update

opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java

@@ -30,7 +30,6 @@ 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.manage.entity.ActionStatus;
 import org.opentcs.manage.entity.AgvInfo;
 import org.opentcs.manage.entity.AgvInfoParams;
 import org.opentcs.manage.entity.AgvStatus;
@@ -285,9 +284,9 @@ public class LoopbackCommunicationAdapter
     if (message instanceof AgvInfo agvInfo) {
       //通讯适配器车辆模型更新
       handleCallbacks(agvInfo.getParams());
-    } else if  (message instanceof ActionStatus actionStatus) {
+    } else if  (message instanceof AgvStatus agvStatus) {
       //自动管理通讯适配器状态和适配器动作执行状态
-      handleActionStatus(actionStatus);
+      handleActionStatus(agvStatus);
     }
   }
 
@@ -805,8 +804,8 @@ public class LoopbackCommunicationAdapter
     return serialNum;
   }
 
-  private void handleActionStatus(ActionStatus actionStatus) {
+  private void handleActionStatus(AgvStatus agvStatus) {
-    if (actionStatus.getStatus()) {
+    if (agvStatus.getActionStatus()) {
       ACTION_STATUS = false;
     }
   }

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,
   ;
 
   /**

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();
+//    if (!kernelStatus) {
-//    updateAdapterVehicleModel();
+//      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) {
+//  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() {
 //    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) {
+//    AgvStatus oldData = adapterStatusMap.get(name);
-//        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);
-//      }
 //
-//      LOG.info("update the adapter: {} status：{}", key, value);
+//    if (oldData == null) {
+//      return false;
+//    }
 //
-//      if (agvStatus.getActionStatus()) {
+//    AgvStatus agvStatus = new AgvStatus();
-//        kernel.sendToAdapter(key, agvStatus);
+//    agvStatus.setTime(oldData.getTime());
-//        //动作执行结束，修改数据
-//        agvStatus.setActionStatus(false);
-//      }
 //
-//      //更新记录数据
+//    if (currentTime - oldData.getTime() > AUTO_CLOSE_TIME) {
-//      adapterStatusMap.put(key, agvStatus);
+//      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) {
+  public static void setActionStatus(String name) {
-//    AgvStatus agvStatus = adapterStatusMap.get(name);
+    AgvStatus agvStatus = adapterStatusMap.get(name);
-//    agvStatus.setActionStatus(true);
+    agvStatus.setActionStatus(true);
-//    adapterStatusMap.put(name, agvStatus);
+    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");
-  }
-
 }

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;
-
-}

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;
 }

opentcs-kernel-extension-http-services/src/main/java/org/opentcs/kernel/extensions/servicewebapi/v1/VehicleHandler.java

@@ -37,8 +37,6 @@ import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostVehicleRoutesR
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PutVehicleAllowedOrderTypesTO;
 import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PutVehicleEnergyLevelThresholdSetTO;
 import org.opentcs.manage.AdapterManage;
-import org.opentcs.manage.entity.ActionStatus;
-import org.opentcs.manage.entity.AgvInfo;
 
 /**
  * Handles requests related to vehicles.
@@ -87,22 +85,11 @@ public class VehicleHandler {
 
     //将数据更新到线程安全的集合中，防止线程阻塞
     AdapterManage.setAdapterStatus(name);
-
-    if (AdapterManage.getAdapterStatus(name)) {
-      vehicleService.enableCommAdapter(vehicle.getReference());
-    } else {
-      //todo 关闭暂时有问题
-      vehicleService.disableCommAdapter(vehicle.getReference());
-    }
-
     if (type == 1) {  //上报agv详细信息
-      AgvInfo agvInfo = AdapterManage.setAdapterVehicleModel(name, jsonStr);
+      AdapterManage.setAdapterVehicleModel(name, jsonStr);
-      vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvInfo);
     } else if (type == 5) {   //上报动作完成
       //动作完成上报
-      ActionStatus actionStatus = new ActionStatus();
+      AdapterManage.setActionStatus(name);
-      actionStatus.setStatus(true);
-      vehicleService.sendCommAdapterMessage(vehicle.getReference(), actionStatus);
     }
   }
 

opentcs-kernel/src/main/java/org/opentcs/kernel/StandardKernel.java

@@ -115,14 +115,14 @@ public class StandardKernel
     //开启MQTT服务
 //    mqttBrokerServer.startMqtt();
 
+    //开启通讯适配器自动管理
+    adapterManage.START();
+    LOG.info("Communication adapter auto management started successfully");
+
     initialized = true;
     LOG.debug("Starting kernel thread");
     Thread kernelThread = new Thread(this, "kernelThread");
     kernelThread.start();
-
-    //开启通讯适配器自动管理
-//    adapterManage.START();
-//    LOG.info("Communication adapter auto management started successfully");
   }
 
   @Override
@@ -143,7 +143,7 @@ public class StandardKernel
 //    mqttBrokerServer.stopMqtt();
 
     //关闭通讯适配器自动管理
-//    adapterManage.STOP();
+    adapterManage.STOP();
 
     initialized = false;
     terminationSemaphore.release();

opentcs-kernel/src/main/java/org/opentcs/kernel/workingset/PlantModelManager.java

@@ -51,6 +51,7 @@ import org.opentcs.data.order.TransportOrder;
 import org.opentcs.data.peripherals.PeripheralJob;
 import org.opentcs.data.peripherals.PeripheralOperation;
 import org.opentcs.drivers.vehicle.LoadHandlingDevice;
+import org.opentcs.manage.AdapterManage;
 import org.opentcs.park.ParkStrategy;
 import org.opentcs.park.entity.Park;
 import org.opentcs.util.event.EventHandler;
@@ -171,6 +172,8 @@ public class PlantModelManager
         ObjectUnknownException {
     LOG.info("Plant model is being created: {}", to.getName());
 
+//    AdapterManage.kernelStatus = true;
+
     clear();
     setName(to.getName());
     setProperties(to.getProperties());
@@ -196,6 +199,9 @@ public class PlantModelManager
     }
 
     createVisualLayout(to.getVisualLayout());
+
+//    AdapterManage.kernelStatus = true;
+    LOG.info("Plant model created successfully: {}", to.getName());
   }
 
   /**