update

2025-06-09 15:38:41 +08:00
parent b14d86c96b
commit 22c0518721
8 changed files with 118 additions and 118 deletions
--- a/opentcs-common/src/main/java/org/opentcs/communication/http/enums/Actions.java
+++ b/opentcs-common/src/main/java/org/opentcs/communication/http/enums/Actions.java
@@ -9,7 +9,11 @@ public enum Actions {
  //充电
  CHARGE,
  //取消充电
-  CANCEL_CHARGE
+  CANCEL_CHARGE,
+  //取货
+  PICK_UP,
+  //放货
+  RELEASE,
  ;

  /**
--- a/opentcs-common/src/main/java/org/opentcs/manage/AdapterManage.java
+++ b/opentcs-common/src/main/java/org/opentcs/manage/AdapterManage.java
@@ -51,6 +51,10 @@ public class AdapterManage {
   * 基于线程安全HASHMAP
   */
  private static final ConcurrentHashMap<String, AgvInfo> adapterDataMap = new ConcurrentHashMap<>();
+  /**
+   * 内核状态
+   */
+//  public static Boolean kernelStatus = false;

  //开启通讯信息
  private static final String USER = GuestUserCredentials.USER;
@@ -58,9 +62,6 @@ public class AdapterManage {
  private static final String IP = GuestUserCredentials.IP;
  private static final Integer PORT = GuestUserCredentials.PORT;

-  private int i = 1;
-
-
  //开启定时任务
  public void START() {
    scheduler.scheduleWithFixedDelay(task, 5000, 500, TimeUnit.MILLISECONDS);
@@ -72,88 +73,107 @@ public class AdapterManage {
  }

  Runnable task = () -> {
-//    kernel = new KernelCommunication(USER, PASSWORD, IP, PORT);

-//    autoManageAdapterStatus();
-//    updateAdapterVehicleModel();
+//    if (!kernelStatus) {
+//      return;
+//    }
+//
+//    System.out.println("test-----start");
+//
+//    KernelServicePortal servicePortal = new KernelServicePortalBuilder(USER, PASSWORD).build();
+//    servicePortal.login(IP, PORT);
+//
+//    VehicleService vehicleService = servicePortal.getVehicleService();
+//    Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, "v2");
+//
+//    vehicleService.enableCommAdapter(vehicle.getReference());
+//
+//    servicePortal.logout();
+//
+//    System.out.println("test-----end");
+
+    kernel = new KernelCommunication(USER, PASSWORD, IP, PORT);
+
+    autoManageAdapterStatus();
+    updateAdapterVehicleModel();

    kernel.logout();

-//    System.out.println("end task");
  };

  /**
   * 自动管理通讯适配器
   */
-  private static boolean autoManageAdapterStatus(String name) {
-    Date date = new Date();
-    long currentTime = date.getTime();
-
-    System.out.println("autoManageAdapterStatus: " + adapterStatusMap);
-
-    AgvStatus oldData = adapterStatusMap.get(name);
-
-    if (oldData == null) {
-      return false;
-    }
-
-    AgvStatus agvStatus = new AgvStatus();
-    agvStatus.setTime(oldData.getTime());
-
-    if (currentTime - oldData.getTime() > AUTO_CLOSE_TIME) {
-      System.out.println("adapterStatusMap first DISABLE");
-      agvStatus.setStatus(AdapterStatus.DISABLE);
-    } else {
-      System.out.println("adapterStatusMap first ENABLE");
-      agvStatus.setStatus(AdapterStatus.ENABLE);
-    }
-
-    //更新记录数据
-    adapterStatusMap.put(name, agvStatus);
-
-    return agvStatus.getStatus();
-  }
-//  private void autoManageAdapterStatus() {
+//  private static boolean autoManageAdapterStatus(String name) {
 //    Date date = new Date();
 //    long currentTime = date.getTime();
 //
 //    System.out.println("autoManageAdapterStatus: " + adapterStatusMap);
-//    adapterStatusMap.forEach((key, value) -> {
-//      System.out.println("adapterStatusMap first");
-//      Long time = value.getTime();
-//      AgvStatus agvStatus = new AgvStatus();
-//      agvStatus.setTime(value.getTime());
-//      agvStatus.setActionStatus(value.getActionStatus());
 //
-//      if (currentTime - time > AUTO_CLOSE_TIME) {
-//        System.out.println("adapterStatusMap first DISABLE");
-//        agvStatus.setStatus(AdapterStatus.DISABLE);
-//        kernel.disableAdapter(key);
-//      } else {
-//        System.out.println("adapterStatusMap first ENABLE");
-//        agvStatus.setStatus(AdapterStatus.ENABLE);
-//        kernel.enableAdapter(key);
-//      }
+//    AgvStatus oldData = adapterStatusMap.get(name);
 //
-//      LOG.info("update the adapter: {} status：{}", key, value);
+//    if (oldData == null) {
+//      return false;
+//    }
 //
-//      if (agvStatus.getActionStatus()) {
-//        kernel.sendToAdapter(key, agvStatus);
-//        //动作执行结束，修改数据
-//        agvStatus.setActionStatus(false);
-//      }
+//    AgvStatus agvStatus = new AgvStatus();
+//    agvStatus.setTime(oldData.getTime());
 //
-//      //更新记录数据
-//      adapterStatusMap.put(key, agvStatus);
-//    });
+//    if (currentTime - oldData.getTime() > AUTO_CLOSE_TIME) {
+//      System.out.println("adapterStatusMap first DISABLE");
+//      agvStatus.setStatus(AdapterStatus.DISABLE);
+//    } else {
+//      System.out.println("adapterStatusMap first ENABLE");
+//      agvStatus.setStatus(AdapterStatus.ENABLE);
+//    }
+//
+//    //更新记录数据
+//    adapterStatusMap.put(name, agvStatus);
+//
+//    return agvStatus.getStatus();
 //  }
+  private void autoManageAdapterStatus() {
+    Date date = new Date();
+    long currentTime = date.getTime();
+
+    System.out.println("autoManageAdapterStatus: " + adapterStatusMap);
+    adapterStatusMap.forEach((key, value) -> {
+      LOG.info("adapterStatusMap starts name: {}", key);
+
+      AgvStatus agvStatus = new AgvStatus();
+      agvStatus.setTime(value.getTime());
+
+      if (currentTime - value.getTime() > AUTO_CLOSE_TIME) {
+        agvStatus.setStatus(AdapterStatus.DISABLE);
+        kernel.disableAdapter(key);
+      } else {
+        agvStatus.setStatus(AdapterStatus.ENABLE);
+        kernel.enableAdapter(key);
+      }
+
+      LOG.info("update the adapter: {} status：{}", key, value);
+
+      if (value.getActionStatus()) {
+        kernel.sendToAdapter(key, agvStatus);
+      }
+
+      //更新数据状态
+      agvStatus.setActionStatus(false);
+
+      //更新记录数据
+      adapterStatusMap.put(key, agvStatus);
+
+      System.out.println("adapterStatusMap end name: " + key);
+      LOG.info("adapterStatusMap end name: {}", key);
+    });
+  }

  /**
   * 更新适配器车辆模型
   */
  private void updateAdapterVehicleModel() {
    adapterDataMap.forEach((key, value) -> {
-      System.out.println("updateAdapterVehicleModel first");
+      System.out.println("updateAdapterVehicleModel name: " + key);
      kernel.sendToAdapter(key, value);
      adapterDataMap.remove(key);
    });
@@ -169,6 +189,7 @@ public class AdapterManage {

    AgvStatus newAgvStatus = new AgvStatus();
    newAgvStatus.setTime(time);
+    newAgvStatus.setActionStatus(false);

    if (!adapterStatusMap.isEmpty() && adapterStatusMap.containsKey(name)) {
      //已记录，只更新时间
@@ -195,21 +216,24 @@ public class AdapterManage {
   * 设置动作完成状态
   * @param name 车辆名称
   */
-//  public static void setActionStatus(String name) {
-//    AgvStatus agvStatus = adapterStatusMap.get(name);
-//    agvStatus.setActionStatus(true);
-//    adapterStatusMap.put(name, agvStatus);
-//  }
+  public static void setActionStatus(String name) {
+    AgvStatus agvStatus = adapterStatusMap.get(name);
+    agvStatus.setActionStatus(true);
+    adapterStatusMap.put(name, agvStatus);
+  }

  /**
   * 记录对应通讯适配器最后一次上报数据
   * @param name 车辆名称
   * @param data 数据
   */
-  public static AgvInfo setAdapterVehicleModel(String name, String data) {
+  public static void setAdapterVehicleModel(String name, String data) {

    JSONObject jsonObject = JSON.parseObject(data);

+    //校验通讯序列号
+
+
    AgvInfo agvInfo = new AgvInfo();
    agvInfo.setSender(jsonObject.getString("sender"));
    agvInfo.setReceiver(jsonObject.getString("receiver"));
@@ -218,7 +242,7 @@ public class AdapterManage {
    agvInfo.setTime(jsonObject.getString("time"));
    agvInfo.setParams(getAgvInfoParams(jsonObject.getString("params")));

-    return agvInfo;
+    adapterDataMap.put(name, agvInfo);
  }

  private static AgvInfoParams getAgvInfoParams(String paramsStr) {
@@ -247,14 +271,4 @@ public class AdapterManage {
    Boolean ENABLE = true;
    Boolean DISABLE = false;
  }
-
-  private static void test() {
-    KernelServicePortal build = new KernelServicePortalBuilder(USER, PASSWORD).build();
-    build.login(IP, PORT);
-    VehicleService vehicleService = build.getVehicleService();
-    Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, "v1");
-    vehicleService.enableCommAdapter(vehicle.getReference());
-    vehicleService.sendCommAdapterMessage(vehicle.getReference(), "test");
-  }
-
 }
--- a/opentcs-common/src/main/java/org/opentcs/manage/entity/ActionStatus.java
+++ b/opentcs-common/src/main/java/org/opentcs/manage/entity/ActionStatus.java
@@ -1,13 +0,0 @@
-package org.opentcs.manage.entity;
-
-import lombok.Data;
-
-@Data
-public class ActionStatus {
-
-  /**
-   * 动作执行状态，true表示执行完成，false表示执行中
-   */
-  private Boolean status;
-
-}
--- a/opentcs-common/src/main/java/org/opentcs/manage/entity/AgvStatus.java
+++ b/opentcs-common/src/main/java/org/opentcs/manage/entity/AgvStatus.java
@@ -13,5 +13,8 @@ public class AgvStatus {
   * 通讯适配器状态：trye=开启，false=关闭
   */
  private Boolean status;
-
+  /**
+   * 动作执行状态：trye=执行完成，false=未知
+   */
+  private Boolean actionStatus;
 }