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) {
+  private void handleActionStatus(ActionStatus actionStatus) {
-    if (agvStatus.getActionStatus()) {
+    if (actionStatus.getStatus()) {
       ACTION_STATUS = false;
     }
-
-    if (agvStatus.getStatus()) {
-      enable();
-    } else {
-      disable();
-    }
   }
 }

opentcs-common/build.gradle

@@ -33,6 +33,8 @@ dependencies {
   implementation 'io.moquette:moquette-broker:0.15'
   // MQTT 客户端
   implementation 'org.eclipse.paho:org.eclipse.paho.client.mqttv3:1.2.5'
+  //JTS
+  implementation 'org.locationtech.jts:jts-core:1.18.2'
 }
 
 processResources.doLast {

opentcs-common/src/main/java/org/opentcs/charge/ChargeStrategy.java

@@ -44,13 +44,13 @@ public class ChargeStrategy {
       return;
     }
 
-    //如果 （电池为放电状态）
+    if (batteryStatus == 0) {     //放电状态
-    if (batteryStatus == 0) {
+      //判断是否执行充电
 
-    } else {        //释放充电中的车辆
+    } else {        //充电状态
+      //判断是否释放车辆
 
     }
   }
 
-
 }

opentcs-common/src/main/java/org/opentcs/communication/http/HttpClient.java

@@ -2,11 +2,16 @@ package org.opentcs.communication.http;
 
 import com.alibaba.fastjson.JSON;
 import java.io.IOException;
+import java.util.ArrayList;
 import okhttp3.MediaType;
 import okhttp3.OkHttpClient;
 import okhttp3.Request;
 import okhttp3.RequestBody;
 import okhttp3.Response;
+import org.opentcs.communication.http.dto.BaseRequestTo;
+import org.opentcs.communication.http.dto.kc.move.Path;
+import org.opentcs.communication.http.dto.kc.move.Point;
+import org.opentcs.communication.http.dto.kc.move.RequestAe;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
@@ -21,7 +26,7 @@ public class HttpClient {
 
   private final OkHttpClient client;
 
-  private final String url = "http://192.168.124.121:2005";
+//  private final String url = "http://192.168.124.121:2005";
 
   public HttpClient() {
     this.client = new OkHttpClient();
@@ -31,7 +36,7 @@ public class HttpClient {
    * 发送 POST 请求
    * @return ApiResponse 对象
    */
-  public String sendCommand(Object data) {
+  public String sendCommand(String url, Object data) {
     String jsonBody = JSON.toJSONString(data);
     System.out.println("SENDING POST REQUEST data:" + jsonBody);
     LOG.debug("SENDING POST REQUEST data: {}", jsonBody);
@@ -166,67 +171,49 @@ public class HttpClient {
 //      httpClient.sendCommand(baseRequestTo);
 //    }
 
-//    {   //0xAE
+    {   //0xAE
-//      RequestAe ae = new RequestAe();
+      RequestAe ae = new RequestAe();
-//      ae.setOrderId(1);
+      ae.setWms_order_id(1);
-//      ae.setTaskKey(1);
+      ae.setOrder_id(1);
-//      ae.setPointSize(2);
+      ae.setTask_key(1);
-//      ae.setPathSize(1);
+      ae.setPoint_size(2);
-//
+      ae.setPath_size(1);
-//      ArrayList<Point> pointList = new ArrayList<>();
+
-//      for (int i = 0; i < ae.getPointSize(); i++) {
+      ArrayList<Point> pointList = new ArrayList<>();
-//        Point point = new Point();
+      for (int i = 0; i < ae.getPoint_size(); i++) {
-//        if (i == 0) {
+        Point point = new Point();
-//          point.setPointId(1);
+
-//          point.setPointSerialNumber(0);
+        if (i == 0) {
-//          point.setType(0);
+          point.setPoint_id(1);
-//          point.setIsFrontAngle(0);
+          point.setPoint_serial(0);
-//          point.setFrontAngle(0);
+        } else {
-//          point.setPointActionSize(0);
+          point.setPoint_id(2);
-//          point.setPointActionList(new ArrayList<>());
+          point.setPoint_serial(2);
-//        } else {
+        }
-//          point.setPointId(2);
+        point.setPoint_angle(0);
-//          point.setPointSerialNumber(2);
+
-//          point.setType(1);
+        pointList.add(point);
-//          point.setIsFrontAngle(0);
+      }
-//          point.setFrontAngle(0);
+      ae.setPoint_info(pointList);
-//          point.setPointActionSize(1);
+
-//          for (int j = 0; j < point.getPointActionSize(); j++) {
+      ArrayList<Path> pathList = new ArrayList<>();
-//            //实际代码中修改为实际逻辑
+      for (int i = 0; i < ae.getPath_size(); i++) {
-//            point.setPointActionList(new ArrayList<>(Arrays.asList("LOAD")));
+        Path path = new Path();
-//          }
+
-//        }
+        path.setPath_id(12);
-//        pointList.add(point);
+        path.setPath_serial(1);
-//      }
+        path.setPath_angle(0);
-//
+        path.setDriver_pose(1);
-//      ArrayList<Path> pathList = new ArrayList<>();
+        path.setMax_speed(1);
-//      for (int i = 0; i < ae.getPathSize(); i++) {
+        path.setMax_angle_speed(1);
-//        Path path = new Path();
+
-//        path.setPathId(12);
+        pathList.add(path);
-//        path.setPathSerialNumber(1);
+      }
-//        path.setFixedAngle(0);
+      ae.setPath_info(pathList);
-//        path.setIsFixedAngle(0);
+
-//        path.setDrivePosture(1);
+      BaseRequestTo baseRequestTo = new BaseRequestTo(2, "OPENTCS", "KC-CTRL", 1, "2025-6-6 10:00:00", ae);
-//        path.setPathActionSize(0);
+
-//        path.setMaximumSpeed(1);
+      httpClient.sendCommand("http://192.168.124.121:2005", baseRequestTo);
-//        path.setMaximumAngularVelocity(1);
+    }
-//        for (int j = 0; j < path.getPathActionSize(); j++) {
-//          path.setPathActionList(new ArrayList<>(Arrays.asList("test")));
-//        }
-//
-//        if (path.getPathActionSize() == 0) {
-//          path.setPathActionList(new ArrayList<>());
-//        }
-//
-//        pathList.add(path);
-//      }
-//
-//      ae.setPoint(pointList);
-//      ae.setPath(pathList);
-//
-//      BaseRequestTo baseRequestTo = new BaseRequestTo(KcCmdEnum.getValueByKey(0xAE), "OPENTCS", "KC-CTRL", ae);
-//
-//      httpClient.sendCommand(baseRequestTo);
-//    }
   }
 }

opentcs-common/src/main/java/org/opentcs/communication/http/dto/BaseRequestTo.java

@@ -1,6 +1,5 @@
 package org.opentcs.communication.http.dto;
 
-import jakarta.annotation.Nonnull;
 import lombok.Data;
 
 /**
@@ -12,33 +11,30 @@ import lombok.Data;
 public class BaseRequestTo {
 
   public BaseRequestTo(
-      @Nonnull Integer type,
+      Integer type,
-      @Nonnull String sender,
+      String sender,
-      @Nonnull String receiver,
+      String receiver,
-      @Nonnull Integer serial_num,
+      Integer serial_num,
-      @Nonnull String time,
+      String time,
-      @Nonnull Object data
+      Object params
   ) {
     this.type = type;
     this.sender = sender;
     this.receiver = receiver;
-    this.data = data;
+    this.serial_num = serial_num;
+    this.time = time;
+    this.params = params;
   }
 
-  @Nonnull
   private Integer type;
 
-  @Nonnull
   private String sender;
 
-  @Nonnull
   private String receiver;
 
-  @Nonnull
   private Integer serial_num;
 
-  @Nonnull
   private String time;
 
-  private Object data;
+  private Object params;
 }

opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/cmdb2/RequestB2.java

@@ -1,70 +0,0 @@
-package org.opentcs.communication.http.dto.kc.cmdb2;
-
-import java.util.ArrayList;
-
-/**
- * @author xuzhiheng
- * @date 2025/5/14
- * @desc 实体类
- */
-public class RequestB2 {
-
-  /**
-   * 动作类型-》填写动作命令码
-   */
-  private Integer actionType;
-  /**
-   * 执行动作并行方式: 0x00：为移动和动作间都可并行, 0x01：为动作间可以并行，不能移动, 0x02 只能执行当前动作
-   */
-  private Integer actionParallelManner;
-  /**
-   * 参数内容长度
-   */
-  private Integer paramSize;
-  /**
-   * 参数内容
-   */
-  private ArrayList<?> paramData;
-
-  public Integer getActionType() {
-    return actionType;
-  }
-
-  public void setActionType(Integer actionType) {
-    this.actionType = actionType;
-  }
-
-  public Integer getActionParallelManner() {
-    return actionParallelManner;
-  }
-
-  public void setActionParallelManner(Integer actionParallelManner) {
-    this.actionParallelManner = actionParallelManner;
-  }
-
-  public Integer getParamSize() {
-    return paramSize;
-  }
-
-  public void setParamSize(Integer paramSize) {
-    this.paramSize = paramSize;
-  }
-
-  public ArrayList<?> getParamData() {
-    return paramData;
-  }
-
-  public void setParamData(ArrayList<?> paramData) {
-    this.paramData = paramData;
-  }
-
-  @Override
-  public String toString() {
-    return "RequestB2{" +
-        "actionType=" + actionType +
-        ", actionParallelManner=" + actionParallelManner +
-        ", paramSize=" + paramSize +
-        ", paramData=" + paramData +
-        '}';
-  }
-}

opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/cmdb2/action/Action01.java

@@ -1,29 +0,0 @@
-package org.opentcs.communication.http.dto.kc.cmdb2.action;
-
-/**
- * @author xuzhiheng
- * @date 2025/5/14
- * @desc 实体类
- */
-public class Action01 {
-
-  /**
-   * 是否立即停止移动: 0：机器人正常移动到点上停止（停不下来就移动到下一个点）, 1：立刻停止(缓停)；
-   */
-  private Integer isStopImmediately;
-
-  public Integer getIsStopImmediately() {
-    return isStopImmediately;
-  }
-
-  public void setIsStopImmediately(Integer isStopImmediately) {
-    this.isStopImmediately = isStopImmediately;
-  }
-
-  @Override
-  public String toString() {
-    return "Action01{" +
-        "isStopImmediately=" + isStopImmediately +
-        '}';
-  }
-}

opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/cmdb2/action/Action02.java

@@ -1,42 +0,0 @@
-package org.opentcs.communication.http.dto.kc.cmdb2.action;
-
-/**
- * @author xuzhiheng
- * @date 2025/5/13
- * @desc 实体类
- */
-public class Action02 {
-
-  /**
-   * 订单ID
-   */
-  private Integer orderId;
-  /**
-   * 任务key
-   */
-  private Integer taskKey;
-
-  public Integer getOrderId() {
-    return orderId;
-  }
-
-  public void setOrderId(Integer orderId) {
-    this.orderId = orderId;
-  }
-
-  public Integer getTaskKey() {
-    return taskKey;
-  }
-
-  public void setTaskKey(Integer taskKey) {
-    this.taskKey = taskKey;
-  }
-
-  @Override
-  public String toString() {
-    return "Action02{" +
-        "orderId=" + orderId +
-        ", taskKey=" + taskKey +
-        '}';
-  }
-}

opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/cmdb2/action/Action03.java

@@ -1,42 +0,0 @@
-package org.opentcs.communication.http.dto.kc.cmdb2.action;
-
-/**
- * @author xuzhiheng
- * @date 2025/5/13
- * @desc 实体类
- */
-public class Action03 {
-
-  /**
-   * 订单ID
-   */
-  private Integer orderId;
-  /**
-   * 是否立即停止移动: 1 立刻停止(缓停)；0 AGV 正常移动到点上停止（停不下来就移动到下一个点）
-   */
-  private Integer isStopImmediately;
-
-  public Integer getOrderId() {
-    return orderId;
-  }
-
-  public void setOrderId(Integer orderId) {
-    this.orderId = orderId;
-  }
-
-  public Integer getIsStopImmediately() {
-    return isStopImmediately;
-  }
-
-  public void setIsStopImmediately(Integer isStopImmediately) {
-    this.isStopImmediately = isStopImmediately;
-  }
-
-  @Override
-  public String toString() {
-    return "Action03{" +
-        "orderId=" + orderId +
-        ", isStopImmediately=" + isStopImmediately +
-        '}';
-  }
-}

opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/move/Path.java

@@ -26,7 +26,7 @@ public class Path {
   /**
    * 行驶姿态: 0x0 正走,0x1 倒走,0x02 左横移（支持横移类底盘进,行二维码导航时生效）,0x03 右横移（支持横移类底盘进行二维码导航时生效）
    */
-  private Integer drive_pose;
+  private Integer driver_pose;
   /**
    * 指定的目标最大速度
    */

opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/move/RequestAe.java

@@ -1,6 +1,5 @@
 package org.opentcs.communication.http.dto.kc.move;
 
-import jakarta.annotation.Nonnull;
 import java.util.ArrayList;
 import lombok.Data;
 
@@ -14,32 +13,32 @@ public class RequestAe {
 
   public RequestAe() {}
 
+  /**
+   * 订单ID wms_order_id
+   */
+  private Integer wms_order_id;
   /**
    * 订单ID
    */
-  @Nonnull
+  private Integer order_id;
-  private Integer orderId;
   /**
    * 任务ID task_key: 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；
    */
-  @Nonnull
+  private Integer task_key;
-  private Integer taskKey;
   /**
    * 点个数 point_size
    */
-  @Nonnull
+  private Integer point_size;
-  private Integer pointSize;
   /**
    * 路径个数 path_size
    */
-  @Nonnull
+  private Integer path_size;
-  private Integer pathSize;
   /**
    * 点信息结构
    */
-  private ArrayList<Point> point;
+  private ArrayList<Point> point_info;
   /**
    * 路线信息结构
    */
-  private ArrayList<Path> path;
+  private ArrayList<Path> path_info;
 }

opentcs-common/src/main/java/org/opentcs/communication/http/dto/kc/operation/RequestB2.java

@@ -13,13 +13,17 @@ public class RequestB2 {
   /**
    * 动作类型-》填写动作命令码
    */
-  private Integer actionType;
+  private Integer action_type;
   /**
    * 执行动作并行方式: 0x00：为移动和动作间都可并行, 0x01：为动作间可以并行，不能移动, 0x02 只能执行当前动作
    */
-  private Integer actionParallelManner;
+  private Integer action_parallel_manner;
   /**
    * 参数内容长度
    */
-  private Integer paramSize;
+  private Integer param_size;
+  /**
+   * 参数内容
+   */
+  private Object param_data;
 }

opentcs-common/src/main/java/org/opentcs/communication/http/entity/OrderInfo.java

@@ -0,0 +1,35 @@
+package org.opentcs.communication.http.entity;
+
+import lombok.Data;
+
+@Data
+public class OrderInfo {
+
+  /**
+   * 订单ID
+   */
+  private Integer id;
+  /**
+   * 订单名称
+   */
+  private String name;
+  /**
+   * 订单状态: 1=执行中，2=暂停，3=撤销
+   */
+  private Integer state;
+  /**
+   * 任务唯一键
+   */
+  private Integer taskKey;
+  /**
+   * 点序列号
+   * 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 Integer pointSerialNum;
+  /**
+   * 路线序列号
+   * 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 Integer pathSerialNum;
+
+}

opentcs-common/src/main/java/org/opentcs/communication/http/enums/Operations.java

@@ -0,0 +1,19 @@
+package org.opentcs.communication.http.enums;
+
+public enum Operations {
+
+  PAUSED(1),      //暂停订单
+  CONTINUE(2),    //继续订单
+  CANCEL(3)       //撤销订单
+  ;
+
+  private final int type;
+
+  Operations(int type) {
+    this.type = type;
+  }
+
+  public int getType() {
+    return type;
+  }
+}

opentcs-common/src/main/java/org/opentcs/communication/http/enums/VehicleEnums.java

@@ -0,0 +1,30 @@
+package org.opentcs.communication.http.enums;
+
+public enum VehicleEnums {
+
+  // 定义枚举常量（车辆名称），并传入对应的ip和port
+  v1("192.168.124.221", 2005),
+  v2("192.168.124.222", 2005)
+  ;
+
+  // 枚举的属性
+  private final String ip;
+  private final int port;
+
+  VehicleEnums(String ip, int port) {
+    this.ip = ip;
+    this.port = port;
+  }
+
+
+  // 获取IP
+  public String getIp() {
+    return ip;
+  }
+
+  // 获取端口
+  public int getPort() {
+    return port;
+  }
+
+}

opentcs-common/src/main/java/org/opentcs/communication/http/service/BaseService.java

@@ -0,0 +1,12 @@
+package org.opentcs.communication.http.service;
+
+import org.opentcs.communication.http.enums.VehicleEnums;
+
+public class BaseService {
+
+  public static String getUrl(String vehicleName) {
+    VehicleEnums vehicleEnums = VehicleEnums.valueOf(vehicleName);
+    return "http://" + vehicleEnums.getIp() + ":" + vehicleEnums.getPort();
+  }
+
+}

opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteAction.java

@@ -5,14 +5,17 @@ import java.time.format.DateTimeFormatter;
 import org.opentcs.communication.http.HttpClient;
 import org.opentcs.communication.http.dto.BaseRequestTo;
 import org.opentcs.communication.http.dto.kc.action.RequestAction;
+import org.opentcs.communication.http.enums.VehicleEnums;
 
-public class ExecuteAction {
+public class ExecuteAction extends BaseService {
 
   /**
    * 下发动作到平台
    * @param action 动作
    */
-  public static void sendCmd(String action, Integer serialNum) {
+  public static void sendCmd(String vehicleName, String action, Integer serialNum) {
+
+    String url = getUrl(vehicleName);
 
     // 获取当前时间
     LocalDateTime now = LocalDateTime.now();
@@ -32,7 +35,7 @@ public class ExecuteAction {
     );
 
     HttpClient httpClient = new HttpClient();
-    httpClient.sendCommand(baseRequestTo);
+    httpClient.sendCommand(url, baseRequestTo);
   }
 
 }

opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteMove.java

@@ -3,62 +3,58 @@ package org.opentcs.communication.http.service;
 import java.time.LocalDateTime;
 import java.time.format.DateTimeFormatter;
 import java.util.ArrayList;
-import java.util.Arrays;
 import java.util.HashMap;
+import java.util.Objects;
 import org.opentcs.communication.http.HttpClient;
 import org.opentcs.communication.http.dto.BaseRequestTo;
 import org.opentcs.communication.http.dto.kc.move.Path;
 import org.opentcs.communication.http.dto.kc.move.Point;
 import org.opentcs.communication.http.dto.kc.move.RequestAe;
+import org.opentcs.communication.http.entity.OrderInfo;
 import org.opentcs.drivers.vehicle.MovementCommand;
 
-public class ExecuteMove {
+public class ExecuteMove extends BaseService {
 
   /**
    * 订单名映射int类型数据.
    */
-  private static final HashMap<String, Integer> orderNameMap = new HashMap<>();
+  private static final HashMap<String, OrderInfo> orderInfoMap = new HashMap<>();
   /**
-   * 记录上次下发订单名称
+   * 通讯适配器当前执行taskkey
    */
-  private static String oldOrderName;
+  private static HashMap<String, Integer> execTaskKeyMap = new HashMap<>();
-  /**
-   * 当前订单名称对应唯一整数ID
-   */
-  private static Integer currentOrderId = 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;
 
-  public static void sendCmd(MovementCommand cmd, Integer serialNum)
+  /**
+   * 发送移动指令
+   * @param vehicleName 车辆名称
+   * @param cmd 订单
+   * @param serialNum 序列号
+   */
+  public static void sendCmd(String vehicleName, MovementCommand cmd, Integer serialNum)
   {
+
+    String url = getUrl(vehicleName);
+
     // 获取当前时间
     LocalDateTime now = LocalDateTime.now();
     DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
     String time = now.format(formatter);
 
-    RequestAe ae = buildCommand(cmd);
+    RequestAe ae = buildCommand(vehicleName, cmd);
     BaseRequestTo baseRequestTo = new BaseRequestTo(2, "OPENTCS", "KC-CTRL", serialNum, time, ae);
 
     HttpClient httpClient = new HttpClient();
-    httpClient.sendCommand(baseRequestTo);
+    httpClient.sendCommand(url, baseRequestTo);
   }
 
-  private static RequestAe buildCommand(MovementCommand cmd)
+  private static RequestAe buildCommand(String vehicleName, MovementCommand cmd)
   {
+    // 自动维护订单ID和任务key
+    getUniqueOrderID(vehicleName, cmd.getTransportOrder().getName());
+    OrderInfo orderInfo = orderInfoMap.get(vehicleName);
+
     //订单ID
-    int orderID = getUniqueOrderID(cmd.getTransportOrder().getName());
+    int orderID = orderInfo.getId();
     //下发起点
     String sourcePoint = cmd.getStep().getSourcePoint().getName();
     int newSourcePoint = Integer.parseInt(sourcePoint);
@@ -74,87 +70,122 @@ public class ExecuteMove {
       pathID = Integer.parseInt(destinationPoint + sourcePoint);
     }
 
+    org.opentcs.data.model.Path pathInfo = cmd.getStep().getPath();
+    int maxVelocity = 1;          //获取最大速度
+    int maxReverseVelocity = 1;   //获取最大反向速度
+    if (pathInfo != null) {
+      maxVelocity = pathInfo.getMaxVelocity();  //获取设置速度
+      maxReverseVelocity = pathInfo.getMaxReverseVelocity();
+    }
+
     RequestAe ae = new RequestAe();
-    ae.setOrderId(orderID);
+    ae.setWms_order_id(1);  //todo 测试填写
-    ae.setTaskKey(taskKey);
+    ae.setOrder_id(orderID);
-    ae.setPointSize(2);
+    orderInfo.setTaskKey(orderInfo.getTaskKey() + 1);
-    ae.setPathSize(1);
+    ae.setTask_key(orderInfo.getTaskKey());
+    ae.setPoint_size(2);
+    ae.setPath_size(1);
 
     ArrayList<Point> pointList = new ArrayList<>();
-    for (int i = 0; i < ae.getPointSize(); i++) {
+    for (int i = 0; i < ae.getPoint_size(); i++) {
       Point point = new Point();
 
       if (i == 0) {
         point.setPoint_id(newSourcePoint);
+        point.setPoint_serial(orderInfo.getPointSerialNum());
+        orderInfo.setPointSerialNum(orderInfo.getPointSerialNum() + 2);
       } else {
         point.setPoint_id(newDestination);
+        point.setPoint_serial(orderInfo.getPointSerialNum());
       }
-      point.setPoint_serial(pointSerialNum);
       point.setPoint_angle(0);
 
-      pointSerialNum = pointSerialNum + 2;
-
       pointList.add(point);
     }
-    ae.setPoint(pointList);
+    ae.setPoint_info(pointList);
 
     ArrayList<Path> pathList = new ArrayList<>();
-    for (int i = 0; i < ae.getPathSize(); i++) {
+    for (int i = 0; i < ae.getPath_size(); i++) {
       Path path = new Path();
 
       path.setPath_id(pathID);
-      path.setPath_serial(pathSerialNum);
+      path.setPath_serial(orderInfo.getPathSerialNum());
       path.setPath_angle(0);
-      path.setDrive_pose(1);
+      path.setDriver_pose(1);
-      path.setMax_speed(1f);
+      path.setMax_speed(maxVelocity);
-      path.setMax_angle_speed(1f);
+      path.setMax_angle_speed(maxVelocity);
 
-      pathSerialNum = pathSerialNum + 2;
+      orderInfo.setPathSerialNum(orderInfo.getPathSerialNum() + 2);
 
       pathList.add(path);
     }
-    ae.setPath(pathList);
+    ae.setPath_info(pathList);
 
     return ae;
   }
 
   /**
    * 维护订单名对应int类型唯一ID--------todo 待优化：如果调度重启，控制器也需要重启。否则0xAE指令会因为重置订单ID和任务key下发失败。应改成wms数据库ID交互
-   * @param orderName 订单名
+   * @param vehicleName 车辆名称
+   * @param orderName 订单名称
    * @return Integer
    */
-  private static int getUniqueOrderID(String orderName){
+  private static void getUniqueOrderID(String vehicleName, String orderName){
 
-    Integer orderId;
 
-    if (orderNameMap.containsKey(orderName)) {
+    if (orderInfoMap.containsKey(vehicleName)) {
-      //订单名已存在
+      //当前车辆已存在集合中
-      orderId = orderNameMap.get(orderName);
+      OrderInfo orderInfo = orderInfoMap.get(vehicleName);
-    } else {    //订单名不存在
-      //初始化参数
-      initParams();
 
-      //删除上次订单映射唯一ID
+      if (!Objects.equals(orderName, orderInfo.getName())) {
-      orderNameMap.remove(oldOrderName);
+        //订单名称不相等为执行下一个订单，初始化订单对应参数
+        orderInfoMap.remove(vehicleName);
 
-      //更新记录订单名称
+        Integer currentOrderId = orderInfo.getId() + 1;
-      oldOrderName = orderName;
 
-      // 创建对应映射
+        orderInfo.setId(currentOrderId);
-      orderId = currentOrderId;
+        orderInfo.setName(orderName);
-      currentOrderId++;
+        orderInfo.setState(1);
-      orderNameMap.put(orderName, orderId);
+        orderInfo.setTaskKey(1);
+        orderInfo.setPointSerialNum(0);
+        orderInfo.setPathSerialNum(1);
       }
+    } else {
+      //车辆不在集合中
+      OrderInfo orderInfo = new OrderInfo();
+      orderInfo.setId(1);
+      orderInfo.setName(orderName);
+      orderInfo.setState(1);
+      orderInfo.setTaskKey(1);
+      orderInfo.setPointSerialNum(0);
+      orderInfo.setPathSerialNum(1);
 
-    return orderId;
+      orderInfoMap.put(vehicleName, orderInfo);
+    }
   }
 
   /**
-   * 初始化参数
+   * 设置当前执行任务key
    */
-  private static void initParams() {
+  public static void setExecTaskKey(String vehicleName, Integer taskKey) {
-    taskKey = 1;
+    if (execTaskKeyMap.containsKey(vehicleName)) {
-    pointSerialNum = 0;
+      execTaskKeyMap.put(vehicleName, taskKey);
-    pathSerialNum = 1;
+    } else {
+      execTaskKeyMap.put(vehicleName, 1);
+    }
+  }
+
+  /**
+   * 获取任务key
+   */
+  public static Integer getTaskKey(String vehicleName) {
+    return execTaskKeyMap.get(vehicleName);
+  }
+
+  /**
+   * 获取当前订单ID
+   */
+  public static Integer getOrderID(String vehicleName) {
+    return orderInfoMap.get(vehicleName).getId();
   }
 }

opentcs-common/src/main/java/org/opentcs/communication/http/service/ExecuteOperation.java

@@ -1,7 +1,110 @@
 package org.opentcs.communication.http.service;
 
-public class ExecuteOperation {
+import java.time.LocalDateTime;
+import java.time.format.DateTimeFormatter;
+import org.opentcs.communication.http.HttpClient;
+import org.opentcs.communication.http.dto.BaseRequestTo;
+import org.opentcs.communication.http.dto.kc.operation.Action01;
+import org.opentcs.communication.http.dto.kc.operation.Action02;
+import org.opentcs.communication.http.dto.kc.operation.Action03;
+import org.opentcs.communication.http.dto.kc.operation.RequestB2;
+import org.opentcs.communication.http.enums.Operations;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
 
+public class ExecuteOperation extends BaseService{
 
+  /**
+   * This class's Logger.
+   */
+  private static final Logger LOG = LoggerFactory.getLogger(ExecuteOperation.class);
+
+  /**
+   * 暂停执行订单
+   * @param vehicleName 车辆名称
+   * @param serialNum 序列号
+   */
+  public static void pauseOrder(String vehicleName, Integer serialNum) {
+    RequestB2 b2 = new RequestB2();
+
+    b2.setAction_parallel_manner(2);
+    b2.setAction_type(Operations.PAUSED.getType());
+    b2.setParam_size(4);
+
+    Action01 action01 = new Action01();
+    action01.setIsStopImmediately(1);
+
+    b2.setParam_data(action01);
+
+    sendCmd(vehicleName, b2, serialNum);
+  }
+
+  /**
+   * 继续执行订单
+   * @param vehicleName 车辆名称
+   * @param serialNum 序列号
+   */
+  public static void continueOrder(String vehicleName, Integer serialNum) {
+    //获取订单ID
+    Integer orderId = ExecuteMove.getOrderID(vehicleName);
+
+    //获取任务key
+    Integer taskKey = ExecuteMove.getTaskKey(vehicleName);
+
+    RequestB2 b2 = new RequestB2();
+
+    b2.setAction_parallel_manner(2);
+    b2.setAction_type(Operations.CONTINUE.getType());
+    b2.setParam_size(8);
+
+    Action02 action02 = new Action02();
+    action02.setOrderId(orderId);
+    action02.setTaskKey(taskKey);
+
+    b2.setParam_data(action02);
+
+    sendCmd(vehicleName, b2, serialNum);
+  }
+
+  /**
+   * 撤销订单
+   * @param vehicleName 车辆名称
+   * @param serialNum 序列号
+   */
+  public static void cancelOrder(String vehicleName, Integer serialNum) {
+
+    //获取订单ID
+    Integer orderId = ExecuteMove.getOrderID(vehicleName);
+
+    RequestB2 b2 = new RequestB2();
+
+    b2.setAction_parallel_manner(2);
+    b2.setAction_type(Operations.CANCEL.getType());
+    b2.setParam_size(8);
+
+    Action03 action03 = new Action03();
+    action03.setOrderId(orderId);
+    action03.setIsStopImmediately(1);
+
+    b2.setParam_data(action03);
+
+    sendCmd(vehicleName, b2, serialNum);
+  }
+
+  public static void sendCmd(String vehicleName, Object data, Integer serialNum)
+  {
+    String url = getUrl(vehicleName);
+
+    // 获取当前时间
+    LocalDateTime now = LocalDateTime.now();
+    DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
+    String time = now.format(formatter);
+
+//    RequestB2 b2 = buildCommand(operation, orderId, taskKey);
+    BaseRequestTo baseRequestTo = new BaseRequestTo(2, "OPENTCS", "KC-CTRL", serialNum, time, data);
+
+    HttpClient httpClient = new HttpClient();
+    httpClient.sendCommand(url, baseRequestTo);
+  }
 
 }

opentcs-common/src/main/java/org/opentcs/communication/mqtt/BrokerInterceptor.java

@@ -22,13 +22,12 @@ import org.slf4j.LoggerFactory;
 public class BrokerInterceptor implements InterceptHandler {
 
   /**
-   * 客户端ID-定义为车辆名称
+   * LOG
    */
-  private String clientID;
   private static final Logger LOG = LoggerFactory.getLogger(BrokerInterceptor.class);
 
   @Override public String getID() {
-    return clientID;
+    return "BrokerInterceptor_" + hashCode();
   }
 
   @Override
@@ -46,17 +45,17 @@ public class BrokerInterceptor implements InterceptHandler {
 
   @Override
   public void onConnect(InterceptConnectMessage msg) {
-    LOG.info("[连接] 客户端ID: {} 连接到服务端", msg.getClientID());
+    LOG.info("[connect] client ID: {} connect to server", msg.getClientID());
   }
 
   @Override
   public void onDisconnect(InterceptDisconnectMessage msg) {
-    LOG.info("[断开] 客户端ID: {} 断开连接", msg.getClientID());
+    LOG.info("[disconnect] client ID: {} disconnect", msg.getClientID());
   }
 
   @Override
   public void onConnectionLost(InterceptConnectionLostMessage interceptConnectionLostMessage) {
-
+    LOG.info("[lost] client ID: {} lost connection", interceptConnectionLostMessage.getClientID());
   }
 
   @Override
@@ -75,21 +74,19 @@ public class BrokerInterceptor implements InterceptHandler {
 
     // 必须保留引用计数，防止内存泄漏
     payload.retain();
+
+    MqttBrokerServer mqttBrokerServer = new MqttBrokerServer();
+    mqttBrokerServer.sendToClient("v1", MqttQoS.AT_LEAST_ONCE, "hello mqtt client");
   }
 
   // 其他需要实现的接口方法（可以留空）
-  @Override public void onSubscribe(InterceptSubscribeMessage msg) {}
+  @Override public void onSubscribe(InterceptSubscribeMessage msg) {
-  @Override public void onUnsubscribe(InterceptUnsubscribeMessage msg) {}
+    LOG.info("[subscribe] client ID: {} subscribe topic: {}", msg.getClientID(), msg.getTopicFilter());
-  @Override public void onMessageAcknowledged(InterceptAcknowledgedMessage msg) {}
+  }
-
+  @Override public void onUnsubscribe(InterceptUnsubscribeMessage msg) {
-  /**
+    LOG.info("[unsubscribe] client ID: {} unsubscribe topic: {}", msg.getClientID(), msg.getTopicFilter());
-   * 解析消息内容
+  }
-   * @param msg InterceptPublishMessage
+  @Override public void onMessageAcknowledged(InterceptAcknowledgedMessage msg) {
-   * @return String
+    LOG.info("[acknowledged] topic: {} acknowledged message: {}", msg.getTopic(), msg.getMsg());
-   */
-  private String parsePayload(InterceptPublishMessage msg) {
-    byte[] payloadBytes = new byte[msg.getPayload().readableBytes()];
-    msg.getPayload().getBytes(0, payloadBytes);
-    return new String(payloadBytes, StandardCharsets.UTF_8);
   }
 }

opentcs-common/src/main/java/org/opentcs/communication/mqtt/MqttBrokerServer.java

@@ -4,6 +4,7 @@ import io.moquette.broker.Server;
 import io.moquette.broker.config.IConfig;
 import io.moquette.broker.config.MemoryConfig;
 import io.moquette.broker.subscriptions.Topic;
+import io.netty.buffer.ByteBuf;
 import io.netty.buffer.Unpooled;
 import io.netty.handler.codec.mqtt.MqttFixedHeader;
 import io.netty.handler.codec.mqtt.MqttMessageType;
@@ -72,36 +73,47 @@ public class MqttBrokerServer {
    * @param message 消息
    */
   public void sendToClient(String clientId, MqttQoS qosLevel, String message) {
-//    LOG.info("Sending message to client: {}, MqttQoS: {}, message: {}", clientId, qosLevel, message);
+    LOG.info("Sending message to client: {}, MqttQoS: {}, message: {}", clientId, qosLevel, message);
-//
+
-//    String topicPath = TopicBuilder.buildCommandTopic(clientId);
+
-//    Topic topic = new Topic(topicPath);
+    String topicPath = TopicBuilder.buildCommandTopic(clientId);
-//
+    Topic topic = new Topic(topicPath);
-//    MqttFixedHeader fixedHeader = new MqttFixedHeader(
+
-//        MqttMessageType.PUBLISH,  // 消息类型
+    MqttFixedHeader fixedHeader = new MqttFixedHeader(
-//        false,  // 是否重复发送
+        MqttMessageType.PUBLISH,  // 消息类型
-//        qosLevel,    // 服务质量等级: QoS 0 – 最多交付一次,可能丢失消息; QoS 1 – 至少交付一次,可以保证收到消息，但消息可能重复; QoS 2 – 只交付一次,使用 QoS 2 可以保证消息既不丢失也不重复,开销最高
+        false,       // 是否重复发送
-//        false,  // 是否保留消息
+        qosLevel,    // 服务质量等级: QoS 0 – 最多交付一次,可能丢失消息; QoS 1 – 至少交付一次,可以保证收到消息，但消息可能重复; QoS 2 – 只交付一次,使用 QoS 2 可以保证消息既不丢失也不重复,开销最高
-//        0       // 剩余长度（自动计算）
+        false,       // 是否保留消息
-//    );
+        0            // 剩余长度（自动计算）
-//
+    );
-//    MqttPublishVariableHeader variableHeader = new MqttPublishVariableHeader(
+
-//        topic.toString(),     // 主题
+    MqttPublishVariableHeader variableHeader = new MqttPublishVariableHeader(
-//        MqttQoS.AT_LEAST_ONCE.value() // 消息ID（QoS>0时需要）
+        topic.toString(),     // 主题
-//    );
+        qosLevel.value()      // 服务质量等级
-//
+    );
-//    // 将消息内容转换为ByteBuf
+
-//    byte[] payload = message.getBytes(StandardCharsets.UTF_8);
+    // 将消息内容转换为ByteBuf
-//    MqttPublishMessage publishMessage = new MqttPublishMessage(
+    byte[] payload = message.getBytes(StandardCharsets.UTF_8);
-//        fixedHeader,
+    ByteBuf payloadBuf = Unpooled.copiedBuffer(payload);
-//        variableHeader,
+    MqttPublishMessage publishMessage = new MqttPublishMessage(
-//        Unpooled.wrappedBuffer(payload)
+        fixedHeader,
-//    );
+        variableHeader,
-//
+        payloadBuf
-//    // 发布消息到指定客户端
+    );
-//    mqttServer.internalPublish(
+
-//        publishMessage,
+
-//        clientId  // 指定接收客户端ID
+    try {
-//    );
+      // 发布消息到指定客户端
+      mqttServer.internalPublish(
+          publishMessage,
+          clientId  // 指定接收客户端ID
+      );
+      LOG.debug("Sent to {} ,topic {} QoS:{} message {}",
+          clientId, topic, qosLevel, message);
+    } finally {
+      if (!publishMessage.payload().isReadable()) {
+        publishMessage.payload().release(); // 确保释放
+      }
+    }
   }
 }

opentcs-common/src/main/java/org/opentcs/communication/mqtt/MqttClientExample.java

@@ -35,8 +35,11 @@ public class MqttClientExample {
 
       // 发布消息
       String content = "Hello, MQTT";
+
+      for (int i = 0; i < 10; i++) {
         client.publish(topic, content.getBytes(), qos, false);
-      System.out.println("Published message: " + content);
+        Thread.sleep(300);
+      }
 
       // 等待接收消息
       Thread.sleep(5000);

opentcs-common/src/main/java/org/opentcs/communication/mqtt/entity/BaseRequestTo.java

@@ -0,0 +1,44 @@
+package org.opentcs.communication.mqtt.entity;
+
+import jakarta.annotation.Nonnull;
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/12
+ * @desc 实体基类
+ */
+@Data
+public class BaseRequestTo {
+
+  public BaseRequestTo(
+      @Nonnull Integer type,
+      @Nonnull String sender,
+      @Nonnull String receiver,
+      @Nonnull Integer serial_num,
+      @Nonnull String time,
+      @Nonnull Object data
+  ) {
+    this.type = type;
+    this.sender = sender;
+    this.receiver = receiver;
+    this.data = data;
+  }
+
+  @Nonnull
+  private Integer type;
+
+  @Nonnull
+  private String sender;
+
+  @Nonnull
+  private String receiver;
+
+  @Nonnull
+  private Integer serial_num;
+
+  @Nonnull
+  private String time;
+
+  private Object data;
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/entity/kc/action/RequestAction.java

@@ -0,0 +1,16 @@
+package org.opentcs.communication.mqtt.entity.kc.action;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ */
+@Data
+public class RequestAction {
+
+  /**
+   * 动作
+   */
+  private String action;
+
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/entity/kc/move/Path.java

@@ -0,0 +1,37 @@
+package org.opentcs.communication.mqtt.entity.kc.move;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/12
+ * @desc 实体类
+ */
+@Data
+public class Path {
+
+  /**
+   * 路径ID
+   */
+  private Integer path_id;
+  /**
+   * 路径序列号: 从 1 开始奇数递增，例如：1->3->5->7……
+   */
+  private Integer path_serial;
+  /**
+   * 机器人固定角度: 0 = 不指定
+   */
+  private float path_angle;
+  /**
+   * 行驶姿态: 0x0 正走,0x1 倒走,0x02 左横移（支持横移类底盘进,行二维码导航时生效）,0x03 右横移（支持横移类底盘进行二维码导航时生效）
+   */
+  private Integer drive_pose;
+  /**
+   * 指定的目标最大速度
+   */
+  private float max_speed;
+  /**
+   * 指定的目标最大角速度
+   */
+  private float max_angle_speed;
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/entity/kc/move/Point.java

@@ -0,0 +1,25 @@
+package org.opentcs.communication.mqtt.entity.kc.move;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/12
+ * @desc 实体类
+ */
+@Data
+public class Point {
+
+  /**
+   * 点ID
+   */
+  private Integer point_id;
+  /**
+   * 点序列号: 从 0开始偶数递增，例如：0->2->4->6……
+   */
+  private Integer point_serial;
+  /**
+   * 角度：0=不指定角度
+   */
+  private double point_angle;
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/entity/kc/move/RequestAe.java

@@ -0,0 +1,45 @@
+package org.opentcs.communication.mqtt.entity.kc.move;
+
+import jakarta.annotation.Nonnull;
+import java.util.ArrayList;
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/12
+ * @desc 实体类
+ */
+@Data
+public class RequestAe {
+
+  public RequestAe() {}
+
+  /**
+   * 订单ID
+   */
+  @Nonnull
+  private Integer orderId;
+  /**
+   * 任务ID task_key: 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；
+   */
+  @Nonnull
+  private Integer taskKey;
+  /**
+   * 点个数 point_size
+   */
+  @Nonnull
+  private Integer pointSize;
+  /**
+   * 路径个数 path_size
+   */
+  @Nonnull
+  private Integer pathSize;
+  /**
+   * 点信息结构
+   */
+  private ArrayList<Point> point;
+  /**
+   * 路线信息结构
+   */
+  private ArrayList<Path> path;
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/entity/kc/operation/Action01.java

@@ -0,0 +1,17 @@
+package org.opentcs.communication.mqtt.entity.kc.operation;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/14
+ * @desc 实体类
+ */
+@Data
+public class Action01 {
+
+  /**
+   * 是否立即停止移动: 0：机器人正常移动到点上停止（停不下来就移动到下一个点）, 1：立刻停止(缓停)；
+   */
+  private Integer isStopImmediately;
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/entity/kc/operation/Action02.java

@@ -0,0 +1,21 @@
+package org.opentcs.communication.mqtt.entity.kc.operation;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/13
+ * @desc 实体类
+ */
+@Data
+public class Action02 {
+
+  /**
+   * 订单ID
+   */
+  private Integer orderId;
+  /**
+   * 任务key
+   */
+  private Integer taskKey;
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/entity/kc/operation/Action03.java

@@ -0,0 +1,21 @@
+package org.opentcs.communication.mqtt.entity.kc.operation;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/13
+ * @desc 实体类
+ */
+@Data
+public class Action03 {
+
+  /**
+   * 订单ID
+   */
+  private Integer orderId;
+  /**
+   * 是否立即停止移动: 1 立刻停止(缓停)；0 AGV 正常移动到点上停止（停不下来就移动到下一个点）
+   */
+  private Integer isStopImmediately;
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/entity/kc/operation/RequestB2.java

@@ -0,0 +1,25 @@
+package org.opentcs.communication.mqtt.entity.kc.operation;
+
+import lombok.Data;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/14
+ * @desc 实体类
+ */
+@Data
+public class RequestB2 {
+
+  /**
+   * 动作类型-》填写动作命令码
+   */
+  private Integer actionType;
+  /**
+   * 执行动作并行方式: 0x00：为移动和动作间都可并行, 0x01：为动作间可以并行，不能移动, 0x02 只能执行当前动作
+   */
+  private Integer actionParallelManner;
+  /**
+   * 参数内容长度
+   */
+  private Integer paramSize;
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/enums/Actions.java

@@ -0,0 +1,29 @@
+package org.opentcs.communication.mqtt.enums;
+
+public enum Actions {
+
+  //取请求
+  PICK_UP_REQUEST,
+  //放请求
+  RELEASE_REQUEST,
+  //充电
+  CHARGE,
+  //取消充电
+  CANCEL_CHARGE
+  ;
+
+  /**
+   * 判断是否存在当前动作
+   * @param value
+   * @return 存在返回true，不存在返回false
+   */
+  public static boolean contains(String value) {
+    for (Actions actions : Actions.values()) {
+      if (actions.name().equals(value)) {
+        return true;
+      }
+    }
+    return false;
+  }
+
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/enums/KcActionCmdEnum.java

@@ -0,0 +1,75 @@
+package org.opentcs.communication.mqtt.enums;
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/14
+ * @desc 将十进制value，绑定到小端模式16进制key
+ */
+public enum KcActionCmdEnum {
+
+  CMD_ACTION_0x01(0x01, 1),   //暂停车辆
+  CMD_ACTION_0x02(0x02, 2),   //恢复订单执行
+  CMD_ACTION_0x03(0x03, 3);   //取消任务
+
+  private Integer key;
+  private Integer value;
+
+  KcActionCmdEnum(Integer key, Integer value) {
+    this.key = key;
+    this.value = value;
+  }
+
+  public Integer getKey() {
+    return key;
+  }
+
+  public void setKey(Integer key) {
+    this.key = key;
+  }
+
+  public Integer getValue() {
+    return value;
+  }
+
+  public void setValue(Integer value) {
+    this.value = value;
+  }
+
+  // 静态缓存，提升查询性能
+  private static final Map<Integer, KcActionCmdEnum> KEY_MAP = new HashMap<>();
+
+  static {
+    // 初始化时将所有枚举实例的键值存入Map
+    for (KcActionCmdEnum entry : values()) {
+      if (KEY_MAP.containsKey(entry.key)) {
+        throw new IllegalStateException("REPEATED KEY: " + entry.key);
+      }
+      KEY_MAP.put(entry.key, entry);
+    }
+  }
+
+  /**
+   * 根据key获取对应的value
+   * @param key 要查找的键
+   * @return 对应的值
+   * @throws IllegalArgumentException 如果key不存在
+   */
+  public static Integer getValueByKey(Integer key) {
+    KcActionCmdEnum entry = KEY_MAP.get(key);
+    if (entry == null) {
+      throw new IllegalArgumentException("无效的key: " + key);
+    }
+    return entry.value;
+  }
+
+  /**
+   * 根据key获取完整的枚举实例
+   */
+  public static KcActionCmdEnum getEntryByKey(Integer key) {
+    return KEY_MAP.get(key);
+  }
+
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/enums/KcCmdEnum.java

@@ -0,0 +1,86 @@
+package org.opentcs.communication.mqtt.enums;
+
+import java.util.HashMap;
+import java.util.Map;
+
+/**
+ * @author xuzhiheng
+ * @date 2025/5/14
+ * @desc 将十进制value，绑定到小端模式16进制key
+ */
+public enum KcCmdEnum {
+
+  CMD_0x02(0x02, 2),      //读多变量
+  CMD_0x03(0x03, 3),      //写多变量
+  CMD_0x14(0x14, 20),     //执行机器人手动定位
+  CMD_0x17(0x17, 23),     //查询机器人运行状态
+  CMD_0x1F(0x1F, 31),     //确认初始位置
+  CMD_0xAE(0xAE, 174),    //导航指令
+  CMD_0xAF(0xAF, 175),    //获取AGV详细信息
+  CMD_0xB0(0xB0, 176),    //查询载货状态
+  CMD_0xB2(0xB2, 178);    //订阅AGV信息
+
+  /**
+   * 小端模式十六进制命令码
+   */
+  private Integer key;
+  /**
+   * 十进制命令码
+   */
+  private Integer value;
+
+  KcCmdEnum(Integer key, Integer value) {
+    this.key = key;
+    this.value = value;
+  }
+
+  public Integer getKey() {
+    return key;
+  }
+
+  public void setKey(Integer key) {
+    this.key = key;
+  }
+
+  public Integer getValue() {
+    return value;
+  }
+
+  public void setValue(Integer value) {
+    this.value = value;
+  }
+
+  // 静态缓存，提升查询性能
+  private static final Map<Integer, KcCmdEnum> KEY_MAP = new HashMap<>();
+
+  static {
+    // 初始化时将所有枚举实例的键值存入Map
+    for (KcCmdEnum entry : values()) {
+      if (KEY_MAP.containsKey(entry.key)) {
+        throw new IllegalStateException("REPEATED KEY: " + entry.key);
+      }
+      KEY_MAP.put(entry.key, entry);
+    }
+  }
+
+  /**
+   * 根据key获取对应的value
+   * @param key 要查找的键
+   * @return 对应的值
+   * @throws IllegalArgumentException 如果key不存在
+   */
+  public static Integer getValueByKey(Integer key) {
+    KcCmdEnum entry = KEY_MAP.get(key);
+    if (entry == null) {
+      throw new IllegalArgumentException("无效的key: " + key);
+    }
+    return entry.value;
+  }
+
+  /**
+   * 根据key获取完整的枚举实例
+   */
+  public static KcCmdEnum getEntryByKey(Integer key) {
+    return KEY_MAP.get(key);
+  }
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/service/ExecuteAction.java

@@ -0,0 +1,36 @@
+package org.opentcs.communication.mqtt.service;
+
+import java.time.LocalDateTime;
+import java.time.format.DateTimeFormatter;
+import org.opentcs.communication.mqtt.entity.BaseRequestTo;
+import org.opentcs.communication.mqtt.entity.kc.action.RequestAction;
+
+public class ExecuteAction {
+
+  /**
+   * 下发动作到平台
+   * @param action 动作
+   */
+  public static void sendCmd(String action, Integer serialNum) {
+
+    // 获取当前时间
+    LocalDateTime now = LocalDateTime.now();
+    DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
+    String time = now.format(formatter);
+
+    RequestAction requestAction = new RequestAction();
+    requestAction.setAction(action);
+
+    BaseRequestTo baseRequestTo = new BaseRequestTo(
+        4,
+        "OPENTCS",
+        "KC-CTRL",
+        serialNum,
+        time,
+        requestAction
+    );
+
+    //发送mqtt消息
+  }
+
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/service/ExecuteMove.java

@@ -0,0 +1,168 @@
+package org.opentcs.communication.mqtt.service;
+
+import java.time.LocalDateTime;
+import java.time.format.DateTimeFormatter;
+import java.util.ArrayList;
+import java.util.HashMap;
+import org.opentcs.communication.mqtt.entity.BaseRequestTo;
+import org.opentcs.communication.mqtt.entity.kc.move.Path;
+import org.opentcs.communication.mqtt.entity.kc.move.Point;
+import org.opentcs.communication.mqtt.entity.kc.move.RequestAe;
+import org.opentcs.drivers.vehicle.MovementCommand;
+
+public class ExecuteMove {
+
+  /**
+   * 订单名映射int类型数据.
+   */
+  private static final HashMap<String, Integer> orderNameMap = new HashMap<>();
+  /**
+   * 记录上次下发订单名称
+   */
+  private static String oldOrderName;
+  /**
+   * 当前订单名称对应唯一整数ID
+   */
+  private static Integer currentOrderId = 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;
+
+  public static void sendCmd(MovementCommand cmd, Integer serialNum)
+  {
+    // 获取当前时间
+    LocalDateTime now = LocalDateTime.now();
+    DateTimeFormatter formatter = DateTimeFormatter.ofPattern("yyyy-MM-dd HH:mm:ss");
+    String time = now.format(formatter);
+
+    RequestAe ae = buildCommand(cmd);
+    BaseRequestTo baseRequestTo = new BaseRequestTo(2, "OPENTCS", "KC-CTRL", serialNum, time, ae);
+
+//    HttpClient httpClient = new HttpClient();
+//    httpClient.sendCommand(baseRequestTo);
+  }
+
+  private static RequestAe buildCommand(MovementCommand cmd)
+  {
+    //订单ID
+    int orderID = getUniqueOrderID(cmd.getTransportOrder().getName());
+    //下发起点
+    String sourcePoint = cmd.getStep().getSourcePoint().getName();
+    int newSourcePoint = Integer.parseInt(sourcePoint);
+    //下发终点
+    String destinationPoint = cmd.getStep().getDestinationPoint().getName();
+    int newDestination = Integer.parseInt(destinationPoint);
+
+    //获取路径ID
+    int pathID;
+    if (newSourcePoint < newDestination) {
+      pathID = Integer.parseInt(sourcePoint + destinationPoint);
+    } else {
+      pathID = Integer.parseInt(destinationPoint + sourcePoint);
+    }
+
+    org.opentcs.data.model.Path pathInfo = cmd.getStep().getPath();
+    int maxVelocity = 1;          //获取最大速度
+    int maxReverseVelocity = 1;   //获取最大反向速度
+    if (pathInfo != null) {
+      maxVelocity = pathInfo.getMaxVelocity();  //获取设置速度
+      maxReverseVelocity = pathInfo.getMaxReverseVelocity();
+    }
+
+    RequestAe ae = new RequestAe();
+    ae.setOrderId(orderID);
+    ae.setTaskKey(taskKey);
+    ae.setPointSize(2);
+    ae.setPathSize(1);
+
+    ArrayList<Point> pointList = new ArrayList<>();
+    for (int i = 0; i < ae.getPointSize(); i++) {
+      Point point = new Point();
+
+      if (i == 0) {
+        point.setPoint_id(newSourcePoint);
+      } else {
+        point.setPoint_id(newDestination);
+      }
+      point.setPoint_serial(pointSerialNum);
+      point.setPoint_angle(0);
+
+      pointSerialNum = pointSerialNum + 2;
+
+      pointList.add(point);
+    }
+    ae.setPoint(pointList);
+
+    ArrayList<Path> pathList = new ArrayList<>();
+    for (int i = 0; i < ae.getPathSize(); i++) {
+      Path path = new Path();
+
+      path.setPath_id(pathID);
+      path.setPath_serial(pathSerialNum);
+      path.setPath_angle(0);
+      path.setDrive_pose(1);
+      path.setMax_speed(maxVelocity);
+      path.setMax_angle_speed(maxVelocity);
+
+      pathSerialNum = pathSerialNum + 2;
+
+      pathList.add(path);
+    }
+    ae.setPath(pathList);
+
+    return ae;
+  }
+
+  /**
+   * 维护订单名对应int类型唯一ID--------todo 待优化：如果调度重启，控制器也需要重启。否则0xAE指令会因为重置订单ID和任务key下发失败。应改成wms数据库ID交互
+   * @param orderName 订单名
+   * @return Integer
+   */
+  private static int getUniqueOrderID(String orderName){
+
+    Integer orderId;
+
+    if (orderNameMap.containsKey(orderName)) {
+      //订单名已存在
+      orderId = orderNameMap.get(orderName);
+    } else {    //订单名不存在
+      //初始化参数
+      initParams();
+
+      if (oldOrderName != null) {
+        //删除上次订单映射唯一ID
+        orderNameMap.remove(oldOrderName);
+      }
+
+      //更新记录订单名称
+      oldOrderName = orderName;
+
+      // 创建对应映射
+      orderId = currentOrderId;
+      currentOrderId++;
+      orderNameMap.put(orderName, orderId);
+    }
+
+    return orderId;
+  }
+
+  /**
+   * 初始化参数
+   */
+  private static void initParams() {
+    taskKey = 1;
+    pointSerialNum = 0;
+    pathSerialNum = 1;
+  }
+}

opentcs-common/src/main/java/org/opentcs/communication/mqtt/service/ExecuteOperation.java

@@ -0,0 +1,7 @@
+package org.opentcs.communication.mqtt.service;
+
+public class ExecuteOperation {
+
+
+
+}

opentcs-common/src/main/java/org/opentcs/manage/AdapterManage.java

@@ -8,7 +8,11 @@ import java.util.concurrent.ConcurrentHashMap;
 import java.util.concurrent.Executors;
 import java.util.concurrent.ScheduledExecutorService;
 import java.util.concurrent.TimeUnit;
+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.manage.entity.AgvInfo;
 import org.opentcs.manage.entity.AgvInfoParams;
 import org.opentcs.manage.entity.AgvStatus;
@@ -41,7 +45,7 @@ public class AdapterManage {
   /**
    * 设置自动关闭适配器时间阈值，单位：毫秒
    */
-  private final Long AUTO_CLOSE_TIME = 2000L;
+  private static final Long AUTO_CLOSE_TIME = 2000L;
   /**
    * 记录通讯适配器数据，实现异步不阻塞更新车辆模型
    * 基于线程安全HASHMAP
@@ -54,10 +58,12 @@ 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, 0, 500, TimeUnit.MILLISECONDS);
+    scheduler.scheduleWithFixedDelay(task, 5000, 500, TimeUnit.MILLISECONDS);
   }
 
   //关闭定时任务
@@ -66,51 +72,88 @@ public class AdapterManage {
   }
 
   Runnable task = () -> {
-    kernel = new KernelCommunication(USER, PASSWORD, IP, PORT);
+//    kernel = new KernelCommunication(USER, PASSWORD, IP, PORT);
 
-    autoManageAdapterStatus();
+//    autoManageAdapterStatus();
-    updateAdapterVehicleModel();
+//    updateAdapterVehicleModel();
 
     kernel.logout();
+
+//    System.out.println("end task");
   };
 
   /**
    * 自动管理通讯适配器
    */
-  private void autoManageAdapterStatus() {
+  private static boolean autoManageAdapterStatus(String name) {
     Date date = new Date();
     long currentTime = date.getTime();
 
-    adapterStatusMap.forEach((key, value) -> {
+    System.out.println("autoManageAdapterStatus: " + adapterStatusMap);
-      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);
+
+    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);
     }
 
-      LOG.info("update the adapter: {} status：{}", key, value);
-      kernel.sendToAdapter(key, agvStatus);
-
-      if (agvStatus.getActionStatus()) {
-        //动作执行结束，修改数据
-        agvStatus.setActionStatus(false);
-      }
-
     //更新记录数据
-      adapterStatusMap.put(key, agvStatus);
+    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) {
+//        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 (agvStatus.getActionStatus()) {
+//        kernel.sendToAdapter(key, agvStatus);
+//        //动作执行结束，修改数据
+//        agvStatus.setActionStatus(false);
+//      }
+//
+//      //更新记录数据
+//      adapterStatusMap.put(key, agvStatus);
+//    });
+//  }
 
   /**
    * 更新适配器车辆模型
    */
   private void updateAdapterVehicleModel() {
     adapterDataMap.forEach((key, value) -> {
+      System.out.println("updateAdapterVehicleModel first");
       kernel.sendToAdapter(key, value);
       adapterDataMap.remove(key);
     });
@@ -125,45 +168,48 @@ public class AdapterManage {
     long time = date.getTime();
 
     AgvStatus newAgvStatus = new AgvStatus();
-
-    if (adapterStatusMap.containsKey(name)) {
-      //已记录，只更新时间
-      AgvStatus agvStatus = adapterStatusMap.get(name);
     newAgvStatus.setTime(time);
-      newAgvStatus.setStatus(agvStatus.getStatus());
+
+    if (!adapterStatusMap.isEmpty() && adapterStatusMap.containsKey(name)) {
+      //已记录，只更新时间
+      newAgvStatus.setStatus(AdapterStatus.ENABLE);
     } else {
       //未记录，初始化
-      newAgvStatus.setTime(time);
       newAgvStatus.setStatus(AdapterStatus.DISABLE);
     }
 
     adapterStatusMap.put(name, newAgvStatus);
   }
 
+  public static boolean getAdapterStatus(String name) {
+
+    AgvStatus agvStatus = adapterStatusMap.get(name);
+    if (agvStatus != null) {
+      return agvStatus.getStatus();
+    }
+
+    return false;
+  }
+
   /**
    * 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 void setAdapterVehicleModel(String name, String data) {
+  public static AgvInfo setAdapterVehicleModel(String name, String data) {
 
     JSONObject jsonObject = JSON.parseObject(data);
 
-    //因为是异步上报。所以需要校验序列号。防止旧数据覆盖新数据
-    if (adapterDataMap.get(name).getSerial_num() > jsonObject.getInteger("serial_num")) {
-      return;
-    }
-
     AgvInfo agvInfo = new AgvInfo();
     agvInfo.setSender(jsonObject.getString("sender"));
     agvInfo.setReceiver(jsonObject.getString("receiver"));
@@ -172,7 +218,7 @@ public class AdapterManage {
     agvInfo.setTime(jsonObject.getString("time"));
     agvInfo.setParams(getAgvInfoParams(jsonObject.getString("params")));
 
-    adapterDataMap.put(name, agvInfo);
+    return agvInfo;
   }
 
   private static AgvInfoParams getAgvInfoParams(String paramsStr) {
@@ -202,4 +248,13 @@ public class AdapterManage {
     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

@@ -0,0 +1,13 @@
+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

@@ -13,9 +13,5 @@ public class AgvStatus {
    * 通讯适配器状态：trye=开启，false=关闭
    */
   private Boolean status;
-  /**
-   * 动作状态：true=上报状态，false=无任务
-   */
-  private Boolean actionStatus;
 
 }

opentcs-common/src/main/java/org/opentcs/park/ParkStrategy.java

@@ -1,21 +1,20 @@
 package org.opentcs.park;
 
 import java.util.ArrayList;
-import java.util.HashMap;
 import org.opentcs.park.entity.Park;
 
 public class ParkStrategy {
 
-  private static ArrayList<Park> AllPark = new ArrayList<>();
+  private static ArrayList<Park> allPark = new ArrayList<>();
 
 
   public static void setPark(Park park) {
-    AllPark.add(park);
+    allPark.add(park);
     printPark();
   }
 
   private static void printPark() {
-    for (Park park : AllPark) {
+    for (Park park : allPark) {
       System.out.println("print park:" + park.getName() + ", status:" + park.getStatus());
     }
   }

opentcs-common/src/main/java/org/opentcs/traffic/TrafficControl.java

@@ -1,8 +1,12 @@
 package org.opentcs.traffic;
 
+import java.util.concurrent.Executors;
+import java.util.concurrent.ScheduledExecutorService;
+import java.util.concurrent.TimeUnit;
 import org.opentcs.traffic.common.AvoidanceAlgorithm;
 import org.opentcs.traffic.common.ContourAlgorithm;
 import org.opentcs.traffic.common.ResourceLock;
+import org.opentcs.util.KernelCommunication;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 
@@ -29,6 +33,26 @@ public class TrafficControl {
    * 交管避让权重算法
    */
   private static final AvoidanceAlgorithm  avoidanceAlgorithm = new AvoidanceAlgorithm();
+  /**
+   * 创建调度线程池（单线程）
+   */
+  private static final ScheduledExecutorService scheduler = Executors.newSingleThreadScheduledExecutor();
+
+  //开启定时任务
+  public void START() {
+    scheduler.scheduleWithFixedDelay(task, 0, 500, TimeUnit.MILLISECONDS);
+  }
+
+  //关闭定时任务
+  public void STOP() {
+    scheduler.shutdownNow();
+  }
+
+  Runnable task = () -> {
+    //轮廓避障算法
+  };
+
+  
 
   /**
    * 交通管制策略
@@ -41,25 +65,25 @@ public class TrafficControl {
   public static boolean trafficControlStrategy(String vehiclePosition, String finalOccupiedPosition, String resource, String type) {
 
     //进行资源占用
-    boolean lockStatus = resourceLock.trafficControlOccupy(vehiclePosition, finalOccupiedPosition, resource, type);
+//    boolean lockStatus = resourceLock.trafficControlOccupy(vehiclePosition, finalOccupiedPosition, resource, type);
-    if (!lockStatus) {
+//    if (!lockStatus) {
-      LOG.debug("trafficControlStrategy Failed to lock resource: {} type: {}", resource, type);
+//      LOG.debug("trafficControlStrategy Failed to lock resource: {} type: {}", resource, type);
-      return false;
+//      return false;
-    }
+//    }
 
     //todo: 轮廓算法，判断下一个点位是否会被其他车辆干涉
-    boolean contourStatus = contourAlgorithm.interferenceDetection();
+//    boolean contourStatus = contourAlgorithm.interferenceDetection();
-    if (!contourStatus) {
+//    if (!contourStatus) {
-      LOG.debug("trafficControlStrategy Contour algorithm failed: resource: {} type: {}", resource, type);
+//      LOG.debug("trafficControlStrategy Contour algorithm failed: resource: {} type: {}", resource, type);
-      return false;
+//      return false;
-    }
+//    }
 
     //todo: 订单避让算法，根据权重计算车辆优先级执行避让算法
-    boolean avoidanceStatus = avoidanceAlgorithm.weightCalculation();
+//    boolean avoidanceStatus = avoidanceAlgorithm.weightCalculation();
-    if (!avoidanceStatus) {
+//    if (!avoidanceStatus) {
-      LOG.debug("trafficControlStrategy Avoidance algorithm failed: resource: {} type: {}", resource, type);
+//      LOG.debug("trafficControlStrategy Avoidance algorithm failed: resource: {} type: {}", resource, type);
-      return false;
+//      return false;
-    }
+//    }
 
     //有所有校验通过，返回true
     return true;

opentcs-common/src/main/java/org/opentcs/traffic/common/ContourAlgorithm.java

@@ -1,5 +1,7 @@
 package org.opentcs.traffic.common;
 
+import java.util.HashMap;
+import org.opentcs.traffic.entity.VehicleAttr;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
 

opentcs-common/src/main/java/org/opentcs/traffic/common/VehicleCollisionAvoidance.java

@@ -0,0 +1,100 @@
+package org.opentcs.traffic.common;
+
+import java.util.ArrayList;
+import org.locationtech.jts.geom.Coordinate;
+import org.locationtech.jts.geom.GeometryFactory;
+import org.locationtech.jts.geom.Polygon;
+import org.opentcs.traffic.entity.VehicleAttr;
+import org.slf4j.Logger;
+import org.slf4j.LoggerFactory;
+
+/**
+ * @author xuzhiheng
+ * @desc 车辆轮廓检测
+ */
+public class VehicleCollisionAvoidance {
+
+  /**
+   * LOG
+   */
+  private static final Logger LOG = LoggerFactory.getLogger(VehicleCollisionAvoidance.class);
+  /**
+   * 车辆对象轮廓避障信息集合: key:车辆名称 value:车辆对象轮廓信息
+   */
+  private static ArrayList<VehicleAttr> vehicleAttrs = new ArrayList<>();
+  /**
+   * 两台车之间最小距离
+   */
+  private final Integer minDistance = 100;
+
+  /**
+   * 轮廓避障检测
+   * @param vehicleName 当前车辆名称
+   */
+  public void interferenceDetection(String vehicleName) {
+
+    GeometryFactory geometryFactory = new GeometryFactory();
+
+    //计算当前车辆的
+
+  }
+
+  public static class Vehicle {
+    private final Long x;      // 中心X坐标（米）
+    private final Long y;      // 中心Y坐标（米）
+    private final double angle;  // 方向角（弧度，0弧度指向东）
+    private final Integer length; // 长度（米）
+    private final Integer width;  // 宽度（米）
+    private final Coordinate[] vertices; // 四个顶点坐标
+
+    public Vehicle(Long x, Long y, double angle, Integer length, Integer width) {
+      this.x = x;
+      this.y = y;
+      this.angle = angle;
+      this.length = length;
+      this.width = width;
+      this.vertices = calculateVertices();
+    }
+
+    /**
+     * 计算旋转矩形的四个顶点
+     */
+    private Coordinate[] calculateVertices() {
+      double halfLength = length / 2;
+      double halfWidth = width / 2;
+      double cosTheta = Math.cos(angle);
+      double sinTheta = Math.sin(angle);
+
+      return new Coordinate[]{
+          // 顶点1
+          new Coordinate(
+              x + halfLength * cosTheta - halfWidth * sinTheta,
+              y + halfLength * sinTheta + halfWidth * cosTheta
+          ),
+          // 顶点2
+          new Coordinate(
+              x - halfLength * cosTheta - halfWidth * sinTheta,
+              y - halfLength * sinTheta + halfWidth * cosTheta
+          ),
+          // 顶点3
+          new Coordinate(
+              x - halfLength * cosTheta + halfWidth * sinTheta,
+              y - halfLength * sinTheta - halfWidth * cosTheta
+          ),
+          // 顶点4
+          new Coordinate(
+              x + halfLength * cosTheta + halfWidth * sinTheta,
+              y + halfLength * sinTheta - halfWidth * cosTheta
+          )
+      };
+    }
+
+    /**
+     * 转换为JTS多边形
+     */
+    public Polygon toPolygon(GeometryFactory geomFactory) {
+      return geomFactory.createPolygon(vertices);
+    }
+  }
+
+}

opentcs-common/src/main/java/org/opentcs/traffic/entity/VehicleAttr.java

@@ -0,0 +1,30 @@
+package org.opentcs.traffic.entity;
+
+import lombok.Data;
+import org.opentcs.data.model.Pose;
+
+/**
+ * @author xuzhiheng
+ * @desc 车辆属性,用于计算轮廓避障
+ */
+@Data
+public class VehicleAttr {
+
+  /**
+   * 车辆名称
+   */
+  private String name;
+  /**
+   * 长度/cm(单位厘米)
+   */
+  private Integer length;
+  /**
+   * 宽度/cm(单位厘米)
+   */
+  private Integer width;
+  /**
+   * 车辆姿态
+   */
+  private Pose pose;
+
+}

opentcs-common/src/main/java/org/opentcs/util/KernelCommunication.java

@@ -34,7 +34,34 @@ public class KernelCommunication {
       throw new ObjectUnknownException("sendToAdapter Unknown vehicle: " + name);
     }
 
+    System.out.println("sendToAdapter: " + message);
     vehicleService.sendCommAdapterMessage(vehicle.getReference(), message);
   }
 
+  /**
+   * 启用车辆通讯适配器
+   * @param name 车辆名称
+   */
+  public void enableAdapter(String name) {
+    VehicleService vehicleService = servicePortal.getVehicleService();
+    Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, name);
+    if (vehicle == null) {
+      throw new ObjectUnknownException("enableAdapter Unknown vehicle: " + name);
+    }
+    vehicleService.enableCommAdapter(vehicle.getReference());
+  }
+
+  /**
+   * 禁用车辆通讯适配器
+   * @param name 车辆名称
+   */
+  public void disableAdapter(String name) {
+    VehicleService vehicleService = servicePortal.getVehicleService();
+    Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, name);
+    if (vehicle == null) {
+      throw new ObjectUnknownException("disableAdapter Unknown vehicle: " + name);
+    }
+    vehicleService.disableCommAdapter(vehicle.getReference());
+  }
+
 }

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

@@ -37,6 +37,8 @@ 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.
@@ -69,22 +71,38 @@ public class VehicleHandler {
    * 接收平台异步回调处理
    */
   public void postReceiveCallback(Object data) {
-    System.out.println("jsonObject-----ssss: " + data.toString());
+//    System.out.println("jsonObject-----ssss: " + data.toString());
 
     //截取平台响应的字符串
-//    String jsonStr = data.toString().split("=", 2)[1];
+    String jsonStr = data.toString().split("=", 2)[1];
-    String jsonStr = data.toString();
+//    String jsonStr = data.toString();
     JSONObject jsonObject = JSON.parseObject(jsonStr);
-    String name = jsonObject.getString("name");
+    String name = jsonObject.getString("vehicle_name");
     Integer type = jsonObject.getInteger("type");
 
+    Vehicle vehicle = vehicleService.fetchObject(Vehicle.class, name);
+    if (vehicle == null) {
+      throw new ObjectUnknownException("postReceiveCallback Unknown vehicle: " + name);
+    }
+
     //将数据更新到线程安全的集合中，防止线程阻塞
     AdapterManage.setAdapterStatus(name);
-    if (type == 1) {
+
-      AdapterManage.setAdapterVehicleModel(name, jsonStr);
+    if (AdapterManage.getAdapterStatus(name)) {
-    } else if (type == 5) {
+      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);
+      vehicleService.sendCommAdapterMessage(vehicle.getReference(), agvInfo);
+    } else if (type == 5) {   //上报动作完成
       //动作完成上报
-      AdapterManage.setActionStatus(name);
+      ActionStatus actionStatus = new ActionStatus();
+      actionStatus.setStatus(true);
+      vehicleService.sendCommAdapterMessage(vehicle.getReference(), actionStatus);
     }
   }
 

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

@@ -7,7 +7,6 @@ import static java.util.Objects.requireNonNull;
 import com.google.common.util.concurrent.Uninterruptibles;
 import com.google.inject.Provider;
 import jakarta.inject.Inject;
-import java.io.IOException;
 import java.util.HashSet;
 import java.util.Map;
 import java.util.Set;
@@ -15,10 +14,8 @@ import java.util.concurrent.ScheduledExecutorService;
 import java.util.concurrent.Semaphore;
 import java.util.concurrent.TimeUnit;
 import org.opentcs.access.Kernel;
-import org.opentcs.access.Kernel.State;
 import org.opentcs.access.KernelStateTransitionEvent;
 import org.opentcs.access.LocalKernel;
-import org.opentcs.communication.mqtt.MqttBrokerServer;
 import org.opentcs.components.kernel.KernelExtension;
 import org.opentcs.components.kernel.services.NotificationService;
 import org.opentcs.customizations.ApplicationEventBus;
@@ -73,14 +70,10 @@ public class StandardKernel
    * The kernel implementing the actual functionality for the current mode.
    */
   private KernelState kernelState;
-  /**
-   * MQTT 服务
-   */
-  private MqttBrokerServer mqttBrokerServer = new MqttBrokerServer();
   /**
    * 通讯适配器管理类
    */
-  private AdapterManage adapterManage = new AdapterManage();
+  private final AdapterManage adapterManage = new AdapterManage();
 
   /**
    * Creates a new kernel.
@@ -122,14 +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
@@ -149,8 +142,8 @@ public class StandardKernel
     //关闭MQTT服务
 //    mqttBrokerServer.stopMqtt();
 
-    //关闭通讯适配器管理类
+    //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

@@ -1385,14 +1385,6 @@ public class PlantModelManager
   private Point createPoint(PointCreationTO to)
       throws ObjectExistsException {
     // Get a unique ID for the new point and create an instance.
-    if (to.getType() == Point.Type.PARK_POSITION) {
-      //是休息点，记录
-      Park park = new Park();
-      park.setName(to.getName());
-      park.setStatus(false);
-      ParkStrategy.setPark(park);
-    }
-
     Point newPoint = new Point(to.getName())
         .withPose(new Pose(to.getPose().getPosition(), to.getPose().getOrientationAngle()))
         .withType(to.getType())