/src/guiceConfig/resources/META-INF/services/org.opentcs.customizations.kernel.KernelInjectionModule
+++ b/opentcs-commadapter-loopback/src/guiceConfig/resources/META-INF/services/org.opentcs.customizations.kernel.KernelInjectionModule
@ -2,3 +2,4 @@
 # SPDX-License-Identifier: MIT

 org.opentcs.virtualvehicle.LoopbackCommAdapterModule
+org.opentcs.kcvehicle.KcCommAdapterModule
--- a/opentcs-commadapter-loopback/src/main/java/org/opentcs/kcvehicle/KcAdapterComponentsFactory.java
+++ b/opentcs-commadapter-loopback/src/main/java/org/opentcs/kcvehicle/KcAdapterComponentsFactory.java
@ -0,0 +1,10 @@
+package org.opentcs.kcvehicle;
+
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.kcvehicle.KcCommunicationAdapter;
+
+public interface KcAdapterComponentsFactory {
+
+//  KcCommunicationAdapter createKcCommunicationAdapter(Vehicle vehicle);
+  KcCommunicationAdapter createKcCommunicationAdapter(Vehicle vehicle);
+}
--- a/opentcs-commadapter-loopback/src/main/java/org/opentcs/kcvehicle/KcCommunicationAdapter.java
+++ b/opentcs-commadapter-loopback/src/main/java/org/opentcs/kcvehicle/KcCommunicationAdapter.java
@ -0,0 +1,163 @@
+package org.opentcs.kcvehicle;
+
+import com.google.inject.assistedinject.Assisted;
+import jakarta.annotation.Nonnull;
+import jakarta.annotation.Nullable;
+import jakarta.inject.Inject;
+import java.util.concurrent.ScheduledExecutorService;
+import org.opentcs.customizations.kernel.KernelExecutor;
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.data.order.TransportOrder;
+import org.opentcs.drivers.vehicle.BasicVehicleCommAdapter;
+import org.opentcs.drivers.vehicle.MovementCommand;
+import org.opentcs.drivers.vehicle.VehicleProcessModel;
+import org.opentcs.kc.udp.Service.ConfirmRelocation;
+import org.opentcs.kc.udp.Service.ManualPosition;
+import org.opentcs.kc.udp.Service.QryRobotRunStatus;
+import org.opentcs.kc.udp.Service.QryRobotStatus;
+import org.opentcs.kc.udp.Service.SubCargoStatus;
+import org.opentcs.kc.udp.Service.SubRobotStatue;
+import org.opentcs.kc.udp.Service.SwitchAutomaticMode;
+import org.opentcs.kc.udp.Service.SwitchManualMode;
+import org.opentcs.kc.udp.agv.param.function.af.LocationStatusInfo;
+import org.opentcs.kc.udp.agv.param.function.af.QueryRobotStatusRsp;
+import org.opentcs.kc.udp.agv.param.function.x17.QueryRobotRunStatusRsp;
+import org.opentcs.util.ExplainedBoolean;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+public class KcCommunicationAdapter extends BasicVehicleCommAdapter {
+
+  private static final Logger LOG = LoggerFactory.getLogger(KcCommunicationAdapter.class);
+  /**
+   * This instance's configuration.
+   */
+  private final KcVehicleConfiguration configuration;
+  /**
+   * 单个仿真步骤的时间 （毫秒）
+   */
+  private static final int SIMULATION_PERIOD = 100;
+
+  /**
+   * Creates a new instance.
+   */
+  @Inject
+  public KcCommunicationAdapter(
+      KcVehicleConfiguration configuration,
+      @Assisted
+      Vehicle vehicle,
+      @KernelExecutor
+      ScheduledExecutorService kernelExecutor
+  ) {
+    super(
+        new VehicleProcessModel(vehicle),
+        configuration.commandQueueCapacity(),
+        configuration.rechargeOperation(),
+        kernelExecutor
+    );
+    this.configuration = configuration;
+  }
+
+//  @Inject
+//  public KcCommunicationAdapter(Vehicle vehicle) {
+//    super(new VehicleProcessModel(vehicle), 1, "Recharge");
+//  }
+
+  @Override
+  public void sendCommand(MovementCommand cmd)
+      throws IllegalArgumentException {
+
+  }
+
+  @Override
+  protected void connectVehicle() {
+    //initAGV();
+    getProcessModel().setCommAdapterConnected(true);
+  }
+
+  @Override
+  protected void disconnectVehicle() {
+    getProcessModel().setCommAdapterConnected(false);
+  }
+
+  @Override
+  protected boolean isVehicleConnected() {
+    return getProcessModel().isCommAdapterConnected();
+  }
+
+  @Nonnull
+  @Override
+  public ExplainedBoolean canProcess(
+      @Nonnull
+      TransportOrder order
+  ) {
+    return null;
+  }
+
+  @Override
+  public void onVehiclePaused(boolean paused) {
+
+  }
+
+  @Override
+  public void processMessage(
+      @Nullable
+      Object message
+  ) {
+
+  }
+
+  /**
+   * 初始化AGV
+   * 步骤:
+   * 1：调度软件启动、机器人启动（无顺序要求）。
+   * 2：等待调度系统以及机器人控制器启动完成，调度系统启动即向机器人发送状态查询，查询成功即为启动完成。
+   * 3：调度软件发送订阅信令至机器人，表明订阅机器人状态信息或载货状态；机器人接收到订阅信令，会依据订阅要求推送订阅信息；度软件需要根据订阅信令中“上报持续时间”提前刷新机器人推送的“上报持续时间”。
+   * 4：调度软件持续监控机器人实时状态。
+   * 5：导航初始化
+   */
+  private void initAGV() {
+
+    //0xAF获取AGV状态
+    QueryRobotStatusRsp qryRobotStatusRsp = QryRobotStatus.command();
+
+    //开启AGV订阅监听 (0xAF & 0xB0)
+    SubRobotStatue.command();
+    SubCargoStatus.command();
+
+    //1 切换定位为手动模式（命令码：0x03，变量：NaviControl 修改为0）；
+    SwitchManualMode.command();
+
+    LocationStatusInfo locationStatusInfo = qryRobotStatusRsp.locationStatusInfo;
+    double agvX = locationStatusInfo.globalX;
+    double agvY = locationStatusInfo.globalY;
+    double agvAngle = locationStatusInfo.absoluteDirecAngle;
+
+
+    //3 查询机器人运行状态（命令码：0x17），等待机器人定位状态为定位完成；
+    QueryRobotRunStatusRsp qryRobotRunStatusRsp = QryRobotRunStatus.command();
+    if (qryRobotRunStatusRsp.robotLocalizationState == 0) {
+
+      //2 执行机器人手动定位 （命令码：0x14）；
+      ManualPosition.command(agvX, agvY, agvAngle);
+
+      throw new RuntimeException("AGV定位失败，执行手动定位中");
+
+    } else if (qryRobotRunStatusRsp.robotLocalizationState == 2) {
+      throw new RuntimeException("AGV定位中");
+    }
+
+    //4 确认初始位置（命令码：0x1F）；
+    ConfirmRelocation.commnd();
+
+    //5 切换成自动模式（命令码：0x03，变量：NaviControl 修改为1）；
+    SwitchAutomaticMode.command();
+
+    //打开通讯适配器连接
+    getProcessModel().setCommAdapterConnected(true);
+  }
+
+  private int getSimulationTimeStep() {
+    return (int) (SIMULATION_PERIOD * configuration.simulationTimeFactor());
+  }
+}
--- a/opentcs-commadapter-loopback/src/main/java/org/opentcs/kcvehicle/KcCommunicationAdapterDescription.java
+++ b/opentcs-commadapter-loopback/src/main/java/org/opentcs/kcvehicle/KcCommunicationAdapterDescription.java
@ -0,0 +1,15 @@
+package org.opentcs.kcvehicle;
+
+import org.opentcs.drivers.vehicle.VehicleCommAdapterDescription;
+
+public class KcCommunicationAdapterDescription extends VehicleCommAdapterDescription {
+  @Override
+  public String getDescription() {
+    return "KC_ADAPTER";
+  }
+
+  @Override
+  public boolean isSimVehicleCommAdapter() {
+    return false;
+  }
+}
--- a/opentcs-commadapter-loopback/src/main/java/org/opentcs/kcvehicle/KcCommunicationAdapterFactory.java
+++ b/opentcs-commadapter-loopback/src/main/java/org/opentcs/kcvehicle/KcCommunicationAdapterFactory.java
@ -0,0 +1,61 @@
+package org.opentcs.kcvehicle;
+
+import static java.util.Objects.requireNonNull;
+
+import jakarta.annotation.Nonnull;
+import jakarta.annotation.Nullable;
+import jakarta.inject.Inject;
+import org.opentcs.data.model.Vehicle;
+import org.opentcs.drivers.vehicle.VehicleCommAdapter;
+import org.opentcs.drivers.vehicle.VehicleCommAdapterDescription;
+import org.opentcs.drivers.vehicle.VehicleCommAdapterFactory;
+import org.opentcs.drivers.vehicle.VehicleProcessModel;
+
+public class KcCommunicationAdapterFactory implements VehicleCommAdapterFactory {
+
+  private final KcAdapterComponentsFactory adapterFactory;
+
+  @Inject
+  public KcCommunicationAdapterFactory(KcAdapterComponentsFactory componentsFactory) {
+    this.adapterFactory = requireNonNull(componentsFactory, "KC_componentsFactory_NULL");
+  }
+
+  @Override
+  public VehicleCommAdapterDescription getDescription() {
+    return new KcCommunicationAdapterDescription();
+  }
+
+  @Override
+  public boolean providesAdapterFor(
+      @Nonnull
+      Vehicle vehicle
+  ) {
+    return false;
+  }
+
+  @Nullable
+  @Override
+  public VehicleCommAdapter getAdapterFor(
+      @Nonnull
+      Vehicle vehicle
+  ) {
+    return adapterFactory.createKcCommunicationAdapter(vehicle);
+//    return adapterFactory.createKcCommunicationAdapter(vehicle);
+  }
+
+  @Override
+  public void initialize() {
+
+  }
+
+  @Override
+  public boolean isInitialized() {
+    return false;
+  }
+
+  @Override
+  public void terminate() {
+
+  }
+
+}
--- a/opentcs-commadapter-loopback/src/main/java/org/opentcs/kcvehicle/KcVehicleConfiguration.java
+++ b/opentcs-commadapter-loopback/src/main/java/org/opentcs/kcvehicle/KcVehicleConfiguration.java
@ -0,0 +1,77 @@
+// SPDX-FileCopyrightText: The openTCS Authors
+// SPDX-License-Identifier: MIT
+package org.opentcs.kcvehicle;
+
+import org.opentcs.configuration.ConfigurationEntry;
+import org.opentcs.configuration.ConfigurationPrefix;
+
+/**
+ * Provides methods to configure to {@link KcCommunicationAdapter}.
+ */
+@ConfigurationPrefix(KcVehicleConfiguration.PREFIX)
+public interface KcVehicleConfiguration {
+
+  /**
+   * This configuration's prefix.
+   */
+  String PREFIX = "kcvehicle";
+
+  @ConfigurationEntry(
+      type = "Boolean",
+      description = "Whether to enable to register/enable the loopback driver.",
+      changesApplied = ConfigurationEntry.ChangesApplied.ON_APPLICATION_START,
+      orderKey = "0_enable"
+  )
+  boolean enable();
+
+  @ConfigurationEntry(
+      type = "Integer",
+      description = "The adapter's command queue capacity.",
+      changesApplied = ConfigurationEntry.ChangesApplied.ON_NEW_PLANT_MODEL,
+      orderKey = "1_attributes_1"
+  )
+  int commandQueueCapacity();
+
+  @ConfigurationEntry(
+      type = "String",
+      description = "The string to be treated as a recharge operation.",
+      changesApplied = ConfigurationEntry.ChangesApplied.ON_NEW_PLANT_MODEL,
+      orderKey = "1_attributes_2"
+  )
+  String rechargeOperation();
+
+  @ConfigurationEntry(
+      type = "Double",
+      description = "The rate at which the vehicle recharges in percent per second.",
+      changesApplied = ConfigurationEntry.ChangesApplied.INSTANTLY,
+      orderKey = "1_attributes_3"
+  )
+  double rechargePercentagePerSecond();
+
+  @ConfigurationEntry(
+      type = "Double",
+      description = {
+          "The simulation time factor.",
+          "1.0 is real time, greater values speed up simulation."
+      },
+      changesApplied = ConfigurationEntry.ChangesApplied.INSTANTLY,
+      orderKey = "2_behaviour_1"
+  )
+  double simulationTimeFactor();
+
+  @ConfigurationEntry(
+      type = "Integer",
+      description = {"The virtual vehicle's length in mm when it's loaded."},
+      changesApplied = ConfigurationEntry.ChangesApplied.INSTANTLY,
+      orderKey = "2_behaviour_2"
+  )
+  int vehicleLengthLoaded();
+
+  @ConfigurationEntry(
+      type = "Integer",
+      description = {"The virtual vehicle's length in mm when it's unloaded."},
+      changesApplied = ConfigurationEntry.ChangesApplied.INSTANTLY,
+      orderKey = "2_behaviour_3"
+  )
+  int vehicleLengthUnloaded();
+}
--- a/opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java
+++ b/opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java
@ -8,6 +8,8 @@ import com.google.inject.assistedinject.Assisted;
 import jakarta.inject.Inject;
 import java.beans.PropertyChangeEvent;
 import java.util.Arrays;
+import java.util.Date;
+import java.util.HashMap;
 import java.util.Iterator;
 import java.util.List;
 import java.util.Objects;
@ -17,6 +19,8 @@ import java.util.concurrent.TimeUnit;
 import java.util.stream.Collectors;
 import org.opentcs.common.LoopbackAdapterConstants;
 import org.opentcs.customizations.kernel.KernelExecutor;
+import org.opentcs.data.model.Pose;
+import org.opentcs.data.model.Triple;
 import org.opentcs.data.model.Vehicle;
 import org.opentcs.data.order.Route.Step;
 import org.opentcs.data.order.TransportOrder;
@ -27,6 +31,19 @@ import org.opentcs.drivers.vehicle.SimVehicleCommAdapter;
 import org.opentcs.drivers.vehicle.VehicleCommAdapter;
 import org.opentcs.drivers.vehicle.VehicleProcessModel;
 import org.opentcs.drivers.vehicle.management.VehicleProcessModelTO;
+import org.opentcs.kc.udp.Service.ConfirmRelocation;
+import org.opentcs.kc.udp.Service.HybridNavigation;
+import org.opentcs.kc.udp.Service.ManualPosition;
+import org.opentcs.kc.udp.Service.QryRobotRunStatus;
+import org.opentcs.kc.udp.Service.QryRobotStatus;
+import org.opentcs.kc.udp.Service.SubCargoStatus;
+import org.opentcs.kc.udp.Service.SubRobotStatue;
+import org.opentcs.kc.udp.Service.SwitchAutomaticMode;
+import org.opentcs.kc.udp.Service.SwitchManualMode;
+import org.opentcs.kc.udp.agv.param.function.af.LocationStatusInfo;
+import org.opentcs.kc.udp.agv.param.function.af.QueryRobotStatusRsp;
+import org.opentcs.kc.udp.agv.param.function.b0.QueryCargoStatusRsp;
+import org.opentcs.kc.udp.agv.param.function.x17.QueryRobotRunStatusRsp;
 import org.opentcs.util.ExplainedBoolean;
 import org.opentcs.virtualvehicle.VelocityController.WayEntry;
 import org.slf4j.Logger;
@ -44,6 +61,7 @@ public class LoopbackCommunicationAdapter

  /**
   * The name of the load handling device set by this adapter.
+   * 此适配器设置的负载处理设备的名称。
   */
  public static final String LHD_NAME = "default";
  /**
@ -52,38 +70,68 @@ public class LoopbackCommunicationAdapter
  private static final Logger LOG = LoggerFactory.getLogger(LoopbackCommunicationAdapter.class);
  /**
   * An error code indicating that there's a conflict between a load operation and the vehicle's
+   * 一个错误代码，指示加载作与车辆的
   * current load state.
+   * 当前负载状态。
   */
  private static final String LOAD_OPERATION_CONFLICT = "cannotLoadWhenLoaded";
  /**
   * An error code indicating that there's a conflict between an unload operation and the vehicle's
+   * 一个错误代码，指示卸载作与车辆的
   * current load state.
+   * 当前负载状态。
   */
  private static final String UNLOAD_OPERATION_CONFLICT = "cannotUnloadWhenNotLoaded";
  /**
   * The time (in ms) of a single simulation step.
+   * 单个仿真步骤的时间 （毫秒）。
   */
  private static final int SIMULATION_PERIOD = 100;
  /**
   * This instance's configuration.
+   * 此实例的配置。
   */
  private final VirtualVehicleConfiguration configuration;
  /**
   * Indicates whether the vehicle simulation is running or not.
+   * 指示车辆模拟是否正在运行。
   */
  private volatile boolean isSimulationRunning;
  /**
   * The vehicle to this comm adapter instance.
+   * 车辆到此通信适配器实例。
   */
  private final Vehicle vehicle;
  /**
   * The vehicle's load state.
+   * 车辆的负载状态。
   */
  private LoadState loadState = LoadState.EMPTY;
  /**
   * Whether the loopback adapter is initialized or not.
+   * 环回适配器是否已初始化。
   */
  private boolean initialized;
+  /**
+   * 上报截止时间
+   */
+  private long deadline;
+  /**
+   * 上报间隔时间/ms
+   */
+  private long intervalTime;
+//  /**
+//   * AGV IP
+//   */
+//  private final String IP;
+//  /**
+//   * AGV 端口
+//   */
+//  private final int PORT;
+//  /**
+//   * AGV AUTHORIZE_CODE
+//   */
+//  private final String AUTHORIZE_CODE;

  /**
   * Creates a new instance.
@ -210,6 +258,42 @@ public class LoopbackCommunicationAdapter
  public synchronized void sendCommand(MovementCommand cmd) {
    requireNonNull(cmd, "cmd");

+    System.out.println(cmd);
+
+    System.out.println("send cmd print start");
+
+    //订单ID
+    String orderName = cmd.getTransportOrder().getName();
+    System.out.println("orderID:" + orderName);
+
+    //路线名称
+    String pathName = cmd.getStep().getPath().getName();
+    System.out.println("pathName:" + pathName);
+
+    //路线长度
+    long length = cmd.getStep().getPath().getLength();
+    System.out.println("pathLength:" + length);
+
+    //当前点位操作
+    String operation = cmd.getOperation();
+    System.out.println("operation:" + operation);
+
+    //下发起点
+    String sourcePoint = cmd.getStep().getSourcePoint().getName();
+    System.out.println("sourcePoint:" + sourcePoint);
+
+    //下发终点
+    String destinationPoint = cmd.getStep().getDestinationPoint().getName();
+    System.out.println("destinationPoint:" + destinationPoint);
+
+    //拼接起点终点字符串转为Integer类型获取唯一pathID
+    Integer pathID = Integer.parseInt(sourcePoint + destinationPoint);
+    System.out.println("pathID:" + pathID);
+    System.out.println("send cmd print end");
+
+    //AGV控制器执行命令
+    HybridNavigation.command("1", sourcePoint, destinationPoint, operation);
+
    // Start the simulation task if we're not in single step mode and not simulating already.
    if (!getProcessModel().isSingleStepModeEnabled()
        && !isSimulationRunning) {
@ -234,6 +318,75 @@ public class LoopbackCommunicationAdapter

  @Override
  public void processMessage(Object message) {
+    if (message instanceof String) {
+      //测试使用
+      getProcessModel().setEnergyLevel(66);
+      System.out.println(message);
+    }
+    else if (message instanceof QueryCargoStatusRsp) {
+      //0xB0响应结果
+      QueryCargoStatusRsp queryCargoStatusRsp = (QueryCargoStatusRsp) message;
+
+      if (queryCargoStatusRsp.isCargo == 0) {
+        this.loadState = LoadState.EMPTY;
+      } else {
+        this.loadState = LoadState.FULL;
+      }
+    }
+    else if (message instanceof QueryRobotStatusRsp) {
+      System.out.println("test success");
+      //0xAF响应结果
+      QueryRobotStatusRsp queryRobotStatusRsp = (QueryRobotStatusRsp) message;
+
+      //电量
+      float batteryPercentage = queryRobotStatusRsp.batteryStatusInfo.batteryPercentage;
+      getProcessModel().setEnergyLevel(((int)batteryPercentage * 100));
+
+      //充电状态
+      byte chargingState = queryRobotStatusRsp.batteryStatusInfo.chargingState;
+      if (chargingState == 1) {
+        getProcessModel().setState(Vehicle.State.CHARGING);
+      }
+
+      //设置车辆位置(最后一次通过的点)
+//      String lastPointName = queryRobotStatusRsp.locationStatusInfo.lastPassPointId.toString();
+//      getProcessModel().setPosition(lastPointName);
+
+      ////新：设置车辆姿势。(官方弃用设置车辆精确位置)
+      long positionX = (long)queryRobotStatusRsp.locationStatusInfo.globalX;
+      long positionY = (long)queryRobotStatusRsp.locationStatusInfo.globalY;
+      Triple triple = new Triple(positionX, positionY, 0);
+      double positionAngle = queryRobotStatusRsp.locationStatusInfo.absoluteDirecAngle;
+      getProcessModel().setPose(new Pose(triple, positionAngle));
+    }
+    else if (message instanceof HashMap<?,?>) {
+      HashMap<?,?> msg = ((HashMap<?, ?>) message);
+
+      getProcessModel().setEnergyLevel((int)msg.get("energy"));
+      getProcessModel().setState(Vehicle.State.EXECUTING);
+
+      long positionX = (long)msg.get("positionX");
+      long positionY = (long)msg.get("positionY");
+      Triple triple = new Triple(positionX, positionY, 0);
+      double positionAngle = (double)msg.get("positionAngle");
+      getProcessModel().setPose(new Pose(triple, positionAngle));
+    }
+
+    //上报自动续订操作
+//    renewalSubscribe();
+  }
+
+  /**
+   * 订阅到期，自动续订
+   */
+  private void renewalSubscribe() {
+
+    Date now = new Date();
+    if (now.getTime() + intervalTime >= deadline) {
+      //开启AGV订阅监听 (0xAF & 0xB0)
+      SubRobotStatue.command();
+      SubCargoStatus.command();
+    }
  }

  @Override
@ -293,15 +446,21 @@ public class LoopbackCommunicationAdapter

  @Override
  protected synchronized void connectVehicle() {
+    String ip = requireNonNull(vehicle.getProperties().get(LoopbackAdapterConstants.AGV_IP), "AGV IP NOT NULL");
+    Integer port = Integer.parseInt(requireNonNull(vehicle.getProperties().get(LoopbackAdapterConstants.AGV_PORT), "AGV PORT NOT NULL"));
+    String authorizeCode = requireNonNull(vehicle.getProperties().get(LoopbackAdapterConstants.AGV_AUTHORIZE_CODE), "AGV AUTHORIZE_CODE NOT NULL");
+    getProcessModel().setCommAdapterConnected(true);
+//    initAGV();
  }

  @Override
  protected synchronized void disconnectVehicle() {
+    getProcessModel().setCommAdapterConnected(false);
  }

  @Override
  protected synchronized boolean isVehicleConnected() {
-    return true;
+    return getProcessModel().isCommAdapterConnected();
  }

  @Override
@ -556,4 +715,59 @@ public class LoopbackCommunicationAdapter
    EMPTY,
    FULL;
  }
+
+  /**
+   * 初始化AGV
+   * 步骤:
+   * 1：调度软件启动、机器人启动（无顺序要求）。
+   * 2：等待调度系统以及机器人控制器启动完成，调度系统启动即向机器人发送状态查询，查询成功即为启动完成。
+   * 3：调度软件发送订阅信令至机器人，表明订阅机器人状态信息或载货状态；机器人接收到订阅信令，会依据订阅要求推送订阅信息；度软件需要根据订阅信令中“上报持续时间”提前刷新机器人推送的“上报持续时间”。
+   * 4：调度软件持续监控机器人实时状态。
+   * 5：导航初始化
+   */
+  private void initAGV() {
+
+    //0xAF获取AGV状态
+    QueryRobotStatusRsp qryRobotStatusRsp = QryRobotStatus.command();
+
+    //设置订阅时间和上报间隔
+    Date now = new Date();
+    deadline = now.getTime() + 1000;
+    intervalTime = 100;
+
+    //开启AGV订阅监听 (0xAF & 0xB0)
+    SubRobotStatue.command();
+    SubCargoStatus.command();
+
+    //1 切换定位为手动模式（命令码：0x03，变量：NaviControl 修改为0）；
+    SwitchManualMode.command();
+
+    LocationStatusInfo locationStatusInfo = qryRobotStatusRsp.locationStatusInfo;
+    double agvX = locationStatusInfo.globalX;
+    double agvY = locationStatusInfo.globalY;
+    double agvAngle = locationStatusInfo.absoluteDirecAngle;
+
+
+    //3 查询机器人运行状态（命令码：0x17），等待机器人定位状态为定位完成；
+    QueryRobotRunStatusRsp qryRobotRunStatusRsp = QryRobotRunStatus.command();
+    if (qryRobotRunStatusRsp.robotLocalizationState == 0) {
+
+      //2 执行机器人手动定位 （命令码：0x14）；
+      ManualPosition.command(agvX, agvY, agvAngle);
+
+      throw new RuntimeException("AGV定位失败，执行手动定位中");
+
+    } else if (qryRobotRunStatusRsp.robotLocalizationState == 2) {
+      throw new RuntimeException("AGV定位中");
+    }
+
+    //4 确认初始位置（命令码：0x1F）；
+    ConfirmRelocation.commnd();
+
+    //5 切换成自动模式（命令码：0x03，变量：NaviControl 修改为1）；
+    SwitchAutomaticMode.command();
+
+    //打开通讯适配器连接
+    getProcessModel().setCommAdapterConnected(true);
+  }
 }
--- a/opentcs-common/src/main/java/org/opentcs/common/GuestUserCredentials.java
+++ b/opentcs-common/src/main/java/org/opentcs/common/GuestUserCredentials.java
@ -15,4 +15,12 @@ public interface GuestUserCredentials {
   * The default/guest password.
   */
  String PASSWORD = "xyz";
+  /**
+   * 主机IP
+   */
+  String IP = "192.168.0.106";
+  /**
+   * 内核开放端口
+   */
+  Integer PORT = 1099;
 }
--- a/opentcs-common/src/main/java/org/opentcs/common/LoopbackAdapterConstants.java
+++ b/opentcs-common/src/main/java/org/opentcs/common/LoopbackAdapterConstants.java
@ -41,5 +41,17 @@ public interface LoopbackAdapterConstants {
   * The key of the vehicle property that specifies the maximum decceleration of a vehicle.
   */
  String PROPKEY_DECELERATION = "loopback:deceleration";
+  /**
+   * AGV 控制器授权码
+   */
+  String AGV_AUTHORIZE_CODE = "AGV:AUTHORIZE_CODE";
+  /**
+   * AGV IP
+   */
+  String AGV_IP = "AGV:IP";
+  /**
+   * AGV 端口
+   */
+  String AGV_PORT = "AGV:PORT";

 }
--- a/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/BaseCommand.java
+++ b/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/BaseCommand.java
@ -0,0 +1,39 @@
+package org.opentcs.kc.udp.Service;
+
+import org.opentcs.kc.udp.agv.param.AgvEvent;
+import org.opentcs.kc.udp.agv.param.rsp.RcvEventPackage;
+
+/**
+ * @author xzh
+ * @date 2025/2/21
+ * @desc 命令基类
+ */
+public class BaseCommand {
+
+  public static String byteToHex(byte b) {
+    // 将byte转换为无符号整数
+    int unsignedByte = b & 0xFF;
+    // 使用Integer.toHexString方法转换为十六进制字符串
+    String hexString = Integer.toHexString(unsignedByte);
+    // 如果字符串长度为1，需要在前面补0
+    if (hexString.length() == 1) {
+      return "0" + hexString;
+    }
+    return hexString;
+  }
+
+  public static void printInfo(AgvEvent agvEvent){
+    System.out.println("sended transationId : "+agvEvent.getTransationIdString());
+    for (byte b:agvEvent.toBytes().getBody()){
+      System.out.print(byteToHex(b)+" ");
+    }
+  }
+
+  public static void printInfo(RcvEventPackage rcv){
+
+    for (byte b: rcv.getDataBytes()){
+      System.out.print(byteToHex(b)+" ");
+    }
+  }
+
+}
--- a/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/ConfirmRelocation.java
+++ b/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/ConfirmRelocation.java
@ -0,0 +1,39 @@
+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.rsp.RcvEventPackage;
+import org.opentcs.kc.udp.io.UDPClient;
+
+/**
+ * @author xzh
+ * @date 2025/2/21
+ * @desc 确认位置 0x1F
+ */
+public class ConfirmRelocation extends BaseCommand{
+
+  /**
+   * decs: 确认机器人位置
+   * 指令：0x1F
+   * author: caixiang
+   * date: 2025/1/17 16:25
+   * */
+  public static AgvEvent confirmInitialPosition() {
+    AgvEvent agvEvent = new AgvEvent(AgvEventConstant.CommandCode_CONFIRM_ROBOT_POSITION);
+    return agvEvent;
+  }
+
+  public static void commnd() {
+    //0x1F(确认初始位置)
+    AgvEvent agvEvent = confirmInitialPosition();
+    printInfo(agvEvent);
+    RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent);
+    if(rcv.isOk()){
+      System.out.println("0x1F ok");
+    }else {
+      System.out.println();
+      System.out.println("0x1F fail");
+      System.out.println("received transationId : "+ "isok:"+rcv.isOk());
+    }
+  }
+}
--- a/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/HybridNavigation.java
+++ b/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/HybridNavigation.java
@ -0,0 +1,139 @@
+package org.opentcs.kc.udp.Service;
+
+import org.opentcs.kc.common.byteutils.ByteUtils;
+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.function.navigation.NavigationParam;
+import org.opentcs.kc.udp.agv.param.function.navigation.Path;
+import org.opentcs.kc.udp.agv.param.function.navigation.Point;
+import org.opentcs.kc.udp.agv.param.rsp.RcvEventPackage;
+import org.opentcs.kc.udp.io.UDPClient;
+
+public class HybridNavigation extends BaseCommand{
+
+  /**
+   * 测试模式：true=开启测试，false=关闭测试
+   * 测试模式因orderName为String类型数据，无法转换为Integer
+   */
+  private static boolean TEST_MODEL = false;
+  /**
+   * 订单ID
+   * 订单的唯一标识。用于标识多个任务KEY是否属于同一个订单。机器人单次只能接收同一订单ID的任务，直至订单结束，调度可下发新的订单ID，订单ID从1开始累加，每次+1。
+   * 注：同一订单ID支持不停车更新导航。
+   */
+  private static Integer orderID = 0;
+  /**
+   * 任务ID
+   * 任务的唯一标识。与订单ID绑定，从1开始，当同一订单下发新的资源时加1；订单ID发生改变，任务KEY需要重新计数。
+   */
+  private static Integer taskKey;
+  /**
+   * 序列号
+   * 用于定位点在整个任务中的位置。目的是区分同一个点ID是否在一个任务中出现多次。从0开始偶数递增，例如：0->2->4->6……
+   */
+  private static Integer pointSerialNum = 0;
+  /**
+   * 用于定位段在整个任务中的位置。目的是区分同一个段ID是否在一个任务中出现多次。从1开始奇数递增，例如：1->3->5->7……
+   */
+  private static Integer pathSerialNum = 1;
+
+
+  /**
+   * decs: 导航控制
+   * 指令：0xAE
+   * author: caixiang
+   * date: 2025/1/17 16:25
+   * */
+  public static AgvEvent navigationControl(Integer sourcePoint, Integer destinationPoint, Integer pathID, String operation) {
+    AgvEvent agvEvent = new AgvEvent(AgvEventConstant.CommandCode_QUERY_ROBOT_STATUS);
+    //TODO 构建
+    Integer orderId = orderID;
+//    Integer orderId = 1;
+
+    //构建point
+    Action[] pointActions1 = new Action[]{
+        new Action(ActionSet.stop0x01, (byte) 0x00, 1, ActionSet.stop0x01_paramsize, ActionSet.stop0x01(orderId, (byte) 0x01))
+        //,new Action()...  每一个point 可以绑定一个或者多个 action
+    };
+    Action[] pointActions2 = new Action[]{
+        new Action(ActionSet.stop0x01, (byte) 0x00, 1, ActionSet.stop0x01_paramsize, ActionSet.stop0x01(orderId, (byte) 0x01))
+    };
+//    Action[] pointActions3 = new Action[]{
+//        new Action(ActionSet.stop0x01, (byte) 0x00, 1, ActionSet.stop0x01_paramsize, ActionSet.stop0x01(orderId, (byte) 0x01))
+//    };
+    Integer oldPointSerialNum = pointSerialNum;
+    pointSerialNum += 2;
+    Point[] points = new Point[]{
+        new Point(oldPointSerialNum, sourcePoint, 1f, (byte)0x00, ByteUtils.usintTo1Byte(pointActions1.length),pointActions1),
+        new Point(pointSerialNum, destinationPoint, 1f, (byte)0x00, ByteUtils.usintTo1Byte(pointActions2.length),pointActions2)
+//        new Point(4, 3, 1f, (byte)0x00, ByteUtils.usintTo1Byte(pointActions3.length),pointActions3)
+    };
+
+    //构建path
+    Action[] pathActions1 = new Action[]{
+        new Action(ActionSet.stop0x01, (byte) 0x00, 1, ActionSet.stop0x01_paramsize, ActionSet.stop0x01(orderId, (byte) 0x01))
+        //,new Action()...  每一个path 可以绑定一个或者多个 action
+    };
+//    Action[] pathActions2 = new Action[]{
+//        new Action(ActionSet.stop0x01, (byte) 0x00, 1, ActionSet.stop0x01_paramsize, ActionSet.stop0x01(orderId, (byte) 0x01))
+//    };
+    Path[] paths = new Path[]{
+        new Path(pathSerialNum,pathID,1f,(byte)0x00,(byte)0x00,ByteUtils.usintTo1Byte(pathActions1.length),5f,1f,pathActions1) ,
+//        new Path(3,2,1f,(byte)0x00,(byte)0x00,ByteUtils.usintTo1Byte(pathActions2.length),5f,1f,pathActions2) ,
+    };
+    NavigationParam navigationParam = new NavigationParam(orderID,taskKey,ByteUtils.usintTo1Byte(points.length),ByteUtils.usintTo1Byte(points.length-1),points,paths);
+    agvEvent.setBody(navigationParam.toBytes());
+
+    return agvEvent;
+  }
+
+  /**
+   *
+   * @param orderName 订单ID
+   * @param sourcePoint 下发起点
+   * @param destinationPoint 下发终点
+   * @param operation 执行操作
+   */
+  public static void command(String orderName, String sourcePoint, String destinationPoint, String operation) {
+    if (TEST_MODEL) {
+      return;
+    }
+
+    Integer newOrderName = Integer.parseInt(orderName);
+    Integer newSourcePoint = Integer.parseInt(sourcePoint);
+    Integer newDestinationPoint = Integer.parseInt(destinationPoint);
+    //拼接起点终点字符串转为Integer类型获取唯一pathID
+    Integer pathID = Integer.parseInt(sourcePoint + destinationPoint);
+
+    if (!orderID.equals(newOrderName)) {
+      //切换订单重置参数
+      initParams(newOrderName);
+    }
+
+    //0xAE(导航控制导航点控制)
+    AgvEvent agvEvent = navigationControl(newSourcePoint, newDestinationPoint, pathID, operation);
+    printInfo(agvEvent);
+    RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent);
+    if(rcv.isOk()){
+      System.out.println("0xAE ok");
+    }else {
+      System.out.println();
+      System.out.println("0xAE fail");
+      System.out.println("received transationId : "+ "isok:"+rcv.isOk());
+    }
+  }
+
+  /**
+   * 初始化参数
+   * @param newOrderName 新的订单ID
+   */
+  private static void initParams(Integer newOrderName) {
+    orderID = newOrderName;
+    taskKey = 1;
+    pointSerialNum = 0;
+    pathSerialNum = 1;
+  }
+
+}
--- a/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/ManualPosition.java
+++ b/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/ManualPosition.java
@ -0,0 +1,46 @@
+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.x14.RobotSetPosition;
+import org.opentcs.kc.udp.agv.param.rsp.RcvEventPackage;
+import org.opentcs.kc.udp.io.UDPClient;
+
+/**
+ * @author xzh
+ * @date 2025/2/21
+ * @desc 手动定位 0x14
+ */
+public class ManualPosition extends BaseCommand{
+
+  public static AgvEvent manualLocation(double agvX, double agvY, double agvAngle) {
+    AgvEvent agvEvent = new AgvEvent(AgvEventConstant.CommandCode_ROBOT_SET_POSITION);
+    RobotSetPosition robotSetPosition = new RobotSetPosition(agvX, agvY, agvAngle);
+    byte[] bytes = robotSetPosition.toBytes();
+    agvEvent.setBody(bytes);
+    return agvEvent;
+  }
+
+  public static void command(double agvX, double agvY, double agvAngle) {
+    //0x14(手动定位)
+    AgvEvent agvEvent = manualLocation(agvX, agvY, agvAngle);
+    printInfo(agvEvent);
+    RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent);
+    if(rcv.isOk()){
+      System.out.println();
+      System.out.println("received "+ "isok:"+rcv.isOk()+" dataBytes:");
+      printInfo(rcv);
+      if(rcv.isOk()){
+        //get and parse value
+        System.out.println("0x14 ok");
+      }else {
+        System.out.println("0x14 failed");
+      }
+    }else {
+      System.out.println();
+      System.out.println("received transationId : "+ "isok:"+rcv.isOk());
+      throw new RuntimeException("0x14 failed");
+    }
+  }
+}
--- a/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/QryRobotRunStatus.java
+++ b/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/QryRobotRunStatus.java
@ -0,0 +1,48 @@
+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.x17.QueryRobotRunStatusRsp;
+import org.opentcs.kc.udp.agv.param.rsp.RcvEventPackage;
+import org.opentcs.kc.udp.io.UDPClient;
+
+/**
+ * @author xzh
+ * @date 2025/2/21
+ * @desc 获取AGV运行状态
+ */
+public class QryRobotRunStatus extends BaseCommand{
+
+  /**
+   * decs: 查询机器人运行状态
+   * 指令：0x17
+   * author: caixiang
+   * date: 2025/1/17 16:25
+   * */
+  public static AgvEvent queryRobotRunStatus() {
+    AgvEvent agvEvent = new AgvEvent(AgvEventConstant.CommandCode_QUERY_ROBOT_RUN_STATUS);
+    return agvEvent;
+  }
+
+  public static QueryRobotRunStatusRsp command() {
+    //0x17(查询机器人运行状态)
+    AgvEvent agvEvent = queryRobotRunStatus();
+    printInfo(agvEvent);
+    RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent);
+    if(rcv.isOk()){
+      //QueryCargoStatusRsp queryCargoStatusRsp = new QueryCargoStatusRsp(rcv.getDataBytes());
+      QueryRobotRunStatusRsp queryRobotRunStatusRsp = new QueryRobotRunStatusRsp(rcv.getDataBytes());
+      System.out.println(queryRobotRunStatusRsp.toString());
+      System.out.println();
+      System.out.println("received transationId : "+ "isok:"+rcv.isOk());
+      for (byte b:rcv.getValue()){
+        System.out.print(byteToHex(b)+" ");
+      }
+      return queryRobotRunStatusRsp;
+    }else {
+      System.out.println();
+      System.out.println("received transationId : "+ "isok:"+rcv.isOk());
+      throw new RuntimeException("0x17 fail");
+    }
+  }
+}
--- a/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/QryRobotStatus.java
+++ b/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/QryRobotStatus.java
@ -0,0 +1,48 @@
+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.af.QueryRobotStatusRsp;
+import org.opentcs.kc.udp.agv.param.rsp.RcvEventPackage;
+import org.opentcs.kc.udp.io.UDPClient;
+
+/**
+ * @author xzh
+ * @date 2025/2/21
+ * @desc 查询机器人状态
+ */
+public class QryRobotStatus
+    extends BaseCommand {
+
+  /**
+   * decs: 查询机器人状态
+   * 指令：0xAF
+   * author: caixiang
+   * date: 2025/1/17 16:25
+   * */
+  public static AgvEvent queryStatus() {
+    AgvEvent agvEvent = new AgvEvent(AgvEventConstant.CommandCode_QUERY_ROBOT_STATUS);
+    return agvEvent;
+  }
+
+  public static QueryRobotStatusRsp command() {
+    //0xAF(查询机器人状态)
+    AgvEvent agvEvent = queryStatus();
+    printInfo(agvEvent);
+    RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent);
+    if(rcv.isOk()){
+      QueryRobotStatusRsp queryRobotStatusRsp = new QueryRobotStatusRsp(rcv.getDataBytes());
+      System.out.println();
+      System.out.println("received transationId : "+ "isok:"+rcv.isOk());
+      return queryRobotStatusRsp;
+//      for (byte b:rcv.getValue()){
+//        System.out.print(byteToHex(b)+" ");
+//      }
+    }else {
+      System.out.println();
+      System.out.println("received transationId : "+ "isok:"+rcv.isOk());
+      throw new RuntimeException("0xAF fail");
+    }
+  }
+
+}
--- a/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/SubCargoStatus.java
+++ b/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/SubCargoStatus.java
@ -0,0 +1,74 @@
+package org.opentcs.kc.udp.Service;
+
+import static java.util.Objects.requireNonNull;
+
+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.b0.QueryCargoStatusRsp;
+import org.opentcs.kc.udp.agv.param.function.b1.SubscribeInfo;
+import org.opentcs.kc.udp.agv.param.function.b1.SubscribeParam;
+import org.opentcs.kc.udp.agv.param.function.b1.SubscribeRsp;
+import org.opentcs.kc.udp.agv.param.rsp.RcvEventPackage;
+import org.opentcs.kc.udp.io.UDPClient;
+
+/**
+ * @author xzh
+ * @date 2025/2/21
+ * @desc 订阅载货状态
+ */
+public class SubCargoStatus extends BaseCommand{
+
+  /**
+   * decs: 下发订阅信息
+   * 指令：0xB1
+   * author: caixiang
+   * date: 2025/1/17 16:25
+   * */
+  public static AgvEvent issueSubscribe() {
+    List<SubscribeInfo> subscribeInfoList = new ArrayList<>();
+//    SubscribeInfo subscribeInfo = new SubscribeInfo(new byte[]{(byte)0xaf,(byte)0x00}, (short) 100,1000);
+    SubscribeInfo subscribeInfo = new SubscribeInfo(new byte[]{(byte)0xb0,(byte)0x00}, (short) 100,1000);
+    subscribeInfoList.add(subscribeInfo);
+    SubscribeParam subscribeParam = new SubscribeParam(subscribeInfoList);
+    AgvEvent agvEvent = new AgvEvent(AgvEventConstant.CommandCode_ISSUE_SUBSCRIPTION,subscribeParam.toBytes());
+    return agvEvent;
+  }
+
+  public static void command()
+  {
+//    0xB1(订阅信息)
+    AgvEvent agvEvent = issueSubscribe();
+    printInfo(agvEvent);
+    //todo 订阅参数构建完毕 去写 回调部分
+    RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent);
+    if(rcv.isOk()){
+      System.out.println();
+      System.out.println("received transationId : "+ "isok:"+rcv.isOk());
+      SubscribeRsp subscribeRsp = new SubscribeRsp(rcv.getDataBytes());
+      if(subscribeRsp.isOk()){
+        //...
+      }else {
+        //...
+      }
+    }else {
+      System.out.println();
+      System.out.println("received transationId : "+ "isok:"+rcv.isOk());
+    }
+  }
+
+  //订阅执行操作
+  public void subscribe0xB0Operate(String name,QueryCargoStatusRsp queryCargoStatusRsp)
+  {
+
+//    Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, name);
+    //修改载货状态
+    if (queryCargoStatusRsp.isCargo == 0) {
+      //未载货
+    } else if (queryCargoStatusRsp.isCargo == 1) {
+      //载货
+    }
+  }
+
+}
--- a/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/SubRobotStatue.java
+++ b/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/SubRobotStatue.java
@ -0,0 +1,57 @@
+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.b1.SubscribeInfo;
+import org.opentcs.kc.udp.agv.param.function.b1.SubscribeParam;
+import org.opentcs.kc.udp.agv.param.function.b1.SubscribeRsp;
+import org.opentcs.kc.udp.agv.param.rsp.RcvEventPackage;
+import org.opentcs.kc.udp.io.UDPClient;
+
+/**
+ * @author xzh
+ * @date 2025/2/21
+ * @desc 订阅机器人状态
+ */
+public class SubRobotStatue extends BaseCommand {
+
+
+  /**
+   * decs: 下发订阅信息
+   * 指令：0xB1
+   * author: caixiang
+   * date: 2025/1/17 16:25
+   * */
+  public static AgvEvent issueSubscribe() {
+    List<SubscribeInfo> subscribeInfoList = new ArrayList<>();
+    SubscribeInfo subscribeInfo = new SubscribeInfo(new byte[]{(byte)0xaf,(byte)0x00}, (short) 100,1000);
+//    SubscribeInfo subscribeInfo = new SubscribeInfo(new byte[]{(byte)0xb0,(byte)0x00}, (short) 100,1000);
+    subscribeInfoList.add(subscribeInfo);
+    SubscribeParam subscribeParam = new SubscribeParam(subscribeInfoList);
+    AgvEvent agvEvent = new AgvEvent(AgvEventConstant.CommandCode_ISSUE_SUBSCRIPTION,subscribeParam.toBytes());
+    return agvEvent;
+  }
+
+  public static void command() {
+//    0xB1(订阅信息)
+    AgvEvent agvEvent = issueSubscribe();
+    printInfo(agvEvent);
+    //todo 订阅参数构建完毕 去写 回调部分
+    RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent);
+    if(rcv.isOk()){
+      System.out.println();
+      System.out.println("received transationId : "+ "isok:"+rcv.isOk());
+      SubscribeRsp subscribeRsp = new SubscribeRsp(rcv.getDataBytes());
+      if(subscribeRsp.isOk()){
+        //...
+      }else {
+        //...
+      }
+    }else {
+      System.out.println();
+      System.out.println("received transationId : "+ "isok:"+rcv.isOk());
+    }
+  }
+}
--- a/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/SwitchAutomaticMode.java
+++ b/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/SwitchAutomaticMode.java
@ -0,0 +1,65 @@
+package org.opentcs.kc.udp.Service;
+
+import java.nio.ByteOrder;
+import java.util.ArrayList;
+import java.util.List;
+import org.opentcs.kc.common.byteutils.ByteUtils;
+import org.opentcs.kc.udp.agv.param.AgvEvent;
+import org.opentcs.kc.udp.agv.param.AgvEventConstant;
+import org.opentcs.kc.udp.agv.param.function.write.WriteParam;
+import org.opentcs.kc.udp.agv.param.function.write.WriteStrValue;
+import org.opentcs.kc.udp.agv.param.function.write.WriteValueMember;
+import org.opentcs.kc.udp.agv.param.rsp.RcvEventPackage;
+import org.opentcs.kc.udp.io.UDPClient;
+
+/**
+ * @author xzh
+ * @date 2025/2/21
+ * @desc 切换自动模式
+ */
+public class SwitchAutomaticMode extends BaseCommand{
+
+  /**
+   * decs: write操作
+   * 指令：0x03
+   * author: caixiang
+   * date: 2025/1/17 16:25
+   * */
+  public static AgvEvent writeValue() {
+    AgvEvent agvEvent = new AgvEvent(AgvEventConstant.CommandCode_WRITE);
+
+    List<WriteValueMember> valueMemberList = new ArrayList<>();
+    WriteValueMember valueMember1 = new WriteValueMember(Short.valueOf("1"),Short.valueOf("4"), ByteUtils.uintToBytes(3, ByteOrder.LITTLE_ENDIAN));
+    valueMemberList.add(valueMember1);
+
+    List<WriteStrValue> strValueList = new ArrayList<>();
+    WriteStrValue strValue = new WriteStrValue("TestRW", 1, valueMemberList);
+    strValueList.add(strValue);
+
+    WriteParam param = new WriteParam(1,strValueList );
+    agvEvent.setBody(param.toBytes());
+
+    return agvEvent;
+  }
+
+  public static void command() {
+    //0x03(切换手自动)
+    AgvEvent agvEvent = writeValue();
+    printInfo(agvEvent);
+    RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent);
+    if(rcv.isOk()){
+      System.out.println();
+      System.out.println("received "+ "isok:"+rcv.isOk()+" dataBytes:");
+      printInfo(rcv);
+      if(rcv.isOk()){
+        //get and parse value
+        System.out.println("write ok");
+      }else {
+        System.out.println("write failed");
+      }
+    }else {
+      System.out.println();
+      System.out.println("received transationId : "+ "isok:"+rcv.isOk());
+    }
+  }
+}
--- a/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/SwitchManualMode.java
+++ b/opentcs-common/src/main/java/org/opentcs/kc/udp/Service/SwitchManualMode.java
@ -0,0 +1,65 @@
+package org.opentcs.kc.udp.Service;
+
+import java.nio.ByteOrder;
+import java.util.ArrayList;
+import java.util.List;
+import org.opentcs.kc.common.byteutils.ByteUtils;
+import org.opentcs.kc.udp.agv.param.AgvEvent;
+import org.opentcs.kc.udp.agv.param.AgvEventConstant;
+import org.opentcs.kc.udp.agv.param.function.write.WriteParam;
+import org.opentcs.kc.udp.agv.param.function.write.WriteStrValue;
+import org.opentcs.kc.udp.agv.param.function.write.WriteValueMember;
+import org.opentcs.kc.udp.agv.param.rsp.RcvEventPackage;
+import org.opentcs.kc.udp.io.UDPClient;
+
+/**
+ * @author xzh
+ * @date 2025/2/21
+ * @desc 切换手动模式
+ */
+public class SwitchManualMode extends BaseCommand{
+
+  /**
+   * decs: write操作
+   * 指令：0x03
+   * author: caixiang
+   * date: 2025/1/17 16:25
+   * */
+  public static AgvEvent writeValue() {
+    AgvEvent agvEvent = new AgvEvent(AgvEventConstant.CommandCode_WRITE);
+
+    List<WriteValueMember> valueMemberList = new ArrayList<>();
+    WriteValueMember valueMember1 = new WriteValueMember(Short.valueOf("0"),Short.valueOf("4"), ByteUtils.uintToBytes(3, ByteOrder.LITTLE_ENDIAN));
+    valueMemberList.add(valueMember1);
+
+    List<WriteStrValue> strValueList = new ArrayList<>();
+    WriteStrValue strValue = new WriteStrValue("TestRW", 1, valueMemberList);
+    strValueList.add(strValue);
+
+    WriteParam param = new WriteParam(1,strValueList );
+    agvEvent.setBody(param.toBytes());
+
+    return agvEvent;
+  }
+
+  public static void command() {
+    //0x03(切换手自动)
+    AgvEvent agvEvent = writeValue();
+    printInfo(agvEvent);
+    RcvEventPackage rcv = UDPClient.localAGV.send(agvEvent);
+    if(rcv.isOk()){
+      System.out.println();
+      System.out.println("received "+ "isok:"+rcv.isOk()+" dataBytes:");
+      printInfo(rcv);
+      if(rcv.isOk()){
+        //get and parse value
+        System.out.println("write ok");
+      }else {
+        System.out.println("write failed");
+      }
+    }else {
+      System.out.println();
+      System.out.println("received transationId : "+ "isok:"+rcv.isOk());
+    }
+  }
+}
--- a/opentcs-common/src/main/java/org/opentcs/kc/udp/agv/codec/AgvUdpDecode.java
+++ b/opentcs-common/src/main/java/org/opentcs/kc/udp/agv/codec/AgvUdpDecode.java
@ -4,6 +4,7 @@ import io.netty.buffer.ByteBuf;
 import io.netty.channel.ChannelHandlerContext;
 import io.netty.channel.SimpleChannelInboundHandler;
 import io.netty.channel.socket.DatagramPacket;
+import java.net.InetSocketAddress;
 import org.opentcs.kc.common.Package;
 import org.opentcs.kc.syn.SendedList;
 import org.opentcs.kc.udp.agv.param.rsp.RcvEventPackage;
@ -60,7 +61,12 @@ public class AgvUdpDecode extends SimpleChannelInboundHandler<DatagramPacket> {
            byte commandCode = body[21];

            if(body[18]==(byte)0x00 && body[19]==(byte)0x00){
-                if(commandCode == (byte)0xAF ){
+
+              //获取响应IP
+              InetSocketAddress sender = msg.sender();
+              String hostAddress = sender.getAddress().getHostAddress();
+
+              if(commandCode == (byte)0xAF ){
                    client.subscribe0xAF(new RcvEventPackage(body[22],body));
                }else if(commandCode == (byte)0xB0){
                    client.subscribe0xB0(new RcvEventPackage(body[22],body));
--- a/opentcs-common/src/main/java/org/opentcs/kc/udp/agv/param/function/x17/QueryRobotRunStatusRsp.java
+++ b/opentcs-common/src/main/java/org/opentcs/kc/udp/agv/param/function/x17/QueryRobotRunStatusRsp.java
@ -53,7 +53,7 @@ public class QueryRobotRunStatusRsp {
    //累计运行时间（单位 ms）,8个字节
    private double cumulativeRunTime;
    //机器人定位状态,1个字节
-    private byte robotLocalizationState;
+    public byte robotLocalizationState;
    //保留，3个字节
    private byte[] retain3;
    //地图数量，U32,4个字节
--- a/opentcs-common/src/main/java/org/opentcs/kc/udp/io/UDPClient.java
+++ b/opentcs-common/src/main/java/org/opentcs/kc/udp/io/UDPClient.java
@ -9,6 +9,12 @@ import io.netty.channel.nio.NioEventLoopGroup;
 import io.netty.channel.socket.DatagramPacket;
 import io.netty.channel.socket.nio.NioDatagramChannel;
 import java.net.InetSocketAddress;
+import java.util.Set;
+import org.opentcs.access.KernelServicePortal;
+import org.opentcs.access.rmi.KernelServicePortalBuilder;
+import org.opentcs.common.GuestUserCredentials;
+import org.opentcs.components.kernel.services.VehicleService;
+import org.opentcs.data.model.Vehicle;
 import org.opentcs.kc.common.Package;
 import org.opentcs.kc.common.byteutils.ByteUtil;
 import org.opentcs.kc.syn.AsyncFuture;
@ -29,9 +35,14 @@ import org.slf4j.LoggerFactory;
 public enum UDPClient {
    //如果要配置多个链接， local1 local2 .... 这样排下去好了

-    localAGV("agv1","192.168.0.211",17804,55678),
+    localAGV("1","192.168.0.211",17804,55678),
    //local("127.0.0.1",502,true),
    ;
+
+    // 服务端地址+端口
+    private String SERVICE_HOST = "192.168.0.123";
+    private Integer SERVICE_PORT = 1099;
+
    private String name;
    private String host;
    //默认 0   port
@ -132,35 +143,88 @@ public enum UDPClient {
    }

    public void subscribe0xB0(RcvEventPackage rcv){
-        if(name.equals("agv1")){
-            QueryCargoStatusRsp queryCargoStatusRsp = new QueryCargoStatusRsp(rcv.getDataBytes());
-            System.out.println();
-            System.out.println("received subscribe 0xB0 List : "+ "isok:"+rcv.isOk());
-            for (byte b:rcv.getValue()){
-                System.out.print(byteToHex(b)+" ");
-            }
-        }else if(name.equals("agv2")){
-            //....
+
+      if (rcv.isOk()) {
+
+        if(name.equals("1")){
+          this.achieveSub0xB0(name, rcv);
+        }else if(name.equals("2")){
+          this.achieveSub0xB0(name, rcv);
        }

+      } else {
+        System.out.println();
+        System.out.println("subscribe0xB0 received transationId : "+ "isok:"+rcv.isOk());
+      }
+
+
+
    }
    public void subscribe0xAF(RcvEventPackage rcv){
-        if(name.equals("agv1")){
-            if(rcv.isOk()){
-                QueryRobotStatusRsp queryRobotStatusRsp = new QueryRobotStatusRsp(rcv.getDataBytes());
-                System.out.println();
-                System.out.println("received subscribe 0xAF List : "+ "isok:"+rcv.isOk());
-                for (byte b:rcv.getValue()){
-                    System.out.print(byteToHex(b)+" ");
-                }
-            }else {
-                System.out.println();
-                System.out.println("received transationId : "+ "isok:"+rcv.isOk());
-            }
-        }else if(name.equals("agv2")){
-            //....
+
+      if (rcv.isOk()) {
+
+        if (name.equals("1")) {
+          this.achieveSub0xAF(name, rcv);
+        } else if (name.equals("2")) {
+          this.achieveSub0xAF(name, rcv);
        }
+
+      } else {
+        System.out.println();
+        System.out.println("subscribe0xAF received transationId : "+ "isok:"+rcv.isOk());
+      }
    }
+
+  /**
+   * 0xAF上报信息传入通讯适配器
+   * @param vehicleName 车辆名称
+   * @param rcv 响应数据
+   */
+  private void achieveSub0xAF(String vehicleName ,RcvEventPackage rcv){
+
+      QueryRobotStatusRsp queryRobotStatusRsp = new QueryRobotStatusRsp(rcv.getDataBytes());
+
+      System.out.println();
+      System.out.println("received subscribe 0xAF List : "+ "isok:"+rcv.isOk());
+      for (byte b:rcv.getValue()){
+        System.out.print(byteToHex(b)+" ");
+      }
+
+      KernelServicePortal servicePortal = new KernelServicePortalBuilder(GuestUserCredentials.USER, GuestUserCredentials.PASSWORD).build();
+      servicePortal.login(SERVICE_HOST, SERVICE_PORT);
+      VehicleService vehicleService = servicePortal.getVehicleService();
+      Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, vehicleName);
+      //将AGV控制器上报信息传入通讯适配器
+      vehicleService.sendCommAdapterMessage(vehicle.getReference(), queryRobotStatusRsp);
+
+      servicePortal.logout();
+    }
+
+  /**
+   * 0xB0上报信息传入通讯适配器
+   * @param vehicleName 车辆名称
+   * @param rcv 响应数据
+   */
+  private void achieveSub0xB0(String vehicleName ,RcvEventPackage rcv){
+
+      QueryCargoStatusRsp queryCargoStatusRsp = new QueryCargoStatusRsp(rcv.getDataBytes());
+      System.out.println();
+      System.out.println("received subscribe 0xB0 List : "+ "isok:"+rcv.isOk());
+      for (byte b:rcv.getValue()){
+        System.out.print(byteToHex(b)+" ");
+      }
+
+      KernelServicePortal servicePortal = new KernelServicePortalBuilder(GuestUserCredentials.USER, GuestUserCredentials.PASSWORD).build();
+      servicePortal.login(SERVICE_HOST, SERVICE_PORT);
+      VehicleService vehicleService = servicePortal.getVehicleService();
+      Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, vehicleName);
+      //将AGV控制器上报信息传入通讯适配器
+      vehicleService.sendCommAdapterMessage(vehicle.getReference(), queryCargoStatusRsp);
+
+      servicePortal.logout();
+    }
+
    public static void printInfo(AgvEvent agvEvent){
        System.out.println("sended transationId : "+agvEvent.getTransationIdString());
        for (byte b:agvEvent.toBytes().getBody()){
--- a/opentcs-common/src/test/java/org/opentcs/common/SameThreadExecutorServiceTest.java
+++ b/opentcs-common/src/test/java/org/opentcs/common/SameThreadExecutorServiceTest.java
@ -9,11 +9,18 @@ import static org.junit.jupiter.api.Assertions.assertThrows;
 import static org.mockito.Mockito.mock;
 import static org.mockito.Mockito.verify;

+import java.util.HashMap;
+import java.util.Set;
 import java.util.concurrent.Callable;
 import java.util.concurrent.ExecutorService;
 import java.util.concurrent.TimeUnit;
 import org.junit.jupiter.api.BeforeEach;
 import org.junit.jupiter.api.Test;
+import org.opentcs.access.KernelServicePortal;
+import org.opentcs.access.rmi.KernelServicePortalBuilder;
+import org.opentcs.components.kernel.services.PlantModelService;
+import org.opentcs.components.kernel.services.VehicleService;
+import org.opentcs.data.model.Vehicle;

 /**
 * Tests for {@link SameThreadExecutorService}.
@ -79,4 +86,40 @@ class SameThreadExecutorServiceTest {
    verify(task).call();
  }

+  @Test
+  void testVehicle(){
+    //获取车辆对象代码
+    KernelServicePortal servicePortal = new KernelServicePortalBuilder(GuestUserCredentials.USER,GuestUserCredentials.PASSWORD).build();
+    servicePortal.login(GuestUserCredentials.IP, GuestUserCredentials.PORT);
+//    servicePortal.getPlantModelService().up
+    PlantModelService plantModelService = servicePortal.getPlantModelService();
+    VehicleService vehicleService = servicePortal.getVehicleService();
+    Set<Vehicle> vehicles = vehicleService.fetchObjects(Vehicle.class);
+    for (Vehicle vehicle : vehicles) {
+      System.out.println("vehicle:"+vehicle);
+    }
+  }
+
+  @Test
+  void testRemoveVehicle(){
+
+    HashMap<String, Object> map = new HashMap<>();
+    int energy = 54;
+    map.put("energy", energy);
+    long positionX = -100;
+    map.put("positionX", positionX);
+    long positionY = 6510;
+    map.put("positionY", positionY);
+    double positionAngle = 0.0;
+    map.put("positionAngle", positionAngle);
+
+    //向车辆对应的通讯适配器发送消息
+    KernelServicePortal servicePortal = new KernelServicePortalBuilder(GuestUserCredentials.USER,GuestUserCredentials.PASSWORD).build();
+    servicePortal.login(GuestUserCredentials.IP, GuestUserCredentials.PORT);
+    VehicleService vehicleService = servicePortal.getVehicleService();
+    Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, "2");
+    vehicleService.sendCommAdapterMessage(vehicle.getReference(), map);
+
+  }
+
 }
--- a/opentcs-modeleditor/src/guiceConfig/java/org/opentcs/modeleditor/DefaultPropertySuggestions.java
+++ b/opentcs-modeleditor/src/guiceConfig/java/org/opentcs/modeleditor/DefaultPropertySuggestions.java
@ -39,6 +39,9 @@ public class DefaultPropertySuggestions
    keySuggestions.add(LoopbackAdapterConstants.PROPKEY_ACCELERATION);
    keySuggestions.add(LoopbackAdapterConstants.PROPKEY_DECELERATION);
    keySuggestions.add(ObjectPropConstants.VEHICLE_DATA_TRANSFORMER);
+    keySuggestions.add(LoopbackAdapterConstants.AGV_AUTHORIZE_CODE);
+    keySuggestions.add(LoopbackAdapterConstants.AGV_IP);
+    keySuggestions.add(LoopbackAdapterConstants.AGV_PORT);
  }

  @Override