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修改充电模块

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xuzhiheng 2025-07-22 17:08:51 +08:00
parent fcd7a6d90e
commit 408034c9ec
1 changed files with 11 additions and 6 deletions
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17
opentcs-commadapter-loopback/src/main/java/org/opentcs/virtualvehicle/LoopbackCommunicationAdapter.java
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@ -167,7 +167,7 @@ public class LoopbackCommunicationAdapter
private final DispatcherService dispatcherService; private final DispatcherService dispatcherService;
//标记是否开启自动回休息点：true=开启，false=关闭 //标记是否开启自动回休息点：true=开启，false=关闭
private final Boolean IS_AUTOMATIC_CHARGER = true; private final Boolean IS_AUTOMATIC_CHARGER = false;
//标记是否开启自动充电：true=开启，false=关闭 //标记是否开启自动充电：true=开启，false=关闭
private final Boolean IS_AUTOMATIC_BREAKS = false; private final Boolean IS_AUTOMATIC_BREAKS = false;
//连接状态 //连接状态
@ -314,6 +314,10 @@ public class LoopbackCommunicationAdapter
); );
} }
} }
if (Objects.equals(evt.getPropertyName(), VehicleProcessModel.Attribute.ENERGY_LEVEL.name())) {
//当电量修改时，判断是否需要执行充电策略
checkChargingNeed();
}
} }
@Override @Override
@ -946,10 +950,11 @@ public class LoopbackCommunicationAdapter
vehicleState = Vehicle.State.EXECUTING; vehicleState = Vehicle.State.EXECUTING;
} }
//更新电量 //更新电量 ---- 通过修改电量进行触发充电任务，所以每次上报都要修改电量，不需要等电量改变
if (getProcessModel().getEnergyLevel() != Math.round(params.getPower() * 100)) { getProcessModel().setEnergyLevel(Math.round(params.getPower() * 100));
getProcessModel().setEnergyLevel(Math.round(params.getPower() * 100)); // if (getProcessModel().getEnergyLevel() != Math.round(params.getPower() * 100)) {
} // getProcessModel().setEnergyLevel(Math.round(params.getPower() * 100));
// }
//更新车辆等级 //更新车辆等级
if (!Objects.equals(getProcessModel().getIntegrationLevel(), integrationLevel)) { if (!Objects.equals(getProcessModel().getIntegrationLevel(), integrationLevel)) {
@ -1247,7 +1252,7 @@ public class LoopbackCommunicationAdapter
// ֻ只有当车辆不在执行任务且不在充电状态时才检查充电需求 // ֻ只有当车辆不在执行任务且不在充电状态时才检查充电需求
if (processModel.getState() == Vehicle.State.IDLE && if (processModel.getState() == Vehicle.State.IDLE &&
processModel.getState() != Vehicle.State.CHARGING && processModel.getState() != Vehicle.State.CHARGING &&
getUnsentCommands().isEmpty()) { getSentCommands().isEmpty()) {
if (chargingStrategyManager.needToCharge(processModel)) { if (chargingStrategyManager.needToCharge(processModel)) {
LOG.info("Charging strategy {} triggered, starting charging process", LOG.info("Charging strategy {} triggered, starting charging process",