创建订单添加字段，支持指定意向车辆和订单的等级为可有可无
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xuzhiheng
parent
d00b274b49
commit
261cb7a7e7
@ -162,6 +162,9 @@ public class LoopbackCommunicationAdapter
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private final Router router;
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//标记是否开启自动回休息点：true=开启，false=关闭
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private final Boolean IS_AUTOMATIC_BREAKS = false;
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/**
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* Creates a new instance.
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*
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@ -212,6 +215,7 @@ public class LoopbackCommunicationAdapter
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}
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super.initialize();
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if (IS_AUTOMATIC_BREAKS) {
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// 注册属性变化监听器
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getProcessModel().addPropertyChangeListener(evt -> {
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if (evt.getPropertyName().equals(VehicleProcessModel.Attribute.ENERGY_LEVEL.name())) {
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@ -227,6 +231,7 @@ public class LoopbackCommunicationAdapter
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checkAndMoveToParkingPosition();
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}
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});
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}
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String initialPos
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= vehicle.getProperties().get(LoopbackAdapterConstants.PROPKEY_INITIAL_POSITION);
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@ -338,7 +343,7 @@ public class LoopbackCommunicationAdapter
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sourcePoint = cmd.getStep().getSourcePoint().getName();
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//下发AGV移动指令
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ExecuteMove.sendCmd(getProcessModel().getName(), cmd, getSerialNum());
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// ExecuteMove.sendCmd(getProcessModel().getName(), cmd, getSerialNum());
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}
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// Start the simulation task if we're not in single step mode and not simulating already.
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@ -4,6 +4,7 @@ package org.opentcs.kernel.extensions.servicewebapi.v1;
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import static java.util.Objects.requireNonNull;
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import com.alibaba.fastjson.JSON;
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import jakarta.annotation.Nullable;
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import jakarta.inject.Inject;
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import java.time.Instant;
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@ -63,16 +64,21 @@ public class TransportOrderHandler {
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/**
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* 根据WMS任务创建订单序列和运输订单
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* @param orderName 订单名称
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// * @param vehicleName 车辆名称
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* @param type 订单类型
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* @param destinations 位置信息
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* @param body 结构体
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* @return 创建的订单
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*/
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public TransportOrder createWmsTask(String orderName, String type, List<PostTransportOrderInfoRequestTo> destinations){
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public TransportOrder createWmsTask(String orderName, String body){
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//解析data
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String type = JSON.parseObject(body).getString("type");
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String intendedVehicle = JSON.parseObject(body).getString("intendedVehicle") != null ? JSON.parseObject(body).getString("intendedVehicle") : null;
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Boolean dispensable = JSON.parseObject(body).getBoolean("dispensable") != null ? JSON.parseObject(body).getBoolean("dispensable") : false;
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String destinationsStr = JSON.parseObject(body).getString("destinations");
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List<PostTransportOrderInfoRequestTo> dataList = JSON.parseArray(destinationsStr, PostTransportOrderInfoRequestTo.class);
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//订单目标点结构体
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List<Destination> destinationsList = new ArrayList<>();
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for (PostTransportOrderInfoRequestTo destination : destinations) {
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for (PostTransportOrderInfoRequestTo destination : dataList) {
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Destination newDestination = new Destination();
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newDestination.setLocationName(destination.getLocationName());
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newDestination.setOperation(destination.getOperation());
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@ -82,11 +88,11 @@ public class TransportOrderHandler {
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//构建订单对象
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PostTransportOrderRequestTO postTransportOrderRequestTO = new PostTransportOrderRequestTO();
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postTransportOrderRequestTO.setIncompleteName(false);
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postTransportOrderRequestTO.setDispensable(false);
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postTransportOrderRequestTO.setDispensable(dispensable);
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postTransportOrderRequestTO.setDeadline(Instant.now());
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// if (vehicleName != null) {
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// postTransportOrderRequestTO.setIntendedVehicle(vehicleName);
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// }
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if (intendedVehicle != null) {
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postTransportOrderRequestTO.setIntendedVehicle(intendedVehicle);
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}
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postTransportOrderRequestTO.setType(type);
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postTransportOrderRequestTO.setDestinations(destinationsList);
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@ -4,28 +4,23 @@ package org.opentcs.kernel.extensions.servicewebapi.v1;
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import static java.util.Objects.requireNonNull;
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import com.alibaba.fastjson.JSON;
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import jakarta.inject.Inject;
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import java.util.List;
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import java.util.concurrent.ExecutionException;
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import org.opentcs.access.KernelRuntimeException;
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import org.opentcs.data.ObjectExistsException;
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import org.opentcs.data.ObjectUnknownException;
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import org.opentcs.data.order.TransportOrder;
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import org.opentcs.kernel.extensions.servicewebapi.HttpConstants;
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import org.opentcs.kernel.extensions.servicewebapi.JsonBinder;
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import org.opentcs.kernel.extensions.servicewebapi.RequestHandler;
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import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetOrderSequenceResponseTO;
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import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetPeripheralAttachmentInfoResponseTO;
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import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetPeripheralJobResponseTO;
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import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetTransportOrderResponseTO;
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import org.opentcs.kernel.extensions.servicewebapi.v1.binding.GetVehicleAttachmentInfoResponseTO;
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import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PlantModelTO;
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import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostOrderSequenceRequestTO;
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import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostPeripheralJobRequestTO;
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import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostTopologyUpdateRequestTO;
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import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostTransportOrderInfoRequestTo;
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import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostTransportOrderRequestTO;
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import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostVehicleRoutesRequestTO;
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import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PostVehicleRoutesResponseTO;
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import org.opentcs.kernel.extensions.servicewebapi.v1.binding.PutVehicleAllowedOrderTypesTO;
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@ -375,32 +370,11 @@ public class V1RequestHandler
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IllegalStateException {
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response.type(HttpConstants.CONTENT_TYPE_APPLICATION_JSON_UTF8);
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// return jsonBinder.toJson(
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// GetTransportOrderResponseTO.fromTransportOrder(
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// transportOrderHandler.createOrder(
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// request.params(":NAME"),
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// jsonBinder.fromJson(request.body(), PostTransportOrderRequestTO.class)
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// )
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// )
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// );
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//解析data
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String type = JSON.parseObject(request.body()).getString("type");
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String destinations = JSON.parseObject(request.body()).getString("destinations");
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List<PostTransportOrderInfoRequestTo> dataList = JSON.parseArray(destinations, PostTransportOrderInfoRequestTo.class);
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//获取路由成本最低的车辆
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// String executeVehicle = vehicleHandler.getExecuteVehicle(dataList.getFirst().getPoint());
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//创建订单
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TransportOrder wmsTask = transportOrderHandler.createWmsTask(
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request.params(":NAME"),
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type,
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dataList
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);
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//构建响应json
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return jsonBinder.toJson(wmsTask);
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return jsonBinder.toJson(transportOrderHandler.createWmsTask(
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request.params(":NAME"),
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request.body()
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));
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}
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private Object handlePutTransportOrderIntendedVehicle(Request request, Response response)
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@ -116,71 +116,71 @@ public class VehicleHandler {
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}
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}
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/**
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* 获取执行成本最低车辆
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* @param destinationPoint 目标点
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* @return 车辆名称
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*/
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public String getExecuteVehicle(String destinationPoint) {
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//获取所有车辆
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Set<Vehicle> vehicles = vehicleService.fetchObjects(Vehicle.class);
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//设置终点
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List<String> destinationPointList = List.of(destinationPoint);
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//记录最低路由成本
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long costs = 0;
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//返回的车辆名称
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String vehicleName = null;
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for (Vehicle vehicle : vehicles) {
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VehicleProcessModelTO vehicleProcessModelTO = vehicleService.fetchProcessModel(vehicle.getReference());
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boolean commAdapterEnabled = vehicleProcessModelTO.isCommAdapterEnabled();
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//校验车辆：通讯适配器状态、车辆状态、集成级别、订单
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if (
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!commAdapterEnabled ||
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vehicle.getState() != Vehicle.State.IDLE ||
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vehicle.getIntegrationLevel() != Vehicle.IntegrationLevel.TO_BE_UTILIZED ||
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vehicle.getTransportOrder() != null
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) {
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//车辆不能执行任务直接获取下台车辆
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continue;
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}
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//获取车辆当前位置设置为起点
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String sourcePoint = vehicle.getCurrentPosition().getName();
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PostVehicleRoutesRequestTO postVehicleRoutesRequestTO = new PostVehicleRoutesRequestTO(destinationPointList);
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postVehicleRoutesRequestTO.setSourcePoint(sourcePoint);
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Map<TCSObjectReference<Point>, Route> vehicleRoutes = this.getVehicleRoutes(vehicle.getName(), postVehicleRoutesRequestTO);
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for (Map.Entry<TCSObjectReference<Point>, Route> entry : vehicleRoutes.entrySet()) {
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// TCSObjectReference<Point> key = entry.getKey();
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Route value = entry.getValue();
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//判断成本值是否合规(为空或小于0不合规)
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if (value == null || value.getCosts() < 0) {
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continue;
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}
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//比较成本，取成本低车辆名称
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if (vehicleName == null || costs > value.getCosts()) {
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//记录数据
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costs = value.getCosts();
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vehicleName = vehicle.getName();
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}
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}
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}
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if (vehicleName == null) {
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//无空闲车辆需要创建订单无意向车辆订单
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// throw new IllegalArgumentException("无可用车辆");
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return "";
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}
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return vehicleName;
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}
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// /**
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// * 获取执行成本最低车辆
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// * @param destinationPoint 目标点
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// * @return 车辆名称
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// */
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// public String getExecuteVehicle(String destinationPoint) {
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//
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// //获取所有车辆
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// Set<Vehicle> vehicles = vehicleService.fetchObjects(Vehicle.class);
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// //设置终点
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// List<String> destinationPointList = List.of(destinationPoint);
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// //记录最低路由成本
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// long costs = 0;
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// //返回的车辆名称
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// String vehicleName = null;
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//
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// for (Vehicle vehicle : vehicles) {
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// VehicleProcessModelTO vehicleProcessModelTO = vehicleService.fetchProcessModel(vehicle.getReference());
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// boolean commAdapterEnabled = vehicleProcessModelTO.isCommAdapterEnabled();
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//
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// //校验车辆：通讯适配器状态、车辆状态、集成级别、订单
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// if (
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// !commAdapterEnabled ||
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// vehicle.getState() != Vehicle.State.IDLE ||
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// vehicle.getIntegrationLevel() != Vehicle.IntegrationLevel.TO_BE_UTILIZED ||
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// vehicle.getTransportOrder() != null
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// ) {
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// //车辆不能执行任务直接获取下台车辆
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// continue;
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// }
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//
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// //获取车辆当前位置设置为起点
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// String sourcePoint = vehicle.getCurrentPosition().getName();
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//
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// PostVehicleRoutesRequestTO postVehicleRoutesRequestTO = new PostVehicleRoutesRequestTO(destinationPointList);
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// postVehicleRoutesRequestTO.setSourcePoint(sourcePoint);
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// Map<TCSObjectReference<Point>, Route> vehicleRoutes = this.getVehicleRoutes(vehicle.getName(), postVehicleRoutesRequestTO);
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//
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// for (Map.Entry<TCSObjectReference<Point>, Route> entry : vehicleRoutes.entrySet()) {
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//// TCSObjectReference<Point> key = entry.getKey();
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// Route value = entry.getValue();
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//
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// //判断成本值是否合规(为空或小于0不合规)
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// if (value == null || value.getCosts() < 0) {
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// continue;
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// }
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//
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// //比较成本，取成本低车辆名称
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// if (vehicleName == null || costs > value.getCosts()) {
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// //记录数据
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// costs = value.getCosts();
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// vehicleName = vehicle.getName();
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// }
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// }
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// }
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//
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//
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// if (vehicleName == null) {
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// //无空闲车辆需要创建订单无意向车辆订单
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//// throw new IllegalArgumentException("无可用车辆");
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// return "";
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// }
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//
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// return vehicleName;
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// }
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/**
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* Find all vehicles orders and filters depending on the given parameters.
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