增加测试通信适配器
This commit is contained in:
魏红阳
parent
c53ea3f750
commit
305735c92c
@ -4,6 +4,8 @@ package org.opentcs.virtualvehicle;
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import com.google.inject.assistedinject.FactoryModuleBuilder;
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import com.google.inject.assistedinject.FactoryModuleBuilder;
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import org.opentcs.customizations.kernel.KernelInjectionModule;
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import org.opentcs.customizations.kernel.KernelInjectionModule;
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import org.opentcs.virtualvehicle.testadapter.TestLoopbackAdapterComponentsFactory;
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import org.opentcs.virtualvehicle.testadapter.TestLoopbackCommunicationAdapterFactory;
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import org.slf4j.Logger;
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import org.slf4j.Logger;
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import org.slf4j.LoggerFactory;
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import org.slf4j.LoggerFactory;
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@ -46,6 +48,8 @@ public class LoopbackCommAdapterModule
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// tag::documentation_createCommAdapterModule[]
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// tag::documentation_createCommAdapterModule[]
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vehicleCommAdaptersBinder().addBinding().to(LoopbackCommunicationAdapterFactory.class);
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vehicleCommAdaptersBinder().addBinding().to(LoopbackCommunicationAdapterFactory.class);
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// end::documentation_createCommAdapterModule[]
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// end::documentation_createCommAdapterModule[]
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install(new FactoryModuleBuilder().build(TestLoopbackAdapterComponentsFactory.class));
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vehicleCommAdaptersBinder().addBinding().to(TestLoopbackCommunicationAdapterFactory.class);
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}
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}
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}
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}
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@ -0,0 +1,14 @@
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package org.opentcs.virtualvehicle.testadapter;
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import org.opentcs.data.model.Vehicle;
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public interface TestLoopbackAdapterComponentsFactory {
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/**
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* Creates a new LoopbackCommunicationAdapter for the given vehicle.
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*
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* @param vehicle The vehicle.
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* @return A new LoopbackCommunicationAdapter for the given vehicle.
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*/
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TestLoopbackCommunicationAdapter createLoopbackCommAdapter(Vehicle vehicle);
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}
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@ -0,0 +1,123 @@
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package org.opentcs.virtualvehicle.testadapter;
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import static java.util.Objects.requireNonNull;
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import jakarta.annotation.Nonnull;
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import jakarta.inject.Inject;
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import java.util.ArrayList;
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import java.util.List;
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import org.opentcs.access.KernelServicePortal;
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import org.opentcs.data.TCSObjectReference;
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import org.opentcs.data.model.Vehicle;
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import org.opentcs.drivers.vehicle.VehicleCommAdapterDescription;
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import org.opentcs.drivers.vehicle.management.VehicleCommAdapterPanel;
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import org.opentcs.drivers.vehicle.management.VehicleCommAdapterPanelFactory;
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import org.opentcs.drivers.vehicle.management.VehicleProcessModelTO;
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import org.opentcs.virtualvehicle.AdapterPanelComponentsFactory;
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import org.opentcs.virtualvehicle.LoopbackVehicleModelTO;
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import org.slf4j.Logger;
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import org.slf4j.LoggerFactory;
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public class TestLoopbackCommAdapterPanelFactory
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implements
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VehicleCommAdapterPanelFactory {
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/**
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* This class's logger.
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*/
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private static final Logger LOG = LoggerFactory.getLogger(TestLoopbackCommAdapterPanelFactory.class);
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/**
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* The service portal.
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*/
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private final KernelServicePortal servicePortal;
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/**
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* The components factory.
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*/
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private final AdapterPanelComponentsFactory componentsFactory;
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/**
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* Whether this factory is initialized or not.
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*/
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private boolean initialized;
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/**
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* Creates a new instance.
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*
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* @param servicePortal The service portal.
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* @param componentsFactory The components factory.
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*/
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@Inject
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public TestLoopbackCommAdapterPanelFactory(
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KernelServicePortal servicePortal,
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AdapterPanelComponentsFactory componentsFactory
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) {
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this.servicePortal = requireNonNull(servicePortal, "servicePortal");
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this.componentsFactory = requireNonNull(componentsFactory, "componentsFactory");
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}
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@Override
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public void initialize() {
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if (isInitialized()) {
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return;
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}
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initialized = true;
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}
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@Override
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public boolean isInitialized() {
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return initialized;
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}
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@Override
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public void terminate() {
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if (!isInitialized()) {
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return;
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}
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initialized = false;
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}
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@Override
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public List<VehicleCommAdapterPanel> getPanelsFor(
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@Nonnull
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VehicleCommAdapterDescription description,
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@Nonnull
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TCSObjectReference<Vehicle> vehicle,
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@Nonnull
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VehicleProcessModelTO processModel
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) {
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requireNonNull(description, "description");
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requireNonNull(vehicle, "vehicle");
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requireNonNull(processModel, "processModel");
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if (!providesPanelsFor(description, processModel)) {
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return new ArrayList<>();
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}
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List<VehicleCommAdapterPanel> panels = new ArrayList<>();
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panels.add(
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componentsFactory.createPanel(
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((LoopbackVehicleModelTO) processModel),
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servicePortal.getVehicleService()
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)
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);
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return panels;
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}
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/**
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* Checks whether this factory can provide comm adapter panels for the given description and the
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* given type of process model.
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*
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* @param description The description to check for.
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* @param processModel The process model.
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* @return {@code true} if, and only if, this factory can provide comm adapter panels for the
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* given description and the given type of process model.
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*/
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private boolean providesPanelsFor(
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VehicleCommAdapterDescription description,
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VehicleProcessModelTO processModel
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) {
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return (description instanceof TestLoopbackCommunicationAdapterDescription)
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&& (processModel instanceof LoopbackVehicleModelTO);
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}
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}
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@ -0,0 +1,842 @@
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// SPDX-FileCopyrightText: The openTCS Authors
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// SPDX-License-Identifier: MIT
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package org.opentcs.virtualvehicle.testadapter;
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import static java.util.Objects.requireNonNull;
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import com.google.inject.assistedinject.Assisted;
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import jakarta.inject.Inject;
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import java.beans.PropertyChangeEvent;
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import java.util.Arrays;
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import java.util.Collections;
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import java.util.Comparator;
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import java.util.Iterator;
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import java.util.List;
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import java.util.Objects;
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import java.util.Optional;
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import java.util.concurrent.ExecutorService;
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import java.util.concurrent.ScheduledExecutorService;
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import java.util.concurrent.TimeUnit;
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import java.util.stream.Collectors;
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import org.opentcs.access.to.order.DestinationCreationTO;
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import org.opentcs.access.to.order.TransportOrderCreationTO;
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import org.opentcs.common.LoopbackAdapterConstants;
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import org.opentcs.components.kernel.services.TCSObjectService;
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import org.opentcs.components.kernel.services.TransportOrderService;
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import org.opentcs.components.kernel.services.VehicleService;
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import org.opentcs.customizations.kernel.KernelExecutor;
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import org.opentcs.data.model.Point;
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import org.opentcs.data.model.Vehicle;
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import org.opentcs.data.order.Route.Step;
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import org.opentcs.data.order.TransportOrder;
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import org.opentcs.drivers.vehicle.BasicVehicleCommAdapter;
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import org.opentcs.drivers.vehicle.LoadHandlingDevice;
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import org.opentcs.drivers.vehicle.MovementCommand;
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import org.opentcs.drivers.vehicle.SimVehicleCommAdapter;
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import org.opentcs.drivers.vehicle.VehicleCommAdapter;
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import org.opentcs.drivers.vehicle.VehicleProcessModel;
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import org.opentcs.drivers.vehicle.management.VehicleProcessModelTO;
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import org.opentcs.util.ExplainedBoolean;
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import org.opentcs.virtualvehicle.LoopbackVehicleModel;
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import org.opentcs.virtualvehicle.LoopbackVehicleModelTO;
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import org.opentcs.virtualvehicle.VelocityController.WayEntry;
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import org.opentcs.virtualvehicle.VirtualVehicleConfiguration;
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import org.slf4j.Logger;
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import org.slf4j.LoggerFactory;
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/**
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* A {@link VehicleCommAdapter} that does not really communicate with a physical vehicle but roughly
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* simulates one.
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*/
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public class TestLoopbackCommunicationAdapter
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extends
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BasicVehicleCommAdapter
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implements
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SimVehicleCommAdapter {
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/**
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* The name of the load handling device set by this adapter.
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*/
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public static final String LHD_NAME = "default";
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/**
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* This class's Logger.
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*/
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private static final Logger LOG = LoggerFactory.getLogger(TestLoopbackCommunicationAdapter.class);
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/**
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* An error code indicating that there's a conflict between a load operation and the vehicle's
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* current load state.
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*/
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private static final String LOAD_OPERATION_CONFLICT = "cannotLoadWhenLoaded";
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/**
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* An error code indicating that there's a conflict between an unload operation and the vehicle's
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* current load state.
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*/
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private static final String UNLOAD_OPERATION_CONFLICT = "cannotUnloadWhenNotLoaded";
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/**
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* The time (in ms) of a single simulation step.
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*/
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private static final int SIMULATION_PERIOD = 100;
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/**
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* This instance's configuration.
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* 车辆长度（空载/满载）
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*
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* 最大速度、加速度
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*
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* 充电速率 (rechargePercentagePerSecond)
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*
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* 模拟时间因子 (simulationTimeFactor)
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*/
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private final VirtualVehicleConfiguration configuration;
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/**
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* Indicates whether the vehicle simulation is running or not.
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* 指示车辆模拟是否正在运行。
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*/
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private volatile boolean isSimulationRunning;
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/**
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* The vehicle to this comm adapter instance.
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*/
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private final Vehicle vehicle;
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/**
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* The vehicle's load state.
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*/
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private LoadState loadState = LoadState.EMPTY;
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/**
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* Whether the loopback adapter is initialized or not.
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*/
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private boolean initialized;
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// 在 LoopbackCommunicationAdapter 类中添加
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public static final String PROPKEY_IS_PARKING_POSITION = "isParkingPosition"; // 标记点是否为停车点
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public static final String PROPKEY_PARKING_PRIORITY = "parkingPriority"; // 停车点优先级
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private final TCSObjectService objectService; // 添加对象服务依赖
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private final TransportOrderService transportOrderService;
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private final VehicleService vehicleService;
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// 标记车辆是否已完成第一个任务
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private boolean firstTaskCompleted = false;
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/**
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* Creates a new instance.
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*
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* @param configuration This class's configuration.
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* @param vehicle The vehicle this adapter is associated with.
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* @param kernelExecutor The kernel's executor.
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*/
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@Inject
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public TestLoopbackCommunicationAdapter(
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VirtualVehicleConfiguration configuration,
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@Assisted
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Vehicle vehicle,
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@KernelExecutor
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ScheduledExecutorService kernelExecutor,
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TCSObjectService objectService, // 注入对象服务
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TransportOrderService transportOrderService,
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VehicleService vehicleService
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) {
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super(
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new LoopbackVehicleModel(vehicle),
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configuration.commandQueueCapacity(),
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configuration.rechargeOperation(),
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kernelExecutor
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);
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this.vehicle = requireNonNull(vehicle, "vehicle");
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this.configuration = requireNonNull(configuration, "configuration");
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this.objectService = requireNonNull(objectService, "objectService");
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this.transportOrderService = requireNonNull(transportOrderService, "transportOrderService");
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this.vehicleService = requireNonNull(vehicleService, "vehicleService");
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}
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/**
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* 设置初始位置、状态和负载设备
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*/
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@Override
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public void initialize() {
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if (isInitialized()) {
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return;
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}
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super.initialize();
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// 注册属性变化监听器
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getProcessModel().addPropertyChangeListener(evt -> {
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// 直接检查命令队列状态，不依赖特定属性名
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if (getSentCommands().isEmpty() && getUnsentCommands().isEmpty()) {
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LOG.debug("All commands executed, checking for parking position...");
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LOG.info("Found parking positions: {}", findAllParkingPositions().stream()
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.map(Point::getName)
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.collect(Collectors.joining(", ")));
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checkAndMoveToParkingPosition();
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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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if (initialPos != null) {
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initVehiclePosition(initialPos);
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}
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getProcessModel().setState(Vehicle.State.IDLE);
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getProcessModel().setLoadHandlingDevices(
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Arrays.asList(new LoadHandlingDevice(LHD_NAME, false))
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);
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initialized = true;
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}
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@Override
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public boolean isInitialized() {
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return initialized;
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}
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/**
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* 清理资源，结束模拟
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*/
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@Override
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public void terminate() {
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if (!isInitialized()) {
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return;
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}
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super.terminate();
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initialized = false;
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}
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@Override
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public void propertyChange(PropertyChangeEvent evt) {
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super.propertyChange(evt);
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if (!((evt.getSource()) instanceof LoopbackVehicleModel)) {
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return;
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}
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if (Objects.equals(
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evt.getPropertyName(),
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VehicleProcessModel.Attribute.LOAD_HANDLING_DEVICES.name()
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)) {
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if (!getProcessModel().getLoadHandlingDevices().isEmpty()
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&& getProcessModel().getLoadHandlingDevices().get(0).isFull()) {
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loadState = LoadState.FULL;
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getProcessModel().setBoundingBox(
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getProcessModel().getBoundingBox().withLength(configuration.vehicleLengthLoaded())
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);
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}
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else {
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loadState = LoadState.EMPTY;
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getProcessModel().setBoundingBox(
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getProcessModel().getBoundingBox().withLength(configuration.vehicleLengthUnloaded())
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);
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}
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}
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if (Objects.equals(
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evt.getPropertyName(),
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LoopbackVehicleModel.Attribute.SINGLE_STEP_MODE.name()
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)) {
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// When switching from single step mode to automatic mode and there are commands to be
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|
// processed, ensure that we start/continue processing them.
|
||||||
|
if (!getProcessModel().isSingleStepModeEnabled()
|
||||||
|
&& !getSentCommands().isEmpty()
|
||||||
|
&& !isSimulationRunning) {
|
||||||
|
isSimulationRunning = true;
|
||||||
|
((ExecutorService) getExecutor()).submit(
|
||||||
|
() -> startVehicleSimulation(getSentCommands().peek())
|
||||||
|
);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 控制适配器启用状态。
|
||||||
|
*/
|
||||||
|
@Override
|
||||||
|
public synchronized void enable() {
|
||||||
|
if (isEnabled()) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
super.enable();
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public synchronized void disable() {
|
||||||
|
if (!isEnabled()) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
super.disable();
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public LoopbackVehicleModel getProcessModel() {
|
||||||
|
return (LoopbackVehicleModel) super.getProcessModel();
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 将命令加入队列，启动模拟任务（若未运行）。
|
||||||
|
* @param cmd The command to be sent.
|
||||||
|
*/
|
||||||
|
@Override
|
||||||
|
public synchronized void sendCommand(MovementCommand cmd) {
|
||||||
|
requireNonNull(cmd, "cmd");
|
||||||
|
|
||||||
|
|
||||||
|
// Start the simulation task if we're not in single step mode and not simulating already.
|
||||||
|
if (!getProcessModel().isSingleStepModeEnabled()
|
||||||
|
&& !isSimulationRunning) {
|
||||||
|
isSimulationRunning = true;
|
||||||
|
// The command is added to the sent queue after this method returns. Therefore
|
||||||
|
// we have to explicitly start the simulation like this.
|
||||||
|
if (getSentCommands().isEmpty()) {
|
||||||
|
((ExecutorService) getExecutor()).submit(() -> startVehicleSimulation(cmd));
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
((ExecutorService) getExecutor()).submit(
|
||||||
|
() -> startVehicleSimulation(getSentCommands().peek())
|
||||||
|
);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void onVehiclePaused(boolean paused) {
|
||||||
|
getProcessModel().setVehiclePaused(paused);
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void processMessage(Object message) {
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public synchronized void initVehiclePosition(String newPos) {
|
||||||
|
((ExecutorService) getExecutor()).submit(() -> getProcessModel().setPosition(newPos));
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 验证运输订单的可执行性，返回 ExplainedBoolean 包含结果和原因。
|
||||||
|
* @param order The transport order to be checked.
|
||||||
|
* @return
|
||||||
|
* 错误码如 LOAD_OPERATION_CONFLICT 和 UNLOAD_OPERATION_CONFLICT 标识操作冲突。
|
||||||
|
*/
|
||||||
|
@Override
|
||||||
|
public synchronized ExplainedBoolean canProcess(TransportOrder order) {
|
||||||
|
requireNonNull(order, "order");
|
||||||
|
|
||||||
|
return canProcess(
|
||||||
|
order.getFutureDriveOrders().stream()
|
||||||
|
.map(driveOrder -> driveOrder.getDestination().getOperation())
|
||||||
|
.collect(Collectors.toList())
|
||||||
|
);
|
||||||
|
}
|
||||||
|
|
||||||
|
private ExplainedBoolean canProcess(List<String> operations) {
|
||||||
|
requireNonNull(operations, "operations");
|
||||||
|
|
||||||
|
LOG.debug("{}: Checking processability of {}...", getName(), operations);
|
||||||
|
boolean canProcess = true;
|
||||||
|
String reason = "";
|
||||||
|
|
||||||
|
// Do NOT require the vehicle to be IDLE or CHARGING here!
|
||||||
|
// That would mean a vehicle moving to a parking position or recharging location would always
|
||||||
|
// have to finish that order first, which would render a transport order's dispensable flag
|
||||||
|
// useless.
|
||||||
|
boolean loaded = loadState == LoadState.FULL;
|
||||||
|
Iterator<String> opIter = operations.iterator();
|
||||||
|
while (canProcess && opIter.hasNext()) {
|
||||||
|
final String nextOp = opIter.next();
|
||||||
|
// If we're loaded, we cannot load another piece, but could unload.
|
||||||
|
if (loaded) {
|
||||||
|
if (nextOp.startsWith(getProcessModel().getLoadOperation())) {
|
||||||
|
canProcess = false;
|
||||||
|
reason = LOAD_OPERATION_CONFLICT;
|
||||||
|
}
|
||||||
|
else if (nextOp.startsWith(getProcessModel().getUnloadOperation())) {
|
||||||
|
loaded = false;
|
||||||
|
}
|
||||||
|
} // If we're not loaded, we could load, but not unload.
|
||||||
|
else if (nextOp.startsWith(getProcessModel().getLoadOperation())) {
|
||||||
|
loaded = true;
|
||||||
|
}
|
||||||
|
else if (nextOp.startsWith(getProcessModel().getUnloadOperation())) {
|
||||||
|
canProcess = false;
|
||||||
|
reason = UNLOAD_OPERATION_CONFLICT;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
if (!canProcess) {
|
||||||
|
LOG.debug("{}: Cannot process {}, reason: '{}'", getName(), operations, reason);
|
||||||
|
}
|
||||||
|
return new ExplainedBoolean(canProcess, reason);
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
protected synchronized void connectVehicle() {
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
protected synchronized void disconnectVehicle() {
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
protected synchronized boolean isVehicleConnected() {
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
protected VehicleProcessModelTO createCustomTransferableProcessModel() {
|
||||||
|
return new LoopbackVehicleModelTO()
|
||||||
|
.setLoadOperation(getProcessModel().getLoadOperation())
|
||||||
|
.setMaxAcceleration(getProcessModel().getMaxAcceleration())
|
||||||
|
.setMaxDeceleration(getProcessModel().getMaxDecceleration())
|
||||||
|
.setMaxFwdVelocity(getProcessModel().getMaxFwdVelocity())
|
||||||
|
.setMaxRevVelocity(getProcessModel().getMaxRevVelocity())
|
||||||
|
.setOperatingTime(getProcessModel().getOperatingTime())
|
||||||
|
.setSingleStepModeEnabled(getProcessModel().isSingleStepModeEnabled())
|
||||||
|
.setUnloadOperation(getProcessModel().getUnloadOperation())
|
||||||
|
.setVehiclePaused(getProcessModel().isVehiclePaused());
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Triggers a step in single step mode.
|
||||||
|
*/
|
||||||
|
public synchronized void trigger() {
|
||||||
|
if (getProcessModel().isSingleStepModeEnabled()
|
||||||
|
&& !getSentCommands().isEmpty()
|
||||||
|
&& !isSimulationRunning) {
|
||||||
|
isSimulationRunning = true;
|
||||||
|
((ExecutorService) getExecutor()).submit(
|
||||||
|
() -> startVehicleSimulation(getSentCommands().peek())
|
||||||
|
);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private void startVehicleSimulation(MovementCommand command) {
|
||||||
|
LOG.debug("Starting vehicle simulation for command: {}", command);
|
||||||
|
Step step = command.getStep();
|
||||||
|
//把车辆的状态改为执行中
|
||||||
|
getProcessModel().setState(Vehicle.State.EXECUTING);
|
||||||
|
|
||||||
|
if (step.getPath() == null) {
|
||||||
|
LOG.debug("Starting operation simulation...");
|
||||||
|
getExecutor().schedule(
|
||||||
|
() -> operationSimulation(command, 0),
|
||||||
|
SIMULATION_PERIOD,
|
||||||
|
TimeUnit.MILLISECONDS
|
||||||
|
);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
// 向速度控制器添加路径段
|
||||||
|
getProcessModel().getVelocityController().addWayEntry(
|
||||||
|
new WayEntry(
|
||||||
|
step.getPath().getLength(),
|
||||||
|
maxVelocity(step),
|
||||||
|
step.getDestinationPoint().getName(),
|
||||||
|
step.getVehicleOrientation()
|
||||||
|
)
|
||||||
|
);
|
||||||
|
|
||||||
|
LOG.debug("Starting movement simulation...");
|
||||||
|
getExecutor().schedule(
|
||||||
|
() -> movementSimulation(command),
|
||||||
|
SIMULATION_PERIOD,
|
||||||
|
TimeUnit.MILLISECONDS
|
||||||
|
);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private int maxVelocity(Step step) {
|
||||||
|
return (step.getVehicleOrientation() == Vehicle.Orientation.BACKWARD)
|
||||||
|
? step.getPath().getMaxReverseVelocity()
|
||||||
|
: step.getPath().getMaxVelocity();
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Simulate the movement part of a MovementCommand.
|
||||||
|
*
|
||||||
|
* @param command The command to simulate.
|
||||||
|
*/
|
||||||
|
private void movementSimulation(MovementCommand command) {
|
||||||
|
if (!getProcessModel().getVelocityController().hasWayEntries()) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
WayEntry prevWayEntry = getProcessModel().getVelocityController().getCurrentWayEntry();
|
||||||
|
getProcessModel().getVelocityController().advanceTime(getSimulationTimeStep());
|
||||||
|
WayEntry currentWayEntry = getProcessModel().getVelocityController().getCurrentWayEntry();
|
||||||
|
//if we are still on the same way entry then reschedule to do it again
|
||||||
|
if (prevWayEntry == currentWayEntry) {
|
||||||
|
getExecutor().schedule(
|
||||||
|
() -> movementSimulation(command),
|
||||||
|
SIMULATION_PERIOD,
|
||||||
|
TimeUnit.MILLISECONDS
|
||||||
|
);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
//if the way enties are different then we have finished this step
|
||||||
|
//and we can move on.
|
||||||
|
getProcessModel().setPosition(prevWayEntry.getDestPointName());
|
||||||
|
LOG.debug("Movement simulation finished.");
|
||||||
|
if (!command.hasEmptyOperation()) {
|
||||||
|
LOG.debug("Starting operation simulation...");
|
||||||
|
getExecutor().schedule(
|
||||||
|
() -> operationSimulation(command, 0),
|
||||||
|
SIMULATION_PERIOD,
|
||||||
|
TimeUnit.MILLISECONDS
|
||||||
|
);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
finishMovementCommand(command);
|
||||||
|
simulateNextCommand();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Simulate the operation part of a movement command.
|
||||||
|
*
|
||||||
|
* @param command The command to simulate.
|
||||||
|
* @param timePassed The amount of time passed since starting the simulation.
|
||||||
|
*/
|
||||||
|
private void operationSimulation(
|
||||||
|
MovementCommand command,
|
||||||
|
int timePassed
|
||||||
|
) {
|
||||||
|
if (timePassed < getProcessModel().getOperatingTime()) {
|
||||||
|
getProcessModel().getVelocityController().advanceTime(getSimulationTimeStep());
|
||||||
|
getExecutor().schedule(
|
||||||
|
() -> operationSimulation(command, timePassed + getSimulationTimeStep()),
|
||||||
|
SIMULATION_PERIOD,
|
||||||
|
TimeUnit.MILLISECONDS
|
||||||
|
);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
LOG.debug("Operation simulation finished.");
|
||||||
|
finishMovementCommand(command);
|
||||||
|
String operation = command.getOperation();
|
||||||
|
if (operation.equals(getProcessModel().getLoadOperation())) {
|
||||||
|
// Update load handling devices as defined by this operation
|
||||||
|
getProcessModel().setLoadHandlingDevices(
|
||||||
|
Arrays.asList(new LoadHandlingDevice(LHD_NAME, true))
|
||||||
|
);
|
||||||
|
simulateNextCommand();
|
||||||
|
}
|
||||||
|
else if (operation.equals(getProcessModel().getUnloadOperation())) {
|
||||||
|
getProcessModel().setLoadHandlingDevices(
|
||||||
|
Arrays.asList(new LoadHandlingDevice(LHD_NAME, false))
|
||||||
|
);
|
||||||
|
simulateNextCommand();
|
||||||
|
}
|
||||||
|
else if (operation.equals(this.getRechargeOperation())) {
|
||||||
|
LOG.debug("Starting recharge simulation...");
|
||||||
|
finishMovementCommand(command);
|
||||||
|
getProcessModel().setState(Vehicle.State.CHARGING);
|
||||||
|
getExecutor().schedule(
|
||||||
|
() -> chargingSimulation(
|
||||||
|
getProcessModel().getPosition(),
|
||||||
|
getProcessModel().getEnergyLevel()
|
||||||
|
),
|
||||||
|
SIMULATION_PERIOD,
|
||||||
|
TimeUnit.MILLISECONDS
|
||||||
|
);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
simulateNextCommand();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Simulate recharging the vehicle.
|
||||||
|
* 按配置的充电速率逐步增加电量，直至 100% 或中断。
|
||||||
|
*
|
||||||
|
* @param rechargePosition The vehicle position where the recharge simulation was started.
|
||||||
|
* @param rechargePercentage The recharge percentage of the vehicle while it is charging.
|
||||||
|
*/
|
||||||
|
private void chargingSimulation(
|
||||||
|
String rechargePosition,
|
||||||
|
float rechargePercentage
|
||||||
|
) {
|
||||||
|
if (!getSentCommands().isEmpty()) {
|
||||||
|
LOG.debug("Aborting recharge operation, vehicle has an order...");
|
||||||
|
simulateNextCommand();
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (getProcessModel().getState() != Vehicle.State.CHARGING) {
|
||||||
|
LOG.debug("Aborting recharge operation, vehicle no longer charging state...");
|
||||||
|
simulateNextCommand();
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!Objects.equals(getProcessModel().getPosition(), rechargePosition)) {
|
||||||
|
LOG.debug("Aborting recharge operation, vehicle position changed...");
|
||||||
|
simulateNextCommand();
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
if (nextChargePercentage(rechargePercentage) < 100.0) {
|
||||||
|
getProcessModel().setEnergyLevel((int) rechargePercentage);
|
||||||
|
getExecutor().schedule(
|
||||||
|
() -> chargingSimulation(rechargePosition, nextChargePercentage(rechargePercentage)),
|
||||||
|
SIMULATION_PERIOD,
|
||||||
|
TimeUnit.MILLISECONDS
|
||||||
|
);
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
LOG.debug("Finishing recharge operation, vehicle at 100%...");
|
||||||
|
getProcessModel().setEnergyLevel(100);
|
||||||
|
simulateNextCommand();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private float nextChargePercentage(float basePercentage) {
|
||||||
|
return basePercentage
|
||||||
|
+ (float) (configuration.rechargePercentagePerSecond() / 1000.0) * SIMULATION_PERIOD;
|
||||||
|
}
|
||||||
|
|
||||||
|
private void finishMovementCommand(MovementCommand command) {
|
||||||
|
//Set the vehicle state to idle
|
||||||
|
if (getSentCommands().size() <= 1 && getUnsentCommands().isEmpty()) {
|
||||||
|
getProcessModel().setState(Vehicle.State.IDLE);
|
||||||
|
}
|
||||||
|
if (Objects.equals(getSentCommands().peek(), command)) {
|
||||||
|
// Let the comm adapter know we have finished this command.
|
||||||
|
getProcessModel().commandExecuted(getSentCommands().poll());
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
LOG.warn(
|
||||||
|
"{}: Simulated command not oldest in sent queue: {} != {}",
|
||||||
|
getName(),
|
||||||
|
command,
|
||||||
|
getSentCommands().peek()
|
||||||
|
);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void simulateNextCommand() {
|
||||||
|
if (getSentCommands().isEmpty() || getProcessModel().isSingleStepModeEnabled()) {
|
||||||
|
LOG.debug("Vehicle simulation is done.");
|
||||||
|
getProcessModel().setState(Vehicle.State.IDLE);
|
||||||
|
isSimulationRunning = false;
|
||||||
|
}
|
||||||
|
else {
|
||||||
|
LOG.debug("Triggering simulation for next command: {}", getSentCommands().peek());
|
||||||
|
((ExecutorService) getExecutor()).submit(
|
||||||
|
() -> startVehicleSimulation(getSentCommands().peek())
|
||||||
|
);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
private int getSimulationTimeStep() {
|
||||||
|
return (int) (SIMULATION_PERIOD * configuration.simulationTimeFactor());
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* The vehicle's possible load states.
|
||||||
|
*/
|
||||||
|
private enum LoadState {
|
||||||
|
EMPTY,
|
||||||
|
FULL;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 检查是否需要移动到停车点，并执行相应逻辑
|
||||||
|
*/
|
||||||
|
void checkAndMoveToParkingPosition() {
|
||||||
|
// 如果是初始化阶段，且第一个任务未完成，则不创建停车订单
|
||||||
|
if (!firstTaskCompleted) {
|
||||||
|
LOG.debug("First task not completed yet, skipping parking check.");
|
||||||
|
// 标记第一个任务已完成（无论当前是否有任务，只要进入此方法就认为完成了初始化）
|
||||||
|
firstTaskCompleted = true;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// 如果车辆有未完成的命令，不执行停车逻辑
|
||||||
|
if (!getSentCommands().isEmpty()) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
// 获取所有可用停车点
|
||||||
|
List<Point> parkingPositions = findAllParkingPositions();
|
||||||
|
if (parkingPositions.isEmpty()) {
|
||||||
|
LOG.warn("No parking positions defined in the system!");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
String currentPos = getProcessModel().getPosition();
|
||||||
|
|
||||||
|
// // 通过名称获取 Point 对象
|
||||||
|
// Point currentPoint = objectService.fetchObject(Point.class, currentPos);
|
||||||
|
|
||||||
|
// 如果车辆所在点位为空
|
||||||
|
if (currentPos == null) {
|
||||||
|
LOG.info("Vehicle is already at parking position: {}", currentPos);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
boolean exists = false;
|
||||||
|
for (Point point : parkingPositions) {
|
||||||
|
if (currentPos.equals(point.getName())) {
|
||||||
|
exists = true;
|
||||||
|
break;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
// 如果车辆已经在停车点，无需移动
|
||||||
|
if (exists) {
|
||||||
|
LOG.info("Vehicle is already at parking position: {}", currentPos);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// 查找最近的可用停车点
|
||||||
|
Optional<Point> availableParkingPos = findNearestAvailableParkingPosition(parkingPositions);
|
||||||
|
if (availableParkingPos.isEmpty()) {
|
||||||
|
LOG.info("No available parking positions found, vehicle will stay at current position.");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
Point parkingPoint = availableParkingPos.get();
|
||||||
|
|
||||||
|
|
||||||
|
// 创建移动到停车点的运输订单
|
||||||
|
createParkingTransportOrder(parkingPoint);
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 查找系统中所有标记为停车点的位置
|
||||||
|
*/
|
||||||
|
private List<Point> findAllParkingPositions() {
|
||||||
|
return objectService.fetchObjects(Point.class).stream()
|
||||||
|
.filter(point -> hasParkingPriority(point))
|
||||||
|
.sorted(Comparator.comparingInt(this::getParkingPriority))
|
||||||
|
.collect(Collectors.toList());
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 检查点是否有停车优先级属性
|
||||||
|
*/
|
||||||
|
private boolean hasParkingPriority(Point point) {
|
||||||
|
return point.getType().equals(Point.Type.PARK_POSITION);
|
||||||
|
// point.getProperty("tcs:parkingPositionPriority") != null;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 获取停车点优先级，默认为 0
|
||||||
|
*/
|
||||||
|
private int getParkingPriority(Point point) {
|
||||||
|
String priorityStr = point.getProperty(PROPKEY_PARKING_PRIORITY);
|
||||||
|
try {
|
||||||
|
return (priorityStr != null) ? Integer.parseInt(priorityStr) : 0;
|
||||||
|
} catch (NumberFormatException e) {
|
||||||
|
LOG.warn("Invalid parking priority for point {}: {}", point.getName(), priorityStr);
|
||||||
|
return 0;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 查找最近的可用停车点
|
||||||
|
*/
|
||||||
|
private Optional<Point> findNearestAvailableParkingPosition(List<Point> parkingPositions) {
|
||||||
|
String currentPos = getProcessModel().getPosition();
|
||||||
|
|
||||||
|
// 如果当前位置未知，返回第一个可用停车点
|
||||||
|
if (currentPos == null) {
|
||||||
|
return parkingPositions.stream()
|
||||||
|
.filter(this::isParkingPositionAvailable)
|
||||||
|
.findFirst();
|
||||||
|
}
|
||||||
|
|
||||||
|
// 按距离排序（简化示例，实际应使用路径规划计算距离）
|
||||||
|
return parkingPositions.stream()
|
||||||
|
.filter(this::isParkingPositionAvailable)
|
||||||
|
.min(Comparator.comparingInt(p -> calculateDistance(currentPos, p.getName())));
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 检查停车点是否可用（没有被其他车辆占用）
|
||||||
|
*/
|
||||||
|
private boolean isParkingPositionAvailable(Point parkingPos) {
|
||||||
|
// 使用构造函数中保存的 vehicle 对象
|
||||||
|
String currentVehicleName = vehicle.getName();
|
||||||
|
String parkingPosName = parkingPos.getName();
|
||||||
|
|
||||||
|
// 1. 检查是否有其他车辆当前停在该停车点
|
||||||
|
boolean occupiedByOtherVehicle = objectService.fetchObjects(Vehicle.class).stream()
|
||||||
|
.filter(v -> !v.getName().equals(currentVehicleName))
|
||||||
|
.filter(v -> v.getCurrentPosition() != null)
|
||||||
|
.filter(v -> v.getCurrentPosition().getName().equals(parkingPosName))
|
||||||
|
.findAny()
|
||||||
|
.isPresent();
|
||||||
|
|
||||||
|
if (occupiedByOtherVehicle) {
|
||||||
|
return false;
|
||||||
|
}
|
||||||
|
|
||||||
|
// 2. 检查是否有其他车辆的未完成停车订单指向该停车点
|
||||||
|
boolean hasPendingOrderByOtherVehicle = transportOrderService.fetchObjects(TransportOrder.class).stream()
|
||||||
|
.filter(order -> !order.getState().isFinalState()) // 未完成的订单
|
||||||
|
.filter(order -> order.getIntendedVehicle() != null) // 添加null检查
|
||||||
|
.filter(order -> !order.getIntendedVehicle().getName().equals(currentVehicleName)) // 非当前车辆的订单
|
||||||
|
.filter(order -> order.getName().startsWith("PARKING_ORDER_")) // 停车订单
|
||||||
|
.flatMap(order -> order.getFutureDriveOrders().stream())
|
||||||
|
.map(driveOrder -> driveOrder.getDestination().getDestination().getName())
|
||||||
|
.filter(Objects::nonNull)
|
||||||
|
.anyMatch(parkingPosName::equals);
|
||||||
|
|
||||||
|
return !hasPendingOrderByOtherVehicle;
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 计算两个位置之间的距离（简化示例，实际应使用路径规划）
|
||||||
|
*/
|
||||||
|
private int calculateDistance(String pos1, String pos2) {
|
||||||
|
// 实际应用中应使用 OpenTCS 的路径规划服务计算距离
|
||||||
|
// 这里简化为返回固定值，距离越近值越小
|
||||||
|
return 1;
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* 创建移动到停车点的运输订单
|
||||||
|
*/
|
||||||
|
private void createParkingTransportOrder(Point parkingPoint) {
|
||||||
|
// 使用构造函数中保存的 vehicle 对象
|
||||||
|
String currentVehicleName = vehicle.getName();
|
||||||
|
|
||||||
|
try {
|
||||||
|
|
||||||
|
// 检查是否已有未完成的停车订单
|
||||||
|
boolean hasPendingParkingOrder = transportOrderService.fetchObjects(TransportOrder.class).stream()
|
||||||
|
.filter(order -> order.getIntendedVehicle() != null)
|
||||||
|
.filter(order -> order.getIntendedVehicle().getName().equals(currentVehicleName))
|
||||||
|
.filter(order -> !order.getState().isFinalState())
|
||||||
|
.anyMatch(order -> order.getName().startsWith("PARKING_ORDER_"));
|
||||||
|
|
||||||
|
if (hasPendingParkingOrder) {
|
||||||
|
LOG.info("Vehicle {} already has a pending parking order, skipping creation.", currentVehicleName);
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
// 生成唯一的订单名称（添加时间戳或随机数）
|
||||||
|
String orderName = "PARKING_ORDER_" + currentVehicleName + "_" + System.currentTimeMillis();
|
||||||
|
|
||||||
|
|
||||||
|
// 对于 park point 类型，使用标准操作 "PARK"
|
||||||
|
String operation = "PARK";
|
||||||
|
|
||||||
|
DestinationCreationTO destination = new DestinationCreationTO(
|
||||||
|
parkingPoint.getName(),
|
||||||
|
operation
|
||||||
|
);
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// 创建运输订单
|
||||||
|
TransportOrderCreationTO orderTO = new TransportOrderCreationTO(
|
||||||
|
orderName ,
|
||||||
|
Collections.singletonList(destination)
|
||||||
|
)
|
||||||
|
.withIntendedVehicleName(currentVehicleName)
|
||||||
|
.withProperty("priority", "100"); // 设置高优先级，确保尽快执行
|
||||||
|
|
||||||
|
// 创建并调度订单
|
||||||
|
transportOrderService.createTransportOrder(orderTO);
|
||||||
|
LOG.info("Created parking transport order: {}", orderName);
|
||||||
|
} catch (Exception e) {
|
||||||
|
LOG.error("Error creating parking transport order", e);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,28 @@
|
|||||||
|
package org.opentcs.virtualvehicle.testadapter;
|
||||||
|
|
||||||
|
import static org.opentcs.virtualvehicle.I18nLoopbackCommAdapter.BUNDLE_PATH;
|
||||||
|
|
||||||
|
import java.util.ResourceBundle;
|
||||||
|
import org.opentcs.drivers.vehicle.VehicleCommAdapterDescription;
|
||||||
|
|
||||||
|
public class TestLoopbackCommunicationAdapterDescription
|
||||||
|
extends
|
||||||
|
VehicleCommAdapterDescription {
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Creates a new instance.
|
||||||
|
*/
|
||||||
|
public TestLoopbackCommunicationAdapterDescription() {
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public String getDescription() {
|
||||||
|
return ResourceBundle.getBundle(BUNDLE_PATH)
|
||||||
|
.getString("myLoopbackCommunicationAdapterDescription.description");
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public boolean isSimVehicleCommAdapter() {
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -0,0 +1,77 @@
|
|||||||
|
// SPDX-FileCopyrightText: The openTCS Authors
|
||||||
|
// SPDX-License-Identifier: MIT
|
||||||
|
package org.opentcs.virtualvehicle.testadapter;
|
||||||
|
|
||||||
|
import static java.util.Objects.requireNonNull;
|
||||||
|
|
||||||
|
import jakarta.inject.Inject;
|
||||||
|
import org.opentcs.data.model.Vehicle;
|
||||||
|
import org.opentcs.drivers.vehicle.VehicleCommAdapterDescription;
|
||||||
|
import org.opentcs.drivers.vehicle.VehicleCommAdapterFactory;
|
||||||
|
import org.opentcs.virtualvehicle.LoopbackAdapterComponentsFactory;
|
||||||
|
import org.opentcs.virtualvehicle.LoopbackCommunicationAdapter;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* A factory for loopback communication adapters (virtual vehicles).
|
||||||
|
*/
|
||||||
|
public class TestLoopbackCommunicationAdapterFactory
|
||||||
|
implements
|
||||||
|
VehicleCommAdapterFactory {
|
||||||
|
|
||||||
|
/**
|
||||||
|
* The adapter components factory.
|
||||||
|
*/
|
||||||
|
private final TestLoopbackAdapterComponentsFactory adapterFactory;
|
||||||
|
/**
|
||||||
|
* Indicates whether this component is initialized or not.
|
||||||
|
*/
|
||||||
|
private boolean initialized;
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Creates a new factory.
|
||||||
|
*
|
||||||
|
* @param componentsFactory The adapter components factory.
|
||||||
|
*/
|
||||||
|
@Inject
|
||||||
|
public TestLoopbackCommunicationAdapterFactory(TestLoopbackAdapterComponentsFactory componentsFactory) {
|
||||||
|
this.adapterFactory = requireNonNull(componentsFactory, "componentsFactory");
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void initialize() {
|
||||||
|
if (isInitialized()) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
initialized = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public boolean isInitialized() {
|
||||||
|
return initialized;
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public void terminate() {
|
||||||
|
if (!isInitialized()) {
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
initialized = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public VehicleCommAdapterDescription getDescription() {
|
||||||
|
return new TestLoopbackCommunicationAdapterDescription();
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public boolean providesAdapterFor(Vehicle vehicle) {
|
||||||
|
requireNonNull(vehicle, "vehicle");
|
||||||
|
return true;
|
||||||
|
}
|
||||||
|
|
||||||
|
@Override
|
||||||
|
public TestLoopbackCommunicationAdapter getAdapterFor(Vehicle vehicle) {
|
||||||
|
requireNonNull(vehicle, "vehicle");
|
||||||
|
return adapterFactory.createLoopbackCommAdapter(vehicle);
|
||||||
|
}
|
||||||
|
}
|
||||||
@ -42,3 +42,4 @@ loopbackCommAdapterPanel.radioButton_setProperty.text=Set this value:
|
|||||||
loopbackCommAdapterPanel.textArea_precisePosition.positionNotSetPlaceholder=-
|
loopbackCommAdapterPanel.textArea_precisePosition.positionNotSetPlaceholder=-
|
||||||
loopbackCommAdapterPanel.textField_orientationAngle.angleNotSetPlaceholder=-
|
loopbackCommAdapterPanel.textField_orientationAngle.angleNotSetPlaceholder=-
|
||||||
loopbackCommunicationAdapterDescription.description=Loopback adapter (virtual vehicle)
|
loopbackCommunicationAdapterDescription.description=Loopback adapter (virtual vehicle)
|
||||||
|
myLoopbackCommunicationAdapterDescription.description=Test Loopback adapter (virtual vehicle)
|
||||||
|
|||||||
Loading…
Reference in New Issue
Block a user