update

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

@@ -30,6 +30,7 @@ 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;
@@ -106,6 +107,10 @@ public class LoopbackCommunicationAdapter
    * 记录当前车辆位置
    */
   private static String CURRENT_POS;
+  /**
+   * 订单任务key
+   */
+  private int TASK_KEY = 1;
 
   /**
    * Creates a new instance.
@@ -212,6 +217,7 @@ public class LoopbackCommunicationAdapter
     if (isEnabled()) {
       return;
     }
+    LOG.info("Loopback comm adapter is being enabled: {}", getName());
     super.enable();
   }
 
@@ -220,6 +226,7 @@ public class LoopbackCommunicationAdapter
     if (!isEnabled()) {
       return;
     }
+    LOG.info("Loopback comm adapter is being disable: {}", getName());
     super.disable();
   }
 
@@ -232,12 +239,13 @@ public class LoopbackCommunicationAdapter
   public synchronized void sendCommand(MovementCommand cmd) {
     requireNonNull(cmd, "cmd");
 
-    //下发起点
     String sourcePoint = null;
     if (cmd.getStep().getSourcePoint() != null) {
+      //下发起点不为空
       sourcePoint = cmd.getStep().getSourcePoint().getName();
+
       //下发AGV移动指令
-      ExecuteMove.sendCmd(cmd, getSerialNum());
+      ExecuteMove.sendCmd(getProcessModel().getName(), cmd, getSerialNum());
     }
 
     // Start the simulation task if we're not in single step mode and not simulating already.
@@ -249,6 +257,8 @@ public class LoopbackCommunicationAdapter
       ORDER_NAME = cmd.getTransportOrder().getName();
       //下发起点
       CURRENT_POS = sourcePoint;
+      //当前执行taskKey
+      TASK_KEY = 1;
 
       // The command is added to the sent queue after this method returns. Therefore
       // we have to explicitly start the simulation like this.
@@ -275,9 +285,9 @@ 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 AgvStatus agvStatus) {
+    } else if  (message instanceof ActionStatus actionStatus) {
       //自动管理通讯适配器状态和适配器动作执行状态
-      handleAdapterAuthEnable(agvStatus);
+      handleActionStatus(actionStatus);
     }
   }
 
@@ -385,12 +395,14 @@ public class LoopbackCommunicationAdapter
    */
   private void startVehicleExec(MovementCommand command) {
     LOG.debug("VEHICLE: {} BEGINS TO EXECUTE THE COMMAND: {}", getProcessModel().getName(),command);
-    Step step = command.getStep();
     getProcessModel().setState(Vehicle.State.EXECUTING);
+    Step step = command.getStep();
 
     if (step.getPath() == null) {
       actionExec(command);
     } else {
+      ExecuteMove.setExecTaskKey(getProcessModel().getName(), TASK_KEY);
+      TASK_KEY++;
       //todo 移动
       movementExec(command);
     }
@@ -418,7 +430,7 @@ public class LoopbackCommunicationAdapter
       ACTION_STATUS = true;
 
       //下发动作
-      ExecuteAction.sendCmd(command.getOperation(), getSerialNum());
+      ExecuteAction.sendCmd(getProcessModel().getName(), command.getOperation(), getSerialNum());
 
       // 结束动作
       finishCmd(command);
@@ -769,7 +781,7 @@ public class LoopbackCommunicationAdapter
       if (!Objects.equals(getProcessModel().getPosition(), params.getPoint().toString())) {
         getProcessModel().setPosition(params.getPoint().toString());    //更新最终经过点
       }
-      getProcessModel().setPose(new Pose(new Triple(Math.round(params.getX()), Math.round(params.getY()), 0), params.getAngle()));
+      getProcessModel().setPose(new Pose(new Triple(Math.round(params.getX() * 1000), Math.round(params.getY() * 1000), 0), params.getAngle()));
     } else {
       //最后经过点为0，应该是车辆重启过。车辆关机时应该正常对点位进行交管，防止车辆碰撞。
       //todo 可能需要实现原点自动定位，暂时不做处理
@@ -793,15 +805,9 @@ public class LoopbackCommunicationAdapter
     return serialNum;
   }
 
-  private void handleAdapterAuthEnable(AgvStatus agvStatus) {
-    if (agvStatus.getActionStatus()) {
+  private void handleActionStatus(ActionStatus actionStatus) {
+    if (actionStatus.getStatus()) {
       ACTION_STATUS = false;
     }
-
-    if (agvStatus.getStatus()) {
-      enable();
-    } else {
-      disable();
-    }
   }
 }